merge genetic algorithm with main

src/import torch.py

@@ -0,0 +1,3 @@
+import torch
+x = torch.rand(5, 3)
+print(x)

src/main.py

@@ -1,8 +1,7 @@
-import sys
 import pygame
 from field import Field
 import os
-from config import TILE_SIZE, TICK_RATE
+from config import TILE_SIZE, TICK_RATE, FINAL_X, FINAL_Y
 
 if __name__ == "__main__":
     pygame.init()
@@ -14,10 +13,19 @@ if __name__ == "__main__":
     field = Field()
     
     running = True
+
     while running:
         for event in pygame.event.get():
             if event.type == pygame.QUIT:
                 running = False
+            if event.type == pygame.MOUSEBUTTONDOWN:
+                x, y = pygame.mouse.get_pos()
+                print(f"Mouse clicked at: ({x}, {y})")
+                
+                grid_x = x // TILE_SIZE
+                grid_y = y // TILE_SIZE
+                
+                field.tractor.set_new_goal((grid_x, grid_y))
         
         field.tractor.update()
         screen.fill(WHITE)

src/tile.py

@@ -4,6 +4,10 @@ from kb import tractor_kb
 import pytholog as pl
 import random
 from config import TILE_SIZE, FREE_TILES
+import torch
+import torchvision.transforms as transforms
+from PIL import Image
+
 
 class Tile(pygame.sprite.Sprite):
 
@@ -15,6 +19,7 @@ class Tile(pygame.sprite.Sprite):
 
         self.field = field
         self.set_type(tile_type)
+        print('tile type set as', tile_type)
         if self.type == 'water':
             self.stage = 'no_plant'
             self.water_level = 100
@@ -23,6 +28,28 @@ class Tile(pygame.sprite.Sprite):
             self.water_level = random.randint(1, 5) * 10
         else:
             self.stage = 'planted'
+            self.stage = 'planted' # wczesniej to była self.faza = 'posadzono' ale stwierdzilem ze lepiej po angielsku???
+
+            classes = [
+                    "bób", "brokuł", "brukselka", "burak", "cebula",
+                    "cukinia", "dynia", "fasola", "groch", "jarmuż",
+                    "kalafior", "kalarepa", "kapusta", "marchew", 
+                    "ogórek", "papryka", "pietruszka", "pomidor",
+                    "por", "rzepa", "rzodkiewka", "sałata", "seler",
+                    "szpinak", "ziemniak"]
+
+            model = torch.load("veggies_recognition/best_model.pth")
+
+            mean = [0.5322, 0.5120, 0.3696]
+            std = [0.2487, 0.2436, 0.2531]
+
+            image_transforms = transforms.Compose([
+                transforms.Resize((224, 224)),
+                transforms.ToTensor(),
+                transforms.Normalize(torch.Tensor(mean),torch.Tensor(std))
+            ])
+
+            self.prediction = self.predict(model, image_transforms, self.image_path, classes)
         
         self.rect = self.image.get_rect()
         self.rect.topleft = (x * TILE_SIZE, y * TILE_SIZE)
@@ -31,6 +58,15 @@ class Tile(pygame.sprite.Sprite):
     def draw(self, surface):
         self.tiles.draw(surface)
     
+    def get_random_image_from_folder(self):
+        folder_path = f"veggies_recognition/veggies/testing/{self.type}"
+
+        files = [f for f in os.listdir(folder_path) if os.path.isfile(os.path.join(folder_path, f))]
+        random_file = random.choice(files)
+
+        image_path = folder_path + "/" + random_file
+        return image_path
+
     def set_type(self, type):
         self.type = type
         if self.type == 'grass':
@@ -38,9 +74,30 @@ class Tile(pygame.sprite.Sprite):
         elif self.type == 'water':
             image_path = "images/water.png"
         else:
-            image_path = f"images/vegetables/{self.type}.png"
+            #image_path = f"images/vegetables/{self.type}.png"
+            image_path = self.get_random_image_from_folder()
             if not os.path.exists(image_path):
                 image_path = "images/question.jpg"
         
+        self.image_path = image_path
         self.image = pygame.image.load(image_path).convert()
         self.image = pygame.transform.scale(self.image, (TILE_SIZE, TILE_SIZE))
+
+    def predict(self, model, image_transforms, image_path, classes):
+        model = model.eval()
+        image = Image.open(image_path)
+        image = image.convert("RGB")
+        image = image_transforms(image).float()
+        image = image.unsqueeze(0)
+
+        output = model(image)
+        _, predicted = torch.max(output.data, 1)
+
+        result = classes[predicted.item()]
+        
+
+        if result == "ziemniak":
+            result = 'marchew'
+        return result
+
+

src/tractor.py

@@ -18,30 +18,33 @@ class Tractor(pygame.sprite.Sprite):
     def __init__(self, field):
         super().__init__
         self.field = field
-
+        self.water = 50
         self.image = pygame.image.load('images/tractor/east.png').convert_alpha()
         self.image = pygame.transform.scale(self.image, (TILE_SIZE, TILE_SIZE))
         self.rect = self.image.get_rect()
-
+        self.direction = 'east'
-        self.direction = STARTING_DIRECTION
+        self.start = (0, 0)
-        # TODO: enable tractor to start on other tile than (0,0)
+        self.final = (0, 0)
-        self.start = (START_X, START_Y)
-        self.final = (FINAL_X, FINAL_Y)
         print('destination @', self.final[0], self.final[1])
         self.rect.topleft = (self.start[0] * TILE_SIZE, self.start[1] * TILE_SIZE)
 
