diff --git a/README.MD b/README.MD index 47e99d4..6fd4960 100644 --- a/README.MD +++ b/README.MD @@ -50,5 +50,10 @@ --- - [x] **Sieci neuronowe: wymagania dot. czwartego przyrostu** + - [x] Należy przygotować zbiór uczący zawierający co najmniej 1000 przykładów dla każdej klasy. - [x] Agent powinien wykorzystywać wyuczoną sieć w procesie podejmowania decyzji. + +- [ ] **Algorytmy genetyczne: wymagania dot. piątego przyrostu** + - [ ] ??? + - [ ] ??? diff --git a/agent.py b/agent.py index bb24fd9..80c1b5a 100644 --- a/agent.py +++ b/agent.py @@ -6,13 +6,13 @@ from src.controller.ImageController import ImageController SCREEN_SIZE = [800, 800] SQUARE_SIZE = 80 -SLEEP_DURATION = 0.125 +ACTION_DURATION = 0.1 COUNT_OF_OBJECTS = 25 store = ImageController(SQUARE_SIZE) waiter = Waiter([0, 0], 0, SQUARE_SIZE, SCREEN_SIZE, store) kitchen = Kitchen([0, 0], 0, SQUARE_SIZE, SCREEN_SIZE, store) -engine = Engine(SCREEN_SIZE, SQUARE_SIZE, kitchen, waiter, SLEEP_DURATION) +engine = Engine(SCREEN_SIZE, SQUARE_SIZE, kitchen, waiter, ACTION_DURATION) layout = LayoutController(engine, store).create_and_subscribe(COUNT_OF_OBJECTS) engine.loop() diff --git a/src/Engine.py b/src/Engine.py index 5db2f5f..dd94cd4 100644 --- a/src/Engine.py +++ b/src/Engine.py @@ -1,59 +1,64 @@ import time import pygame +from queue import PriorityQueue +from termcolor import colored + + from src.obj.Goal import Goal +from src.obj.Table import Table from src.obj.Object import Object from src.obj.Waiter import Waiter from src.obj.Kitchen import Kitchen +from src.obj.PriorityItem import PriorityItem +from src.obj.TemporaryState import TemporaryState + from src.controller.UserController import UserController from src.controller.StateController import StateController from src.controller.TreeController import TreeController from src.controller.NeuralNetworkController import NeuralNetworkController -from queue import PriorityQueue -from termcolor import colored -from src.obj.PriorityItem import PriorityItem class Engine: - def __init__(self, screen_size, square_size, kitchen: Kitchen, waiter: Waiter, sleep_duration): + def __init__(self, screen_size, square_size, kitchen: Kitchen, waiter: Waiter, action_duration): print(colored("Initialization...", "green")) pygame.display.set_caption('Waiter Agent') self.action_clock = 0 - self.sleep_duration = sleep_duration + self.action_duration = action_duration self.tree = TreeController() self.kitchen: Kitchen = kitchen - self.user: UserController = UserController(waiter) - self.state: StateController = StateController(waiter) - self.predictor: NeuralNetworkController = NeuralNetworkController() + self.waiter: Waiter = waiter + self.user_c: UserController = UserController() + self.state_c: StateController = StateController(waiter) + self.predictor_c: NeuralNetworkController = NeuralNetworkController() self.screen_size: list[int] = screen_size self.screen = pygame.display.set_mode(self.screen_size) self.square_size: int = square_size - self.num_squares = self.screen_size[0] // self.square_size - self.squares = self.__init_squares_field__( - self.num_squares, self.square_size) + self.num_squares = screen_size[0] // square_size self.objects: list[Object] = [] - self.goals: list = [] + self.goal: Goal = None + self.build_field() self.runnin: bool = False self.paused: bool = False + self.show_fringe: bool = False - def __init_squares_field__(self, num_squares, square_size): - squares = [] - for i in range(num_squares): - row = [] - for j in range(num_squares): - square_rect = pygame.Rect( - j * square_size, i * square_size, - square_size, square_size) - row.append(square_rect) - squares.append(row) - - return squares + def build_field(self): + s = self.square_size + n = self.num_squares + self.squares = [ + pygame.Rect( + j * s, + i * s, + s, s + ) + for j in range(n) for i in range(n) + ] def subscribe(self, object: