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display.py
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display.py
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import sys
from grid import *
from PDM import *
from tkinter import *
from tkinter.filedialog import *
from tkinter import messagebox
class MainDisplay:
def __init__(self):
self.window = Tk()
self.window.resizable(False, False)
self.height_canvas = 500
self.width_canvas = 500
self.grid_display = Grid_Project()
self.canvas = Canvas(self.window, width = self.width_canvas, height = self.height_canvas)
self.canvas.focus_set()
self.canvas.bind("<Key>", self.press_keyboard)
self.label_score = Label()
self.display_buttons()
self.name_option_window = None
self.name_selection_window = None
self.name_compute_solution = None
self.name_parameters = None
self.p = 0.6
self.q = 1
self.gamma = 0.9
self.max_reward = 10000
self._base_reward = 1
self._coef_reward = 4
self.solution = None
self.window.mainloop()
def closing_option_window(self):
self.name_option_window.destroy()
self.name_option_window = None
def closing_compute_window(self):
self.name_compute_solution.destroy()
self.name_compute_solution = None
def closing_selection_window(self):
self.name_selection_window.destroy()
self.name_selection_window = None
def closing_parameters(self):
self.name_parameters.destroy()
self.name_parameters = None
def display_generate_options(self):
if self.name_option_window != None:
print("Une fenêtre d'option est déjà ouverte !")
self.name_option_window.focus_force()
else:
self.name_option_window = Toplevel(self.window)
self.name_option_window.resizable(False, False)
self.name_option_window.protocol("WM_DELETE_WINDOW", self.closing_option_window)
Label(self.name_option_window, text="nom du fichier:").grid(row = 0, column = 0)
file_name = Entry(self.name_option_window)
file_name.grid(row = 0, column = 1)
Label(self.name_option_window, text="hauteur grille:").grid(row = 1, column = 0)
height_scale = Scale(self.name_option_window, from_=5, to=50, orient=HORIZONTAL)
height_scale.set(20)
height_scale.grid(row = 1, column = 1)
Label(self.name_option_window, text="largeur grille:").grid(row = 2, column = 0)
width_scale = Scale(self.name_option_window, from_=5, to=50, orient=HORIZONTAL)
width_scale.set(20)
width_scale.grid(row = 2, column = 1)
Label(self.name_option_window, text="proportion de mur:").grid(row = 3, column = 0)
wall_proportion_scale = Scale(self.name_option_window, from_=0, to=0.99, resolution=0.05, orient=HORIZONTAL)
wall_proportion_scale.set(0.20)
wall_proportion_scale.grid(row = 3, column = 1)
# self.height = height_scale.get()
# self.width = width_scale.get()
# self.proba = wall_proportion_scale.get()
# self.path = file_name.get()
validate = Button(self.name_option_window, text = "Valider", command =lambda: self.generate(height_scale.get(),width_scale.get(),wall_proportion_scale.get(),file_name.get()))
# validate = Button(self.name_option_window, text = "Valider")
validate.grid(columnspan = 2)
def reset_position(self):
# reset robot position
self.grid_display.position_robot_x = self.grid_display.origin_robot_x
self.grid_display.position_robot_y = self.grid_display.origin_robot_y
self.move_robot(self.grid_display.position_robot_x, self.grid_display.position_robot_y)
# reset score
self.grid_display.score = [0,0,0,0]
self.grid_display.color_visited = [0,0,0,0]
self.display_score()
self.solution = None
def get_to_start_position(self):
# reset robot position
self.grid_display.position_robot_x = self.grid_display.origin_robot_x
self.grid_display.position_robot_y = self.grid_display.origin_robot_y
self.move_robot(self.grid_display.position_robot_x, self.grid_display.position_robot_y)
# reset score
self.grid_display.score = [0,0,0,0]
self.grid_display.color_visited = [0,0,0,0]
self.display_score()
def display_position_selection(self):
if self.name_selection_window != None:
print("Une fenêtre d'option est déjà ouverte !")
self.name_selection_window.focus_force()
return
result = messagebox.askquestion("Changer les positions de départ/arrivée", "Êtes-vous sûr de vouloir changer les positions de départ/arrivée ?\nCe changement va entrainer la réinitialisation du score et de la solution", icon='warning')
if result == 'yes':
self._display_position_selection()
def _display_position_selection(self):
if self.name_selection_window != None:
print("Une fenêtre d'option est déjà ouverte !")
