gui improvement and blueprint

game_plat.py

@@ -5,6 +5,7 @@ import random
 from utils.cv_marker import cap_and_mark
 # from utils.stack_exe import Stackbot
 import cv2
+import sys
 
 
 pygame.init()
@@ -28,6 +29,14 @@ cap.set(6,cv2.VideoWriter.fourcc('M','J','P','G'))
 cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
 cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080)
 
+# 定义屏幕尺寸
+SCREEN_WIDTH = 800
+SCREEN_HEIGHT = 600
+
+# 定义按钮尺寸
+BUTTON_WIDTH = 200
+BUTTON_HEIGHT = 200
+
 class Block:
     def __init__(self, x, y, width, height, angle, layer):
         self.x = x
@@ -62,30 +71,34 @@ class Block:
 
 
 class Tower:
-    def __init__(self):
+    def __init__(self, blueprint, tower_image=None):
         self.blocks = []
         self.current_layer = 0
-        self.layer_centroids = []  # 存储每层的重心
+        self.layer_centroids = []
-        self.stability_threshold = 10  # 稳定性阈值（像素）
+        self.stability_threshold = 10
-        self.rotation_angle = 15  # 预设每层旋转角度
+        self.rotation_angle = 15
-        self.angle_tolerance = 5  # 允许的角度偏移
+        self.angle_tolerance = 5
-        self.position_tolerance = 10  # 允许的位置偏移
+        self.position_tolerance = 10
 
         self.sim_to_robot_matrix = np.array([
-            [1, 0, 0, -300],  # 假设的转换矩阵，需要根据实际情况调整
+            [1, 0, 0, -300],
             [0, -1, 0, -200],
             [0, 0, 1, 0],
             [0, 0, 0, 1]
         ])
         self.robot_to_sim_matrix = np.linalg.inv(self.sim_to_robot_matrix)
 
-        # self.stack_bot = Stackbot()
-
         self.is_upper = False
 
+        self.blueprint = blueprint
+        self.center_x, self.center_y = 300, 300  # 定义塔的中心点
         self.ideal_positions = self.get_ideal_positions()
-        self.position_tolerance = 20  # 允许的位置偏差（像素）
+        self.position_tolerance = 20
-        self.angle_tolerance = 15  # 允许的角度偏差（度）
+        self.angle_tolerance = 15
+
+        self.tower_image = None
+        if tower_image:
+            self.tower_image = pygame.transform.scale(tower_image, (150, 150))  # 调整图片大小
 
     def sim_to_robot_coords(self, x, y, angle):
         sim_coords = np.array([x, y, 0, 1])
@@ -262,29 +275,15 @@ class Tower:
         self.current_layer += 1
 
     def get_ideal_positions(self):
-        # 定义中心原点
+        # 将相对坐标转换为绝对坐标
-        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:
+        for layer in self.blueprint:
             layer_positions = []
             for rel_x, rel_y, angle in layer:
-                abs_x = center_x + rel_x
+                abs_x = self.center_x + rel_x
-                abs_y = center_y + rel_y
+                abs_y = self.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):
@@ -297,7 +296,7 @@ class Tower:
 
         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
+            print(f"选择的最佳位置: ({x}, {y}) 角度为 {angle}")
             return Block(x, y, 100, 20, angle, self.current_layer)
         else:
             print("无法找到合适的放置位置")
@@ -322,16 +321,28 @@ class Tower:
     def find_best_position(self, possible_positions):
         best_position = None
         min_distance = float('inf')
+        
+        # 获取当前层已放置的木块数量
+        blocks_in_current_layer = sum(1 for block in self.blocks if block.layer == self.current_layer)
+        
+        # 获取当前层的理想位置
+        ideal_positions = self.ideal_positions[self.current_layer]
+        
+        # 确保我们选择正确的理想位置
+        if blocks_in_current_layer < len(ideal_positions):
+            ideal_x, ideal_y, ideal_angle = ideal_positions[blocks_in_current_layer]
+        else:
+            print("警告：当前层的所有位置都已被填满")
+            return None
 
         for x, y, angle in possible_positions:
             new_block = Block(x, 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 = Tower(self.blueprint)
                 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 distance < min_distance:
@@ -398,8 +409,146 @@ class Tower:
             self.add_block_from_robot(block[0][0], block[0][1], block[1])
             
