431 lines
16 KiB
Python
431 lines
16 KiB
Python
import pygame
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import math
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import numpy as np
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import random
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from utils.cv_marker import cap_and_mark
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from utils.stack_exe import Stackbot
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import cv2
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pygame.init()
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WIDTH, HEIGHT = 800, 600
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screen = pygame.display.set_mode((WIDTH, HEIGHT))
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pygame.display.set_caption("积木塔仿真")
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WHITE = (255, 255, 255)
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BLACK = (0, 0, 0)
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RED = (255, 0, 0)
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LAYER_COLORS = [
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(255, 0, 0), (0, 255, 0), (0, 0, 255), (255, 255, 0), (255, 0, 255),
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(0, 255, 255), (128, 0, 0), (0, 128, 0), (0, 0, 128), (128, 128, 0),
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]
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cap = cv2.VideoCapture(1)
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cap.set(6,cv2.VideoWriter.fourcc('M','J','P','G'))
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cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
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cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080)
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class Block:
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def __init__(self, x, y, width, height, angle, layer):
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self.x = x
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self.y = y
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self.width = width
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self.height = height
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self.angle = angle
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self.layer = layer
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self.color = LAYER_COLORS[layer % len(LAYER_COLORS)]
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def draw(self, surface):
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rotated_surface = pygame.Surface((self.width, self.height), pygame.SRCALPHA)
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rotated_surface.set_alpha(125)
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pygame.draw.rect(rotated_surface, self.color, (0, 0, self.width, self.height))
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rotated_surface = pygame.transform.rotate(rotated_surface, self.angle)
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surface.blit(rotated_surface, (self.x - rotated_surface.get_width() // 2, self.y - rotated_surface.get_height() // 2))
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def get_corners(self):
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w, h = self.width / 2, self.height / 2
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corners = [(-w, -h), (w, -h), (w, h), (-w, h)]
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angle_rad = np.deg2rad(self.angle)
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rotation_matrix = np.array([
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[np.cos(angle_rad), -np.sin(angle_rad)],
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[np.sin(angle_rad), np.cos(angle_rad)]
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])
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rotated_corners = np.dot(corners, rotation_matrix)
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translated_corners = rotated_corners + np.array([self.x, self.y])
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# print(translated_corners)
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rotated_corners = [(float(point[0]), float(point[1])) for point in translated_corners]
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return rotated_corners
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class Tower:
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def __init__(self):
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self.blocks = []
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self.current_layer = 0
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self.layer_centroids = [] # 存储每层的重心
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self.stability_threshold = 10 # 稳定性阈值（像素）
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self.rotation_angle = 15 # 预设每层旋转角度
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self.angle_tolerance = 5 # 允许的角度偏移
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self.position_tolerance = 10 # 允许的位置偏移
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self.sim_to_robot_matrix = np.array([
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[1, 0, 0, -300], # 假设的转换矩阵，需要根据实际情况调整
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[0, -1, 0, -200],
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[0, 0, 1, 0],
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[0, 0, 0, 1]
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])
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self.robot_to_sim_matrix = np.linalg.inv(self.sim_to_robot_matrix)
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self.stack_bot = Stackbot()
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self.is_upper = False
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def sim_to_robot_coords(self, x, y, angle):
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sim_coords = np.array([x, y, 0, 1])
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robot_coords = self.sim_to_robot_matrix.dot(sim_coords)
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robot_angle = (angle + 360) % 360 # 确保角度在0-359范围内
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return robot_coords[0], robot_coords[1], robot_angle
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def robot_to_sim_coords(self, x, y, angle):
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robot_coords = np.array([x, y, 0, 1])
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sim_coords = self.robot_to_sim_matrix.dot(robot_coords)
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sim_angle = (angle + 360) % 360
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return sim_coords[0], sim_coords[1], sim_angle
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def add_block_from_robot(self, x, y, angle):
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"""
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这个函数根据机器人的坐标和角度，在模拟世界中添加一个方块
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参数:
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x (float): 机器人的 x 坐标
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y (float): 机器人的 y 坐标
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angle (float): 机器人的角度
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返回值：
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bool：如果方块添加成功，返回 True，否则返回 False
