433 lines
20 KiB
Python
433 lines
20 KiB
Python
"""
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UI场景
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"""
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import sys
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import json
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import math
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from matplotlib import pyplot as plt
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from sklearn.cluster import DBSCAN
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import pickle
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import time
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import os
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from robowaiter.scene.scene import Scene
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plt.rcParams['font.sans-serif'] = ['SimHei'] # 用来正常显示中文标签
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plt.rcParams['axes.unicode_minus'] = False # 用来正常显示负号
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from robowaiter.utils import get_root_path
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root_path = get_root_path()
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from robowaiter.utils.bt.draw import render_dot_tree
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class SceneUI(Scene):
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scene_queue = None
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ui_queue = None
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scene_flag=2
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walker_followed = False
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# camera_interval = 4
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def __init__(self, robot,scene_queue,ui_queue):
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self.scene_queue = scene_queue
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self.ui_queue = ui_queue
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super().__init__(robot)
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# 在这里加入场景中发生的事件
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self.show_ui = True
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# while True:
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# if not self.scene_queue.empty():
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# param = self.scene_queue.get()
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# # 处理参数...
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# self.ui_queue.put(('say',"llm_test"))
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self.stoped = False
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def run(self):
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# 基类run
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self._run()
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# 运行并由robot打印每步信息
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while not self.stoped:
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self.step()
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def _run(self):
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pass
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def run_AEM(self):
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self.gen_obj()
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print(len(self.status.objects))
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# 创建一个从白色（1）到灰色（0）的 colormap
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objs = self.status.objects
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cur_objs = []
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cur_obstacle_world_points = []
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visited_obstacle = set()
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obj_json_data = []
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obj_count = 0
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added_info = 0
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map_ratio = self.map_ratio
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db = DBSCAN(eps=map_ratio, min_samples=int(map_ratio / 2))
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file_name = os.path.join(root_path, 'robowaiter/proto/map_1.pkl')
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if os.path.exists(file_name):
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with open(file_name, 'rb') as file:
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map = pickle.load(file)
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print('------------ 自主探索 ------------')
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while True:
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walker_count = 0
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fig = plt.figure()
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goal = self.explore(map, 120)
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if goal is None:
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break
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# cur_obstacle_world_points, cur_objs_id = self.navigation_move(plt, cur_objs, cur_obstacle_world_points,
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# [[goal[0], goal[1]]], map_ratio, db, 0, 11)
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cur_obstacle_world_points, cur_objs_id, obj_detect_count = self.navigation_move(self, cur_objs, cur_obstacle_world_points,
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[[goal[0], goal[1]]], map_ratio, db, 0, 11)
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for point in cur_obstacle_world_points:
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if point[0] < -350 or point[0] > 600 or point[1] < -400 or point[1] > 1450:
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continue
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self.map_map[math.floor((point[0] + 350) / map_ratio), math.floor((point[1] + 400) / map_ratio)] = 1
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visited_obstacle.add(
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(math.floor((point[0] + 350) / map_ratio), math.floor((point[1] + 400) / map_ratio)))
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for i in range(len(cur_objs_id)):
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if cur_objs_id[i] == "walker":
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walker_count += 1
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for obj in objs:
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if obj.name == cur_objs_id[i] and obj not in cur_objs:
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cur_objs.append(obj)
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break
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# plt.subplot(2, 1, 2) # 这里的2,1表示总共2行，1列，2表示这个位置是第2个子图
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# plt.imshow(self.map_map, cmap='binary', alpha=0.5, origin='lower',
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# extent=(-400 / map_ratio, 1450 / map_ratio,
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# -350 / map_ratio, 600 / map_ratio))
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# new_map = self.updateMap(cur_obstacle_world_points)
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self.draw_map(plt, self.map_map)
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plt.axis("off")
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self.send_img("img_label_map")
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# plt.title("地图构建过程")
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# self.send_img("img_label_map")
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# plt.subplot(2, 7, 14) # 这里的2,1表示总共2行，1列，2表示这个位置是第2个子图
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# walker_count 新增行人信息
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# 新增语义信息
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new_add_info = len(cur_objs) - added_info + walker_count
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# plt.text(0, 0.5, f'新增语义信息：{new_add_info}', fontsize=10) # 在图中添加文字，x和y坐标是在这个图片大小内的相对位置，fontsize是字体大小
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# 已存语义信息
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added_info += new_add_info
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# plt.text(0, 0.3, f'已存语义信息：{added_info}', fontsize=10) # 在图中添加文字，x和y坐标是在这个图片大小内的相对位置，fontsize是字体大小
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semantic_info_str = ""
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# semantic_info_str += f'检测行人数量：{walker_detect_count}' + "\n\n"
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semantic_info_str += f'检测物体数量：{obj_detect_count}' + "\n\n"
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semantic_info_str += f'更新语义信息：{new_add_info}' + "\n\n"