             
+    def draw_tower_image(self, screen):
+        if self.tower_image:
+            image_rect = self.tower_image.get_rect()
+            image_rect.topright = (SCREEN_WIDTH - 10, 10)  # 放置在右上角，留出10像素的边距
+            screen.blit(self.tower_image, image_rect)
+
+def show_tower_selection(screen):
+    # 加载塔型图片
+    tower_images = [
+        pygame.image.load("tower1.png"),
+        pygame.image.load("tower2.png"),
+        pygame.image.load("tower3.png")
+    ]
+    
+    # 调整图片大小
+    tower_images = [pygame.transform.scale(img, (BUTTON_WIDTH, BUTTON_HEIGHT)) for img in tower_images]
+    
+    # 计算按钮位置
+    button_y = (SCREEN_HEIGHT - BUTTON_HEIGHT) // 2
+    button_x_start = (SCREEN_WIDTH - (BUTTON_WIDTH * 3 + 40)) // 2
+    
+    # 创建按钮矩形
+    buttons = [
+        pygame.Rect(button_x_start + i * (BUTTON_WIDTH + 20), button_y, BUTTON_WIDTH, BUTTON_HEIGHT)
+        for i in range(3)
+    ]
+    
+    while True:
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                pygame.quit()
+                sys.exit()
+            if event.type == pygame.MOUSEBUTTONDOWN:
+                mouse_pos = pygame.mouse.get_pos()
+                for i, button in enumerate(buttons):
+                    if button.collidepoint(mouse_pos):
+                        return i  # 返回选择的塔型索引
+        
+        screen.fill(WHITE)
+        
+        # 绘制按钮和图片
+        for i, (button, image) in enumerate(zip(buttons, tower_images)):
+            screen.blit(image, button.topleft)
+            pygame.draw.rect(screen, BLACK, button, 2)
+        
+        # 添加标题
+        font = pygame.font.Font(None, 36)
+        title = font.render("选择塔型", True, BLACK)
+        title_rect = title.get_rect(center=(SCREEN_WIDTH // 2, 50))
+        screen.blit(title, title_rect)
+        
+        pygame.display.flip()
+
+def get_tower_blueprint_1():
+    # 第一种塔型的蓝图（相对坐标）
+    return [
+        [(-40, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+        [(-35, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+        [(-30, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+        [(-25, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+        [(-20, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+        [(-15, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+        [(-10, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+        [(-5, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+        [(0, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+        [(-5, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+        [(-10, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+        [(-15, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+        [(-20, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+        [(-25, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+        [(-30, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+        [(-35, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+        [(-40, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+    ]
+
+def get_tower_blueprint_2():
+    # 第二种塔型的蓝图（相对坐标）
+    return [
+        [(-20, 0, 90), (20, 0, 90)],
+        [(0, 20, 0), (0, -20, 0)],
+    ]
+
+def get_tower_blueprint_3():
+    # 第三种塔型的蓝图（相对坐标）
+    return [
+        [(-60, -60, 45), (60, -60, 135), (-60, 60, 135), (60, 60, 45)],
+        [(0, -80, 0), (80, 0, 90), (0, 80, 0), (-80, 0, 90)],
+        [(-55, -55, 45), (55, -55, 135), (-55, 55, 135), (55, 55, 45)],
+        [(0, -75, 0), (75, 0, 90), (0, 75, 0), (-75, 0, 90)],
+        [(-50, -50, 45), (50, -50, 135), (-50, 50, 135), (50, 50, 45)],
+        [(0, -70, 0), (70, 0, 90), (0, 70, 0), (-70, 0, 90)],
+        [(-45, -45, 45), (45, -45, 135), (-45, 45, 135), (45, 45, 45)],
+        [(0, -65, 0), (65, 0, 90), (0, 65, 0), (-65, 0, 90)],
+        [(-40, -40, 45), (40, -40, 135), (-40, 40, 135), (40, 40, 45)],
+        [(0, -60, 0), (60, 0, 90), (0, 60, 0), (-60, 0, 90)],
+        [(-40, 0, 90), (40, 0, 90)],
+        [(0, 40, 0), (0, -40, 0)],
+    ]
+
 def main():
-    tower = Tower()
+    pygame.init()
+    screen = pygame.display.set_mode((SCREEN_WIDTH, SCREEN_HEIGHT))
+    pygame.display.set_caption("积木塔仿真")
+
+    # 加载塔型图片
+    tower_images = [
+        pygame.image.load("tower1.png"),
+        pygame.image.load("tower2.png"),
+        pygame.image.load("tower3.png")
+    ]
+
+    # 显示塔型选择界面
+    selected_tower = show_tower_selection(screen)
+    
+    # 根据选择的塔型设置相应的蓝图和图片
+    if selected_tower == 0:
+        tower_blueprint = get_tower_blueprint_1()
+    elif selected_tower == 1:
+        tower_blueprint = get_tower_blueprint_2()
+    else:
+        tower_blueprint = get_tower_blueprint_3()
+    
+    tower = Tower(tower_blueprint, tower_images[selected_tower])
     clock = pygame.time.Clock()
     current_block = None
     
@@ -469,10 +618,12 @@ def main():
         layer_text = font.render(f"Current layer: {tower.current_layer + 1}", True, BLACK)
         screen.blit(layer_text, (10, 10))
 
+        tower.draw_tower_image(screen)
+
         pygame.display.flip()
         clock.tick(60)
 
     pygame.quit()
 
 if __name__ == "__main__":
-    main()
+    main()