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()