240 lines
8.8 KiB
Python
240 lines
8.8 KiB
Python
from enum import Enum
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from typing import List
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from mesa import Model
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from mesa.space import MultiGrid
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from mesa.time import RandomActivation
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from AgentBase import AgentBase
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from ForkliftAgent import ForkliftAgent
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from InitialStateFactory import InitialStateFactory
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from PatchAgent import PatchAgent
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from PatchType import PatchType
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from data.GameConstants import GameConstants
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from data.Item import Item
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from data.Order import Order
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from data.enum.Direction import Direction
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from data.enum.ItemType import ItemType
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from decision.Action import Action
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from decision.ActionType import ActionType
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from pathfinding.PathfinderOnStates import PathFinderOnStates, PathFinderState
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from util.PathDefinitions import GridLocation, GridWithWeights
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class Phase(Enum):
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INIT = 1
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ITEM_RECOGNITION = 2
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CLIENT_SORTING = 3
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PLAN_MOVEMENT = 4
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EXECUTION = 5
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class GameModel(Model):
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def __init__(self, width, height, graph: GridWithWeights):
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# self.num_agents = 5
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self.first = True
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self.item_recognised = False
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self.running = True
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self.grid = MultiGrid(height, width, True)
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self.schedule = RandomActivation(self)
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self.client_delivery: PatchAgent = None
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self.drop_off: PatchAgent = None
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self.agents = [AgentBase]
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self.forklift_agent = ForkliftAgent(self)
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self.schedule.add(self.forklift_agent)
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self.agents.append(self.forklift_agent)
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self.graph = graph
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self.game_constants = GameConstants(
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width,
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height,
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graph.walls,
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graph.puddles
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)
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# INITIALIZATION #
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print("############## INITIALIZATION ##############")
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self.phase = Phase.INIT
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self.initialize_grid(graph)
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self.orderList: List[Order] = InitialStateFactory.generate_order_list(3)
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print("############## RECOGNISE ITEMS ##############")
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self.phase = Phase.ITEM_RECOGNITION
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self.provided_items = InitialStateFactory.generate_item_list(3)
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self.recognised_items: List[Item] = []
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print("Relocate forklift agent to loading area for item recognition")
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pathFinder = PathFinderOnStates(
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self.game_constants,
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self.drop_off.location,
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PathFinderState(self.forklift_agent.current_position, self.forklift_agent.current_rotation, 0,
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Action(ActionType.NONE), [])
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)
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actions = pathFinder.get_action_list()
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print("PATHFINDING")
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print(actions)
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self.forklift_agent.queue_movement_actions(actions)
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def initialize_grid(self, graph: GridWithWeights):
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print("INITIALIZING GRID")
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# Add the agent to a random grid cell
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x = 5
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y = 5
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self.grid.place_agent(self.forklift_agent, (x, y))
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self.forklift_agent.current_position = (x, y)
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self.place_logistics()
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self.place_walls_agents(graph.walls)
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self.place_puddles(graph.puddles)
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self.place_packing_stations(graph.packingStations)
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def place_logistics(self):
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agent = PatchAgent(self, (self.grid.width - 1, int(self.grid.height / 2)), PatchType.pickUp)
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self.schedule.add(agent)
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self.grid.place_agent(agent, agent.location)
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self.agents.append(agent)
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self.client_delivery = agent
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agent = PatchAgent(self, (0, int(self.grid.height / 2)), PatchType.dropOff)
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self.grid.place_agent(agent, agent.location)
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self.agents.append(agent)
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self.drop_off = agent
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def place_walls_agents(self, walls: List[GridLocation]):
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for w in walls:
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agent = PatchAgent(self, w, PatchType.wall)
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self.agents.append(agent)
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self.grid.place_agent(agent, w)
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def place_puddles(self, puddles: List[GridLocation]):
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for p in puddles:
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agent = PatchAgent(self, p, PatchType.diffTerrain)
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self.agents.append(agent)
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self.grid.place_agent(agent, p)
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def place_packing_stations(self, packing_stations: List[tuple[PatchType, GridLocation]]):
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for p in packing_stations:
