SI_InteligentnyWozekWidlowy/GameModel.py

import copy
from enum import Enum
from typing import List, Tuple

from mesa import Model
from mesa.space import MultiGrid
from mesa.time import RandomActivation

from AgentBase import AgentBase
from ForkliftAgent import ForkliftAgent
from InitialStateFactory import InitialStateFactory
from PatchAgent import PatchAgent
from PatchType import PatchType
from PictureVisualizationAgent import PictureVisualizationAgent
from data.GameConstants import GameConstants
from data.Item import Item
from data.Order import Order
from data.enum.ItemType import ItemType
from decision.Action import Action
from decision.ActionType import ActionType
from pathfinding.PathfinderOnStates import PathFinderOnStates, PathFinderState
from util.PathByEnum import PathByEnum
from util.PathDefinitions import GridLocation, GridWithWeights


class Phase(Enum):
    INIT = 1
    ITEM_RECOGNITION = 2
    CLIENT_SORTING = 3
    PLAN_MOVEMENT = 4
    EXECUTION = 5


class GameModel(Model):

    def __init__(self, width, height, graph: GridWithWeights, items: int, orders: int, classificator):
        # self.num_agents = 5
        self.first = True
        self.item_recognised = False
        self.running = True
        self.grid = MultiGrid(height, width, True)
        self.schedule = RandomActivation(self)
        self.current_item_recognition = None

        self.client_delivery: PatchAgent = None
        self.drop_off: PatchAgent = None
        self.graph = graph

        self.game_constants = GameConstants(
            width,
            height,
            graph.walls,
            graph.puddles
        )

        self.agents = [AgentBase]

        self.forklift_agent = ForkliftAgent(
            self,
            self.game_constants,
            self.client_delivery,
            self.drop_off,
            self.graph
        )

        self.schedule.add(self.forklift_agent)
        self.agents.append(self.forklift_agent)

        # INITIALIZATION #
        print("############## INITIALIZATION ##############")
        self.phase = Phase.INIT
        self.initialize_grid(graph)
        self.orderList: List[Order] = InitialStateFactory.generate_order_list(orders)
        self.fulfilled_orders: List[Order] = []
        self.forklift_agent.orderList = self.orderList
        self.forklift_agent.fulfilled_orders = self.fulfilled_orders
        self.classificator = classificator

        print("############## RECOGNISE ITEMS ##############")
        self.phase = Phase.ITEM_RECOGNITION
        self.provided_items = InitialStateFactory.generate_item_list(items)
        self.items_for_recognization = copy.deepcopy(self.provided_items)
        self.recognised_items: List[Item] = []

        print("Relocate forklift agent to loading area for item recognition")

        pathFinder = PathFinderOnStates(
            self.game_constants,
            self.drop_off.location,
            PathFinderState(self.forklift_agent.current_position, self.forklift_agent.current_rotation, 0,
                            Action(ActionType.NONE), [])
        )

        actions = pathFinder.get_action_list()
        print("PATHFINDING")
        print(actions)
        self.forklift_agent.queue_movement_actions(actions)

    def initialize_grid(self, graph: GridWithWeights):
        print("INITIALIZING GRID")
        # Add the agent to a random grid cell
        x = 5
        y = 5
        self.grid.place_agent(self.forklift_agent, (x, y))
        self.forklift_agent.current_position = (x, y)

        self.picture_visualization = PictureVisualizationAgent(
            self,
            (1, 11),
        )
        self.schedule.add(self.picture_visualization)
        self.grid.place_agent(self.picture_visualization, self.picture_visualization.location)
        self.agents.append(self.picture_visualization)

        self.place_logistics()
        self.place_dividers()
        self.place_walls_agents(graph.walls)
        self.place_puddles(graph.puddles)
        self.place_packing_stations(graph.packingStations)

    def place_dividers(self):
        for i in range(0, 10):
            for j in range(10, 13):
                agent = PatchAgent(self, (i, j), PatchType.divider)
                self.agents.append(agent)
                self.grid.place_agent(agent, (i, j))

    def place_logistics(self):
        agent = PatchAgent(self, (self.grid.width - 1, int(self.grid.height / 2)), PatchType.pickUp)
        self.schedule.add(agent)
        self.grid.place_agent(agent, agent.location)
        self.agents.append(agent)
        self.client_delivery = agent
        self.forklift_agent.client_delivery = self.client_delivery

        agent = PatchAgent(self, (0, int(self.grid.height / 2)), PatchType.dropOff)
        self.grid.place_agent(agent, agent.location)
        self.agents.append(agent)
        self.drop_off = agent
        self.forklift_agent.drop_off = self.drop_off

    def place_walls_agents(self, walls: List[GridLocation]):
        for w in walls:
            agent = PatchAgent(self, w, PatchType.wall)
            self.agents.append(agent)
            self.grid.place_agent(agent, w)

    def place_puddles(self, puddles: List[GridLocation]):
        for p in puddles:
            agent = PatchAgent(self, p, PatchType.diffTerrain)
            self.agents.append(agent)
            self.grid.place_agent(agent, p)

    def place_packing_stations(self, packing_stations: List[Tuple[PatchType, GridLocation]]):
        for p in packing_stations:
            agent = PatchAgent(self, p[1], p[0])
            self.agents.append(agent)
            self.grid.place_agent(agent, p[1])

    def step(self):
        self.schedule.step()
        self.grid.remove_agent(self.forklift_agent)
        self.grid.place_agent(self.forklift_agent, self.forklift_agent.current_position)

        if self.phase == Phase.ITEM_RECOGNITION:
            if not self.item_recognised and self.forklift_agent.current_position == self.drop_off.location:

                if len(self.items_for_recognization) == 0:
                    print("FINISHED ITEM RECOGNITION")
                    self.item_recognised = True
                    self.phase = Phase.CLIENT_SORTING
                    self.forklift_agent.ready_for_execution = True
                else:
                    print("BEGIN ITEM RECOGNITION, left: {}".format(len(self.items_for_recognization)))
                    item_to_recognise = self.items_for_recognization.pop()
                    self.picture_visualization.img = PathByEnum.get_random_path(item_to_recognise.real_type)
                    recognised = self.recognise_item(item_to_recognise)
                    self.recognised_items.append(recognised)

        if self.phase == Phase.CLIENT_SORTING:
            # TODO GENERICS SORTING
            sorted(self.orderList, key=lambda x: len(x.items))
            print("FINISHED CLIENT ORDER SORTING")
            self.phase = Phase.EXECUTION

        if self.phase == Phase.EXECUTION:
            print("Execution")

    def recognise_item(self, item: Item):
        # TODO IMAGE PROCESSING
        val = self.classificator.image_clasification(self.picture_visualization.img)
        print("VAL: {}".format(val))

        if val == ItemType.DOOR:
            item.guessed_type = ItemType.DOOR
        elif val == ItemType.FRIDGE:
            item.guessed_type = ItemType.FRIDGE
        elif val == ItemType.SHELF:
            item.guessed_type = ItemType.SHELF

        return item