self.name_selection_window.focus_force()
else:
self.name_selection_window = Toplevel(self.window)
self.name_selection_window.resizable(False, False)
self.name_selection_window.protocol("WM_DELETE_WINDOW", self.closing_selection_window)
Label(self.name_selection_window, text="Veuillez choisir la position de départ avec le clic gauche et la position d'arrivée avec le clic droit.", font = "Helvetica 10 bold").grid()
self.canvas.bind("<Button-1>", self.select_start_position_callback)
self.canvas.bind("<Button-3>", self.select_goal_position_callback)
Button(self.name_selection_window, text="Valider", command=self.end_selection_start_goal_position).grid()
self.solution = None
self.grid_display.score = [0,0,0,0]
self.display_score()
def select_start_position_callback(self,event):
if event.x < self.canvas.winfo_rootx() and event.x > self.label_score.winfo_rootx():
return
x = int(event.x // (self.height_canvas / self.grid_display.height))
y = int(event.y // (self.width_canvas / self.grid_display.width))
if (x != self.grid_display.goal_x or y != self.grid_display.goal_y) and "wall" not in self.grid_display.grid[y][x].type_location:
self.grid_display.origin_robot_x = x
self.grid_display.origin_robot_y = y
self.display_start()
def select_goal_position_callback(self,event):
if event.x < self.canvas.winfo_rootx() and event.x >= self.label_score.winfo_rootx():
return
x = int(event.x // (self.height_canvas / self.grid_display.height))
y = int(event.y // (self.width_canvas / self.grid_display.width))
if (x != self.grid_display.origin_robot_x or y != self.grid_display.origin_robot_y) and "wall" not in self.grid_display.grid[y][x].type_location:
self.grid_display.goal_x = x
self.grid_display.goal_y = y
self.display_goal()
def end_selection_start_goal_position(self):
self.canvas.unbind("<Button-1>")
self.canvas.unbind("<Button-3>")
self.move_robot(self.grid_display.origin_robot_x, self.grid_display.origin_robot_y)
self.name_selection_window.destroy()
self.name_selection_window = None
def display_buttons(self):
buttonLoad = Button(self.window, text="Charger grille existante", command=self.import_file)
buttonLoad.grid(row = 0, column = 0, padx=10, pady=10)
buttonGenerate = Button(self.window, text="Générer nouvelle grille", command=self.display_generate_options)
buttonGenerate.grid(row = 1, column = 0, padx=10, pady=10)
def import_file(self):
path = askopenfilename(filetypes=[("MADI","*.madi")])
self.display_canvas(path)
def generate(self,height,width,proba,path):
self.name_option_window.destroy()
self.name_option_window = None
if len(path) == 0:
path = "generated_grid.madi"
elif len(path) < 5 or not str(path[len(path) - 5:len(path) - 1]) in ".madi":
path += ".madi"
grid_generator = GeneratorGrid(height, width, proba_walls = proba)
grid_generator.export_grid(path)
self.display_canvas(path)
self.T = PDM(self.grid_display).get_transition_matrix(self.p, self.q, self.max_reward)
def display_compute_solution(self):
if self.name_compute_solution != None:
print("Une fenêtre d'option est déjà ouverte !")
