genetic algorithm preparation #2

agent.py

@@ -13,15 +13,16 @@ 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, ACTION_DURATION)
-layout = LayoutController(engine, store).create_and_subscribe(COUNT_OF_OBJECTS)
+layout = LayoutController(engine, store).create_and_subscribe(
+    radius=2, neighbors_count=3, block_chance=30)
 
 
-# engine.loop()
+engine.loop()
 
-# '''
+'''
 def example_stop(action_clock: int) -> bool:
     return action_clock < 1000
 
 
 print(engine.train_loop(example_stop))
-# '''
+'''

src/Engine.py

@@ -1,3 +1,4 @@
+import copy
 import time
 import pygame
 from queue import PriorityQueue
@@ -81,18 +82,32 @@ class Engine:
         print(colored("Simulation started", "green"))
 
         real_action_duration = self.action_duration
+        real_waiter_state = self.waiter.makeCopy()
+
         self.action_duration = 0
+        self.serviced_tables = 0
         self.is_simulation = True
         self.predictor_c.is_simulation = True
 
         while stop_condition(self.action_clock):
             self.action()
 
+        result = self.serviced_tables
+
         self.action_duration = real_action_duration
+        self.serviced_tables = 0
         self.is_simulation = False
         self.predictor_c.is_simulation = False
+        self.waiter.applyState(real_waiter_state)
+        self.kitchen.restoreDefaultState()
 
-        return self.serviced_tables
+        self.unsubscribe_all()
+
+        return result
+
+    def unsubscribe_all(self):
+        self.objects: list[Object] = []
+        self.goal: Goal = None
 
     def user_interaction(self):
         self.user_c.handler(engine=self)

src/controller/LayoutController.py

@@ -1,4 +1,6 @@
 import random
+import time
+import numpy as np
 from src.obj.Block import Block
 from src.obj.Table import Table
 
@@ -14,34 +16,97 @@ class LayoutController():
         self.enginie = engine
         self.store = store
 
-    def create_and_subscribe(self, count):
+    def create_and_subscribe(self, radius: int, neighbors_count: int, block_probability: int):
         '''
         That function generate a location and a type of objects
         and subscribe they to action list in the engine
 
-        `param: count (int)` - number of objects to be created
+        `param: radius (int)` - radius in blocks in which we will consider neighbors
+        `param: neighbors_count (int)` - allowed number of neighbors
+        `param: block_probability (int)` - probability that the object will be a block in percents
         '''
 
         num_squares = self.enginie.num_squares
         square_size = self.enginie.square_size
         screen_size = self.enginie.screen_size
+
+        pos_matrix = np.full((num_squares, num_squares), -1)
+
+        def getFreeSquare(m):
+            for i in range(num_squares):
+                for j in range(num_squares):
+                    if m[i][j] == -1:
+                        return [i, j]
+            return None
+
+        def neighbors(m, p, r):
+            n = []
+            for ri in range(r + 1):
+                if (p[0] + ri) >= num_squares:
+                    break
+                for rj in range(r + 1):
+                    if (p[1] + rj) >= num_squares:
+                        break
+
+                    if m[p[0]+ri][p[1]+rj] == -1:
+                        n.append([p[0]+ri, p[1]+rj])
+            return n
+
+        def condition(m, p, radius, count):
+
+            counter = count
+
+            for ri in range(radius + 1):
+                if (p[0] + ri) >= num_squares:
+                    break
+                for rj in range(radius + 1):
+                    if (p[1] + rj) >= num_squares:
+                        break
+                    if m[p[0]+ri][p[1]+rj] == 1:
+                        counter -= 1
+
+            return counter > 0
+
+        pos_matrix[0][0] = 1
+        fringe = [[0, 0]]
+        explored = []
+
+        while fringe:
+
+            explored.append(random.choice(fringe))
+            fringe.remove(explored[-1])
+
+            n = neighbors(pos_matrix, explored[-1], radius)
+            while n and condition(pos_matrix, explored[-1], radius, neighbors_count):
+                child = random.choice(n)
+                pos_matrix[child[0]][child[1]] = 1
+                fringe.append(child)
+                n.remove(child)
+
+            for child in n:
+                pos_matrix[child[0]][child[1]] = 0
+
+            n = []
+
+            if not fringe:
+                f = getFreeSquare(pos_matrix)
+                if f:
+                    fringe.append(f)
+
+        pos_matrix[0][0] = 0
+
         store = self.store
         objects = []
 
-        for _ in range(count):
-
-            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)]
-
-            if (random.randint(0, 1)):
-                objects.append(
-                    Block(pos, 0, square_size, screen_size, store))
-            else:
-                objects.append(
-                    Table(pos, 0, square_size, screen_size, store))
+        for i in range(num_squares):
+            for j in range(num_squares):
+                if pos_matrix[i][j] == 1:
+                    if (random.randint(0, 100) >= block_probability):
+                        objects.append(
+                            Block([i, j], 0, square_size, screen_size, store))
+                    else:
+                        objects.append(
+                            Table([i, j], 0, square_size, screen_size, store))
 
         for o in objects:
             self.enginie.subscribe(o)

src/controller/StateController.py

@@ -78,6 +78,8 @@ class StateController:
         if not engine.is_simulation:
             print(colored("Not found", "red"))
 
+        engine.clock_increment(1000)
+
         return False
 
     def succ(self, state: TemporaryState, engine):

src/obj/Kitchen.py

@@ -10,6 +10,11 @@ class Kitchen(Object):
         self.done: list(Table) = []
         self.mark = None
 
+    def restoreDefaultState(self):
+        self.cooking: list(Table) = []
+        self.done: list(Table) = []
+        self.mark = None
+
     def updateMark(self):
         if self.done:
             self.setMark("dish_done")

src/obj/Waiter.py

@@ -13,8 +13,27 @@ class Waiter(Object):
         self.memory_capacity = 4
         self.basket = basket
         self.memory = memory
-        self.prev_position = copy.deepcopy(self.position)
-        self.prev_orientation = copy.copy(self.orientation)
+
+    def makeCopy(self):
+        return Waiter(
+            copy.deepcopy(self.position),
+            copy.copy(self.orientation),
+            copy.copy(self.square_size),
+            copy.deepcopy(self.screen_size),
+            self.store,
+            copy.deepcopy(self.basket),
+            copy.deepcopy(self.memory),
+            copy.copy(self.battery)
+        )
+
+    def applyState(self, state):
+        self.position = state.position
+        self.orientation = state.orientation
+        self.battery = state.battery
+        self.basket_capacity = state.basket_capacity
+        self.memory_capacity = state.memory_capacity
+        self.basket = state.basket
+        self.memory = state.memory
 
     def changeState(self, state):
         if state.agent_role == "blank":