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raiot 2024-10-10 21:01:50 +08:00
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176
.gitignore vendored Normal file
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@ -0,0 +1,176 @@
# Created by https://www.toptal.com/developers/gitignore/api/python
# Edit at https://www.toptal.com/developers/gitignore?templates=python
### Python ###
# Byte-compiled / optimized / DLL files
__pycache__/
*.py[cod]
*$py.class
# C extensions
*.so
# Distribution / packaging
.Python
build/
develop-eggs/
dist/
downloads/
eggs/
.eggs/
lib/
lib64/
parts/
sdist/
var/
wheels/
share/python-wheels/
*.egg-info/
.installed.cfg
*.egg
MANIFEST
# PyInstaller
# Usually these files are written by a python script from a template
# before PyInstaller builds the exe, so as to inject date/other infos into it.
*.manifest
*.spec
# Installer logs
pip-log.txt
pip-delete-this-directory.txt
# Unit test / coverage reports
htmlcov/
.tox/
.nox/
.coverage
.coverage.*
.cache
nosetests.xml
coverage.xml
*.cover
*.py,cover
.hypothesis/
.pytest_cache/
cover/
# Translations
*.mo
*.pot
# Django stuff:
*.log
local_settings.py
db.sqlite3
db.sqlite3-journal
# Flask stuff:
instance/
.webassets-cache
# Scrapy stuff:
.scrapy
# Sphinx documentation
docs/_build/
# PyBuilder
.pybuilder/
target/
# Jupyter Notebook
.ipynb_checkpoints
# IPython
profile_default/
ipython_config.py
# pyenv
# For a library or package, you might want to ignore these files since the code is
# intended to run in multiple environments; otherwise, check them in:
# .python-version
# pipenv
# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
# However, in case of collaboration, if having platform-specific dependencies or dependencies
# having no cross-platform support, pipenv may install dependencies that don't work, or not
# install all needed dependencies.
#Pipfile.lock
# poetry
# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
# This is especially recommended for binary packages to ensure reproducibility, and is more
# commonly ignored for libraries.
# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
#poetry.lock
# pdm
# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
#pdm.lock
# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
# in version control.
# https://pdm.fming.dev/#use-with-ide
.pdm.toml
# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
__pypackages__/
# Celery stuff
celerybeat-schedule
celerybeat.pid
# SageMath parsed files
*.sage.py
# Environments
.env
.venv
env/
venv/
ENV/
env.bak/
venv.bak/
# Spyder project settings
.spyderproject
.spyproject
# Rope project settings
.ropeproject
# mkdocs documentation
/site
# mypy
.mypy_cache/
.dmypy.json
dmypy.json
# Pyre type checker
.pyre/
# pytype static type analyzer
.pytype/
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cython_debug/
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# JetBrains specific template is maintained in a separate JetBrains.gitignore that can
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# option (not recommended) you can uncomment the following to ignore the entire idea folder.
