feat: new tower and similiarity socre calc

.gitignore

@@ -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
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+
+# Distribution / packaging
+.Python
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+MANIFEST
+
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+# pyenv
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+# pipenv
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+#   commonly ignored for libraries.
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+# End of https://www.toptal.com/developers/gitignore/api/python

game_plat.py

@@ -3,15 +3,16 @@ 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
+import sys
 
 
 pygame.init()
 
 WIDTH, HEIGHT = 800, 600
 screen = pygame.display.set_mode((WIDTH, HEIGHT))
-pygame.display.set_caption("积木塔仿真")
+pygame.display.set_caption("Stack Simulation")
 
 WHITE = (255, 255, 255)
 BLACK = (0, 0, 0)
@@ -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
@@ -62,27 +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.stability_threshold = 10  # 稳定性阈值（像素）
-        self.rotation_angle = 15  # 预设每层旋转角度
-        self.angle_tolerance = 5  # 允许的角度偏移
-        self.position_tolerance = 10  # 允许的位置偏移
+        self.layer_centroids = []
+        self.stability_threshold = 10
+        self.rotation_angle = 15
+        self.angle_tolerance = 5
+        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
+        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])
@@ -106,7 +122,7 @@ 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 +137,27 @@ class Tower:
 
 
     def add_block(self, block):
-        if self.current_layer == 5:
-            self.is_upper = True
-            print("is upper")
+        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
+        # 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
 
     def draw(self, surface):
         for block in self.blocks:
@@ -252,49 +274,84 @@ class Tower:
             self.layer_centroids.append(centroid)
         self.current_layer += 1
 
+    def get_ideal_positions(self):
+        # 将相对坐标转换为绝对坐标
+        absolute_positions = []
+        for layer in self.blueprint:
+            layer_positions = []
+            for rel_x, rel_y, angle in layer:
+                abs_x = self.center_x + rel_x
+                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):
-        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, 0
 
-        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, similarity_score = 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}")
+            return Block(x, y, 100, 20, angle, self.current_layer), similarity_score
+        else:
+            print("无法找到合适的放置位置")
+            return None, 0
+
+    def generate_possible_positions(self):
+        ideal_positions = self.ideal_positions[self.current_layer]
+        possible_positions = []
+
+        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))
+
+        print(f"生成的可能位置数量: {len(possible_positions)}")
+        return possible_positions
+
+    def find_best_position(self, possible_positions):
+        best_position = None
+        min_distance = float('inf')
+        best_similarity_score = 0
         
-        # 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
+        blocks_in_current_layer = sum(1 for block in self.blocks if block.layer == self.current_layer)
+        ideal_positions = self.ideal_positions[self.current_layer]
+        
+        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, 0
 
-        # 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
-
-        # 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))
-
-        # 计算垂直于中心线的理想角度
-        ideal_angle = (center_to_centroid_angle + 90) % 180 + 90
-
-        # 步骤 2: 寻找最佳角度
-        best_block = None
-        min_angle_diff = float('inf')
-
-        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)
+        for x, y, angle in possible_positions:
+            new_block = Block(x, y, 100, 20, angle, self.current_layer)
             
-            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 self.has_support(new_block) and not self.check_interference(new_block):
+                temp_tower = Tower(self.blueprint)
+                temp_tower.blocks = self.blocks.copy()
+                temp_tower.add_block(new_block)
+                if temp_tower.check_stability():
+                    distance = np.sqrt((x - ideal_x)**2 + (y - ideal_y)**2) + abs(angle - ideal_angle)
+                    # 方案1：使用指数函数
+                    ratio = distance / (np.sqrt(WIDTH**2 + HEIGHT**2) + 360)
+                    similarity_score = 100 * (1 - np.power(ratio, 0.5))  # 使用0.5次方增加敏感度
+                    
+                    if distance < min_distance:
+                        min_distance = distance
+                        best_position = (x, y, angle)
+                        best_similarity_score = similarity_score
 
-        return best_block
+        print(f"选择的最佳位置: {best_position}，相似性评分: {best_similarity_score:.2f}")
+        return best_position, best_similarity_score
 
