działa koniec totalna essa
Signed-off-by: Neerka <kuba.markil0220@gmail.com>
This commit is contained in:
Neerka
Neerka
parent
4a6045bdc9
commit
a692108116
@ -1,12 +1,15 @@
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import math
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import heapq
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import math
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import pickle
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import numpy as np
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from joblib import load
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import pygame
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from joblib import load
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from tensorflow.keras.models import load_model
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from classes.Household import *
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from classes.Node import *
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from classes.Trashcan import Trashcan
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from tensorflow.keras.models import load_model
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class Garbagetruck:
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@ -18,7 +21,7 @@ class Garbagetruck:
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self.daytime = random.randint(0, 3)
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self.zapelnienie: int = 1
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self.knowledge = [self.season, self.daytime, -1, -1, self.zapelnienie, -1, -1, self.weather]
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self.capacity: int = 20
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self.capacity: int = 10
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self.trash: list = []
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self.trashweight: int = 0
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self.image = pygame.image.load("sprites/smieciara.png").convert_alpha()
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@ -32,15 +35,34 @@ class Garbagetruck:
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"Mixed": "mixed",
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"Bio": "bio_waste",
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"Szklo": "glass"}
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self.route = None # jeszcze nie
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self.route = pickle.load(open('classes/best_path.pkl', "rb")) # używane
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self.scanner = load_model("./classes/best_model_newD.h5")
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self.planner = None # jeszcze nie
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self.driver = load("./classes/drzewo.joblib")
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self.orientation = 3 # Niech numery będą tak: N - 0, W - 1, S - 2, E - 3 -- po prostu odwrotnie do zegara
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self.runningtime = 0
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self.movesequence = []
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self.target = None # używane
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self.analising = False # używane
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self.dumping = 0
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def switchDumping(self):
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self.dumping = 0 if self.dumping else 1
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def goDumpTrash(self):
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if self.dumping:
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return
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if self.trashweight >= 0.8 * self.capacity or not self.route:
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self.addPointsToRoute()
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print("Zaczynam wyrzucać śmieci")
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self.switchDumping()
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self.setTarget()
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self.setMovesequence(self.graphsearch())
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def addPointsToRoute(self):
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points = [0]
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points.extend([trash.getPosition() for trash in self.trashcans])
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points.extend(self.route)
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self.route = points
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def identify(self, trash):
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obraz = trash.getImage()
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@ -92,16 +114,6 @@ class Garbagetruck:
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self.movesequence = movesequence
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return self
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def setTarget(self):
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for place in self.houses:
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if place.getFinal():
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self.target = place
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return
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for place in self.trashcans:
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if place.getFinal():
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self.target = place
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return
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def getOrientation(self):
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return self.orientation
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@ -152,7 +164,7 @@ class Garbagetruck:
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def changeZapelnienie(self) -> None:
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if self.trashweight < 0.25*self.capacity:
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self.zapelnienie = 1
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elif self.trashweight < self.capacity:
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elif self.trashweight <= self.capacity:
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self.zapelnienie = 2
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else:
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self.zapelnienie = 0
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@ -243,10 +255,16 @@ class Garbagetruck:
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return self.mult*x, self.mult*y
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def throwGarbage(self):
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for item in self.trash:
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if item.getTtype() == self.state.getTrashtype():
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self.addTrashweight(item.getWeight * (-1))
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for item in self.trash[:]:
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con = True if item.getTtype() == self.state.getTrashtype() else False
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print(con)
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if con:
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self.addTrashweight(item.getWaga() * (-1))
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self.trash.remove(item)
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print(f'{self.trashweight}/{self.capacity} - Pozostałe zapełnienie śmieciarki')
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if self.trashweight == 0:
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print("Skończyłem wyrzucać śmieci")
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self.switchDumping()
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def rotateImage(self, arg):
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self.image = pygame.transform.rotate(self.image, 90*arg)
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@ -317,7 +335,7 @@ class Garbagetruck:
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def heuristic(state):
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x, y, _ = state
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target_x, target_y = self.target.getPosition()
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target_x, target_y = self.target
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return abs(target_x - x) + abs(target_y - y)
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def cost(state):
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@ -331,7 +349,7 @@ class Garbagetruck:
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fringe = []