#.idea/
### Python Patch ###
# Poetry local configuration file - https://python-poetry.org/docs/configuration/#local-configuration
poetry.toml
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.ruff_cache/
# LSP config files
pyrightconfig.json
# End of https://www.toptal.com/developers/gitignore/api/python

152
game_plat.py
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@ -3,7 +3,7 @@ import math
import numpy as np
import random
from utils.cv_marker import cap_and_mark
from utils.stack_exe import Stackbot
# from utils.stack_exe import Stackbot
import cv2
@ -79,10 +79,13 @@ class Tower:
])
self.robot_to_sim_matrix = np.linalg.inv(self.sim_to_robot_matrix)
self.stack_bot = Stackbot()
# self.stack_bot = Stackbot()
self.is_upper = False
self.ideal_positions = self.get_ideal_positions()
self.position_tolerance = 20 # 允许的位置偏差（像素）
self.angle_tolerance = 15 # 允许的角度偏差（度）
def sim_to_robot_coords(self, x, y, angle):
sim_coords = np.array([x, y, 0, 1])
@ -106,7 +109,7 @@ class Tower:
angle (float): 机器人的角度
返回值：
bool：如果方块添加成功，返回 True，否则返回 False
bool：如果方块添加成，返回 True，否则返回 False
注意：这个函数需要先调用 robot_to_sim_coords 来将机器人坐标转换为模拟坐标，并且需要一个名为 Block 的类来创建方块对象
"""
@ -121,21 +124,27 @@ class Tower:
def add_block(self, block):
if self.current_layer == 5:
self.is_upper = True
print("is upper")
if not self.check_interference(block):
self.blocks.append(block)
self.stack_bot.pick_stack()
robo_xyz = self.sim_to_robot_coords(block.x, block.y, block.angle)
print(block.x, block.y, block.angle)
if self.is_upper:
self.stack_bot.place_stack(robo_xyz[0], robo_xyz[1], robo_xyz[2], self.current_layer - 5)
else:
self.stack_bot.place_stack(robo_xyz[0], robo_xyz[1], robo_xyz[2], self.current_layer)
self.add_block_from_sim(block)
return True
# if self.current_layer == 5:
# self.is_upper = True
# print("is upper")
# if not self.check_interference(block):
# self.blocks.append(block)
# self.stack_bot.pick_stack()
# robo_xyz = self.sim_to_robot_coords(block.x, block.y, block.angle)
# print(block.x, block.y, block.angle)
# if self.is_upper:
# self.stack_bot.place_stack(robo_xyz[0], robo_xyz[1], robo_xyz[2], self.current_layer - 5)
# else:
# self.stack_bot.place_stack(robo_xyz[0], robo_xyz[1], robo_xyz[2], self.current_layer)
# return True
# return False
def add_block_from_sim(self, block):
self.blocks.append(block)
return True
return False
def draw(self, surface):
for block in self.blocks:
@ -252,49 +261,85 @@ class Tower:
self.layer_centroids.append(centroid)
self.current_layer += 1
def get_ideal_positions(self):
# 定义中心原点
center_x, center_y = 400, 450
# 定义相对坐标和角度
relative_positions = [
[(0, 40, 0), (0, -40, 0)], # 第一层
[(-40, 0, 90), (40, 0, 90)], # 第二层
[(0, 40, 0), (0, -40, 0)], # 第三层
[(-40, 0, 90), (40, 0, 90)], # 第四层
[(0, 40, 0), (0, -40, 0)], # 第五层
# ... 可以继续添加更多层 ...
]
# 转换为绝对坐标
absolute_positions = []
for layer in relative_positions:
layer_positions = []
for rel_x, rel_y, angle in layer:
abs_x = center_x + rel_x
abs_y = center_y + rel_y
layer_positions.append((abs_x, abs_y, angle))
absolute_positions.append(layer_positions)
return absolute_positions
def auto_place_block(self):
if self.current_layer == 0:
# 对于第一层，直接在中心放置
return Block(WIDTH // 2, HEIGHT // 2, 100, 20, 0, self.current_layer)
if self.current_layer >= len(self.ideal_positions):
print("塔已经完成")
return None
base_centroid = self.layer_centroids[0] if self.layer_centroids else (WIDTH // 2, HEIGHT // 2)
current_centroid = self.calculate_current_layer_centroid() or base_centroid
possible_positions = self.generate_possible_positions()
