327 lines
15 KiB
Python
327 lines
15 KiB
Python
import json
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import os
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class SceneBasicConverter:
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def save_bin_locations_list(self):
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"""
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如果smap文件中有binLocationsList，则单独保存为converted/binLocationsList.json。
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"""
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if hasattr(self, 'map_data') and 'binLocationsList' in self.map_data:
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self.ensure_converted_dir()
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filename = f"{self.converted_dir}/binLocationsList.json"
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with open(filename, 'w', encoding='utf-8') as f:
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json.dump({'binLocationsList': self.map_data['binLocationsList']}, f, indent=2, ensure_ascii=False)
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print(f"已单独保存 binLocationsList 到: {filename}")
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def __init__(self, scene_id, setting, ratio):
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self.scene_data = {}
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self.converted_dir = "converted"
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self.scene_data['id'] = scene_id
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self.scene_data['setting'] = setting
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self.scene_data['ratio'] = ratio
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def ensure_converted_dir(self):
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if not os.path.exists(self.converted_dir):
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os.makedirs(self.converted_dir)
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print(f"创建转换结果目录: {self.converted_dir}")
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def save_single_key_json(self, key_name, key_data):
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self.ensure_converted_dir()
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filename = f"{self.converted_dir}/{key_name}.json"
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single_key_data = {key_name: key_data}
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with open(filename, 'w', encoding='utf-8') as f:
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json.dump(single_key_data, f, indent=2, ensure_ascii=False)
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print(f"已保存 {key_name} 的独立JSON文件到: {filename}")
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def load_source_files(self, smap_file, scene_file):
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self.smap_file = smap_file
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self.scene_file = scene_file
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if os.path.exists(smap_file):
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with open(smap_file, 'r', encoding='utf-8') as f:
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self.map_data = json.load(f)
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else:
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print(f"警告: 地图文件 {smap_file} 不存在")
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self.map_data = {}
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if os.path.exists(scene_file):
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with open(scene_file, 'r', encoding='utf-8') as f:
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self.scene_source = json.load(f)
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else:
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print(f"警告: 场景文件 {scene_file} 不存在")
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self.scene_source = {}
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def extract_basic_info(self):
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if 'header' in self.map_data:
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header = self.map_data['header']
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self.scene_data['name'] = header.get('mapName', '')
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min_pos = header.get('minPos', {'x': 0, 'y': 0})
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max_pos = header.get('maxPos', {'x': 0, 'y': 0})
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width = max_pos['x'] - min_pos['x']
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height = max_pos['y'] - min_pos['y']
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self.scene_data['width'] = abs(width)
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self.scene_data['height'] = abs(height)
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else:
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raise ValueError("无法计算地图尺寸：map_data中缺少header信息")
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basic_info_data = {
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'id': self.scene_data['id'],
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'name': self.scene_data['name'],
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'width': self.scene_data['width'],
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'height': self.scene_data['height'],
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'setting': self.scene_data['setting'],
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'ratio': self.scene_data['ratio']
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}
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self.save_single_key_json('basic_info', basic_info_data)
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def extract_coordinate_system(self):
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if self.scene_source:
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self.scene_data['scale'] = self.scene_source.get('scale', 0.6599999999999997)
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self.scene_data['origin'] = self.scene_source.get('origin', {
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'x': -3679.5080777864587,
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'y': -3925.231448210223
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})
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else:
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self.scene_data['scale'] = 0.6599999999999997
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self.scene_data['origin'] = {
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'x': -3679.5080777864587,
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'y': -3925.231448210223
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}
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coordinate_data = {
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'scale': self.scene_data['scale'],
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'origin': self.scene_data['origin']
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}
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self.save_single_key_json('coordinate_system', coordinate_data)
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def extract_robots(self):
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# 无论源数据如何，robots 字段都输出空列表
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self.scene_data['robots'] = []
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self.save_single_key_json('robots', self.scene_data['robots'])
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def extract_points(self):
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if 'advancedPointList' in self.map_data:
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self.scene_data['points'] = self.extract_advanced_points()
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elif self.scene_source and 'points' in self.scene_source:
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self.scene_data['points'] = self.scene_source['points']
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else:
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self.scene_data['points'] = []
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self.save_single_key_json('points', self.scene_data['points'])
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def extract_advanced_points(self):
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points = []
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if 'advancedPointList' in self.map_data:
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advanced_points = self.map_data['advancedPointList']
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for i, point in enumerate(advanced_points):
