181 lines
8.0 KiB
Python
181 lines
8.0 KiB
Python
|
import json
|
|||
|
|
import os
|
|||
|
|
|
|||
|
|
class SceneEnricher:
|
|||
|
|
def __init__(self, scene_file, scene_ref_file):
|
|||
|
|
self.scene_file = scene_file
|
|||
|
|
self.scene_ref_file = scene_ref_file
|
|||
|
|
self.scene_data = self.load_json(scene_file)
|
|||
|
|
self.scene_ref_data = self.load_json(scene_ref_file)
|
|||
|
|
|
|||
|
|
def load_json(self, file_path):
|
|||
|
|
if os.path.exists(file_path):
|
|||
|
|
with open(file_path, 'r', encoding='utf-8') as f:
|
|||
|
|
return json.load(f)
|
|||
|
|
else:
|
|||
|
|
print(f"警告: 文件 {file_path} 不存在")
|
|||
|
|
return {}
|
|||
|
|
|
|||
|
|
def save_scene(self, output_file=None):
|
|||
|
|
if not output_file:
|
|||
|
|
output_file = self.scene_file
|
|||
|
|
with open(output_file, 'w', encoding='utf-8') as f:
|
|||
|
|
json.dump(self.scene_data, f, indent=2, ensure_ascii=False)
|
|||
|
|
print(f"已保存补全后的scene到: {output_file}")
|
|||
|
|
|
|||
|
|
def update_points_robots(self):
|
|||
|
|
if 'points' not in self.scene_data or not self.scene_data['points']:
|
|||
|
|
print("scene_data['points'] 为空，无法更新robots字段")
|
|||
|
|
return
|
|||
|
|
scene_points = {p['name']: p for p in self.scene_ref_data.get('points', [])}
|
|||
|
|
update_count = 0
|
|||
|
|
for point in self.scene_data['points']:
|
|||
|
|
name = point.get('name')
|
|||
|
|
if name in scene_points:
|
|||
|
|
robots = scene_points[name].get('robots')
|
|||
|
|
if robots:
|
|||
|
|
point['robots'] = robots
|
|||
|
|
update_count += 1
|
|||
|
|
print(f"已同步 {update_count} 个点的robots字段到输出points中")
|
|||
|
|
|
|||
|
|
def update_area_points(self):
|
|||
|
|
if 'areas' not in self.scene_data or not self.scene_data['areas']:
|
|||
|
|
print("scene_data['areas'] 为空，无法更新区域points")
|
|||
|
|
return
|
|||
|
|
scene_areas = {a['id']: a for a in self.scene_ref_data.get('areas', [])}
|
|||
|
|
update_count = 0
|
|||
|
|
for area in self.scene_data['areas']:
|
|||
|
|
area_id = area.get('id')
|
|||
|
|
area_type = area.get('type')
|
|||
|
|
if area_type != 1 and area_id in scene_areas:
|
|||
|
|
scene_points = scene_areas[area_id].get('points')
|
|||
|
|
if scene_points is not None:
|
|||
|
|
area['points'] = scene_points
|
|||
|
|
update_count += 1
|
|||
|
|
print(f"已为 {update_count} 个区域同步scene_file中的points")
|
|||
|
|
|
|||
|
|
def update_points_with_brand_type(self):
|
|||
|
|
bin_locations_file = os.path.join('converted', 'binLocationsList.json')
|
|||
|
|
if not os.path.exists(bin_locations_file):
|
|||
|
|
print(f"未找到 {bin_locations_file}，跳过brand/type补全")
|
|||
|
|
return
|
|||
|
|
with open(bin_locations_file, 'r', encoding='utf-8') as f:
|
|||
|
|
bin_data = json.load(f)
|
|||
|
|
scene_points = {p['name']: p for p in self.scene_ref_data.get('points', [])}
|
|||
|
|
point_brand_type = {}
|
|||
|
|
for group in bin_data.get('binLocationsList', []):
|
|||
|
|
for loc in group.get('binLocationList', []):
|
|||
|
|
point_name = loc.get('pointName')
|
|||
|
|
scene_point = scene_points.get(point_name)
|
|||
|
|
if scene_point:
|
|||
|
|
brand = scene_point.get('brand')
|
|||
|
|
type_ = scene_point.get('type')
|
|||
|
|
if brand is not None and type_ is not None:
|
|||
|
|
point_brand_type[point_name] = {'brand': brand, 'type': type_}
|
|||
|
|
update_count = 0
|
|||
|
|
for point in self.scene_data['points']:
|
|||
|
|
name = point.get('name')
|
|||
|
|
if name in point_brand_type:
|
|||
|
|
brand = point_brand_type[name]['brand']
|
|||
|
|
type_ = point_brand_type[name]['type']
|
|||
|
|
point['brand'] = brand
|
|||
|
|
point['type'] = type_
|
|||
|
|
update_count += 1
|
|||
|
|
print(f"已为 {update_count} 个点增加brand/type字段")
|
|||
|
|
|
|||
|
|
def update_point_types(self):
|
|||
|
|
if 'points' not in self.scene_data or not self.scene_data['points']:
|
|||
|
|
print("scene_data['points'] 为空，无法更新点类型")