self.name_compute_solution.focus_force()
else:
self.name_compute_solution = Toplevel(self.window)
self.name_compute_solution.resizable(False, False)
self.name_compute_solution.protocol("WM_DELETE_WINDOW", self.closing_compute_window)
Label(self.name_compute_solution, text="Veuillez choisir la méthode de résolution du meilleur chemin.", font = "Helvetica 10 bold").grid(pady=5)
Button(self.name_compute_solution, text="PDM (consommation pure)", command =lambda: self.getSolution(politic_type = "consommation")).grid(pady=5)
Button(self.name_compute_solution, text="PDM (ordre couleurs)", command =lambda: self.getSolution(politic_type = "couleur")).grid(pady=5)
Button(self.name_compute_solution, text="PDM itération par valeur (couleur = risque)", command =lambda: self.getSolution(politic_type = "PDM_valeur")).grid(pady=5)
Button(self.name_compute_solution, text="PDM itération par politique (couleur = risque)", command =lambda: self.getSolution(politic_type = "PDM_policy")).grid(pady=5)
Button(self.name_compute_solution, text="PDM par PL (couleur = risque)", command =lambda: self.getSolution(politic_type = "PDM_PL")).grid(pady=5)
Button(self.name_compute_solution, text="MOMDP (politique mixte)", command =lambda: self.getSolution(politic_type = "MOMDP_mixte")).grid(pady=5)
Button(self.name_compute_solution, text="MOMDP (politique pure)", command =lambda: self.getSolution(politic_type = "MOMDP_pure")).grid(pady=5)
def display_parameters(self):
if self.name_parameters != None:
print("Une fenêtre d'option est déjà ouverte !")
self.name_parameters.focus_force()
else:
self.name_parameters = Toplevel(self.window)
self.name_parameters.resizable(False, False)
self.name_parameters.protocol("WM_DELETE_WINDOW", self.closing_parameters)
Label(self.name_parameters, text="Veuillez choisir Les nouveaux paramètres", font = "Helvetica 10 bold").grid(row = 0,columnspan=2)
gamma = Scale(self.name_parameters, from_=0, to=1, orient=HORIZONTAL, resolution=0.05, tickinterval=0.25, label='Gamma', length=200)
gamma.grid(row=1,columnspan=2, pady=10)
gamma.set(self.gamma)
p = Scale(self.name_parameters, from_=0, to=1, orient=HORIZONTAL, resolution=0.05, tickinterval=0.25, label='P', length=200)
p.grid(row=2,columnspan=2, pady=10)
p.set(self.p)
q = Scale(self.name_parameters, from_=1, to=10, orient=HORIZONTAL, resolution=1, tickinterval=2, label='Q', length=200)
q.grid(row=3,columnspan=2, pady=10)
q.set(self.q)
basevar = IntVar()
basevar.set(self._base_reward)
base_reward = Scale(self.name_parameters, from_=1, to=9, orient=HORIZONTAL,variable = basevar, resolution=1, tickinterval=3, label='base de la récompense', length=150, command=lambda base: self.report_change(base, coefvar.get()))
base_reward.grid(row=5,column = 0)
coefvar = IntVar()
coefvar.set(self._coef_reward)
coef_reward = Scale(self.name_parameters, from_=0, to=10, orient=HORIZONTAL,variable = coefvar, resolution=1, tickinterval=5, label='fois 10 puissance:', length=150, command=lambda coef: self.report_change(basevar.get(),coef))
coef_reward.grid(row=5,column = 1)
coef_reward.set(self._coef_reward)
self.label_reward = StringVar()
Label(self.name_parameters, textvariable=self.label_reward).grid(row=4,columnspan=2)
self.report_change(basevar.get(),coefvar.get())
validate = Button(self.name_parameters, text = "Valider", command =lambda: self._update_parameters(gamma.get(), p.get(), q.get(),base_reward.get(),coef_reward.get())).grid(row=6,columnspan=2, pady=15)
def report_change(self,base,coef):
self.label_reward.set("récompense but = " + str(int(base)*10**int(coef)))
def _update_parameters(self, gamma,p,q,base_reward, coef_reward):
self.name_parameters.destroy()
self.name_parameters = None
self.gamma = gamma
self.p = p
self.q = q
self._base_reward = base_reward
self._coef_reward = coef_reward
self.max_reward = base_reward * 10**coef_reward
self.T = PDM(self.grid_display).get_transition_matrix(self.p, self.q, self.max_reward)
def getSolution(self, politic_type = ""):
p = self.p
q = self.q
gamma = self.gamma
