Merge pull request 'Zmiana błędu w konstruktorze successor' (#37) from minor_upgrades into master

Reviewed-on: #37

.idea/.gitignore

@@ -0,0 +1,3 @@
+# Default ignored files
+/shelf/
+/workspace.xml

agentActionType.py

@@ -4,5 +4,4 @@ class AgentActionType (Enum):
     MOVE_FORWARD = 0
     TURN_LEFT = 1
     TURN_RIGHT = 2
-    EMPTY_CAN = 3
     UNKNOWN = None

bfs.py

@@ -1,95 +1,165 @@
 from agentState import AgentState
-from typing import Dict, Tuple
+from typing import Dict, Tuple, List
+from city import City
 from gridCellType import GridCellType
 from agentActionType import AgentActionType
 from agentOrientation import AgentOrientation
-from queue import Queue
+from queue import Queue, PriorityQueue
 from turnCar import turn_left_orientation, turn_right_orientation
 
-class Succ:
-    state: AgentState
-    action: AgentActionType
 
-    def __init__(self, state: AgentState, action: AgentActionType) -> None:
+class Successor:  # klasa reprezentuje sukcesora, stan i akcję którą można po nim podjąć
+
+    def __init__(self, state: AgentState, action: AgentActionType, cost: int, predicted_cost: int) -> None:
         self.state = state
         self.action = action
+        self.cost = cost
+        self.predicted_cost = predicted_cost
 
-def find_path_to_nearest_can(startState: AgentState, grid: Dict[Tuple[int, int], GridCellType]) -> list[AgentActionType]:
-    q: Queue[list[Succ]] = Queue()
-    visited: list[AgentState] = []
-    startStates: list[Succ] = [Succ(startState, AgentActionType.UNKNOWN)]
-    q.put(startStates)
-    while not q.empty():
-        currently_checked = q.get()
-        visited.append(currently_checked[-1].state)
-        if is_state_success(currently_checked[-1].state, grid):
-            return extract_actions(currently_checked)
-        successors = succ(currently_checked[-1].state)
+
+class SuccessorList:  # lista sukcesorów, czyli możliwych ścieżek po danym stanie
+    succ_list: list[Successor]
+
+    def __init__(self, succ_list: list[Successor]) -> None:
+        self.succ_list = succ_list
+
+    def __gt__(self, other):
+        return self.succ_list[-1].predicted_cost > other.succ_list[-1].predicted_cost
+
+    def __lt__(self, other):
+        return self.succ_list[-1].predicted_cost < other.succ_list[-1].predicted_cost
+
+
+def find_path_to_nearest_can(startState: AgentState, grid: Dict[Tuple[int, int], GridCellType], city: City) -> List[
+    AgentActionType]:  # znajduje ścieżkę do najbliższego kosza na smieci
+    visited: List[AgentState] = []
+    queue: PriorityQueue[SuccessorList] = PriorityQueue()  # kolejka priorytetowa przechodująca listę sukcesorów
+    queue.put(SuccessorList([Successor(startState, AgentActionType.UNKNOWN, 0, _heuristics(startState.position, city))]))
+
+    while not queue.empty():  # dopóki kolejka nie jest pusta, pobiera z niej aktualny element
+        current = queue.get()
+        previous = current.succ_list[-1]
+        visited.append(previous.state)
+
+        if is_state_success(previous.state, grid):  # jeśli ostatni stan w liście jest stanem końcowym (agent dotarł do śmietnika)
+            return extract_actions(current)
+
+        successors = get_successors(previous, grid, city)
         for s in successors:
             already_visited = False
             for v in visited:
-                if v.position[0] == s.state.position[0] and v.position[1] == s.state.position[1] and s.state.orientation == v.orientation:
+                if v.position == s.state.position and v.orientation == s.state.orientation:
                     already_visited = True
                     break
             if already_visited:
                 continue
             if is_state_valid(s.state, grid):
-                new_list = currently_checked.copy()
+                new_list = current.succ_list.copy()
                 new_list.append(s)
-                q.put(new_list)
+                queue.put(SuccessorList(new_list))
+
     return []
 
