Interface.py

import tkinter as tk
from tkinter import ttk
import simpy
from Main import RMFS_Model
from InterfaceInitializer import station_location, robot_location
from pyDOE3 import *
import sys

import numpy as np
import pandas as pd
from simpy.events import AllOf

from Entities import Robot, Pod, InputStation, OutputStation, ExtractTask, StorageTask, SKU, ChargingStation
import Layout

from PodSelection import podAndStation_combination, calculate_total_distances_for_all_requirements, min_max_diff, check_feasibility, columnMultiplication, assign_pods_to_stations
from ortools.constraint_solver import routing_enums_pb2
from ortools.constraint_solver import pywrapcp
import networkx as nx

sys.setrecursionlimit(1500) 

def run_simulation():
    print("started")

    do_tg= int(do_taguchi.get())

    do_pick_station_amount = int(pick_station_amount_taguchi.get())
    do_charge_station_amount = int(charge_station_amount_taguchi.get())
    do_robot_amount = int(robot_amount_taguchi.get())
    do_charge_flag_rate = int(charge_flag_rate_taguchi.get())
    do_max_charge_rate = int(max_charge_rate_taguchi.get())
    do_pearl_rate = int(pearl_rate_taguchi.get())

    parameter_count = do_pick_station_amount + do_charge_station_amount + do_robot_amount + do_charge_flag_rate + do_max_charge_rate + do_pearl_rate

    # inputs
    horizontal_ailes = int(warehouse_horizontal_entry.get())
    vertical_ailes = int(warehouse_vertical_entry.get())
    pick_station_location = pick_station_location_combo.get()
    charge_station_location = charge_station_location_combo.get()
    cycle_amount = int(cycle_amount_entry.get())
    cycle_runtime = int(cycle_runtime_entry.get())
    charging_rate = float(charging_rate_entry.get())
    max_battery = float(maximum_battery_entry.get())
    pearl_rate = float(pearl_rate_entry.get())
    rest_rate = float(rest_rate_entry.get())
    pick_station_amount = int(pick_station_amount_entry.get()) #
    charge_station_amount = int(charge_station_amount_entry.get()) #
    robot_amount = int(robot_amount_entry.get()) #
    charge_flag_rate = float(charge_flag_rate_entry.get()) #
    max_charge_rate = float(max_charge_rate_entry.get()) #
    
    
    # no taguchi, single run
    if do_tg==0: 

        env = simpy.Environment()

        rows = (3*int(horizontal_ailes))+4 # 10
        columns = (5*int(vertical_ailes))+6 # 16

        rectangular_network, pos = layout.create_rectangular_network_with_attributes(columns, rows)
        layout.place_shelves_automatically(rectangular_network, shelf_dimensions=(4, 2), spacing=(1, 1))
        # nodes = list(rectangular_network.nodes)
        simulation = RMFS_Model(env=env, network=rectangular_network)
        simulation.createPods()
        simulation.createSKUs()

        startLocations = robot_location(pick_station_location, charge_station_location, columns, rows, robot_amount)
        pick_locations, charge_locations = station_location(pick_station_amount, pick_station_location, charge_station_amount, charge_station_location, horizontal_ailes, vertical_ailes, columns, rows)
        
        simulation.createChargingStations(charge_locations)
        simulation.createOutputStations(pick_locations)

        simulation.fillPods()
        simulation.distanceMatrixCalculate()

        simulation.createRobots(startLocations, charging_rate, max_battery, pearl_rate, rest_rate, charge_flag_rate, max_charge_rate)

        simulation.MultiCycleVRP(cycle_amount,cycle_runtime, printOutput=True)
    
    elif do_tg==1:

        exp_obj = experiment_objective_combo.get()

        experiment = ff2n(parameter_count)
        
        for i in range(len(experiment)):
            for j in range(len(experiment[i])):
                if experiment[i][j] == -1:
                    experiment[i][j] = 0

        no_of_experiments = experiment.shape[0]
        exp_array = np.zeros((no_of_experiments,6))

        print(exp_array)

        testdict = {'do_pick_station_amount':0, 'do_charge_station_amount':1, 'do_robot_amount':2, 'do_charge_flag_rate':3, 'do_max_charge_rate':4, 'do_pearl_rate':5}
        cols = []

        if do_pick_station_amount:
            cols.append(testdict["do_pick_station_amount"])
            pick_station_amount2 = int(pick_station_amount2_entry.get())
            pick_station_amounts = [pick_station_amount, pick_station_amount2]
        else:
            pick_station_amounts = [pick_station_amount]
            