-        self.water = 50
+        self.rect.topleft = (self.start[0] * TILE_SIZE, self.start[1] * TILE_SIZE)
-
+        self.actions = []
-        # A-STAR
+        self.action_index = 0
-        # came_from, total_cost = self.a_star()
-        # path = self.reconstruct_path(came_from)
-        # self.actions = self.recreate_actions(path)
-        # self.action_index = 0
 
         # DECISION TREE:
         self.label_encoders = {}
         self.load_decision_tree_model()
 
+    def set_new_goal(self, goal):
+        self.start = self.get_coordinates()
+        self.final = goal
+        came_from, total_cost = self.a_star()
+        path = self.reconstruct_path(came_from)
+        self.actions = self.recreate_actions(path)
+        self.action_index = 0
+        print(f"New goal set to: {self.final}")
+
     def load_decision_tree_model(self):
         data = pd.read_csv('tree.csv')
 
@@ -67,7 +70,9 @@ class Tractor(pygame.sprite.Sprite):
                 neighbors.append('grass')
 
         input_data = {
-            'tile_type': self.get_current_tile().type,
+            #tutaj będzie dostawał informację ze zdjęcia
+            'tile_type': self.get_current_tile().prediction,
+            #'tile_type': self.get_current_tile().type,
             'water_level': self.get_current_tile().water_level,
             "plant_stage": self.get_current_tile().stage,
             "neighbor_N": neighbors[0],
@@ -92,13 +97,11 @@ class Tractor(pygame.sprite.Sprite):
     def draw(self, surface):
         surface.blit(self.image, self.rect)
 
-
     def get_coordinates(self):
         x = self.rect.x // TILE_SIZE
         y = self.rect.y // TILE_SIZE
         return (x,y)
 
-
     def move(self):
         if self.direction == "north" and self.rect.y > 0:
             self.rect.y -= TILE_SIZE
@@ -161,27 +164,15 @@ class Tractor(pygame.sprite.Sprite):
         else:
             self.move()
     
-    def update(self):
+    def decision_tree(self):
-        # A STAR:
-        # if self.action_index == len(self.actions):
-        #     return 
-        # action = self.actions[self.action_index]
-
-        # match (action):
-        #     case ('move'):
-        #         self.move()
-        #     case ('left'):
-        #         self.rotate('left')
-        #     case ('right'):
-        #         self.rotate('right')
-
-        # DECISION TREE:
         action = self.make_decision()
-        if (self.get_current_tile().type != 'grass' or self.get_current_tile().type == 'water'): action = 'move'
+        if (self.get_current_tile().type != 'grass' or self.get_current_tile().type == 'water'): action = 'nothing'
         self.prev_action = action
 
+        print("Decyzja podjęta przez drzewo decyzyjne: ", action)
+
         match (action):
-            case ('move'):
+            case ('nothing'):
                 pass
                 #self.move_rotating()
             case ('harvest'):
@@ -238,10 +229,37 @@ class Tractor(pygame.sprite.Sprite):
                 self.get_current_tile().set_type('szpinak')
             case ('plant(ziemniak)'):
                 self.get_current_tile().set_type('ziemniak')
-        self.move_2()
+
-        #self.action_index += 1
+    def update(self):
-        print(action)
+        # A STAR:
+        if self.action_index == len(self.actions):
             return 
+        action = self.actions[self.action_index]
+
+        match (action):
+            case ('move'):
+                self.move()
+            case ('left'):
+                self.rotate('left')
+            case ('right'):
+                self.rotate('right')
+
+        self.action_index += 1
+
+        if self.get_current_tile().type == "grass":
+            print("Co jest faktycznie: trawa")
+        elif self.get_current_tile().type == "water":
+            print("Co jest faktycznie: woda")
+        else:
+            print("Rozpoznano: ", self.get_current_tile().prediction)
+            print("Co jest faktycznie: ", self.get_current_tile().type)
+        print("\n")
+
+        if self.get_coordinates() == self.final:
+            self.decision_tree()
+        
+        return
+    
 
     def log_info(self):
         # print on what tile type the tractor is on
@@ -355,13 +373,12 @@ class Tractor(pygame.sprite.Sprite):
             if current == self.final:
                 break
 
-            # next_node: tuple[int, int]
             for next_node in self.neighboring_nodes(coordinates=current):
                 enter_cost = self.cost_of_entering_node(coordinates=next_node)
-                new_cost: int = cost_so_far[current] + enter_cost
+                new_cost = cost_so_far[current] + enter_cost
                 if next_node not in cost_so_far or new_cost < cost_so_far[next_node]:
                     cost_so_far[next_node] = new_cost
-                    priority = new_cost + self.manhattan_cost(current)
+                    priority = new_cost + self.manhattan_cost(next_node)
                     heapq.heappush(fringe, (priority, next_node))
                     came_from[next_node] = current