Object): self.objects.append(object) @@ -64,119 +69,157 @@ class Engine: self.running = True while self.running: - self.action() - self.redraw() + self.user_interaction() + + if not self.paused: + self.action() + self.redraw() + + def user_interaction(self): + self.user_c.handler(engine=self) def quit(self): + print(colored("Exiting...", "red")) self.running = False def action(self): - self.user.handler(self) - if self.paused: - return - self.predict() + # STEP 1. Predict a goal - if not self.state.path: - if self.goals: - if not self.state.graphsearch(self) and self.goals: - self.objects.remove(self.goals.pop().parent) + self.predict_goal() + + if not self.state_c.path: + + # STEP 2. Search a path to the goal position + + has_path = self.state_c.graphsearch(self) + + # STEP 3. Action for unattainable goal + + if not has_path and self.goal: + self.unattainable_goal() else: - if not self.state.path[0].compare_pos(self.goals[-1].position): - self.state.reset() + + # STEP 4. Skip the empty path + + if not self.state_c.path[0].on(self.goal.position): + self.state_c.reset() return - # went path - state = self.user.obj.changeState(self.state.path.pop()) + # STEP 4. Follow the path + state = self.waiter.changeState(self.state_c.path.pop()) self.clock_increment(state.cost) - print(colored("Action:\t", "blue")+f"{state.agent_role}", end='\t') - print(colored("Cost:\t", "blue")+f"{state.cost}", end='\t') - print(colored("Cost so far: ", "blue") + - f"{state.cost_so_far}", end='\t') - print(colored("Battery: ", "blue") + - f"{self.user.obj.battery}", end='\t') - print(colored("Basket capacity: ", "blue") + - f"{self.user.obj.basket_capacity}", end='\t') - print(colored("Memory capacity: ", "blue") + - f"{self.user.obj.memory_capacity}") + # STEP 5. Log state details - # waiter interaction + self.log_state(state) + + # STEP 5. Interactions with the waiter for o in self.objects: - if self.user.obj.chechNeighbor(o): - o.updateState(self.action_clock, self.predictor) - if o.compare_pos(self.user.obj.position): - o.action(self.user.obj, self.action_clock) + if type(o) is Table: + if o.is_neighbor_of(self.waiter): + o.updateState(self.action_clock, self.predictor_c) + if self.waiter.on(o.position): + o.action(self.waiter, self.action_clock) - if self.kitchen.compare_pos(self.user.obj.position): - self.kitchen.action(self.user.obj, self.action_clock) + if self.waiter.on(self.kitchen.position): + self.kitchen.action(self.waiter, self.action_clock) - time.sleep(self.sleep_duration) + # STEP 6. Wait + + time.sleep(self.action_duration) + + def set_goal(self, parent): + self.goal = Goal(parent) + + def revoke_goal(self): + self.goal = None + + def unattainable_goal(self): + print(colored("Object unattainable", "red")) + self.objects.remove(self.goal.parent) + self.revoke_goal() + + def log_state(self, state: TemporaryState): + LOG_COLOR = "blue" + print( + colored("Action:", LOG_COLOR), + f"{state.agent_role:<5}", + colored("Cost:", LOG_COLOR), + f"{state.cost:<3}", + colored("Cost so far:", LOG_COLOR), + f"{state.cost_so_far:<3}", + colored("Battery:", LOG_COLOR), + f"{self.waiter.battery:<3}", + colored("Basket capacity:", LOG_COLOR), + f"{self.waiter.basket_capacity:<3}", + colored("Memory capacity:", LOG_COLOR), + f"{self.waiter.memory_capacity:<3}" + ) def clock_increment(self, action_time): self.action_clock += action_time def redraw(self): - if self.paused: - return - + # STEP 1. Clean up screen self.screen.fill((255, 255, 255)) - for row in self.squares: - for square_rect in row: - pygame.draw.rect(self.screen, (0, 0, 0), square_rect, 1) + # STEP 2. Draw grid + for square_rect in self.squares: + pygame.draw.rect(self.screen, (0, 0, 0), square_rect, 1) + + # STEP 3. Draw registered objects for o in self.objects: o.blit(self.screen) self.kitchen.blit(self.screen) - self.user.obj.blit(self.screen) + self.waiter.blit(self.screen) - for f in