From 7181d84743cc043450d75cb8a26c12f5a74458b0 Mon Sep 17 00:00:00 2001
From: liwang zhang <2638950452@qq.com>
Date: Thu, 16 Nov 2023 16:37:11 +0800
Subject: [PATCH] =?UTF-8?q?=E5=B7=B2=E6=9B=B4=E6=96=B0AEM?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 robowaiter/proto/camera.py    |   2 +-
 robowaiter/proto/map_1.pkl    | Bin 0 -> 9920163 bytes
 robowaiter/scene/scene.py     |  50 ++++++++++++++++++++++++++++------
 robowaiter/scene/tasks/AEM.py |  21 ++++++++++++--
 4 files changed, 62 insertions(+), 11 deletions(-)
 create mode 100644 robowaiter/proto/map_1.pkl

diff --git a/robowaiter/proto/camera.py b/robowaiter/proto/camera.py
index 503e735..8780bbb 100644
--- a/robowaiter/proto/camera.py
+++ b/robowaiter/proto/camera.py
@@ -240,7 +240,7 @@ def get_semantic_map(camera, cur_objs, objs_name):
     scene = Observe(0)
     objs = scene.objects
     img_data = get_camera([camera])
-    show_image(img_data, scene)
+    # show_image(img_data, scene)
     objs_name = save_obj_info(img_data, objs_name)
     for obj_name in list(objs_name):
         for obj in objs:
diff --git a/robowaiter/proto/map_1.pkl b/robowaiter/proto/map_1.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..323c387d23663c9657c8eb45600ec549feb4c2f1
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diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py
index 13e20ef..3bb279e 100644
--- a/robowaiter/scene/scene.py
+++ b/robowaiter/scene/scene.py
@@ -1,3 +1,4 @@
+import sys
 import time
 import grpc
 import numpy as np
@@ -108,6 +109,7 @@ class Scene:
         self.visited = set()
         self.all_frontier_list = set()
         self.semantic_map = semantic_map
+        self.auto_map = np.ones((800, 1550))
 
 
     def reset(self):
@@ -574,7 +576,7 @@ class Scene:
         #     v_list = [[0.0, 0.0]]
 
         for walk_v in v_list:
-            walk_v = walk_v + [scene.rotation.Yaw - 90, 250, 60]
+            walk_v = walk_v + [scene.rotation.Yaw - 90, 250, 10]
             print("walk_v", walk_v)
             action = GrabSim_pb2.Action(scene=scene_id, action=GrabSim_pb2.Action.ActionType.WalkTo, values=walk_v)
             scene = stub.Do(action)
@@ -583,7 +585,7 @@ class Scene:
             print(scene.info)
         return cur_objs, objs_name_set
 
-    def isOutMap(self, pos, min_x=-350, max_x=600, min_y=-400, max_y=1450):
+    def isOutMap(self, pos, min_x=-200, max_x=600, min_y=-250, max_y=1300):
         if pos[0] <= min_x or pos[0] >= max_x or pos[1] <= min_y or pos[1] >= max_y:
             return True
         return False
@@ -594,11 +596,13 @@ class Scene:
         '''
         # x = round((x - self.min_x) / self.scale_ratio)
         # y = round((y - self.min_y) / self.scale_ratio)
-        x = math.floor((x + 350) / 5)
-        y = math.floor((y + 400) / 5)
+        x = math.floor((x + 200))
+        y = math.floor((y + 250))
         return x, y
 
