Merge branch 'main' of https://git.wmi.amu.edu.pl/s483780/inteligenty-traktor

adde even more examples to the learning set of decision tree. :)

.gitignore

@@ -1,3 +1,4 @@
 __pycache__/
 .DS_Store
 .env
+src/field

.vscode/extensions.json

@@ -1,3 +0,0 @@
-{
-  "recommendations": ["sbsnippets.pytorch-snippets"]
-}

README.md

@@ -8,6 +8,8 @@ Wymagane biblioteki do pobrania:
 pip install pygame
 pip install python-dotenv
 pip install pytholog
+pip install torch
+pip install sklearn
 ```
 
 Stwórz plik `.env` w głównym folderze projektu o poniższej treści:
@@ -25,10 +27,6 @@ STARTING_DIRECTION = north
 START_X = 0
 START_Y = 0
 
-# coordinates of destination tile
-FINAL_X = 15
-FINAL_Y = 15
-
 # tiles without plants modifier
 FREE_TILES = 2
 ```
@@ -37,9 +35,12 @@ Uruchom środowisko używając komend:
 
 ```
 cd src
+python generate_field.py
 python main.py
 ```
 
+Skrypt `generate_field.py` musi zostać przy pierwszym uruchomieniu, aby wygenerować pole. Kolejne wykonania skryptu nie są wymagane.
+
 ## 🧑‍🌾 Członkowie grupy
 
 - Wojciech Kubicki (483780)

src/.~lock.tree.csv#

@@ -0,0 +1 @@
+,adam,adam-thinkpad,10.06.2024 15:05,file:///home/adam/.config/libreoffice/4;

src/field.py

@@ -1,13 +1,16 @@
 import pygame
 from tile import Tile
 from tractor import Tractor
+from ast import literal_eval
 
 class Field:
     def __init__(self):
         self.tiles = pygame.sprite.Group()
-        # TODO: enable resizing field grid from 16x16 to any size
+        with open('./field', 'r', encoding='UTF-8') as file:
-        for x in range(256):
+            content = file.read()
-            self.tiles.add(Tile(x, self))
+        tiles = literal_eval(content)
+        for x in range(len(tiles)):
+            self.tiles.add(Tile(x, self, tiles[x]))
         self.tractor = Tractor(self)
 
 

src/generate_field.py

@@ -0,0 +1,116 @@
+from random import randint, choices, random
+from kb import tractor_kb, multi_sasiedzi
+import pytholog as pl
+from numpy.random import choice as npchoice
+
+
+def score_field(field):
+    score = 0
+    
+    for index in range(len(field)):
+        neighbours = []
+        if index >= 16 and field[index-16] != 'water': 
+            neighbours.append(field[index-16])
+        if index % 15 != 0 and field[index+1] != 'water':
+            neighbours.append(field[index+1])
+        if index < 240 and field[index+16] != 'water':
+            neighbours.append(field[index+16])
+        if index % 16 != 0 and field[index-1] != 'water':
+            neighbours.append(field[index-1])
+
+        mod = multi_sasiedzi(field[index], neighbours)[0]["Mul"]
+        if mod > 10:
+            print(mod, '= multi(', field[index], ', ', neighbours, ')')
+        score += mod
+
+    score = score / 256
+    return score
+
+
+def choose_parents(population):
+    total_weights = sum(entity[0] for entity in population)
+
+    weights = [entity[0] / total_weights for entity in population]
+
+    selection = npchoice(len(population), size=2, replace=False, p=weights)
+
+    parents = [population[i] for i in selection]
+
+    return parents[0], parents[1]
+
+
+def breed_and_mutate(mom, dad):
+    crossover_point = randint(1, len(mom[1]) - 2)
+    offspring = mom[1][:crossover_point] + dad[1][crossover_point:]
+    if len(offspring) != len(mom):
+        ValueError("offspring length is not equal to mom length")
+
+    if random() < 0.1:
+        mutation_index = randint(0, len(offspring) - 1)
+        while offspring[mutation_index] == 'water':
+            mutation_index = randint(0, len(offspring) - 1)
+
+        mutation = get_random_vegetable()
+        while mutation == offspring[mutation_index]:
+            mutation = get_random_vegetable()
+
+        offspring[mutation_index] = mutation
+
+    offspring_score = score_field(offspring)
+    # print('offspring score', offspring_score, 'for parents', mom[0], 'and', dad[0])
+
+    return [offspring_score, offspring]
+
+
+def get_random_vegetable():
+    vegetables = [x['Nazwa_warzywa'] for x in tractor_kb.query(pl.Expr("warzywo(Nazwa_warzywa)"))]
+
+    return vegetables[randint(0,len(vegetables)-1)]
+
+
+def genetic_algorithm(population, iterations):
+    population_size = len(population)
+
+    for entity in population:
+        entity[0] = score_field(entity[1])
+
+    for iteration in range(iterations):
+        population.sort(key=lambda x: x[0], reverse=True)
+        print('\n=====\n\n💪 Best individual in iteration', iteration, 'has a score of', population[0][0])
+        population = population[:population_size//2]
+        new_offspring = []
+
+        while len(population) + len(new_offspring) < population_size:
+            mom, dad = choose_parents(population)
+            child = breed_and_mutate(mom, dad)
+            new_offspring.append(child)
+        
+        population.extend(new_offspring)
+
+    return population[0]
+
+
+population = []
+# each field has unmutable locations of water and grass tiles
+water_tile_indexes = [1, 2, 3, 34, 37, 44, 45, 53, 60, 61, 69, 81, 82, 83, 84, 119, 120, 121, 136, 152, 187, 194, 202, 203, 204, 210, 219, 226, 227, 228]
+grass_tile_indexes = [0, 39, 40, 56, 71, 72, 73, 86, 88, 114, 115, 130, 146, 147, 163, 164, 166, 167, 180, 181, 182, 231, 232, 233]
+vegetables = [x['Nazwa_warzywa'] for x in tractor_kb.query(pl.Expr("warzywo(Nazwa_warzywa)"))]
+
+for _ in range(100):
+    field = [vegetables[randint(0, 24)] for _ in range(256)]
+    for index in water_tile_indexes:
+        field[index] = "water"
+    for index in grass_tile_indexes:
+        field[index] = "grass"
+
+    # entities of the population are stored with two properties
+    # the first being the average score of the field
+    # and the second being the layout of the field 
+    population.append([0, field])
+
+best = genetic_algorithm(population, 20)
+print('\n=====\n\nfinal field multiplier score is', best[0])
+with open('field', 'w', encoding='utf-8') as file:
+    file.write(str(best[1]))
+file.close
+print('final field layout saved to file "field" in the current working directory\n')