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point_id = str(10000001 + i)
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name = point.get('instanceName', f'Point{i+1}')
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pos = point.get('pos', {})
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x = pos.get('x', 0)
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y = pos.get('y', 0)
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className = point.get('className', 'ActionPoint')
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point_type = self.get_point_type_by_class(className)
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properties = []
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if 'property' in point:
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for prop in point['property']:
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property_obj = {
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"key": prop.get('key', ''),
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"type": prop.get('type', ''),
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"value": prop.get('value', ''),
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"boolValue": prop.get('boolValue', False)
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}
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prop_type = prop.get('type', '')
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if prop_type == 'bool':
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property_obj["boolValue"] = prop.get('boolValue', False)
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elif prop_type == 'string':
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property_obj["stringValue"] = prop.get('stringValue', '')
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elif prop_type == 'int32':
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property_obj["int32Value"] = prop.get('int32Value', 0)
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elif prop_type == 'float':
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property_obj["floatValue"] = prop.get('floatValue', 0.0)
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properties.append(property_obj)
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point_obj = {
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"id": point_id,
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"name": name,
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"x": x,
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"y": y,
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"type": point_type,
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"config": {},
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"properties": properties,
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"associatedStorageLocations": [],
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"robots": [],
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"enabled": 1
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}
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points.append(point_obj)
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return points
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def get_point_type_by_class(self, className):
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type_mapping = {
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'LocationMark': 1,
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'ParkPoint': 14,
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'SwitchMap': 5,
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'HomeRegion': 2,
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'ActionPoint': 15,
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'TransferLocation': 14,
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'WorkingLocation': 16,
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'ChargePoint': 13
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}
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if className not in type_mapping:
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if className.startswith('LM'):
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return 1
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elif className.startswith('PP'):
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return 14
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elif className.startswith('SW'):
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return 5
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elif className.startswith('HR'):
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return 2
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elif className.startswith('AP'):
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return 15
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elif className.startswith('TL'):
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return 14
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elif className.startswith('WL'):
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return 16
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elif className.startswith('CP'):
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return 13
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else:
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return 1
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return type_mapping.get(className, 15)
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def extract_routes(self):
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self.scene_data['routes'] = self.extract_advanced_curves()
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self.save_single_key_json('routes', self.scene_data['routes'])
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def extract_advanced_curves(self):
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routes = []
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name_to_id_map = {}
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points_file = f"{self.converted_dir}/points.json"
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if os.path.exists(points_file):
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try:
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with open(points_file, 'r', encoding='utf-8') as f:
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points_data = json.load(f)
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if 'points' in points_data:
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for point in points_data['points']:
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name_to_id_map[point['name']] = point['id']
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except Exception as e:
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print(f"警告: 无法读取 {points_file} 文件: {e}")
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else:
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print(f"警告: 站点文件 {points_file} 不存在，无法建立映射关系")
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curve_data = self.map_data
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if 'advancedCurveList' in curve_data:
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advanced_curves = curve_data['advancedCurveList']
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print(f"找到 {len(advanced_curves)} 条路径数据")
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# 路径类型映射表，优先用className判断
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path_type_map = {
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"StraightPath": "line",
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"BezierPath": "BezierPath",
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"ArcPath": "bezier2",
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"DegenerateBezier": "bezier3",
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"NURBS6": "NURBS6"
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}
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for i, curve in enumerate(advanced_curves):
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route_id = str(100000 + i)
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desc = curve.get('instanceName', f'Route{i+1}')
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start_pos = curve.get('startPos', {})
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end_pos = curve.get('endPos', {})
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from_instance_name = start_pos.get('instanceName', '')
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to_instance_name = end_pos.get('instanceName', '')
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from_point = name_to_id_map.get(from_instance_name, from_instance_name)
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to_point = name_to_id_map.get(to_instance_name, to_instance_name)