-    def explore(self, map, cur_pos, explore_range):
+    def explore(self, map, explore_range):
+        scene = stub.Observe(GrabSim_pb2.SceneID(value=0))
+        cur_pos = [int(scene.location.X), int(scene.location.Y)]
         for i in range(cur_pos[0] - explore_range, cur_pos[0] + explore_range + 1):
             for j in range(cur_pos[1] - explore_range, cur_pos[1] + explore_range + 1):
                 if self.isOutMap((i, j)):
@@ -606,6 +610,7 @@ class Scene:
                 x, y = self.real2map(i, j)
                 if map[x, y] == 0:
                     self.visited.add((i, j))
+                    self.auto_map[x][y] = 0
         for i in range(cur_pos[0] - explore_range, cur_pos[0] + explore_range + 1):
             for j in range(cur_pos[1] - explore_range, cur_pos[1] + explore_range + 1):
                 if self.isOutMap((i, j)):
@@ -614,11 +619,26 @@ class Scene:
                 if map[x, y] == 0:
                     if self.isNewFrontier((i, j), map):
                         self.all_frontier_list.add((i, j))
-        if len(self.all_frontier_list) <= 400:
+        if len(self.all_frontier_list) == 0:
             free_list = list(self.visited)
             free_array = np.array(free_list)
-            print(f"探索完成！以下是场景中可以到达的点：{free_array}；其余点均是障碍物不可达")
+            print(f"主动探索完成！以下是场景中可以到达的点：{free_array}；其余点均是障碍物不可达")
+
+            # 画地图: X行Y列，第一行在下面
+            plt.clf()
+            plt.imshow(self.auto_map, cmap='binary', alpha=0.5, origin='lower',
+                       extent=(-250, 1300,
+                               -200, 600))
+            plt.show()
+            print("已绘制完成地图！！！")
+
             return None
+        # 画地图: X行Y列，第一行在下面
+        plt.imshow(self.auto_map, cmap='binary', alpha=0.5, origin='lower',
+                   extent=(-250, 1300,
+                           -200, 600))
+        plt.show()
+        print("已绘制部分地图！")
         return self.getNearestFrontier(cur_pos, self.all_frontier_list)
 
     def isNewFrontier(self, pos, map):
@@ -626,10 +646,24 @@ class Scene:
 
         for node in around_nodes:
             x, y = self.real2map(node[0], node[1])
-            if node not in self.visited and map[x, y] == 0:
+            if not self.isOutMap((node[0], node[1])) and node not in self.visited and map[x, y] == 0:
                 return True
         if (pos[0], pos[1]) in self.all_frontier_list:
             self.all_frontier_list.remove((pos[0], pos[1]))
         return False
 
+    def getDistance(self, pos1, pos2):
+        return math.sqrt((pos1[0] - pos2[0]) ** 2 + (pos1[1] - pos2[1]) ** 2)
+
+    def getNearestFrontier(self, cur_pos, frontiers):
+        dis_min = sys.maxsize
+        frontier_best = None
+        for frontier in frontiers:
+            dis = self.getDistance(frontier, cur_pos)
+            if dis <= dis_min:
+                dis_min = dis
+                frontier_best = frontier
+        return frontier_best
+
+
 
diff --git a/robowaiter/scene/tasks/AEM.py b/robowaiter/scene/tasks/AEM.py
index 82870d7..fb04a0f 100644
--- a/robowaiter/scene/tasks/AEM.py
+++ b/robowaiter/scene/tasks/AEM.py
@@ -2,6 +2,7 @@
 环境主动探索和记忆
 要求输出探索结果（语义地图）对环境重点信息记忆。生成环境的语义拓扑地图，和不少于10个环境物品的识别和位置记忆，可以是图片或者文字或者格式化数据。
 """
+import pickle
 
 from robowaiter.scene.scene import Scene
 class SceneAEM(Scene):
@@ -12,9 +13,25 @@ class SceneAEM(Scene):
         pass
     def _run(self):
         cur_objs = []
+        objs_name_set = set()
+        file_name = '../../proto/map_1.pkl'
+        if os.path.exists(file_name):
+            with open(file_name, 'rb') as file:
+                map = pickle.load(file)
         print('------------ 自主探索 ------------')
-        cur_objs = self.semantic_map.navigation_move(cur_objs, 0, 11)
-        print("物品列表如下：")
+        # cur_objs = self.semantic_map.navigation_move(cur_objs, 0, 11)
+        # print("物品列表如下：")
+        # print(cur_objs)
+        # cur_pos = [int(scene.location.X), int(scene.location.Y)]
+        # print(reachable([237,490]))
+        # navigation_move([[237,490]], i, map_id)
+        # navigation_test(i,map_id)
+        while True:
+            goal = self.explore(map, 120)  # cur_pos 指的是当前机器人的位置，场景中应该也有接口可以获取
+            if goal is None:
+                break
+            cur_objs, objs_name_set = self.navigation_move(cur_objs, objs_name_set, [[goal[0], goal[1]]], 0, 11)
+        print("------------物品信息--------------")
         print(cur_objs)
 
         pass