        if do_charge_station_amount:
            cols.append(testdict["do_charge_station_amount"])
            charge_station_amount2 = int(charge_station_amount2_entry.get())
            charge_station_amounts = [charge_station_amount, charge_station_amount2]
        else: 
            charge_station_amounts = [charge_station_amount]

        if do_robot_amount:
            cols.append(testdict["do_robot_amount"])
            robot_amount2 = int(robot_amount2_entry.get())
            robot_amounts = [robot_amount, robot_amount2]
        else:
            robot_amounts = [robot_amount]

        if do_charge_flag_rate:
            cols.append(testdict["do_charge_flag_rate"])
            charge_flag_rate2 = float(charge_flag_rate2_entry.get())
            charge_flag_rates = [charge_flag_rate, charge_flag_rate2]
        else:
            charge_flag_rates = [charge_flag_rate]

        if do_max_charge_rate:
            cols.append(testdict["do_max_charge_rate"])
            max_charge_rate2 = float(max_charge_rate2_entry.get())
            max_charge_rates = [max_charge_rate, max_charge_rate2]
        else:
            max_charge_rates = [max_charge_rate]

        if do_pearl_rate:
            cols.append(testdict["do_pearl_rate"])
            pearl_rate2 = float(pearl_rate2_entry.get())
            pearl_rates = [pearl_rate, pearl_rate2]
        else:
            pearl_rates = [pearl_rate]
        
        exp_array[:, cols] = experiments

        for i in range(len(experiment)):
            a = int(exp_array[i,0]) #pick station
            exp_array[i,0] = pick_station_amounts[a]
            
            b = int(exp_array[i,1]) #charge station
            exp_array[i,1] = charge_station_amounts[b]

            c = int(exp_array[i,2]) #robot amount
            exp_array[i,2] = robot_amounts[c]

            d = int(exp_array[i,3]) #charge flag rate
            exp_array[i,3] = charge_flag_rates[d]

            e = int(exp_array[i,4]) #max charge rate
            exp_array[i,4] = max_charge_rates[e]

            f = int(exp_array[i,5]) #max charge rate
            exp_array[i,5] = pearl_rates[f]

        exp_df = pd.DataFrame(data = exp_array,   
                  columns = ['Pick Station Amount', 'Charge Station Amount', 'Robot Amount', 'Charge Flag Rate', 'Max Charge Rate', 'Pearl Rate']) 
        
        writer = pd.ExcelWriter('experiment/TaguchiVRP.xlsx', engine='xlsxwriter')

        exp_df.to_excel(writer, sheet_name='Experiment', index=False)

        simulationhours = (cycle_amount*cycle_runtime)/(60*60)
        total_steps_list = []
        units_per_hour_list = []
        robot_utilization_list = []

        for i in range(len(experiment)):

            pick_station_amount = int(exp_array[i,0])
            charge_station_amount = int(exp_array[i,1])
            robot_amount = int(exp_array[i,2])
            charge_flag_rate = exp_array[i,3]
            max_charge_rate = exp_array[i,4]
            pearl_rate = exp_array[i,5]

            env = simpy.Environment()

            rows = (3*int(horizontal_ailes))+4 # 10
            columns = (5*int(vertical_ailes))+6 # 16

            rectangular_network, pos = layout.create_rectangular_network_with_attributes(columns, rows)
            layout.place_shelves_automatically(rectangular_network, shelf_dimensions=(4, 2), spacing=(1, 1))
            simulation = RMFS_Model(env=env, network=rectangular_network)
            simulation.createPods()
            simulation.createSKUs()

            startLocations = robot_location(pick_station_location, charge_station_location, columns, rows, robot_amount)
            pick_locations, charge_locations = station_location(pick_station_amount, pick_station_location, charge_station_amount, charge_station_location, horizontal_ailes, vertical_ailes, columns, rows)
        
            simulation.createChargingStations(charge_locations)
            simulation.createOutputStations(pick_locations)
            simulation.fillPods()
            simulation.distanceMatrixCalculate()
            simulation.createRobots(startLocations, charging_rate, max_battery, pearl_rate, rest_rate, charge_flag_rate, max_charge_rate)

            sheet1, sheet2 = simulation.TaguchiVRP(cycle_amount,cycle_runtime, printOutput=True)

            total_rows = len(sheet1)
            extract_count = sheet1[sheet1['robotStatus'] == 'extract'].shape[0]
            utilization = extract_count /(total_rows*robot_amount)
            robot_utilization_list.append(utilization)