self.state.fringe.queue: + # STEP 4. Draw visualization of pathfinding + + for f in self.state_c.fringe.queue: f.blit(self.screen) - for s in self.state.path: + for s in self.state_c.path: s.blit(self.screen) - if self.goals: - self.goals[-1].blit(self.screen) + # STEP 5. Draw goal object + + if self.goal: + self.goal.blit(self.screen) + + # STEP 6. Apply change pygame.display.flip() - def appendGoal(self, parent): - self.goals.append(Goal(parent)) - - def predict(self): + def predict_goal(self): + # STEP 1. Prepare priority queue for potential goals goal_queue = PriorityQueue() - # sorting objects by distance to waiter + # STEP 2. Sorting objects by distance to waiter self.objects.sort( key=lambda o: o.distance_to( - self.user.obj.position, - mode="advanced" + self.waiter.position, + advanced_mode=True ) ) for o in self.objects: - condition = o.agent_role in [ - "table", - "order", - "wait", - "done" - ] + # STEP 3. Collecting data about the current state of the tables - if not condition or o.compare_pos(self.user.obj.position): + if not type(o) is Table or o.on(self.waiter.position): continue medium_dist = (self.screen_size[0] // self.square_size) // 2 dataset = [ # battery - self.user.obj.battery_status(), + self.waiter.battery_status(), # high | low | # distance between kitchen and object @@ -188,7 +231,7 @@ class Engine: # undefined | good | bad | # basket is empty - 1 if self.user.obj.basket_is_empty() else 0, + 1 if self.waiter.basket_is_empty() else 0, # yes | no | # dish is ready @@ -196,7 +239,7 @@ class Engine: # yes | no | # dish in basket - 1 if self.user.obj.dish_in_basket(o) else 0, + 1 if self.waiter.dish_in_basket(o) else 0, # yes | no | # status @@ -208,13 +251,21 @@ class Engine: # yes | no | ] + # STEP 4. Make priority prediction + p = self.tree.predict_priority(dataset) + + # STEP 5. Writing an object to the priority queue goal_queue.put(PriorityItem(o, p[0])) - self.goals.clear() - if goal_queue.queue: - item: PriorityItem = goal_queue.get() - if item.priority == 2: - self.appendGoal(self.kitchen) - else: - self.appendGoal(item.obj) + # STEP 6. Goal selection + + # 0 - High priority + # 1 - Low priority + # 2 - Return to kitchen + + item: PriorityItem = goal_queue.get() + if item.priority == 2: + self.set_goal(self.kitchen) + else: + self.set_goal(item.obj) diff --git a/src/controller/LayoutController.py b/src/controller/LayoutController.py index 17621d4..874c4d2 100644 --- a/src/controller/LayoutController.py +++ b/src/controller/LayoutController.py @@ -32,7 +32,7 @@ class LayoutController(): pos = [0, 0] - while any([o.compare_pos(pos) for o in objects]) or pos == [0, 0]: + while any([o.on(pos) for o in objects]) or pos == [0, 0]: pos = [random.randint(1, num_squares - 1), random.randint(1, num_squares - 1)] diff --git a/src/controller/NeuralNetworkController.py b/src/controller/NeuralNetworkController.py index f7c20dd..c63d194 100644 --- a/src/controller/NeuralNetworkController.py +++ b/src/controller/NeuralNetworkController.py @@ -11,33 +11,35 @@ from termcolor import colored class NeuralNetworkController: def __init__(self, learn: bool = False): + + # STEP 1. Model existence check if learn or not os.path.isfile('model/model.h5'): self.learn_model() - # Turn off interactive logging + # STEP 2. Turn off interactive logging tf.get_logger().setLevel(logging.ERROR) - # Load the trained model + # STEP 3. Load the trained model self.model = keras.models.load_model('model/model.h5') - # Load the class names + # STEP 4. Load the class names self.class_names = ['table', 'table', 'order'] - # Path to the folder containing test images + # STEP 5. Set up path to the folder containing test images self.test_images_folder = 'dataset/testset' def predict(self, image_path): - # Load and preprocess the test image + # STEP 1. Load and preprocess the test image test_image = keras.preprocessing.image.load_img( image_path, target_size=(100, 