     def has_support(self, block):
         if self.current_layer == 0:
@@ -353,10 +410,193 @@ 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("Select Tower Type", True, BLACK)
+        title_rect = title.get_rect(center=(SCREEN_WIDTH // 2, 50))
+        screen.blit(title, title_rect)
+        
+        pygame.display.flip()
+
+def polar_to_cartesian(r, theta, angle):
+    """
+    将极坐标转换为直角坐标
+    
+    参数:
+    r: 半径
+    theta: 极角(度)
+    angle: 方块的旋转角度(度)
+    
+    返回:
+    (x, y, angle): 直角坐标和方块旋转角度
+    """
+    # 将角度转换为弧度
+    theta_rad = math.radians(theta)
+    
+    # 计算 x 和 y
+    x = r * math.cos(theta_rad)
+    y = r * math.sin(theta_rad)
+    
+    # 四舍五入到整数
+    x = round(x)
+    y = round(y)
+    
+    return (x, y, angle)
+
+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():
+    # 使用极坐标定义第二种塔型的蓝图
+    return [
+        [(-30, 0, 90), (30, 0, 90)],
+        [(-3, 30, -5), (3, -30, -5)],
+        [(-29, -5, 80), (29, 5, 80)],
+        [(-8, 29, -15), (8, -29, -15)],
+        [(-28, -10, 70), (28, 10, 70)],
+        [(-13, 27, -25), (13, -27, -25)],
+        [(-27, -13, 60), (27, 13, 60)],
+        [(-18, 25, -35), (18, -25, -35)],
+        [(-26, -18, 50), (26, 18, 50)],
+        [(-21, 23, -45), (21, -23, -45)],
+        [(-25, -21, 40), (25, 21, 40)],
+        [(-22, 20, -55), (22, -20, -55)],
+        [(-24, -22, 30), (24, 22, 30)],
+        [(-20, 19, -65), (20, -19, -65)],
+        [(-23, -20, 20), (23, 20, 20)],
+        [(-19, 18, -75), (19, -18, -75)],
+        [(-22, -19, 10), (22, 19, 10)],
+        [(-17, 17, -85), (17, -17, -85)],
+        [(-21, -17, 0), (21, 17, 0)],
+        [(-16, 16, -95), (16, -16, -95)],
+    ]
+
+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("Stack Simulation")
+
+    # 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
+    similarity_score = 0  # 初始化相似性评分
+    font = pygame.font.Font(None, 36)  # 创建字体对象
     
     running = True
     while running:
@@ -370,9 +610,27 @@ def main():
             elif event.type == pygame.MOUSEMOTION:
                 if current_block:
                     current_block.x, current_block.y = pygame.mouse.get_pos()
+                    # 实时计算当前位置的相似性评分
+                    ideal_positions = tower.ideal_positions[tower.current_layer]
+                    blocks_in_current_layer = sum(1 for block in tower.blocks if block.layer == tower.current_layer)
+                    if blocks_in_current_layer < len(ideal_positions):
+                        ideal_x, ideal_y, ideal_angle = ideal_positions[blocks_in_current_layer]
+                        distance = np.sqrt((current_block.x - ideal_x)**2 + (current_block.y - ideal_y)**2) + abs(current_block.angle - ideal_angle)
+                        # similarity_score = 100 * (1 - distance / (np.sqrt(WIDTH**2 + HEIGHT**2) + 360))
+                        ratio = distance / (np.sqrt(WIDTH**2 + HEIGHT**2) + 360)
+                        similarity_score = 100 * (1 - np.power(ratio, 0.5))  # 使用0.5次方增加敏感度
             elif event.type == pygame.MOUSEBUTTONUP:
                 if event.button == 1 and current_block:
-                    if tower.add_block(current_block):
+                    # 计算最终放置位置的相似性评分
+                    ideal_positions = tower.ideal_positions[tower.current_layer]
+                    blocks_in_current_layer = sum(1 for block in tower.blocks if block.layer == tower.current_layer)
+                    if blocks_in_current_layer < len(ideal_positions):
+                        ideal_x, ideal_y, ideal_angle = ideal_positions[blocks_in_current_layer]
+                        distance = np.sqrt((current_block.x - ideal_x)**2 + (current_block.y - ideal_y)**2) + abs(current_block.angle - ideal_angle)
+                        similarity_score = 100 * (1 - distance / (np.sqrt(WIDTH**2 + HEIGHT**2) + 360))
+                        
+                    if tower.add_block_from_sim(current_block):
+                        print(f"Block placed with similarity score: {similarity_score:.2f}")
                         current_block = None
                     else:
                         print("CANNOT place block here, there is already a block there.")
@@ -383,11 +641,15 @@ def main():
                 elif event.key == pygame.K_SPACE:  # 按 'Space' 键确认当前层完成放置
                     tower.increase_layer()
                 elif event.key == pygame.K_a:  # 按 'A' 键自动放置
-                    auto_block = tower.auto_place_block()
+                    auto_block, new_similarity_score = tower.auto_place_block()
                     if auto_block:
-                        tower.add_block(auto_block)
+                        if tower.add_block_from_sim(auto_block):
+                            print(f"Successfully placed block at ({auto_block.x}, {auto_block.y}) with angle {auto_block.angle}")
+                            similarity_score = new_similarity_score
+                        else:
+                            print("Cannot place block")
                     else:
-                        print("Cannot find a suitable position for auto-placement.")
+                        print("Cannot find suitable position")
                 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
@@ -399,6 +661,10 @@ def main():
         if current_block:
             current_block.draw(screen)
 
+        # 显示相似性评分
+        score_text = font.render(f"Similarity Score: {similarity_score:.2f}", True, (0, 0, 0))
+        screen.blit(score_text, (10, 50))
+
         # 计算并绘制当前层的重心
         current_centroid = tower.calculate_current_layer_centroid()
         if current_centroid:
@@ -418,13 +684,15 @@ def main():
             screen.blit(text, (WIDTH // 2 - text.get_width() // 2, 20))
 
         font = pygame.font.Font(None, 36)
-        layer_text = font.render(f"Current layer: {tower.current_layer + 1}", True, BLACK)
+        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()