 
-        
-def extract_actions(successors: list[Succ]) -> list[AgentActionType]:
+def extract_actions(successors: SuccessorList) -> list[AgentActionType]:  # wyodrębnienie akcji z listy sukcesorów, z pominięciem uknown
     output: list[AgentActionType] = []
-    for s in successors:
+    for s in successors.succ_list:
         if s.action != AgentActionType.UNKNOWN:
             output.append(s.action)
     return output
 
-def succ(state: AgentState) -> list[Succ]:
-    result: list[Succ] = []
-    result.append(Succ(AgentState(state.position, turn_left_orientation(state.orientation)), AgentActionType.TURN_LEFT))
-    result.append(Succ(AgentState(state.position, turn_right_orientation(state.orientation)), AgentActionType.TURN_RIGHT))
-    state_succ = move_forward_succ(state)
-    if state_succ != None:
-        result.append(move_forward_succ(state))
+
+def get_successors(succ: Successor, grid: Dict[Tuple[int, int], GridCellType], city: City) -> List[Successor]:
+    result: List[Successor] = []  # generuje następników dla danego stanu,
+
+    turn_left_cost = 1 + succ.cost
+    turn_left_state = AgentState(succ.state.position, turn_left_orientation(succ.state.orientation))
+    turn_left_heuristics = _heuristics(succ.state.position, city)
+    result.append(
+        Successor(turn_left_state, AgentActionType.TURN_LEFT, turn_left_cost, turn_left_cost + turn_left_heuristics))
+
+    turn_right_cost = 1 + succ.cost
+    turn_right_state = AgentState(succ.state.position, turn_right_orientation(succ.state.orientation))
+    turn_right_heuristics = _heuristics(succ.state.position, city)
+    result.append(
+        Successor(turn_right_state, AgentActionType.TURN_RIGHT, turn_right_cost,
+                  turn_right_cost + turn_right_heuristics))
+
+    state_succ = move_forward_succ(succ, city, grid)
+    if state_succ is not None:
+        result.append(state_succ)
+
     return result
 
-def move_forward_succ(state: AgentState) -> Succ:
-    position = get_next_cell(state)
-    if position == None:
+
+def move_forward_succ(succ: Successor, city: City, grid: Dict[Tuple[int, int], GridCellType]) -> Successor:
+    position = get_next_cell(succ.state)
+    if position is None:
         return None
-    return Succ(AgentState(position, state.orientation), AgentActionType.MOVE_FORWARD)
+
+    cost = get_cost_for_action(AgentActionType.MOVE_FORWARD, grid[position]) + succ.cost
+    predicted_cost = cost + _heuristics(position, city)
+    new_state = AgentState(position, succ.state.orientation)
+    return Successor(new_state, AgentActionType.MOVE_FORWARD, cost, predicted_cost)
 
 
 def get_next_cell(state: AgentState) -> Tuple[int, int]:
-    if state.orientation == AgentOrientation.UP:
-        if state.position[1] - 1 < 1:
+    x, y = state.position
+    orientation = state.orientation
+
+    if orientation == AgentOrientation.UP:
+        if y - 1 < 1:
             return None
-        return (state.position[0], state.position[1] - 1)
-    if state.orientation == AgentOrientation.DOWN:
-        if state.position[1] + 1 > 27:
+        return x, y - 1
+    elif orientation == AgentOrientation.DOWN:
+        if y + 1 > 27:
             return None
-        return (state.position[0], state.position[1] + 1)
-    if state.orientation == AgentOrientation.LEFT:
-        if state.position[0] - 1 < 1:
+        return x, y + 1
+    elif orientation == AgentOrientation.LEFT:
+        if x - 1 < 1:
             return None
-        return (state.position[0] - 1, state.position[1])
-    if state.position[0] + 1 > 27:
+        return x - 1, y
+    elif x + 1 > 27:
         return None
-    return (state.position[0] + 1, state.position[1])
+    else:
+        return x + 1, y
+
 
 def is_state_success(state: AgentState, grid: Dict[Tuple[int, int], GridCellType]) -> bool:
     next_cell = get_next_cell(state)
     try:
-        return grid[next_cell] == GridCellType.GARBAGE_CAN
-    except:
+        return grid[next_cell] == GridCellType.GARBAGE_CAN  # agent dotarł do śmietnika
+    except KeyError:
         return False
 