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if from_instance_name not in name_to_id_map:
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print(f"警告: 找不到起点 '{from_instance_name}' 的映射")
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if to_instance_name not in name_to_id_map:
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print(f"警告: 找不到终点 '{to_instance_name}' 的映射")
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control_pos1 = curve.get('controlPos1', {})
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control_pos2 = curve.get('controlPos2', {})
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control_pos3 = curve.get('controlPos3', {})
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control_pos4 = curve.get('controlPos4', {})
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properties = []
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if 'property' in curve:
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for prop in curve['property']:
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properties.append({
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"key": prop.get('key', ''),
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"type": prop.get('type', ''),
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"value": prop.get('value', ''),
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"int32Value": prop.get('int32Value', 0),
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"boolValue": prop.get('boolValue', False)
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})
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# 优先用className判断路径类型
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class_name = curve.get('className', '')
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curve_type = curve.get('type', '')
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mapped_type = path_type_map.get(class_name, path_type_map.get(curve_type, "bezier3"))
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route_obj = {
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"id": route_id,
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"desc": desc,
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"from": from_point,
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"to": to_point,
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"type": mapped_type,
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"pass": 0,
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"config": {},
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"properties": properties
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}
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# 按类型添加controlPos字段，直线不添加c1/c2
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if mapped_type == "BezierPath" or mapped_type == "bezier3":
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route_obj["c1"] = {"x": control_pos1.get('x', 0), "y": control_pos1.get('y', 0)}
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route_obj["c2"] = {"x": control_pos2.get('x', 0), "y": control_pos2.get('y', 0)}
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elif mapped_type == "bezier2":
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route_obj["c1"] = {"x": control_pos1.get('x', 0), "y": control_pos1.get('y', 0)}
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elif mapped_type == "NURBS6":
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route_obj["c1"] = {"x": control_pos1.get('x', 0), "y": control_pos1.get('y', 0), "z": control_pos1.get('z', 0)}
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route_obj["c2"] = {"x": control_pos2.get('x', 0), "y": control_pos2.get('y', 0), "z": control_pos2.get('z', 0)}
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route_obj["c3"] = {"x": control_pos3.get('x', 0), "y": control_pos3.get('y', 0), "z": control_pos3.get('z', 0)}
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route_obj["c4"] = {"x": control_pos4.get('x', 0), "y": control_pos4.get('y', 0), "z": control_pos4.get('z', 0)}
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# 直线（line）不添加c1/c2等字段
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routes.append(route_obj)
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print(f"成功生成 {len(routes)} 条路径")
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else:
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print("警告: 未找到advancedCurveList数据")
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return routes
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def extract_bin_locations(self):
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"""
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优先从converted/binLocationsList.json读取binLocationsList，否则从map_data中读取并保存。
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"""
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import os
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filename = f"{self.converted_dir}/binLocationsList.json"
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bin_locations = None
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if os.path.exists(filename):
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with open(filename, 'r', encoding='utf-8') as f:
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data = json.load(f)
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bin_locations = data.get('binLocationsList', [])
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else:
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bin_locations = self.map_data.get('binLocationsList', [])
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self.scene_data['binLocationsList'] = bin_locations
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self.save_single_key_json('binLocationsList', self.scene_data['binLocationsList'])
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def convert_basic(self, smap_file, scene_file, output_file="converted_scene.scene"):
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print(f"开始基本信息转换...")
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print(f"源地图文件: {smap_file}")
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print(f"源场景文件: {scene_file}")
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print(f"输出文件: {output_file}")
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print("-" * 50)
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self.load_source_files(smap_file, scene_file)
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self.save_bin_locations_list()
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self.extract_basic_info()
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self.extract_coordinate_system()
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self.extract_robots()
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self.extract_points()
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self.extract_routes()
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self.extract_bin_locations()
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# 获取所有一级key
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all_keys = [
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'id', 'setting', 'ratio', 'name', 'width', 'height', 'scale', 'origin',
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'robotGroups', 'robots', 'points', 'routes', 'areas', 'blocks', 'binLocationsList'
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]
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# 补全缺失的一级key，值为空（空列表、空字典或空字符串）
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for key in all_keys:
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if key not in self.scene_data:
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if key in ['robotGroups', 'robots', 'points', 'routes', 'areas', 'binLocationsList']:
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self.scene_data[key] = []
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elif key in ['origin', 'scale']:
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self.scene_data[key] = {} if key == 'origin' else 0
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elif key in ['blocks']:
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self.scene_data[key] = ""
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else:
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self.scene_data[key] = ""
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with open(output_file, 'w', encoding='utf-8') as f:
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json.dump(self.scene_data, f, indent=2, ensure_ascii=False)
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print(f"基本信息转换完成！结果已保存到 {output_file}")
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return self.scene_data
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