|
|||
|
|
return
|
|||
|
|
scene_points = {p['name']: p for p in self.scene_ref_data.get('points', [])}
|
|||
|
|
update_count = 0
|
|||
|
|
for point in self.scene_data['points']:
|
|||
|
|
if point.get('type') == 1:
|
|||
|
|
name = point.get('name')
|
|||
|
|
if name in scene_points:
|
|||
|
|
scene_type = scene_points[name].get('type')
|
|||
|
|
if scene_type is not None and point['type'] != scene_type:
|
|||
|
|
point['type'] = scene_type
|
|||
|
|
update_count += 1
|
|||
|
|
print(f"已同步 {update_count} 个点的type到scene_file中的值")
|
|||
|
|
|
|||
|
|
def update_routes_pass(self):
|
|||
|
|
"""
|
|||
|
|
遍历scene_file中routes字段下的路径，将scene_ref_file中的对应路径下的pass的值映射到最终生成的output_file中去
|
|||
|
|
"""
|
|||
|
|
if 'routes' not in self.scene_data or not self.scene_data['routes']:
|
|||
|
|
print("scene_data['routes'] 为空，无法更新路径pass字段")
|
|||
|
|
return
|
|||
|
|
|
|||
|
|
# 建立参考文件中路径的映射关系（根据desc字段）
|
|||
|
|
scene_ref_routes_by_desc = {}
|
|||
|
|
for route in self.scene_ref_data.get('routes', []):
|
|||
|
|
desc = route.get('desc')
|
|||
|
|
if desc:
|
|||
|
|
scene_ref_routes_by_desc[desc] = route
|
|||
|
|
|
|||
|
|
print(f"参考文件中找到 {len(self.scene_ref_data.get('routes', []))} 条路径")
|
|||
|
|
print(f"当前文件中有 {len(self.scene_data['routes'])} 条路径")
|
|||
|
|
print(f"建立了 {len(scene_ref_routes_by_desc)} 个描述映射关系")
|
|||
|
|
|
|||
|
|
update_count = 0
|
|||
|
|
for route in self.scene_data['routes']:
|
|||
|
|
desc = route.get('desc')
|
|||
|
|
if desc and desc in scene_ref_routes_by_desc:
|
|||
|
|
ref_route = scene_ref_routes_by_desc[desc]
|
|||
|
|
ref_pass = ref_route.get('pass')
|
|||
|
|
if ref_pass is not None:
|
|||
|
|
route['pass'] = ref_pass
|
|||
|
|
update_count += 1
|
|||
|
|
if update_count <= 5: # 只显示前5个匹配
|
|||
|
|
print(f"匹配路径描述: {desc}, pass值: {ref_pass}")
|
|||
|
|
|
|||
|
|
print(f"已同步 {update_count} 条路径的pass字段到输出routes中")
|
|||
|
|
|
|||
|
|
def enrich(self, output_file=None):
|
|||
|
|
# 若 areas 为空，则从参考文件补全
|
|||
|
|
if ('areas' not in self.scene_data or not self.scene_data['areas']) and \
|
|||
|
|
('areas' in self.scene_ref_data and self.scene_ref_data['areas']):
|
|||
|
|
print("scene_data['areas'] 为空，自动从参考文件补全areas字段")
|
|||
|
|
self.scene_data['areas'] = self.scene_ref_data['areas'].copy()
|
|||
|
|
|
|||
|
|
|
|||
|
|
# 优先从 scene_file 读取 robotGroups 和 robots 字段，如果为空则从 scene_ref_file 读取补全
|
|||
|
|
robotGroups = []
|
|||
|
|
robots = []
|
|||
|
|
if os.path.exists(self.scene_file):
|
|||
|
|
with open(self.scene_file, 'r', encoding='utf-8') as f:
|
|||
|
|
scene_origin = json.load(f)
|
|||
|
|
robotGroups = scene_origin.get('robotGroups', [])
|
|||
|
|
robots = scene_origin.get('robots', [])
|
|||
|
|
# 如果为空则从参考文件补全
|
|||
|
|
if not robotGroups and 'robotGroups' in self.scene_ref_data:
|
|||
|
|
robotGroups = self.scene_ref_data['robotGroups']
|
|||
|
|
print("robotGroups 字段为空，已从参考文件补全")
|
|||
|
|
if not robots and 'robots' in self.scene_ref_data:
|
|||
|
|
robots = self.scene_ref_data['robots']
|
|||
|
|
print("robots 字段为空，已从参考文件补全")
|
|||
|
|
self.scene_data['robotGroups'] = robotGroups
|
|||
|
|
self.scene_data['robots'] = robots
|
|||
|
|
|
|||
|
|
self.update_points_robots()
|
|||
|
|
self.update_area_points()
|
|||
|
|
self.update_points_with_brand_type()
|
|||
|
|
self.update_point_types()
|
|||
|
|
self.update_routes_pass()
|
|||
|
|
self.save_scene(output_file)
|
|||
|
|
|
|||
|
|
def main():
|
|||
|
|
scene_file = "converted_test.scene"
|
|||
|
|
scene_ref_file = "现场测试地图-0819 (1).scene"
|
|||
|
|
output_file = "converted_scene.scene" # 可自定义输出
|
|||
|
|
enricher = SceneEnricher(scene_file, scene_ref_file)
|
|||
|
|
print("=== 场景补全器 ===")
|
|||
|
|
print("执行字段补全...")
|
|||
|
|
print("-" * 50)
|
|||
|
|
enricher.enrich(output_file)
|
|||
|
|
print("补全完成！")
|
|||
|
|
|
|||
|
|
if __name__ == "__main__":
|
|||
|
|
main()
|