+
+def get_cost_for_action(action: AgentActionType, cell_type: GridCellType) -> int:
+    if action in [AgentActionType.TURN_LEFT, AgentActionType.TURN_RIGHT]:
+        return 1
+    if cell_type == GridCellType.SPEED_BUMP and action == AgentActionType.MOVE_FORWARD:
+        return -10000
+    if action == AgentActionType.MOVE_FORWARD:
+        return 3
+
+
 def is_state_valid(state: AgentState, grid: Dict[Tuple[int, int], GridCellType]) -> bool:
     try:
-        return grid[state.position] == GridCellType.STREET_HORIZONTAL or grid[state.position] == GridCellType.STREET_VERTICAL
-    except:
+        return grid[state.position] == GridCellType.STREET_HORIZONTAL or grid[
+            state.position] == GridCellType.STREET_VERTICAL or grid[state.position] == GridCellType.SPEED_BUMP
+    except KeyError:
         return False
+
+
+def _heuristics(position: Tuple[int, int], city: City):
+    min_distance: int = 300
+    found_nonvisited: bool = False
+    for can in city.cans:
+        if can.is_visited:
+            continue
+        found_nonvisited = True
+        distance = 3 * (abs(position[0] - can.position[0]) + abs(position[1] - can.position[1]))
+        if distance < min_distance:
+            min_distance = distance
+    if found_nonvisited:
+        return min_distance
+    return -1

city.py

@@ -1,38 +1,44 @@
-from typing import List
+from typing import List, Dict, Tuple
 from garbageCan import GarbageCan
+from speedBump import SpeedBump
 from street import Street
 from gameContext import GameContext
 
-class Node:
-    garbageCan: GarbageCan
-    id: int
-
-    def __init__(self, id: int, can: GarbageCan) -> None:
-        self.id 
-        self.can = can
 
 class City:
-    nodes: List[GarbageCan]
+    cans: List[GarbageCan]
+    bumps: List[SpeedBump]
     streets: List[Street]
+    cans_dict: Dict[Tuple[int, int], GarbageCan] = {}
 
     def __init__(self) -> None:
-        self.nodes = []
+        self.cans = []
         self.streets = []
+        self.bumps = []
 
-    def add_node(self, node: GarbageCan) -> None:
-        self.nodes.append(node)
+    def add_can(self, can: GarbageCan) -> None:
+        self.cans.append(can)
+        self.cans_dict[can.position] = can
 
     def add_street(self, street: Street) -> None:
         self.streets.append(street)
 
+    def add_bump(self, bump: SpeedBump) -> None:
+        self.streets.append(bump)
+
     def render_city(self, game_context: GameContext) -> None:
         self._render_streets(game_context)
         self._render_nodes(game_context)
+        self._render_bumps(game_context)
 
     def _render_streets(self, game_context: GameContext) -> None:
         for street in self.streets:
             street.render(game_context)
 
     def _render_nodes(self, game_context: GameContext) -> None:
-        for node in self.nodes:
+        for node in self.cans:
             node.render(game_context)
+
+    def _render_bumps(self, game_context: GameContext) -> None:
+        for bump in self.bumps:
+            bump.render(game_context)

gameContext.py

@@ -16,6 +16,8 @@ class GameContext:
     dust_car = None
     landfill = None
     
+
+
     def __init__(self) -> None:
         self._init_grid()
 

garbage.py

@@ -1,21 +1,41 @@
 from enum import Enum
 
-class GarbageType (Enum):
+
+class GarbageType(Enum):
     PAPER = 0,
     PLASTIC_AND_METAL = 1
     GLASS = 3
     BIO = 4
     MIXED = 5
 
+
 class Garbage:
     img: str
+    shape: str
+    flexibility: str
+    does_smell: str
+    weight: str
+    size: str
+    color: str
+    softness: str
+    does_din: str
 