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explored = []
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target = self.target.getPosition()
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target = self.target
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temp = self.getPosition()[:]
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temp.append(self.getOrientation())
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initial = Node(temp)
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@ -355,6 +373,7 @@ class Garbagetruck:
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lista = findWay(elem)
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result = lista[::-1]
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result.pop(0)
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# self.switchAnalising()
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return result
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explored.append(elem)
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@ -378,13 +397,25 @@ class Garbagetruck:
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elif element == "F":
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self.moveForward()
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def randomTarget(self):
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# wybor1 = random.random()
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# if wybor1 < 0.75:
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wybor2 = random.choice(self.houses)
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while not wybor2.getGarbage().getContent():
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wybor2 = random.choice(self.houses)
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# else:
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# wybor2 = random.choice(self.trashcans)
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wybor2.switchFinal()
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# print(wybor2)
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def setTarget(self):
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self.route.pop(0)
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self.target = self.route[0]
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for house in self.houses:
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if house.getPosition() == self.target:
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house.switchFinal()
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return
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for can in self.trashcans:
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if can.getPosition() == self.target:
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can.switchFinal()
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return
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def setFirstTarget(self):
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self.target = self.route[0]
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for house in self.houses:
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if house.getPosition() == self.target:
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house.switchFinal()
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return
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for can in self.trashcans:
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if can.getPosition() == self.target:
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can.switchFinal()
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return
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@ -1,11 +1,9 @@
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import random
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from classes.Garbage import *
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class Household:
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def __init__(self, mult):
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self.paid = random.randint(0, 1)
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self.paid = 1 if random.random() > 0.2 else 0
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self.lastTaken = random.randint(0, 30)
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self.mult = mult
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self.id: int = 0
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@ -64,7 +64,7 @@ model.add(Conv2D(filters = 16, kernel_size = (3, 3), activation='relu', input_sh
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model.add(MaxPooling2D((2, 2)))
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model.add(Flatten())
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model.add(Dense(128*128, activation='relu'))
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model.add(Dense(1000, activation='relu'))
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model.add(Dense(100, activation='relu'))
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# model.add(Dropout(0.2))
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model.add(Dense(25, activation='relu'))
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# model.add(Dropout(0.2))
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@ -1,4 +1,5 @@
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from random import choice as rd
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from classes.trashFunctions import generatePicList
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@ -59,7 +60,7 @@ class Papier(Trash):
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def __init__(self):
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super().__init__()
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self.tree_type = 1
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self.ttype = "Papier"
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self.ttype = "paper"
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self.real_type = "Papier"
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self.scan_id = 0
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self.waga = 2
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@ -73,7 +74,7 @@ class MetalPlastik(Trash):
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def __init__(self):
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super().__init__()
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self.tree_type = 2
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self.ttype = "MetalPlastik"
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self.ttype = "metals_and_plastics"
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self.real_type = "MetalPlastik"
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self.scan_id = 4
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self.waga = 3
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@ -87,7 +88,7 @@ class Mixed(Trash):
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def __init__(self):
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super().__init__()
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self.tree_type = 4
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self.ttype = "Mixed"
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self.ttype = "mixed"
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self.real_type = "Mixed"
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self.scan_id = 2
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self.waga = 1
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@ -101,7 +102,7 @@ class Bio(Trash):
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def __init__(self):
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super().__init__()
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self.tree_type = 0
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self.ttype = "Bio"
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self.ttype = "bio"
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self.real_type = "Bio"
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self.scan_id = 1
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self.waga = 2
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@ -115,7 +116,7 @@ class Szklo(Trash):
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def __init__(self):
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super().__init__()
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self.tree_type = 3
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self.ttype = "Szklo"
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self.ttype = "glass"
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self.real_type = "Szklo"
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self.scan_id = 3
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self.waga = 5
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BIN
classes/best_path.pkl
Normal file
BIN
classes/best_path.pkl
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Binary file not shown.
