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

Reviewed-on: #37

bfs.py

@@ -8,16 +8,16 @@ from queue import Queue, PriorityQueue
 from turnCar import turn_left_orientation, turn_right_orientation
 
 
-class Successor:
+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 = cost
+        self.predicted_cost = predicted_cost
 
 
-class SuccessorList:
+class SuccessorList:  # lista sukcesorów, czyli możliwych ścieżek po danym stanie
     succ_list: list[Successor]
 
     def __init__(self, succ_list: list[Successor]) -> None:
@@ -31,17 +31,17 @@ class SuccessorList:
 
 
 def find_path_to_nearest_can(startState: AgentState, grid: Dict[Tuple[int, int], GridCellType], city: City) -> List[
-    AgentActionType]:
+    AgentActionType]:  # znajduje ścieżkę do najbliższego kosza na smieci
     visited: List[AgentState] = []
-    queue: PriorityQueue[SuccessorList] = PriorityQueue()
+    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():
+    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):
+        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)
@@ -61,7 +61,7 @@ def find_path_to_nearest_can(startState: AgentState, grid: Dict[Tuple[int, int],
     return []
 
 
-def extract_actions(successors: SuccessorList) -> list[AgentActionType]:
+def extract_actions(successors: SuccessorList) -> list[AgentActionType]:  # wyodrębnienie akcji z listy sukcesorów, z pominięciem uknown
     output: list[AgentActionType] = []
     for s in successors.succ_list:
         if s.action != AgentActionType.UNKNOWN:
@@ -70,7 +70,7 @@ def extract_actions(successors: SuccessorList) -> list[AgentActionType]:
 
 
 def get_successors(succ: Successor, grid: Dict[Tuple[int, int], GridCellType], city: City) -> List[Successor]:
-    result: 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))
@@ -128,7 +128,7 @@ def get_next_cell(state: AgentState) -> Tuple[int, int]:
 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
+        return grid[next_cell] == GridCellType.GARBAGE_CAN  # agent dotarł do śmietnika
     except KeyError:
         return False
 
@@ -137,7 +137,7 @@ 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 10
+        return -10000
     if action == AgentActionType.MOVE_FORWARD:
         return 3
 

machine_learning/neuralNetwork.py

@@ -0,0 +1,41 @@
+import os
+from keras.preprocessing.image import ImageDataGenerator
+from keras.models import Sequential
+from keras.layers import Conv2D, MaxPooling2D, Flatten, Dense
+
+train_data_dir = "garbage_photos"
+location = os.path.realpath(os.path.join(os.getcwd(), os.path.dirname(__file__)))
+train_data_dir = os.path.join(location, train_data_dir)
+
+input_shape = (150, 150, 3)
+num_classes = 5
+batch_size = 32
+epochs = 20
+
+train_datagen = ImageDataGenerator(rescale=1./255)
+
+train_generator = train_datagen.flow_from_directory(
+    train_data_dir,
+    target_size=(input_shape[0], input_shape[1]),
+    batch_size=batch_size,
+    class_mode='categorical'
+)
+
+model = Sequential()
+model.add(Conv2D(32, (3, 3), activation='relu', input_shape=input_shape))
+model.add(MaxPooling2D(pool_size=(2, 2)))
+model.add(Conv2D(64, (3, 3), activation='relu'))
+model.add(MaxPooling2D(pool_size=(2, 2)))
+model.add(Conv2D(128, (3, 3), activation='relu'))
+model.add(MaxPooling2D(pool_size=(2, 2)))
+model.add(Flatten())
+model.add(Dense(128, activation='relu'))
+model.add(Dense(num_classes, activation='softmax'))
+
+model.compile(optimizer='adam', loss='categorical_crossentropy', metrics=['accuracy'])
+
+model.fit(train_generator, epochs=epochs)
+
+classes = train_generator.class_indices
+
+model.save("neuralModel.h5")

movement.py

@@ -2,7 +2,7 @@ import joblib
 from sklearn.calibration import LabelEncoder
 from agentActionType import AgentActionType
 import time
-from garbage import GarbageType, RecognizedGarbage
+from garbage import Garbage, GarbageType, RecognizedGarbage
 from garbageCan import GarbageCan
 from turnCar import turn_left_orientation, turn_right_orientation
 from garbageTruck import GarbageTruck
@@ -14,6 +14,12 @@ import pygame
 from bfs import find_path_to_nearest_can
 from agentState import AgentState
 
