SI_InteligentnyWozekWidlowy/ForkliftAgent.py
Jakub-Prus e5a7a975e8 .
2022-06-02 11:13:21 +02:00

163 lines
6.8 KiB
Python

from typing import Tuple, List
from AgentBase import AgentBase
from PatchAgent import PatchAgent
from PatchType import PatchType
from data.Item import Item
from data.Order import Order
from data.enum.Direction import Direction
from data.enum.ItemType import ItemType
from decision.Action import Action
from decision.ActionType import ActionType
from pathfinding.PathFinderState import PathFinderState
from pathfinding.PathfinderOnStates import PathFinderOnStates
from util.PathDefinitions import GridLocation, GridWithWeights
class ForkliftAgent(AgentBase):
def __init__(self, model, game_constants, client_delivery: PatchAgent, drop_off: PatchAgent,
graph: GridWithWeights):
super().__init__(model)
self.action_queue: List[Action] = []
self.current_position = Tuple[int, int]
self.current_rotation = Direction.right
self.orderList = []
self.fulfilled_orders: List[Order] = []
self.client_delivery: PatchAgent = client_delivery
self.drop_off: PatchAgent = drop_off
self.graph = graph
self.game_constants = game_constants
self.current_order: Order = None
self.current_item = None
self.item_station_completed = False
self.provided_items: List[Item] = []
self.ready_for_execution = False
def queue_movement_actions(self, movement_actions: List[Action]):
self.action_queue.extend(movement_actions)
def move(self):
if len(self.action_queue) > 0:
action = self.action_queue.pop(0)
action_type = action.action_type
if action_type == ActionType.ROTATE_UP:
print("rotate {} --> {}".format(self.current_rotation, action_type))
self.current_rotation = Direction.top
elif action_type == ActionType.ROTATE_RIGHT:
print("rotate {} --> {}".format(self.current_rotation, action_type))
self.current_rotation = Direction.right
elif action_type == ActionType.ROTATE_DOWN:
print("rotate {} --> {}".format(self.current_rotation, action_type))
self.current_rotation = Direction.down
elif action_type == ActionType.ROTATE_LEFT:
print("rotate {} --> {}".format(self.current_rotation, action_type))
self.current_rotation = Direction.left
elif action_type == ActionType.MOVE:
if self.current_rotation == Direction.top:
print("move {} --> {}".format(self.current_position, action_type))
self.current_position = (self.current_position[0], self.current_position[1] + 1)
elif self.current_rotation == Direction.down:
print("move {} --> {}".format(self.current_position, action_type))
self.current_position = (self.current_position[0], self.current_position[1] - 1)
elif self.current_rotation == Direction.right:
print("move {} --> {}".format(self.current_position, action_type))
self.current_position = (self.current_position[0] + 1, self.current_position[1])
elif self.current_rotation == Direction.left:
print("move {} --> {}".format(self.current_position, action_type))
self.current_position = (self.current_position[0] - 1, self.current_position[1])
def plan_actions(self):
if len(self.current_order.items) > 0:
i = self.current_order.items.pop(0)
if self.current_item is None:
self.provided_items.clear()
self.current_item = i
print("PLAN MOVEMENT")
# get item
pathFinder = PathFinderOnStates(
self.game_constants,
self.drop_off.location,
PathFinderState(self.current_position,
self.current_rotation,
0,
Action(ActionType.NONE),
[])
)
actions = pathFinder.get_action_list()
self.queue_movement_actions(actions)
elif not self.item_station_completed:
# go through station
packing_station: GridLocation = None
stations = dict(self.graph.packingStations)
if i.real_type == ItemType.SHELF:
packing_station = stations[PatchType.packingA]
elif i.real_type == ItemType.REFRIGERATOR:
packing_station = stations[PatchType.packingB]
elif i.real_type == ItemType.DOOR:
packing_station = stations[PatchType.packingC]
pathFinder = PathFinderOnStates(
self.game_constants,
packing_station,
PathFinderState(self.current_position,
self.current_rotation,
0,
Action(
desired_item=i,
action_type=ActionType.PICK_ITEM
),
[])
)
actions = pathFinder.get_action_list()
self.queue_movement_actions(actions)
self.item_station_completed = True
else:
# go to client delivery area
pathFinder = PathFinderOnStates(
self.game_constants,
self.client_delivery.location,
PathFinderState(self.current_position,
self.current_rotation,
0,
Action(ActionType.NONE),
[])
)
actions = pathFinder.get_action_list()
self.queue_movement_actions(actions)
self.queue_movement_actions(
[Action(ActionType.DROP_ITEM)]
)
self.current_item = None
self.provided_items.append(self.current_item)
self.item_station_completed = False
def step(self) -> None:
if len(self.action_queue) > 0:
self.move()
elif self.ready_for_execution and len(self.orderList) > 0:
if (self.current_order is not None and len(self.current_order.items)) == 0:
self.fulfilled_orders.append(self.current_order)
self.current_order = None
if self.current_order is None:
self.current_order = self.orderList.pop(0)
self.plan_actions()
def creation_log(self):
print("Created Forklift Agent [id: {}]".format(self.unique_id))