            station_rows = sheet2[sheet2['Statistics'].str.startswith('Station')]
            units_per_hour = station_rows['Value'].sum()
            units_per_hour_list.append(units_per_hour)
            print(units_per_hour_list)

            max_steps_per_robot = sheet1.groupby('robotID')['stepsTaken'].max()
            total_steps = max_steps_per_robot.sum()
            total_steps_list.append(total_steps)
            print(total_steps)

            sheet1.to_excel(writer, sheet_name=f'TimeSeries{i+1}', index=False)
            sheet2.to_excel(writer, sheet_name=f'Observed{i+1}', index=False)

        utilization_df = pd.DataFrame({'RobotUtilization': total_steps_list})
        utilization_df.to_excel(writer, sheet_name='RobotUtilization', index=False)

        total_steps_df = pd.DataFrame({'TotalSteps': total_steps_list})
        total_steps_df.to_excel(writer, sheet_name='TotalSteps', index=False)

        units_per_hour_list = [val / (simulationhours) for val in units_per_hour_list]
        print(units_per_hour_list)
        uph_df = pd.DataFrame({'UPH': units_per_hour_list})
        uph_df.to_excel(writer, sheet_name='UPH', index=False)

        min_index_steps = total_steps_df['TotalSteps'].idxmin()
        print('Best Experiment for Total Steps:', min_index_steps+1)

        max_index_uph = uph_df['UPH'].idxmax()
        print('Best Experiment for UPH:', max_index_uph+1)

        max_index_utilization = utilization_df['RobotUtilization'].idxmax()
        print('Best Experiment for Robot Utilization:', max_index_utilization+1)

        writer._save()
        print("run is over")


    result_label.config(text="Simulation started...")  # Update this based on your simulation output

app = tk.Tk()
app.title("RMFS Simulation Interface")

# Create a frame for better organization
frame = ttk.Frame(app, padding="10")
frame.pack(fill=tk.BOTH, expand=True)

# Variables to hold the state of checkbuttons
do_taguchi = tk.BooleanVar()
pick_station_amount_taguchi = tk.BooleanVar()
pick_station_location_taguchi = tk.BooleanVar()
charge_station_amount_taguchi = tk.BooleanVar()
charge_station_location_taguchi = tk.BooleanVar()
robot_amount_taguchi = tk.BooleanVar()
charge_flag_rate_taguchi = tk.BooleanVar()
max_charge_rate_taguchi = tk.BooleanVar()
pearl_rate_taguchi = tk.BooleanVar()

# SETTINGS START

ttk.Label(frame, text="Warehouse & Simulation Settings", font=('Helvetica', 12, 'bold')).grid(row=0, column=0, columnspan=2, sticky=tk.W)

ttk.Label(frame, text="Vertical Aisles:").grid(row=1, column=0, sticky=tk.W)
warehouse_vertical_entry = ttk.Entry(frame)
warehouse_vertical_entry.grid(row=1, column=1)
warehouse_vertical_entry.insert(0, "2")  # Default value

ttk.Label(frame, text="Horizontal Aisles:").grid(row=2, column=0, sticky=tk.W)
warehouse_horizontal_entry = ttk.Entry(frame)
warehouse_horizontal_entry.grid(row=2, column=1)
warehouse_horizontal_entry.insert(0, "2")  # Default value

ttk.Label(frame, text="Pick Station Amount:").grid(row=3, column=0, sticky=tk.W)
pick_station_amount_entry = ttk.Entry(frame)
pick_station_amount_entry.grid(row=3, column=1)
pick_station_amount_entry.insert(0, "1")  # Default value

ttk.Label(frame, text="Pick Station Location:").grid(row=4, column=0, sticky=tk.W)
pick_station_location_combo = ttk.Combobox(frame, values=["TOP", "BOTTOM", "LEFT", "RIGHT"])
pick_station_location_combo.grid(row=4, column=1)
pick_station_location_combo.set("TOP")  # Default value

ttk.Label(frame, text="Charge Station Amount:").grid(row=5, column=0, sticky=tk.W)
charge_station_amount_entry = ttk.Entry(frame)
charge_station_amount_entry.grid(row=5, column=1)
charge_station_amount_entry.insert(0, "1")  # Default value

ttk.Label(frame, text="Charge Station Location:").grid(row=6, column=0, sticky=tk.W)
charge_station_location_combo = ttk.Combobox(frame, values=["TOP", "BOTTOM", "LEFT", "RIGHT"])
charge_station_location_combo.grid(row=6, column=1)
charge_station_location_combo.set("BOTTOM")