+import tensorflow as tf
+from keras.models import load_model
+import keras.utils as image
+from keras.optimizers import Adam
+import numpy as np
+
 
 def collect_garbage(game_context: GameContext) -> None:
     while True:
@@ -30,11 +36,12 @@ def collect_garbage(game_context: GameContext) -> None:
     pass
 
 def _recognize_garbage(dust_car: GarbageTruck, can: GarbageCan) -> None:
-    loaded_model = joblib.load('machine_learning/model.pkl')
+    tree_model = joblib.load('machine_learning/model.pkl')
+    optimizer = Adam(learning_rate=0.001)
+    neural_model = load_model('machine_learning/neuralModel.h5', compile=False)
+    neural_model.compile(optimizer=optimizer)
     for garbage in can.garbage:
-        attributes = [garbage.shape, garbage.flexibility, garbage.does_smell, garbage.weight, garbage.size, garbage.color, garbage.softness, garbage.does_din]
+        predicted_class = predict_class(garbage, tree_model, neural_model)
-        encoded = attributes_to_floats(attributes)
-        predicted_class = loaded_model.predict([encoded])[0]
         garbage_type: GarbageType = None
         if predicted_class == 'PAPER':
             garbage_type = GarbageType.PAPER
@@ -50,6 +57,35 @@ def _recognize_garbage(dust_car: GarbageTruck, can: GarbageCan) -> None:
         recognized_garbage = RecognizedGarbage(garbage, garbage_type)
         dust_car.sort_garbage(recognized_garbage)
 
+def predict_class(garbage: Garbage, tree_model, neural_model) -> str:
+    if garbage.img is None:
+        return predict_class_from_tree(garbage, tree_model)
+    return predict_class_from_neural_model(garbage, neural_model)
+
+def predict_class_from_tree(garbage: Garbage, tree_model) -> str:
+    attributes = [garbage.shape, garbage.flexibility, garbage.does_smell, garbage.weight, garbage.size, garbage.color, garbage.softness, garbage.does_din]
+    encoded = attributes_to_floats(attributes)
+    return tree_model.predict([encoded])[0]
+
+def predict_class_from_neural_model(garbage: Garbage, neural_model) -> str:
+    img = image.load_img(garbage.img, target_size=(150, 150))
+    img_array = image.img_to_array(img)
+    img_array = np.expand_dims(img_array, axis=0)
+    img_array /= 255.
+
+    predictions = neural_model.predict(img_array)
+    prediction = np.argmax(predictions[0])
+    if prediction == 0:
+        return "BIO"
+    if prediction == 1:
+        return "GLASS"
+    if prediction == 2:
+        return "MIXED"
+    if prediction == 3:
+        return "PAPER"
+    if prediction == 4:
+        return "PLASTIC_AND_METAL"
+
 def attributes_to_floats(attributes: list[str]) -> list[float]:
     output: list[float] = []
     if attributes[0] == 'Longitiudonal':

startup.py

@@ -36,12 +36,19 @@ def create_city() -> City:
     streets = create_streets()
     trashcans = create_trashcans()
     bumps = create_speed_bumps()
-    garbage_pieces = create_garbage_pieces()
+    garbage_pieces = create_garbage_pieces_witout_imgs()
     garbage_pieces_counter = 0
     for s in streets:
         city.add_street(s)
     for t in trashcans:
-        for i in range(4):
+        for _ in range(4):
+            t.add_garbage(garbage_pieces[garbage_pieces_counter])
+            garbage_pieces_counter = garbage_pieces_counter + 1
+        city.add_can(t)
+    garbage_pieces = create_garbage_pieces_with_images()
+    garbage_pieces_counter = 0
+    for t in trashcans:
+        for _ in range(3):
             t.add_garbage(garbage_pieces[garbage_pieces_counter])
             garbage_pieces_counter = garbage_pieces_counter + 1
         city.add_can(t)
@@ -50,16 +57,21 @@ def create_city() -> City:
     return city
 
 
-def create_garbage_pieces() -> List[Garbage]:
+def create_garbage_pieces_witout_imgs() -> List[Garbage]:
     garbage_pieces = []
     with open('machine_learning/garbage_infill.csv', 'r') as file:
         lines = file.readlines()
         for line in lines[1:]:
             param = line.strip().split(',')
             garbage_pieces.append(
-                Garbage('img', param[0], param[1], param[2], param[3], param[4], param[5], param[6], param[7].strip()))
+                Garbage(None, param[0], param[1], param[2], param[3], param[4], param[5], param[6], param[7].strip()))
     return garbage_pieces
 
+def create_garbage_pieces_with_images() -> list[Garbage]:
+    garbage_pieces = []
+    for i in range(1, 22):
+        garbage_pieces.append(Garbage('machine_learning/photos_not_from_train_set/' + str(i) + '.jpg', None, None, None, None, None, None, None, None))
+    return garbage_pieces
 
 def create_streets() -> List[Street]:
     streets = []