-    def __init__(self, img: str) -> None:
+    def __init__(self, img: str, shape: str, flexibility: str, does_smell: str, weight: str, size: str, color: str, softness: str, does_din: str) -> None:
         self.img = img
+        self.shape = shape
+        self.flexibility = flexibility
+        self.does_smell = does_smell
+        self.weight = weight
+        self.size = size
+        self.color = color
+        self.softness = softness
+        self.does_din = does_din
 
-class RecognizedGarbage (Garbage):
+
+class RecognizedGarbage:
     garbage_type: GarbageType
+    src: Garbage
 
     def __init__(self, src: Garbage, garbage_type: GarbageType) -> None:
-        super().__init__(src.img)
         self.garbage_type = garbage_type
+        self.src = src

garbageCan.py

@@ -3,13 +3,16 @@ from typing import List, Tuple
 from gameContext import GameContext
 from gridCellType import GridCellType
 
+
 class GarbageCan:
     position: Tuple[int, int]
     garbage: List[Garbage]
+    is_visited: bool
 
     def __init__(self, position: Tuple[int, int]) -> None:
         self.position = position
         self.garbage = []
+        self.is_visited = False
 
     def add_garbage(self, garbage: Garbage) -> None:
         self.garbage.append(garbage)
@@ -17,6 +20,7 @@ class GarbageCan:
     def remove_garbage(self, garbage: Garbage) -> None:
         self.garbage.remove(garbage)
 
+
     def render(self, game_context: GameContext) -> None:
         game_context.render_in_cell(self.position, "imgs/container.png")
         game_context.grid[self.position] = GridCellType.GARBAGE_CAN

garbageTruck.py

@@ -1,6 +1,6 @@
 from typing import List, Tuple
 from agentOrientation import AgentOrientation
-from garbage import RecognizedGarbage
+from garbage import GarbageType, RecognizedGarbage
 from gameContext import GameContext
 
 class GarbageTruck:
@@ -22,19 +22,19 @@ class GarbageTruck:
         
 
     def sort_garbage(self, RecognizedGarbage) -> None:
-        if RecognizedGarbage.garbage_type == 0:
+        if RecognizedGarbage.garbage_type == GarbageType.PAPER:
             self.paper.append(RecognizedGarbage)
 
-        elif RecognizedGarbage.garbage_type == 1:
+        elif RecognizedGarbage.garbage_type == GarbageType.PLASTIC_AND_METAL:
             self.plastic_and_metal.append(RecognizedGarbage)
 
-        elif RecognizedGarbage.garbage_type == 3:
+        elif RecognizedGarbage.garbage_type == GarbageType.GLASS:
             self.glass.append(RecognizedGarbage)
 
-        elif RecognizedGarbage.garbage_type == 4:
+        elif RecognizedGarbage.garbage_type == GarbageType.BIO:
             self.bio.append(RecognizedGarbage)
 
-        elif RecognizedGarbage.garbage_type == 5:
+        elif RecognizedGarbage.garbage_type == GarbageType.MIXED:
             self.mixed.append(RecognizedGarbage)
 
     def render(self, game_context: GameContext) -> None:

gridCellType.py

@@ -7,3 +7,5 @@ class GridCellType(Enum):
     GARBAGE_CAN = 3
     VISITED_GARBAGE_CAN = 4
     LANDFILL = 5
+    SPEED_BUMP = 6
+    UNKNOWN = None