100)) test_image = keras.preprocessing.image.img_to_array(test_image) test_image = np.expand_dims(test_image, axis=0) test_image = test_image / 255.0 # Normalize the image - # Reshape the image array to (1, height, width, channels) + # STEP 2. Reshape the image array to (1, height, width, channels) test_image = np.reshape(test_image, (1, 100, 100, 3)) - # Make predictions + # STEP 3. Make predictions predictions = self.model.predict(test_image, verbose=None) predicted_class_index = np.argmax(predictions[0]) predicted_class = self.class_names[predicted_class_index] @@ -46,19 +48,25 @@ class NeuralNetworkController: return predicted_class def random_path_img(self) -> str: + # STEP 1. Choise random class folder_name = random.choice(os.listdir(self.test_images_folder)) folder_path = os.path.join(self.test_images_folder, folder_name) + + # STEP 2. Choise random image filename = "" while not (filename.endswith('.jpg') or filename.endswith('.jpeg')): filename = random.choice(os.listdir(folder_path)) + + # STEP 3. Join path image_path = os.path.join(folder_path, filename) return image_path def learn_model(self): print(colored("Model training... ", "green")) - # Normalizes the pixel values of an image to the range [0, 1]. + # STEP 1. Defining parameters + # Normalizes the pixel values of an image to the range [0, 1]. def normalize(image, label): return image / 255, label @@ -70,7 +78,8 @@ class NeuralNetworkController: # Set the image size and input shape img_width, img_height = 100, 100 input_shape = (img_width, img_height, 3) - # Load the training and validation data + + # STEP 2. Load the training and validation data train_ds = tf.keras.utils.image_dataset_from_directory( train_data_dir, validation_split=0.2, @@ -88,13 +97,14 @@ class NeuralNetworkController: seed=123, image_size=(img_height, img_width), batch_size=batch_size) - # Get the class names + + # STEP 3. Get the class names class_names = train_ds.class_names print(class_names) - # Normalize the training and validation data + # STEP 4. Normalize the training and validation data train_ds = train_ds.map(normalize) val_ds = val_ds.map(normalize) - # Define the model architecture + # STEP 5. Define the model architecture model = tf.keras.Sequential([ layers.Conv2D(16, 3, padding='same', activation='relu', input_shape=input_shape), @@ -107,19 +117,19 @@ class NeuralNetworkController: layers.Dense(128, activation='relu'), layers.Dense(num_classes, activation='softmax') ]) - # Compile the model + # STEP 6. Compile the model model.compile(optimizer='adam', loss=tf.keras.losses.SparseCategoricalCrossentropy( from_logits=True), metrics=['accuracy']) # Print the model summary model.summary() - # Train the model + # STEP 7. Train the model epochs = 10 model.fit(train_ds, validation_data=val_ds, epochs=epochs) - # Save the trained model + # STEP 8. Save the trained model Path("model/").mkdir(parents=True, exist_ok=True) model.save('model/model.h5') diff --git a/src/controller/StateController.py b/src/controller/StateController.py index c25ef2a..eb12405 100644 --- a/src/controller/StateController.py +++ b/src/controller/StateController.py @@ -17,10 +17,16 @@ class StateController: self.fringe = PriorityQueue() def build_path(self, goal_state, engine): + # STEP 1. Checking the cost of the first step + # If we are already at the destination, we set a penalty cost goal_state.cost = goal_state.cost if goal_state.agent_role != "blank" else 100 total_cost = goal_state.cost self.path.append(goal_state) - engine.goals.pop() + + # STEP 2. Revoking the target + engine.revoke_goal() + + # STEP 3. Restoring the path while self.path[-1].parent.agent_role not in ["blank", "waiter"]: self.path.append(self.path[-1].parent) total_cost += self.path[-1].cost @@ -29,27 +35,42 @@ class StateController: return self.path def graphsearch(self, engine): # A* - self.goal = list(engine.goals[-1].position) + if not engine.goal: + return False + + # STEP 1. Store goal position + self.goal = engine.goal.position print(colored(f"Search path to ", "yellow")+f"{self.goal}") + # STEP 2. Reset structures self.reset() + # STEP 3. Adding a start state to the queue start = TemporaryState(self.istate, 0) - self.fringe.put(start) + # STEP 4. Checking for states to explore while self.fringe.queue and not self.path: - self.explored.append(self.fringe.get()) - if self.goal_test(engine): - return + # STEP 5. Taking a state to explore + self.explored.append(self.fringe.get()) + + # STEP 6. Goal achievement check + if self.goal_test(engine): + return True + + # STEP 7. Handling children self.succ(self.explored[-1].front(), engine) self.succ(self.explored[-1].left(), engine) self.succ(self.explored[-1].right(), engine) - engine.redraw() + # STEP 8. Draw the fringes (optional) + if engine.show_fringe: + engine.redraw() + + # STEP 9. Reset structures self.reset() print(colored("Not found", "red")) @@ -58,28 +79,34 @@ class StateController: def succ(self, state: TemporaryState, engine): - if state.collide_test(): + # STEP 1. State capability check + if state.out_of_bounds_check(): return elif any(e.compare(state) for e in self.explored): return elif any([o.collide_test(state) for o in engine.objects]): return + # STEP 2. Calculate the state cost for o in engine.objects: if state.cost != 1: break if o.position == state.position: state.change_cost(o) + # STEP 3. Calculate the state cost so far state.cost_so_far = self.explored[-1].cost_so_far + state.cost + # STEP 4. Check if we have seen this state before in_explored = any([state.compare(s) for s in self.explored]) in_frige = any([state.compare(f) for f in self.fringe.queue]) + # If not seen - add to the queue for research if not in_explored and not in_frige: state.heuristic(self.goal) self.fringe.put(state) + # If seen - leave with the cheapest way elif in_frige: fringe = state for f in self.fringe.queue: diff --git a/src/controller/TreeController.py b/src/controller/TreeController.py index 5f62bc4..64a805f 100644 --- a/src/controller/TreeController.py +++ b/src/controller/TreeController.py @@ -12,20 +12,19 @@ class TreeController(): self.generateRawDataset() self.convertDataset() - # importing the dataset from the disk + # STEP 1. Importing the dataset from the disk train_data_m = np.genfromtxt( "out/dataset.csv", delimiter=",", skip_header=1) - # Separate the attributes and labels + # STEP 2. Separate the attributes and labels self.X_train = [data[:-1] for data in train_data_m] self.y_train = [data[-1] for data in train_data_m] - # Create the decision tree classifier using the ID3 algorithm + # STEP 3. Create the decision tree classifier using the ID3 algorithm self.clf = tree.DecisionTreeClassifier( criterion='entropy', splitter="best") - # clf = tree.DecisionTreeClassifier(criterion='gini') - # Train the decision tree on the training data + # STEP 4. Train the decision tree on the training data self.clf.fit(self.X_train, self.y_train) if exportText: @@ -64,7 +63,7 @@ class TreeController(): for status in status_values: for actual in other: - dataset = self.buildDataset( + dataset = [ battery, distance, mood, @@ -73,7 +72,10 @@ class TreeController(): dish, status, actual - ) + ] + + priority = self.getPriority(dataset) + dataset.append(priority) training_data.append(dataset) @@ -82,22 +84,6 @@ class TreeController(): writer = csv.writer(file) writer.writerows(training_data) - def buildDataset(self, b, d, m, e, r, i, s, a) -> list: - dataset = [ - b, # battery - d, # distance - m, # mood - e, # basket is empty - r, # ready - i, # dish in basket - s, # status - a, # actual - ] - - dataset.append(self.getPriority(dataset)) - - return dataset - def getPriority(self, dataset) -> str: PRIORITY = { 'high': 'high priority', @@ -154,7 +140,7 @@ class TreeController(): 