best_position = self.find_best_position(possible_positions)
# 计算当前层的总质量（假设质量与宽度成正比）
total_mass = sum(block.width for block in self.blocks if block.layer == self.current_layer)
if best_position:
x, y, angle = best_position
print(f"选择的最佳位置: ({x}, {y}) 角度为 {angle}") # 添加这行来调试
return Block(x, y, 100, 20, angle, self.current_layer)
else:
print("无法找到合适的放置位置")
return None
# 假设新积木块的质量与宽度成正比
new_block_mass = 100 # 新积木块的宽度
def generate_possible_positions(self):
ideal_positions = self.ideal_positions[self.current_layer]
possible_positions = []
# 计算理想位置
ideal_x = (base_centroid[0] * (total_mass + new_block_mass) - current_centroid[0] * total_mass) / new_block_mass
ideal_y = (base_centroid[1] * (total_mass + new_block_mass) - current_centroid[1] * total_mass) / new_block_mass
for ideal_x, ideal_y, ideal_angle in ideal_positions:
for dx in range(-self.position_tolerance, self.position_tolerance + 1, 2):
for dy in range(-self.position_tolerance, self.position_tolerance + 1, 2):
for dangle in range(-self.angle_tolerance, self.angle_tolerance + 1, 5):
x = ideal_x + dx
y = ideal_y + dy
angle = (ideal_angle + dangle) % 360
possible_positions.append((x, y, angle))
# 计算木块中心到塔重心的角度
dx = base_centroid[0] - ideal_x
dy = base_centroid[1] - ideal_y
center_to_centroid_angle = math.degrees(math.atan2(dy, dx))
print(f"生成的可能位置数量: {len(possible_positions)}")
return possible_positions
# 计算垂直于中心线的理想角度
ideal_angle = (center_to_centroid_angle + 90) % 180 + 90
def find_best_position(self, possible_positions):
best_position = None
min_distance = float('inf')
# 步骤 2: 寻找最佳角度
best_block = None
min_angle_diff = float('inf')
for x, y, angle in possible_positions:
new_block = Block(x, y, 100, 20, angle, self.current_layer)
for angle in range(0, 180, 15): # 每15度尝试一次
test_block = Block(ideal_x, ideal_y, 100, 20, angle, self.current_layer)
if self.has_support(new_block) and not self.check_interference(new_block):
temp_tower = Tower()
temp_tower.blocks = self.blocks.copy()
temp_tower.add_block(new_block)
if temp_tower.check_stability():
ideal_x, ideal_y, ideal_angle = self.ideal_positions[self.current_layer][len(self.blocks) % 2]
distance = np.sqrt((x - ideal_x)**2 + (y - ideal_y)**2) + abs(angle - ideal_angle)
if not self.check_interference(test_block):
# 检查是否有支撑
if self.has_support(test_block):
# 计算与理想角度的差异
angle_diff = min((angle - ideal_angle) % 180, (ideal_angle - angle) % 180)
if angle_diff < min_angle_diff:
min_angle_diff = angle_diff
best_block = test_block
if distance < min_distance:
min_distance = distance
best_position = (x, y, angle)
return best_block
print(f"选择的最佳位置: {best_position}，距离理想位置的距离: {min_distance}")
return best_position
def has_support(self, block):
if self.current_layer == 0:
@ -372,7 +417,7 @@ def main():
current_block.x, current_block.y = pygame.mouse.get_pos()
elif event.type == pygame.MOUSEBUTTONUP:
if event.button == 1 and current_block:
if tower.add_block(current_block):
if tower.add_block_from_sim(current_block):
current_block = None
else:
print("CANNOT place block here, there is already a block there.")
@ -385,9 +430,12 @@ def main():
elif event.key == pygame.K_a: # 按 'A' 键自动放置
auto_block = tower.auto_place_block()
if auto_block:
tower.add_block(auto_block)
if tower.add_block_from_sim(auto_block):
print(f"成功放置积木在 ({auto_block.x}, {auto_block.y}) 角度为 {auto_block.angle}")
else:
print("Cannot find a suitable position for auto-placement.")
print("无法放置积木")
else:
print("无法找到合适的放置位置")
elif event.key == pygame.K_n: # 按 'N' 键自动放置新的一层
tower.auto_place_layer()
elif event.key == pygame.K_s: # 按 'S' 键扫描当前层