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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
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"""
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sim_x, sim_y, sim_angle = self.robot_to_sim_coords(x, y, angle)
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new_block = Block(sim_x, sim_y, 100, 20, sim_angle, self.current_layer)
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if self.add_block(new_block):
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print(f"Block added from robot at ({sim_x:.2f}, {sim_y:.2f}) with angle {sim_angle}")
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return True
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else:
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print(f"Failed to add block from robot at ({sim_x:.2f}, {sim_y:.2f}) with angle {sim_angle}")
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return False
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def add_block(self, block):
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if self.current_layer == 5:
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self.is_upper = True
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print("is upper")
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if not self.check_interference(block):
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self.blocks.append(block)
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self.stack_bot.pick_stack()
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robo_xyz = self.sim_to_robot_coords(block.x, block.y, block.angle)
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print(block.x, block.y, block.angle)
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if self.is_upper:
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self.stack_bot.place_stack(robo_xyz[0], robo_xyz[1], robo_xyz[2], self.current_layer - 5)
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else:
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self.stack_bot.place_stack(robo_xyz[0], robo_xyz[1], robo_xyz[2], self.current_layer)
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return True
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return False
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def draw(self, surface):
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for block in self.blocks:
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block.draw(surface)
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def check_stability(self):
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current_layer_centroid = self.calculate_current_layer_centroid()
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tower_centroid = self.calculate_tower_centroid()
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if current_layer_centroid is None or tower_centroid is None:
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return True # 如果没有足够的块来计算重心，我们假设它是稳定的
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horizontal_distance = abs(current_layer_centroid[0] - tower_centroid[0])
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return horizontal_distance <= self.stability_threshold
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def blocks_overlap(self, block1, block2):
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corners1 = block1.get_corners()
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corners2 = block2.get_corners()
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# 检查 block1 的角是否在 block2 内部
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for corner in corners1:
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if self.point_inside_polygon(corner, corners2):
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return True
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# 检查 block2 的角是否在 block1 内部
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for corner in corners2:
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if self.point_inside_polygon(corner, corners1):
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return True
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# 检查边是否相交
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for i in range(4):
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for j in range(4):
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if self.line_intersects(corners1[i], corners1[(i+1)%4], corners2[j], corners2[(j+1)%4]):
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return True
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return False
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def point_inside_polygon(self, point, polygon):
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x, y = point
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n = len(polygon)
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inside = False
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p1x, p1y = polygon[0]
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for i in range(n + 1):
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p2x, p2y = polygon[i % n]
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if y > min(p1y, p2y):
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if y <= max(p1y, p2y):
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if x <= max(p1x, p2x):
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if p1y != p2y:
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xinters = (y - p1y) * (p2x - p1x) / (p2y - p1y) + p1x
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if p1x == p2x or x <= xinters:
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inside = not inside
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p1x, p1y = p2x, p2y
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return inside
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def line_intersects(self, p1, p2, p3, p4):
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def ccw(A, B, C):
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return (C[1]-A[1]) * (B[0]-A[0]) > (B[1]-A[1]) * (C[0]-A[0])
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return ccw(p1,p3,p4) != ccw(p2,p3,p4) and ccw(p1,p2,p3) != ccw(p1,p2,p4)
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def check_interference(self, new_block):
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# 检查是否与其他木块重叠
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for block in self.blocks:
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if block.layer == new_block.layer and self.blocks_overlap(block, new_block):
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return True
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return False
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def calculate_current_layer_centroid(self):
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current_layer_blocks = [block for block in self.blocks if block.layer == self.current_layer]
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if not current_layer_blocks:
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return None
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total_area = 0
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weighted_x = 0
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weighted_y = 0
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for block in current_layer_blocks:
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area = block.width * block.height