ttk.Label(frame, text="Cycle Runtime (sec):").grid(row=7, column=0, sticky=tk.W)
cycle_runtime_entry = ttk.Entry(frame)
cycle_runtime_entry.grid(row=7, column=1)
cycle_runtime_entry.insert(0, "900")

ttk.Label(frame, text="Cycle Amount:").grid(row=8, column=0, sticky=tk.W)
cycle_amount_entry = ttk.Entry(frame)
cycle_amount_entry.grid(row=8, column=1)
cycle_amount_entry.insert(0, "1")

ttk.Label(frame, text="").grid(row=9, column=0, columnspan=2)
ttk.Label(frame, text="Robot Settings", font=('Helvetica', 12, 'bold')).grid(row=10, column=0, columnspan=2, sticky=tk.W)

ttk.Label(frame, text="Robot Amount:").grid(row=11, column=0, sticky=tk.W)
robot_amount_entry = ttk.Entry(frame)
robot_amount_entry.grid(row=11, column=1)
robot_amount_entry.insert(0, "2")

'''
ttk.Label(frame, text="Loaded Speed (m/s):").grid(row=12, column=0, sticky=tk.W)
loaded_speed_entry = ttk.Entry(frame)
loaded_speed_entry.grid(row=12, column=1)
loaded_speed_entry.insert(0, "1")

ttk.Label(frame, text="Empty Speed (m/s):").grid(row=13, column=0, sticky=tk.W)
empty_speed_entry = ttk.Entry(frame)
empty_speed_entry.grid(row=13, column=1)
empty_speed_entry.insert(0, "2")

ttk.Label(frame, text="Take Time (sec):").grid(row=14, column=0, sticky=tk.W) #TO BE UPDATED
take_time_entry = ttk.Entry(frame)
take_time_entry.grid(row=14, column=1)
take_time_entry.insert(0, "3")

ttk.Label(frame, text="Drop Time (sec):").grid(row=15, column=0, sticky=tk.W) #TO BE UPDATED
drop_time_entry = ttk.Entry(frame)
drop_time_entry.grid(row=15, column=1)
drop_time_entry.insert(0, "3")

ttk.Label(frame, text="Loaded Battery Consumption (Ah):").grid(row=16, column=0, sticky=tk.W)
loaded_battery_consumption_entry = ttk.Entry(frame)
loaded_battery_consumption_entry.grid(row=16, column=1)
loaded_battery_consumption_entry.insert(0, "14.53265")

ttk.Label(frame, text="Empty Battery Consumption (Ah):").grid(row=17, column=0, sticky=tk.W)
empty_battery_consumption_entry = ttk.Entry(frame)
empty_battery_consumption_entry.grid(row=17, column=1)
empty_battery_consumption_entry.insert(0, "11.9566")'''

ttk.Label(frame, text="Charging Rate (Ah):").grid(row=12, column=0, sticky=tk.W)
charging_rate_entry = ttk.Entry(frame)
charging_rate_entry.grid(row=12, column=1)
charging_rate_entry.insert(0, "41.6")

ttk.Label(frame, text="Maximum Battery (Ah):").grid(row=13, column=0, sticky=tk.W)
maximum_battery_entry = ttk.Entry(frame)
maximum_battery_entry.grid(row=13, column=1)
maximum_battery_entry.insert(0, "41.6")

ttk.Label(frame, text="").grid(row=14, column=0, columnspan=2)
ttk.Label(frame, text="Charge Policy Settings", font=('Helvetica', 12, 'bold')).grid(row=15, column=0, columnspan=2, sticky=tk.W)

ttk.Label(frame, text="Pearl Rate:").grid(row=16, column=0, sticky=tk.W)
pearl_rate_entry = ttk.Entry(frame)
pearl_rate_entry.grid(row=16, column=1)
pearl_rate_entry.insert(0, "0.4")

ttk.Label(frame, text="Rest Rate:").grid(row=17, column=0, sticky=tk.W) #TO BE UPDATED
rest_rate_entry = ttk.Entry(frame)
rest_rate_entry.grid(row=17, column=1)
rest_rate_entry.insert(0, "0.1")

ttk.Label(frame, text="Charge Flag Rate:").grid(row=18, column=0, sticky=tk.W) #TO BE UPDATED
charge_flag_rate_entry = ttk.Entry(frame)
charge_flag_rate_entry.grid(row=18, column=1)
charge_flag_rate_entry.insert(0, "0.8")