machine_learning/decisionTree.py

@@ -0,0 +1,95 @@
+import os
+from trainingData import TrainingData
+from sklearn import tree
+import joblib
+from sklearn.preprocessing import LabelEncoder, OneHotEncoder
+import numpy as np
+
+def _read_training_data() -> TrainingData:
+    attributes = []
+    classes = []
+    location = os.path.realpath(os.path.join(os.getcwd(), os.path.dirname(__file__)))
+    file = open(os.path.join(location, 'training_data.csv'))
+    lines = file.readlines()[1:]
+    file.close()
+    for line in lines:
+        actual_row = line.replace('\n', '')
+        values = actual_row.split(',')
+        line_attributes = values[:-1]
+        line_class = values[-1]
+        attributes.append(line_attributes)
+        classes.append(line_class.strip())
+    return TrainingData(attributes, classes)
+
+def _attributes_to_floats(attributes: list[str]) -> list[float]:
+    output: list[float] = []
+    if attributes[0] == 'Longitiudonal':
+        output.append(0)
+    elif attributes[0] == 'Round':
+        output.append(1)
+    elif attributes[0] == 'Flat':
+        output.append(2)
+    elif attributes[0] == 'Irregular':
+        output.append(3)
+    
+    if attributes[1] == 'Low':
+        output.append(0)
+    elif attributes[1] == 'Medium':
+        output.append(1)
+    elif attributes[1] == 'High':
+        output.append(2)
+    
+
+    if attributes[2] == "Yes":
+        output.append(0)
+    else:
+        output.append(1)
+    
+    if attributes[3] == 'Low':
+        output.append(0)
+    elif attributes[3] == 'Medium':
+        output.append(1)
+    elif attributes[3] == 'High':
+        output.append(2)
+
+    if attributes[4] == 'Low':
+        output.append(0)
+    elif attributes[4] == 'Medium':
+        output.append(1)
+    elif attributes[4] == 'High':
+        output.append(2)
+
+    if attributes[5] == 'Transparent':
+        output.append(0)
+    elif attributes[5] == 'Light':
+        output.append(1)
+    elif attributes[5] == 'Dark':
+        output.append(2)
+    elif attributes[5] == "Colorful":
+        output.append(3)
+
+    if attributes[6] == 'Low':
+        output.append(0)
+    elif attributes[6] == 'Medium':
+        output.append(1)
+    elif attributes[6] == 'High':
+        output.append(2)
+
+    if attributes[7] == "Yes":
+        output.append(0)
+    else:
+        output.append(1)
+    return output
+
+
+
+trainning_data = _read_training_data()
+
+X = trainning_data.attributes
+Y = trainning_data.classes
+
+
+model = tree.DecisionTreeClassifier()
+encoded = [_attributes_to_floats(x) for x in X]
+dtc = model.fit(encoded, Y)
+joblib.dump(model, 'model.pkl')

machine_learning/garbage_infill.csv

@@ -0,0 +1,29 @@
+Shape,Flexibility,DoesSmell,Weight,Size,Color,Softness,DoesDin
+Irregular,High,No,High,Medium,Dark,Low,Yes
+Longitiudonal,Low,No,Low,Low,Light,Medium,Yes
+Longitiudonal,Medium,No,Medium,Low,Dark,High,No
+Longitiudonal,Low,No,Medium,Low,Dark,High,Yes
+Round,Low,Yes,High,High,Transparent,High,Yes
+Irregular,Medium,Yes,High,Low,Transparent,Medium,No
+Longitiudonal,Medium,Yes,Low,High,Colorful,Medium,Yes
+Longitiudonal,Low,No,Low,Medium,Dark,Medium,Yes
+Flat,Medium,Yes,High,Low,Transparent,Low,Yes
+Irregular,Medium,Yes,High,Medium,Dark,Low,No
+Longitiudonal,High,No,Low,High,Colorful,Low,Yes
+Round,Medium,No,Medium,Medium,Dark,Low,No
+Longitiudonal,Medium,No,Medium,Medium,Transparent,High,No
+Flat,Medium,Yes,Low,Low,Light,Medium,No
+Flat,Medium,Yes,Medium,High,Light,Medium,No
+Flat,Low,No,High,Low,Dark,High,No
+Longitiudonal,Medium,Yes,High,High,Dark,Low,Yes
+Flat,Low,Yes,Low,Low,Transparent,Low,No
+Flat,Low,No,Medium,Low,Colorful,Low,No
+Longitiudonal,Low,Yes,High,Medium,Transparent,Low,No
+Longitiudonal,Low,No,Medium,High,Dark,Low,Yes
+Irregular,Medium,No,Medium,Medium,Light,Low,Yes
+Longitiudonal,High,No,High,High,Colorful,Low,No
+Flat,Low,No,Low,Low,Dark,High,No
+Flat,Low,Yes,Low,High,Dark,Low,Yes
+Irregular,Medium,Yes,High,High,Dark,Low,No
+Flat,High,No,High,Low,Dark,Medium,Yes
+Longitiudonal,High,Yes,Low,Medium,Colorful,Low,Yes