src/kb.py

@@ -370,7 +370,7 @@ tractor_kb([
     "przeszkadza(burak, szpinak, 0.85)",
     "przeszkadza(burak, ziemniak, 0.85)",
     "przeszkadza(cebula, fasola, 0.80)",
-    "przeszkadza(cebula, groch, 85)",
+    "przeszkadza(cebula, groch, 0.85)",
     "przeszkadza(cebula, kalafior, 0.70)",
     "przeszkadza(cebula, kapusta, 0.75)",
     "przeszkadza(cebula, marchew, 0.85)",

src/main.py

@@ -1,7 +1,7 @@
 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()
@@ -13,10 +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

@@ -11,25 +11,26 @@ from PIL import Image
 
 class Tile(pygame.sprite.Sprite):
 
-    def __init__(self, id, field):
+    def __init__(self, id, field, tile_type):
         super().__init__()
         self.id = id
         x = id%16
         y = id//16
 
         self.field = field
-
+        self.set_type(tile_type)
-        # temporary solution to have vegetables act as obstacles
+        print('tile type set as', tile_type)
-        if random.randint(1, 10) % FREE_TILES == 0:
+        if self.type == 'water':
-            vegetables = tractor_kb.query(pl.Expr("warzywo(Nazwa_warzywa)"))
+            self.stage = 'no_plant'
-            random_vegetable = vegetables[random.randint(0, len(vegetables)-1)]['Nazwa_warzywa']
+            self.prediction = 'water'
-
+            self.water_level = 100
-            if random_vegetable in {'cebula','pietruszka','bób', 'dynia','ziemniak'}:
+        elif self.type == 'grass':
-                random_vegetable = 'marchew'
+            self.stage = 'no_plant'
-
+            self.prediction = 'grass'
-            self.set_type(random_vegetable)
             self.water_level = random.randint(1, 5) * 10
+        else:
             self.stage = 'planted' # wczesniej to była self.faza = 'posadzono' ale stwierdzilem ze lepiej po angielsku???
+            self.water_level = random.randint(1, 5) * 10
 
             classes = [
                     "bób", "brokuł", "brukselka", "burak", "cebula",
@@ -51,20 +52,7 @@ class Tile(pygame.sprite.Sprite):
             ])
 
             self.prediction = self.predict(model, image_transforms, self.image_path, classes)
-            
-        else:
-            if random.randint(1, 10) % 3 == 0:
-                self.set_type('water')
-                self.water_level = 100
-                self.stage = 'no_plant'
-                self.prediction = 'water'
-            else:
-                self.set_type('grass')
-                self.water_level = random.randint(1, 5) * 10
-                self.stage = 'no_plant'
-                self.prediction = 'grass'
         
-
         self.rect = self.image.get_rect()
         self.rect.topleft = (x * TILE_SIZE, y * TILE_SIZE)
     
@@ -109,9 +97,6 @@ class Tile(pygame.sprite.Sprite):
 
         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')
 
@@ -94,13 +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
@@ -162,29 +163,21 @@ class Tractor(pygame.sprite.Sprite):
             self.move()
         else:
             self.move()
-
+    
-    def update(self):
+    def decision_tree(self):
-        # A STAR:
+        match (self.get_current_tile().type):
-        # if self.action_index == len(self.actions):
+            case ('grass'):
-        #     return 
+                action = self.make_decision()
-        # action = self.actions[self.action_index]
+            case ('water'):
-
+                action = 'nothing'
-        # match (action):
+            case _:
-        #     case ('move'):
+                action = 'water'
-        #         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'
         self.prev_action = action
 