67
classes/genetic.py
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67
classes/genetic.py
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@ -0,0 +1,67 @@
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import pickle
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import random
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def manhattan_distance(point1, point2):
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return abs(point1[0] - point2[0]) + abs(point1[1] - point2[1])
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def calculate_fitness(individual, points):
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return -sum(manhattan_distance(points[individual[i - 1]], points[individual[i]]) for i in range(len(individual)))
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def crossover(parent1, parent2):
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size = len(parent1)
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start, end = sorted(random.sample(range(size), 2))
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child = [None] * size
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# Copy subset from first parent
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child[start:end + 1] = parent1[start:end + 1]
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# Copy remaining genes from second parent, wrapping around
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wrapped_parent2 = parent2[end + 1:] + parent2[:end + 1]
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remaining_genes = [gene for gene in wrapped_parent2 if gene not in child]
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child[end + 1:] = remaining_genes[:size - end - 1]
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child[:start] = remaining_genes[size - end - 1:]
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return child
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def mutate(individual):
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idx1, idx2 = random.sample(range(len(individual)), 2)
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individual[idx1], individual[idx2] = individual[idx2], individual[idx1]
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def genetic_algorithm(points, population_size, generations):
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population = [random.sample(range(len(points)), len(points)) for _ in range(population_size)]
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for _ in range(generations):
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population.sort(key=lambda individual: calculate_fitness(individual, points), reverse=True)
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next_generation = population[:population_size // 10]
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while len(next_generation) < population_size:
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parent1, parent2 = random.choices(population[:population_size // 2], k=2)
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child = crossover(parent1, parent2)
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if random.random() < 0.01:
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mutate(child)
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next_generation.append(child)
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population = next_generation
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best_individual = max(population, key=lambda individual: calculate_fitness(individual, points))
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best_path = [points[i] for i in best_individual]
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with open('best_path.pkl', 'wb') as f:
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pickle.dump(best_path, f)
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return best_path, -calculate_fitness(best_individual, points)
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point_list = []
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for i in range(1, 29):
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if i % 2 == 1:
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point_list.append((i, 6))
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point_list.append((i, 12))
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elif i % 2 == 0:
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point_list.append((i, 9))
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if i % 2 == 1 and i % 4 != 1:
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point_list.append((i, 10))
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print(genetic_algorithm(point_list, 100, 1000))
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24
main.py
24
main.py
@ -1,6 +1,8 @@
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from generators import *
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import time
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import classes.Household
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from generators import *
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W = 30
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H = 20
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MULT = 50
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@ -14,7 +16,7 @@ targimage = pygame.transform.scale(targimage, (MULT, MULT))
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trashcans = trashcanGenerator(MULT)
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houses = householdGenerator(MULT)
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garbagetruck = Garbagetruck(MULT).setHouses(houses).setTrashcans(trashcans)
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garbagetruck.setFirstTarget()
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# print("Kolejność danych do drzewa:")
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# print("Pora roku - Pora dnia - Typ śmieci - Zapełnienie kosza - Zapełnienie śmieciarki - Zapłacone - Ostatnio zabrane "
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# "- Pogoda")
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@ -25,7 +27,6 @@ while running:
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if event.type == pygame.QUIT:
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running = False
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garbagetruck.setTarget()
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garbagetruck.executeMovement()
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screen.fill((0, 0, 0))
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tilemap.render(MULT)
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@ -34,26 +35,33 @@ while running:
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screen.blit(i.getImage(), i.printme())
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for h in houses:
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screen.blit(h.getImage(), h.printme())
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bruh = garbagetruck.target.getPosition()
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bruh = garbagetruck.target
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bruhlist = [i*MULT for i in bruh]
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screen.blit(targimage, bruhlist)
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screen.blit(garbagetruck.getImage(), garbagetruck.printme())
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pygame.display.update()
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garbagetruck.scanTile()
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state = garbagetruck.getState()
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garbagetruck.goDumpTrash()
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# print(type(state))
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while garbagetruck.getAnalising():
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garbagetruck.pickTrash()
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if not garbagetruck.movesequence:
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moves = garbagetruck.graphsearch()
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garbagetruck.setMovesequence(moves)
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if state:
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if state.getFinal():
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if isinstance(state, classes.Household.Household) and state.getFinal():
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# print([trash.getTtype() for trash in state.getGarbage().getContent()])
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garbagetruck.switchAnalising()
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garbagetruck.getState().switchFinal()
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elif not garbagetruck.movesequence:
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garbagetruck.randomTarget()
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time.sleep(0.5)
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elif isinstance(state, classes.Trashcan.Trashcan) and state.getFinal():
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print("Wyrzucam")
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garbagetruck.throwGarbage()
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print([trash.getTtype() for trash in garbagetruck.getTrash()])
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garbagetruck.getState().switchFinal()
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if not garbagetruck.movesequence and not garbagetruck.getAnalising():
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garbagetruck.setTarget()
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time.sleep(0.25)
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pygame.quit()
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