max_reward = self.max_reward
if politic_type == "PDM_valeur":
pdm = PDM(self.grid_display, max_reward = max_reward, p = p, q = q)
self.solution = pdm.iteration_by_value(gamma = gamma)
elif politic_type == "PDM_policy":
pdm = PDM(self.grid_display, max_reward = max_reward, p = p, q = q)
self.solution = pdm.iteration_by_policy(gamma = gamma)
elif politic_type == "PDM_PL":
pdm = PDM(self.grid_display, max_reward = max_reward, p = p, q = q)
self.solution = pdm.resolution_by_PL(gamma = gamma)
elif politic_type == "MOMDP_mixte":
pdm = PDM(self.grid_display, multi_obj = True, max_reward = max_reward, p = p, q = q)
self.solution = pdm.PLMO(pure_politic = False, gamma = gamma)
elif politic_type == "MOMDP_pure":
pdm = PDM(self.grid_display, multi_obj = True, max_reward = max_reward, p = p, q = q)
self.solution = pdm.PLMO(pure_politic = True, gamma = gamma)
elif politic_type == "consommation":
pdm = PDM(self.grid_display, consumption_only = True, max_reward = max_reward, p = p, q = q)
self.solution = pdm.iteration_by_value(gamma = gamma)
elif politic_type == "couleur":
pdm = PDM(self.grid_display, color_restrictive = True, max_reward = max_reward, p = p, q = q)
self.solution = pdm.iteration_by_value(gamma = gamma)
else:
print("Erreur fatale pas de fonction de ce nom\n", politic_type)
messagebox.showinfo("Solution calculée", "La solution est calculée.\nVeuillez appuyer sur SPACE pour la visualiser")
return
def display_canvas(self, path):
reset = Button(self.window, text="Réinitialiser", command=self.reset_position)
reset.grid(row = 0, column = 1, padx=0.1, pady=5)
get_to_start_position = Button(self.window, text="Début", command=self.get_to_start_position)
get_to_start_position.grid(row = 0, column = 2, padx=0.1, pady=5)
select_start_goal_position = Button(self.window, text="Selection start/end", command=self.display_position_selection)
select_start_goal_position.grid(row = 1, column = 1, columnspan=2, padx=10, pady=10)
get_solution = Button(self.window, text="Calculer une solution", command=self.display_compute_solution)
get_solution.grid(row = 0, column = 3, padx=10, pady=10)
change_parameters = Button(self.window, text="Changer les paramètres", command=self.display_parameters)
change_parameters.grid(row = 1, column = 3, padx=10, pady=10)
self.grid_display = Grid_Project()
self.grid_display.load_grid(path)
for i in range(self.grid_display.height):
for j in range(self.grid_display.width):
color = ""
if "wall" in str(self.grid_display.grid[i][j].type_location):
color = 'black'
elif self.grid_display.grid[i][j].color == 0:
color = 'light green'
elif self.grid_display.grid[i][j].color == 1:
color = 'light blue'
elif self.grid_display.grid[i][j].color == 2:
color = 'lightSalmon2'
else:
color = 'grey65'
self.canvas.create_rectangle(j * (self.width_canvas / self.grid_display.width), i * (self.height_canvas / self.grid_display.height), (j + 1) * (self.width_canvas / self.grid_display.width), (i + 1) * (self.height_canvas / self.grid_display.height), fill = color)
self.canvas.create_text(j * (self.width_canvas / self.grid_display.width) + 5, i * (self.height_canvas / self.grid_display.height) + 8, text = self.grid_display.grid[i][j].score)
self.canvas.grid(columnspan = 4)
self.display_score()
self.display_start()
self.display_robot()
self.display_goal()
def display_goal(self):
self.canvas.delete("goal")
j = self.grid_display.goal_x
i = self.grid_display.goal_y
self.canvas.create_rectangle((j+0.35) * (self.width_canvas / self.grid_display.width), i * (self.height_canvas / self.grid_display.height), (j + 1) * (self.width_canvas / self.grid_display.width), (i + 1) * (self.height_canvas / self.grid_display.height), fill = '#FF6600', tags = "goal")
self.canvas.grid(columnspan = 4)
self.display_robot()
def display_start(self):
self.canvas.delete("start")
j = self.grid_display.origin_robot_x
i = self.grid_display.origin_robot_y