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total_area += area
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weighted_x += block.x * area
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weighted_y += block.y * area
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if total_area == 0:
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return None
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centroid_x = weighted_x / total_area
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centroid_y = weighted_y / total_area
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return (centroid_x, centroid_y)
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def calculate_tower_centroid(self):
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if not self.blocks:
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return None
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total_area = 0
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weighted_x = 0
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weighted_y = 0
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for block in self.blocks:
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area = block.width * block.height
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total_area += area
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weighted_x += block.x * area
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weighted_y += block.y * area
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if total_area == 0:
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return None
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centroid_x = weighted_x / total_area
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centroid_y = weighted_y / total_area
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return (centroid_x, centroid_y)
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def increase_layer(self):
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centroid = self.calculate_current_layer_centroid()
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if centroid:
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self.layer_centroids.append(centroid)
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self.current_layer += 1
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def auto_place_block(self):
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if self.current_layer == 0:
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# 对于第一层，直接在中心放置
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return Block(WIDTH // 2, HEIGHT // 2, 100, 20, 0, self.current_layer)
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base_centroid = self.layer_centroids[0] if self.layer_centroids else (WIDTH // 2, HEIGHT // 2)
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current_centroid = self.calculate_current_layer_centroid() or base_centroid
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# 计算当前层的总质量（假设质量与宽度成正比）
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total_mass = sum(block.width for block in self.blocks if block.layer == self.current_layer)
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# 假设新积木块的质量与宽度成正比
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new_block_mass = 100 # 新积木块的宽度
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# 计算理想位置
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ideal_x = (base_centroid[0] * (total_mass + new_block_mass) - current_centroid[0] * total_mass) / new_block_mass
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ideal_y = (base_centroid[1] * (total_mass + new_block_mass) - current_centroid[1] * total_mass) / new_block_mass
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# 计算木块中心到塔重心的角度
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dx = base_centroid[0] - ideal_x
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dy = base_centroid[1] - ideal_y
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center_to_centroid_angle = math.degrees(math.atan2(dy, dx))
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# 计算垂直于中心线的理想角度
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ideal_angle = (center_to_centroid_angle + 90) % 180 + 90
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# 步骤 2: 寻找最佳角度
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best_block = None
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min_angle_diff = float('inf')
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for angle in range(0, 180, 15): # 每15度尝试一次
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test_block = Block(ideal_x, ideal_y, 100, 20, angle, self.current_layer)
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if not self.check_interference(test_block):
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# 检查是否有支撑
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if self.has_support(test_block):
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# 计算与理想角度的差异
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angle_diff = min((angle - ideal_angle) % 180, (ideal_angle - angle) % 180)
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if angle_diff < min_angle_diff:
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min_angle_diff = angle_diff
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best_block = test_block
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return best_block
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def has_support(self, block):
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if self.current_layer == 0:
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return True # 第一层总是有支撑
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block_corners = block.get_corners()
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for lower_block in [b for b in self.blocks if b.layer == self.current_layer - 1]:
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lower_corners = lower_block.get_corners()
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for corner in block_corners:
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if self.point_inside_polygon(corner, lower_corners):
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return True
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return False
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def auto_place_layer(self):
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center_x, center_y = 359, 90
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block_width, block_height = 100, 20
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square_size = 110 # 正方形的边长
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# 基于当前层数计算旋转角度
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layer_rotation = (self.current_layer * 30) % 360
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# 计算正方形四个角的坐标
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base_positions = [
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(-square_size/2, -square_size/2), # 左上
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(square_size/2, -square_size/2), # 右上
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(square_size/2, square_size/2), # 右下
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(-square_size/2, square_size/2) # 左下
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]
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# 旋转基础位置
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rotated_positions = []
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for x, y in base_positions:
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angle_rad = math.radians(layer_rotation)
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rotated_x = x * math.cos(angle_rad) - y * math.sin(angle_rad)
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rotated_y = x * math.sin(angle_rad) + y * math.cos(angle_rad)
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rotated_positions.append((center_x + rotated_x, center_y + rotated_y))
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base_angles = [45, 135, 225, 315]
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angles = [(angle - layer_rotation) % 360 for angle in base_angles]
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for (x, y), angle in zip(rotated_positions, angles):
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new_block = Block(x, y, block_width, block_height, angle, self.current_layer)
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if self.add_block(new_block):
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print(f"Block placed at ({x:.2f}, {y:.2f}) with angle {angle}")
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else:
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print(f"Failed to place block at ({x:.2f}, {y:.2f}) with angle {angle}")
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def clear_current_layer(self):
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self.blocks = [block for block in self.blocks if block.layer!= self.current_layer]
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def scan_current_layer(self):
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current_block_pos = cap_and_mark(cap=cap)
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for block in current_block_pos:
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print(block)
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self.add_block_from_robot(block[0][0], block[0][1], block[1])
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def main():
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tower = Tower()
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clock = pygame.time.Clock()
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current_block = None
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running = True
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while running:
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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running = False
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elif event.type == pygame.MOUSEBUTTONDOWN:
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if event.button == 1:
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x, y = pygame.mouse.get_pos()
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current_block = Block(x, y, 100, 20, 0, tower.current_layer)
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elif event.type == pygame.MOUSEMOTION:
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if current_block:
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current_block.x, current_block.y = pygame.mouse.get_pos()
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elif event.type == pygame.MOUSEBUTTONUP:
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if event.button == 1 and current_block:
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if tower.add_block(current_block):
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current_block = None
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else:
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print("CANNOT place block here, there is already a block there.")
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elif event.type == pygame.KEYDOWN:
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# 处理所有按键事件
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if event.key == pygame.K_r and current_block: # 按 'R' 键旋转当前块
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current_block.angle += 15
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elif event.key == pygame.K_SPACE: # 按 'Space' 键确认当前层完成放置
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tower.increase_layer()
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elif event.key == pygame.K_a: # 按 'A' 键自动放置
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auto_block = tower.auto_place_block()
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if auto_block:
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tower.add_block(auto_block)
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else:
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print("Cannot find a suitable position for auto-placement.")
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elif event.key == pygame.K_n: # 按 'N' 键自动放置新的一层
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tower.auto_place_layer()
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elif event.key == pygame.K_s: # 按 'S' 键扫描当前层
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tower.scan_current_layer()
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screen.fill(WHITE)
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tower.draw(screen)
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if current_block:
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current_block.draw(screen)
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# 计算并绘制当前层的重心
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current_centroid = tower.calculate_current_layer_centroid()
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if current_centroid:
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pygame.draw.circle(screen, RED, (int(current_centroid[0]), int(current_centroid[1])), 5)
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font = pygame.font.Font(None, 24)
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# 绘制之前层的重心
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for i, centroid in enumerate(tower.layer_centroids):
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pygame.draw.circle(screen, BLACK, (int(centroid[0]), int(centroid[1])), 3)
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font = pygame.font.Font(None, 24)
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text = font.render(f"{i+1}", True, BLACK)
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screen.blit(text, (int(centroid[0]) + 10, int(centroid[1]) - 10))
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if not tower.check_stability():
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font = pygame.font.Font(None, 36)
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text = font.render("WARNING: Tower is NOT stable", True, RED)
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screen.blit(text, (WIDTH // 2 - text.get_width() // 2, 20))
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font = pygame.font.Font(None, 36)
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layer_text = font.render(f"Current layer: {tower.current_layer + 1}", True, BLACK)
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screen.blit(layer_text, (10, 10))
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pygame.display.flip()
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clock.tick(60)
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pygame.quit()
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if __name__ == "__main__":
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main()
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