ttk.Label(frame, text="Max Charge Rate:").grid(row=19, column=0, sticky=tk.W) #TO BE UPDATED
max_charge_rate_entry = ttk.Entry(frame)
max_charge_rate_entry.grid(row=19, column=1)
max_charge_rate_entry.insert(0, "0.85")

ttk.Label(frame, text="Taguchi Experiment Frame", font=('Helvetica', 12, 'bold')).grid(row=0, column=3, columnspan=2, sticky=tk.W)

ttk.Checkbutton(frame, text="Enable Taguchi Experiment", variable=do_taguchi).grid(row=1, column=3, sticky=tk.W)

ttk.Checkbutton(frame, text="Pick Station Amount", variable=pick_station_amount_taguchi).grid(row=2, column=3, sticky=tk.W)
ttk.Label(frame, text="Pick Station Amount 2:").grid(row=3, column=3, sticky=tk.W)
pick_station_amount2_entry = ttk.Entry(frame)
pick_station_amount2_entry.grid(row=3, column=4)
pick_station_amount2_entry.insert(0, "2")  # Default value

# ttk.Checkbutton(frame, text="Pick Station Location", variable=pick_station_location_taguchi).grid(row=30, column=0, sticky=tk.W)

ttk.Checkbutton(frame, text="Charge Station Amount", variable=charge_station_amount_taguchi).grid(row=4, column=3, sticky=tk.W)
ttk.Label(frame, text="Charge Station Amount 2:").grid(row=5, column=3, sticky=tk.W)
charge_station_amount2_entry = ttk.Entry(frame)
charge_station_amount2_entry.grid(row=5, column=4)
charge_station_amount2_entry.insert(0, "2")  # Default value

# ttk.Checkbutton(frame, text="Charge Station Location", variable=charge_station_location_taguchi).grid(row=32, column=0, sticky=tk.W)

ttk.Checkbutton(frame, text="Robot Amount", variable=robot_amount_taguchi).grid(row=6, column=3, sticky=tk.W)
ttk.Label(frame, text="Robot Amount 2:").grid(row=7, column=3, sticky=tk.W)
robot_amount2_entry = ttk.Entry(frame)
robot_amount2_entry.grid(row=7, column=4)
robot_amount2_entry.insert(0, "3")

ttk.Checkbutton(frame, text="Charge Flag Rate", variable=charge_flag_rate_taguchi).grid(row=8, column=3, sticky=tk.W)
ttk.Label(frame, text="Charge Flag Rate 2:").grid(row=9, column=3, sticky=tk.W) #TO BE UPDATED
charge_flag_rate2_entry = ttk.Entry(frame)
charge_flag_rate2_entry.grid(row=9, column=4)
charge_flag_rate2_entry.insert(0, "0.9")

ttk.Checkbutton(frame, text="Max Charge Rate", variable=max_charge_rate_taguchi).grid(row=10, column=3, sticky=tk.W)
ttk.Label(frame, text="Max Charge Rate 2:").grid(row=11, column=3, sticky=tk.W) #TO BE UPDATED
max_charge_rate2_entry = ttk.Entry(frame)
max_charge_rate2_entry.grid(row=11, column=4)
max_charge_rate2_entry.insert(0, "0.95")

ttk.Checkbutton(frame, text="Pearl Rate", variable=pearl_rate_taguchi).grid(row=12, column=3, sticky=tk.W)
ttk.Label(frame, text="Pearl Rate 2:").grid(row=13, column=3, sticky=tk.W) #TO BE UPDATED
pearl_rate2_entry = ttk.Entry(frame)
pearl_rate2_entry.grid(row=13, column=4)
pearl_rate2_entry.insert(0, "0.95")

ttk.Label(frame, text="").grid(row=14, column=3, columnspan=2)

ttk.Label(frame, text="Experiment Objective:").grid(row=15, column=3, sticky=tk.W) #TO BE UPDATED
experiment_objective_combo = ttk.Combobox(frame, values=["Units Collected per Hour", "Average Robot Utilization", "Total Distance Taken"])
experiment_objective_combo.grid(row=16, column=3, columnspan=2)
experiment_objective_combo.set("Total Distance Taken")

# Simulation button
run_button = ttk.Button(frame, text="Run Simulation", command=run_simulation)
run_button.grid(row=50, column=1, columnspan=3)

# Result label
result_label = ttk.Label(frame, text="")
result_label.grid(row=51, column=1, columnspan=3)

app.mainloop()