self.canvas.create_rectangle((j+0.35) * (self.width_canvas / self.grid_display.width), i * (self.height_canvas / self.grid_display.height), (j + 1) * (self.width_canvas / self.grid_display.width), (i + 1) * (self.height_canvas / self.grid_display.height), fill = '#16992C', tags = "start")
self.canvas.grid(columnspan = 4)
self.display_robot()
def display_robot(self):
coef_reduce_circle = 0.2
j = self.grid_display.position_robot_x
i = self.grid_display.position_robot_y
self.canvas.create_oval((j + coef_reduce_circle) * (self.width_canvas / self.grid_display.width), (i +coef_reduce_circle) * (self.height_canvas / self.grid_display.height), (j + 1 - coef_reduce_circle) * (self.width_canvas / self.grid_display.width), (i + 1 - coef_reduce_circle) * (self.height_canvas / self.grid_display.height), fill = 'green', tags = "robot")
self.canvas.grid(columnspan = 4)
def move_robot(self, x, y):
self.grid_display.position_robot_x = x
self.grid_display.position_robot_y = y
self.canvas.delete("robot")
coef_reduce_circle = 0.2
self.canvas.create_oval((x + coef_reduce_circle) * (self.width_canvas / self.grid_display.width), (y +coef_reduce_circle) * (self.height_canvas / self.grid_display.height), (x + 1 - coef_reduce_circle) * (self.width_canvas / self.grid_display.width), (y + 1 - coef_reduce_circle) * (self.height_canvas / self.grid_display.height), fill = 'green', tags = "robot")
self.display_score()
def display_score(self):
self.label_score.destroy()
self.label_score = Label(self.window, text = "score : " + self.grid_display.display_score())
self.label_score.grid(columnspan = 4, padx=10, pady=10)
def press_keyboard(self, event):
keyboard_key = event.keysym
y = self.grid_display.position_robot_y
x = self.grid_display.position_robot_x
old_x = x
old_y = y
if(keyboard_key == "z"):
if not (y == 0 or "wall" in self.grid_display.grid[y - 1][x].type_location):
y = y - 1
elif(keyboard_key == "q"):
if not (x == 0 or "wall" in self.grid_display.grid[y][x - 1].type_location):
x = x - 1
elif(keyboard_key == "d"):
if not (x == (self.grid_display.width - 1) or "wall" in self.grid_display.grid[y][x + 1].type_location):
x = x + 1
elif(keyboard_key == "s"):
if not (y == (self.grid_display.height - 1) or "wall" in self.grid_display.grid[y + 1][x].type_location):
y = y + 1
elif(keyboard_key == "Up"):
x,y = self.move_with_bias(0)
elif(keyboard_key == "Down"):
x,y = self.move_with_bias(1)
elif(keyboard_key == "Left"):
x,y = self.move_with_bias(2)
elif(keyboard_key == "Right"):
x,y = self.move_with_bias(3)
elif(keyboard_key == "space"):
if self.solution == None:
messagebox.showinfo("Aucune Solution", "Vous avez réinitialisé ou vous n'avez pas encore calculé une solution")
return
action = self.choose_a_solution()
print(action)
if self.grid_display.position_robot_x == self.grid_display.goal_x and self.grid_display.position_robot_y == self.grid_display.goal_y:
messagebox.showinfo("Fin", "Le robot a atteint son but")
return
else:
x,y = self.move_with_bias(action)
if not (old_x == x and old_y == y):
self.grid_display.position_robot_y = y
self.grid_display.position_robot_x = x
self.grid_display.score[self.grid_display.grid[old_y][old_x].color] += self.grid_display.grid[old_y][old_x].score
self.grid_display.color_visited[self.grid_display.grid[old_y][old_x].color] += 1
# self.grid_display.score += self.grid_display.grid[y][x].score
self.move_robot(x, y)
def move_with_bias(self, direction):
position = self.grid_display.position_robot_x + self.grid_display.position_robot_y * self.grid_display.width
# print(self.solution)
possibilities = np.cumsum(self.T[position][direction])
rand = np.random.rand()
i = 0
for x in possibilities:
if rand < x:
return (i % self.grid_display.width), (int(i / self.grid_display.width))
i += 1
print("erreur ne somme pas à 1")
def choose_a_solution(self):
position = self.grid_display.position_robot_x + self.grid_display.position_robot_y * self.grid_display.width
# print(self.solution)
possibilities = np.cumsum(self.solution[position])
rand = np.random.rand()
i = 0
for x in possibilities:
if rand < x:
return i
i += 1
print("erreur ne somme pas à 1")
# window = MainDisplay()