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agent = PatchAgent(self, p[1], p[0])
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self.agents.append(agent)
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self.grid.place_agent(agent, p[1])
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def step(self):
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self.schedule.step()
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self.grid.remove_agent(self.forklift_agent)
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self.grid.place_agent(self.forklift_agent, self.forklift_agent.current_position)
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if self.phase == Phase.ITEM_RECOGNITION:
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if not self.item_recognised and self.forklift_agent.current_position == self.drop_off.location:
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if len(self.provided_items) == 0:
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print("FINISHED ITEM RECOGNITION")
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self.item_recognised = True
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self.phase = Phase.CLIENT_SORTING
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else:
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print("BEGIN ITEM RECOGNITION, left: {}".format(len(self.provided_items)))
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item_to_recognise = self.provided_items.pop()
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recognised = self.recognise_item(item_to_recognise)
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self.recognised_items.append(recognised)
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if self.phase == Phase.CLIENT_SORTING:
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# TODO GENERICS SORTING
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sorted(self.orderList, key=lambda x: len(x.items))
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print("FINISHED CLIENT ORDER SORTING")
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self.phase = Phase.PLAN_MOVEMENT
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if self.phase == Phase.PLAN_MOVEMENT:
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if len(self.orderList) > 0:
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self.plan_actions()
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self.phase = Phase.EXECUTION
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else:
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print("NO MORE ORDERS")
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if self.phase == Phase.EXECUTION:
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print("Execution")
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if (len(self.forklift_agent.action_queue) == 0):
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self.phase = Phase.PLAN_MOVEMENT
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def plan_actions(self):
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order = self.orderList.pop(0)
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print("PLAN MOVEMENT")
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for i in order.items:
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if self.first:
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# get item
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pathFinder = PathFinderOnStates(
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self.game_constants,
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self.drop_off.location,
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PathFinderState(self.forklift_agent.current_position,
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self.forklift_agent.current_rotation,
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0,
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Action(ActionType.NONE),
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[])
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)
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actions = pathFinder.get_action_list()
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self.forklift_agent.queue_movement_actions(actions)
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self.first = False
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else:
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# get item
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pathFinder = PathFinderOnStates(
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self.game_constants,
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self.drop_off.location,
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PathFinderState(self.client_delivery.location,
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Direction.right,
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0,
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Action(ActionType.NONE),
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[])
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)
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actions = pathFinder.get_action_list()
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self.forklift_agent.queue_movement_actions(actions)
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self.first = False
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# go through station
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packing_station: GridLocation = None
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stations = dict(self.graph.packingStations)
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if i.real_type == ItemType.PASTA:
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packing_station = stations[PatchType.packingA]
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elif i.real_type == ItemType.EGG:
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packing_station = stations[PatchType.packingB]
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elif i.real_type == ItemType.PIZZA:
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packing_station = stations[PatchType.packingC]
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pathFinder = PathFinderOnStates(
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self.game_constants,
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packing_station,
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PathFinderState(self.drop_off.location,
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Direction.left,
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0,
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Action(
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desired_item=i,
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action_type=ActionType.PICK_ITEM
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),
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[])
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)
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actions = pathFinder.get_action_list()
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self.forklift_agent.queue_movement_actions(actions)
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# go to client delivery area
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pathFinder = PathFinderOnStates(
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self.game_constants,
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self.client_delivery.location,
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PathFinderState(packing_station,
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Direction.right,
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0,
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Action(ActionType.NONE),
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[])
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)
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actions = pathFinder.get_action_list()
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self.forklift_agent.queue_movement_actions(actions)
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self.forklift_agent.queue_movement_actions(
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[Action(ActionType.DROP_ITEM)]
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)
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def recognise_item(self, item: Item):
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# TODO IMAGE PROCESSING
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item.guessed_type = item.real_type
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return item
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