+        print("Decyzja podjęta przez drzewo decyzyjne: ", action)
 
         match (action):
-            case ('move'):
+            case ('nothing'):
                 pass
                 #self.move_rotating()
             case ('harvest'):
@@ -192,7 +185,7 @@ class Tractor(pygame.sprite.Sprite):
             case ('water'):
                 self.get_current_tile().water_level += 10
             case ('plant(bób)'):
-                self.get_current_tile().set_type('marchew')
+                self.get_current_tile().set_type('bób')
             case ('plant(brokuł)'):
                 self.get_current_tile().set_type('brokuł')
             case ('plant(brukselka)'):
@@ -200,11 +193,11 @@ class Tractor(pygame.sprite.Sprite):
             case ('plant(burak)'):
                 self.get_current_tile().set_type('burak')
             case ('plant(cebula)'):
-                self.get_current_tile().set_type('marchew')
+                self.get_current_tile().set_type('cebula')
             case ('plant(cukinia)'):
                 self.get_current_tile().set_type('cukinia')
             case ('plant(dynia)'):
-                self.get_current_tile().set_type('fasola')
+                self.get_current_tile().set_type('dynia')
             case ('plant(fasola)'):
                self.get_current_tile().set_type('fasola')
             case ('plant(groch)'):
@@ -224,7 +217,7 @@ class Tractor(pygame.sprite.Sprite):
             case ('plant(papryka)'):
                 self.get_current_tile().set_type('papryka')
             case ('plant(pietruszka)'):
-                self.get_current_tile().set_type('marchew')
+                self.get_current_tile().set_type('pietruszka')
             case ('plant(pomidor)'):
                 self.get_current_tile().set_type('pomidor')
             case ('plant(por)'):
@@ -241,8 +234,22 @@ 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):
+        # 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")
@@ -252,9 +259,13 @@ class Tractor(pygame.sprite.Sprite):
             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
         x = self.rect.x // TILE_SIZE
@@ -367,13 +378,12 @@ 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
 

src/tree.csv

@@ -217,3 +217,41 @@ cebula,40,growing,szpinak,grass,kapusta,szpinak,move
 cebula,50,growing,water,szpinak,kalarepa,grass,move
 cebula,10,growing,szpinak,grass,marchew,grass,move
 cebula,20,growing,grass,cebula,burak,grass,move
+grass,10,no_plant,szpinak,dynia,szpinak,water,plant(seler)
+grass,10,no_plant,marchew,dynia,grass,water,plant(seler)
+grass,10,no_plant,water,dynia,cebula,cebula,plant(seler)
+grass,10,no_plant,ogórek,dynia,cebula,grass,plant(seler)
+grass,10,no_plant,szpinak,dynia,fasola,grass,plant(seler)
+ziemniak,40,planted,water,grass,szpinak,grass,move
+ziemniak,50,grown,szpinak,szpinak,grass,grass,move
+ziemniak,10,planted,water,ziemniak,seler,water,move
+ziemniak,20,planted,szpinak,szpinak,grass,seler,move
+ziemniak,30,planted,grass,water,ziemniak,grass,move
+ziemniak,40,planted,growing,grass,grass,burak,move
+ziemniak,50,grown,growing,szpinak,water,grass,move
+ziemniak,10,planted,growing,water,szpinak,marchew,move
+ziemniak,20,planted,growing,szpinak,grass,kapusta,move
+cukinia,50,grown,brukselka,water,grass,jarmuż,move
+dynia,0,grown,burak,grass,pietruszka,kalafior,move
+grass,10,grown,cebula,grass,pietruszka,kalarepa,move
+grass,20,grown,cukinia,groch,pietruszka,kapusta,move
+jarmuż,30,grown,grass,water,pietruszka,brokuł,move
+kalafior,40,grown,fasola,pietruszka,water,brukselka,move
+grass,10,grown,cebula,pietruszka,grass,kalarepa,move
+grass,20,grown,cukinia,pietruszka,groch,kapusta,move
+jarmuż,30,grown,grass,pietruszka,water,brokuł,move
+kalafior,40,grown,fasola,kalafior,water,brukselka,move
+bób,40,planted,jarmuż,grass,water,bób,move
+brokuł,10,growing,kalafior,brokuł,bób,kalafior,move
+brukselka,20,growing,water,brukselka,grass,bób,move
+burak,30,planted,bób,burak,brukselka,bób,move
+cebula,40,growing,brokuł,bób,burak,bób,move
+cukinia,40,growing,grass,bób,water,grass,move
+dynia,10,planted,grass,grass,cukinia,kalafior,move
+grass,40,planted,jarmuż,grass,water,bób,move
+grass,10,growing,kalafior,brokuł,bób,kalafior,move
+grass,20,growing,water,bób,grass,bób,move
+grass,30,planted,bób,burak,brukselka,bób,move
+grass,40,growing,brokuł,bób,burak,bób,move
+grass,40,growing,grass,bób,water,grass,move
+grass,10,planted,bób,grass,cukinia,kalafior,move