9: ["high priority", "low priority", "return to kitchen"] } - # Create a mapping dictionary for attribute values + # STEP 1. Create a mapping dictionary for attribute values mapping = {} for attr, values in attributes.items(): mapping[attr] = {value: index for index, @@ -162,7 +148,7 @@ class TreeController(): converted_dataset = [] - # Read the input CSV file + # STEP 2. Read the input CSV file Path("out/").mkdir(parents=True, exist_ok=True) with open("out/rawDataset.csv", "r") as csvfile: reader = csv.reader(csvfile) @@ -170,11 +156,11 @@ class TreeController(): header = next(reader) # Skip the header row converted_dataset.append(header) - # Convert the data rows + # STEP 3. Convert the data rows for row in reader: converted_row = [] for i, value in enumerate(row): - # Convert the attribute values + # STEP 4. Convert the attribute values if i + 1 in mapping: converted_value = mapping[i + 1][value] else: @@ -184,17 +170,17 @@ class TreeController(): converted_dataset.append(converted_row) - # Write the converted dataset to a new CSV file + # STEP 5. Write the converted dataset to a new CSV file Path("out/").mkdir(parents=True, exist_ok=True) with open("out/dataset.csv", "w", newline="") as csvfile: writer = csv.writer(csvfile) - # Write the converted data rows + # STEP 6. Write the converted data rows for row in converted_dataset: writer.writerow(row) def exportText(self): - # Visualize the trained decision tree + # STEP 1. Visualize the trained decision tree tree_text = tree.export_text(self.clf, feature_names=[ "Battery level", "Distance between kitchen and table", @@ -206,11 +192,13 @@ class TreeController(): "Is actual", ]) + # STEP 2. Save the visualization as a text file Path("out/").mkdir(parents=True, exist_ok=True) with open('out/decision_tree.txt', 'w') as f: - f.write(tree_text) # Save the visualization as a text file + f.write(tree_text) def exportPdf(self): + # STEP 1. Visualize the trained decision tree dot_data = tree.export_graphviz(self.clf, out_file=None, feature_names=[ "Battery level", "Distance between kitchen and table", @@ -227,7 +215,7 @@ class TreeController(): ], filled=True, rounded=True) graph = graphviz.Source(dot_data) - # Save the visualization as a PDF file + # STEP 2. Save the visualization as a PDF file Path("out/").mkdir(parents=True, exist_ok=True) graph.render("out/decision_tree") diff --git a/src/controller/UserController.py b/src/controller/UserController.py index 0bc4875..96820f8 100644 --- a/src/controller/UserController.py +++ b/src/controller/UserController.py @@ -3,15 +3,20 @@ from termcolor import colored class UserController: - def __init__(self, usrObj): - self.obj = usrObj - def handler(self, engine): for event in pygame.event.get(): if event.type == pygame.QUIT: engine.quit() elif event.type == pygame.KEYDOWN: - if event.key == pygame.K_SPACE: + if event.key == pygame.K_ESCAPE: + engine.quit() + elif event.key == pygame.K_f: + engine.show_fringe = not engine.show_fringe + if engine.show_fringe: + print(colored("The fringes are shown", "green")) + else: + print(colored("The fringes are hidden", "green")) + elif event.key == pygame.K_SPACE: engine.paused = not engine.paused if engine.paused: print(colored("Paused", "red")) diff --git a/src/obj/Goal.py b/src/obj/Goal.py index 700f729..fd27eab 100644 --- a/src/obj/Goal.py +++ b/src/obj/Goal.py @@ -3,9 +3,11 @@ from src.obj.Object import Object class Goal(Object): def __init__(self, parent: Object): - super().__init__("goal", parent.position, 0, - parent.square_size, parent.screen_size, parent.store) + super().__init__( + "goal", + parent.position, 0, + parent.square_size, + parent.screen_size, + parent.store + ) self.parent = parent - - def collide_test(self, waiter: Object) -> bool: - return waiter.position == self.position diff --git a/src/obj/Kitchen.py b/src/obj/Kitchen.py index 3f92134..8a1d75d 100644 --- a/src/obj/Kitchen.py +++ b/src/obj/Kitchen.py @@ -1,11 +1,12 @@ from src.obj.Object import Object +from src.obj.Table import Table class Kitchen(Object): def __init__(self, position, orientation, square_size, screen_size, store): super().__init__("kitchen", position, orientation, square_size, screen_size, store) - self.cooking = [] - self.done = [] + self.cooking: list(Table) = [] + self.done: list(Table) = [] def action(self, waiter, current_time): self.cook_dishes(current_time) diff --git a/src/obj/Object.py b/src/obj/Object.py index 040d7fd..2add4da 100644 --- a/src/obj/Object.py +++ b/src/obj/Object.py @@ -44,23 +44,24 @@ class Object: self.rect.y = self.position[1] * self.square_size screen.blit(image, self.rect) - def compare_pos(self, pos) -> bool: - return self.position == pos + def on(self, position) -> bool: + return self.position == position - def distance_to(self, pos, mode="basic") -> int: + def distance_to(self, pos, advanced_mode: bool = False) -> int: x = abs(self.position[0] - pos[0]) y = abs(self.position[1] - pos[1]) self.h = ( math.sqrt(pow(x, 2) + pow(y, 2)) - if mode == "advanced" + if advanced_mode else x + y ) return self.h - def action(self, obj): - pass + def is_neighbor_of(self, obj, r=1): - def updateState(self, current_time, predictor): - pass + cond_x = abs(self.position[0] - obj.position[0]) <= r + cond_y = abs(self.position[1] - obj.position[1]) <= r + + return cond_x and cond_y diff --git a/src/obj/Table.py b/src/obj/Table.py index 09dfae5..8d74b2b 100644 --- a/src/obj/Table.py +++ b/src/obj/Table.py @@ -1,6 +1,7 @@ import random from src.obj.Object import Object from src.obj.Mark import Mark +from src.controller.NeuralNetworkController import NeuralNetworkController class Table(Object): @@ -30,7 +31,7 @@ class Table(Object): if self.mark: self.mark.blit(screen) - def updateState(self, current_time, predictor): + def updateState(self, current_time, predictor: NeuralNetworkController): if self.is_actual: if self.agent_role == "table": self.waiting_time = current_time diff --git a/src/obj/TemporaryState.py b/src/obj/TemporaryState.py index 5ad1208..039c538 100644 --- a/src/obj/TemporaryState.py +++ b/src/obj/TemporaryState.py @@ -46,7 +46,7 @@ class TemporaryState(Waiter): def front(self): return TemporaryState(self, self.cost_so_far, "front", 1) - def collide_test(self) -> bool: + def out_of_bounds_check(self) -> bool: out_of_range = [ self.position[0] >= self.square_count, self.position[1] >= self.square_count, diff --git a/src/obj/Waiter.py b/src/obj/Waiter.py index 2240848..e30695a 100644 --- a/src/obj/Waiter.py +++ b/src/obj/Waiter.py @@ -1,5 +1,8 @@ import copy + +from src.obj.Table import Table from src.obj.Object import Object +from src.obj.Kitchen import Kitchen class Waiter(Object): @@ -22,7 +25,7 @@ class Waiter(Object): self.battery -= state.cost return state - def dish_in_basket(self, table) -> bool: + def dish_in_basket(self, table: Table) -> bool: return table in self.basket def basket_is_full(self) -> bool: @@ -31,7 +34,7 @@ class Waiter(Object): def basket_is_empty(self) -> bool: return self.basket_capacity == 4 - def combine_orders(self, current_time, kitchen): + def combine_orders(self, current_time, kitchen: Kitchen): # take orders for table in self.memory: @@ -47,7 +50,7 @@ class Waiter(Object): self.basket.append(dish) self.basket_capacity -= 1 - def deliver_dish(self, table, current_time): + def deliver_dish(self, table: Table, current_time): if table in self.basket: table.reset_role(current_time) self.basket.remove(table) @@ -87,10 +90,3 @@ class Waiter(Object): self.position[0] += self.orientation - 2 # x (-1 or +1) else: # y (0 or 2) self.position[1] += self.orientation - 1 # y (-1 or +1) - - def chechNeighbor(self, n, r=1): - - cond_x = abs(self.position[0] - n.position[0]) <= r - cond_y = abs(self.position[1] - n.position[1]) <= r - - return cond_x and cond_y