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semantic_info_str += f'已存语义信息：{self.infoCount}' + "\n"
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self.infoCount = added_info
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# print("======semantic_info_str===========")
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self.ui_func(("get_semantic_info", semantic_info_str))
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plt.axis("off")
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# plt.show()
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print("------------当前检测到的物品信息--------------")
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print(cur_objs)
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time.sleep(1)
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for i in range(len(cur_objs)):
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if cur_objs[i].name == "Desk" or cur_objs[i].name == "Chair":
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obj_json_data.append(
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{"id": f"{i}", "name": f"{cur_objs[i].name}", "location": f"{cur_objs[i].location}",
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"height": f"{cur_objs[i].location.Z * 2}"})
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else:
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obj_json_data.append(
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{"id": f"{i}", "name": f"{cur_objs[i].name}", "location": f"{cur_objs[i].location}",
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"height": f"{cur_objs[i].location.Z}"})
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file_json_name = os.path.join(root_path, 'robowaiter/proto/objs.json')
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with open(file_json_name, 'w') as file:
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json.dump(obj_json_data, file)
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print("已绘制完成地图！！！")
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print("------------检测到的所有物品信息--------------")
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print(obj_json_data)
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def run_VLN(self):
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self.gen_obj()
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self.add_walkers([
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[29, 60, 520], # 顾客 0
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[23, 0, 220], # 秃头老头子 1
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[0, -55, 150], # 小男孩d走来走去 2
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[10, -55, 750], # 3
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[19, 70, -200], # 后门站着不动的 4
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[21, 65, 1000, -90], # 大胖男占了一号桌 5
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[5, 230, 1200], # 小女孩 6
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[26, -28, -10, 90],
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# [26, 60, 0, 90],
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# [26, -28, 0, 90] , #在设置一个在后门随机游走的 7
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# 设置为 26, 60, 0, 90]
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[31, 280, 1200, -45] # 8
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])
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self.control_walker(2, True, 200, -55, 155, 90) # 飞速奔跑的小男孩
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# self.control_walker(7, True, 80, -25, -150, 90)
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self.control_walker(5, True, 65, 995, 520, 90)
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self.control_walker(4, True, 65, 70, -200, 90)
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self.new_event_list = [
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(5, self.customer_say, (0, "请问哪里有空位啊？")),
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(13, self.customer_say, (0, "我想坐高脚凳子。")),
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(3, self.customer_say, (0, "你带我去吧。")),
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(60, self.control_walker, (0, False, 100, -250, 480, -90)), #45
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(-1, self.customer_say, (0, "谢谢你！这儿还不错！")),
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]
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def run_VLM(self):
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# 场景一 拿放物品
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self.gen_obj()
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self.state["condition_set"]={'At(Robot,Bar)', 'Is(AC,Off)',
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'Holding(Nothing)', 'Exist(Yogurt)', 'Exist(BottledDrink)',
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'Exist(Softdrink)',
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'Exist(Chips)', 'Exist(NFCJuice)', 'Exist(Bernachon)', 'Exist(ADMilk)', 'Exist(SpringWater)'
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'Exist(VacuumCup)', 'On(VacuumCup,Table2)',
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'Is(HallLight,Off)', 'Is(TubeLight,On)', 'Is(Curtain,On)',
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'Is(Table1,Dirty)', 'Is(Floor,Dirty)', 'Is(Chairs,Dirty)'}
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self.add_walkers([[4,1, 880], [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]])
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# self.control_walkers(walker_loc=[[-55, 750], [70, -200], [250, 1200], [0, 880]],is_autowalk = True)
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self.control_walkers(walker_loc=[[-55, 750]], is_autowalk=True)
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self.signal_event_list = [
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(3, self.add_walker, (20,0,700)),
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(1, self.control_walker, (6, False,100, 60, 520,0)),
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(1, self.customer_say, (6, "给我来份薯片和果汁，我坐在对面的水杯桌那儿。")), #给我来份薯片和果汁，我坐在对面的桌子那儿。
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(5, self.control_walker, (6, False, 100, -250, 480, 0)),
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]
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pass
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def run_GQA(self):
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self.gen_obj()
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self.add_walkers([ [16,250, 1200],[6,-55, 750],[10,70, -200],[47,-290, 400, 180],[26, 60,-320,90]])
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self.control_walker(1, True, 100, 60, 720, 0)
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self.control_walker(4, True, 100, 60, -120, 0)
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self.add_walkers([[31, 60,500,0], [15,60,550,0]])
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self.signal_event_list = [
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(5, self.customer_say, (6, "你好呀，你们这有啥好吃的？")), # 男
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(8, self.customer_say, (6, "听起来都好甜呀，我女朋友爱吃水果。")),
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(15, self.customer_say, (6, "你们这人可真多。")),
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(15, self.customer_say, (6, "我女朋友怕晒，有空余的阴凉位置嘛？")),
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(20, self.customer_say, (6, "那还不错。")),
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(15, self.customer_say, (5, "请问洗手间在哪呢？")),
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(20, self.customer_say, (5, "我们还想一起下下棋,切磋切磋。")),
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(20, self.customer_say, (6, "太棒啦，亲爱的。")),
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(15, self.customer_say, (5, "那你知道附近最近的电影院在哪吗?")),
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(20, self.customer_say, (6, "谢啦，那我们先去阴凉位置下个棋，等电影开始了就去看呢!")),
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]
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pass
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def run_OT(self):
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self.gen_obj()
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self.add_walkers([ [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]])
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self.control_walker(1, True, 100, 60, 720, 0)
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self.control_walker(4, True, 100, 60, -120, 0)
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self.add_walkers([[16,60, 520], [47,-40, 520]])
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self.signal_event_list = [
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(8, self.customer_say, (5, "给我来杯咖啡，哦对，再倒一杯水。")),
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(1, self.control_walker_ls,([[[5, False, 100, -250, 480, 0],[6, False, 100, 60, 520, 0]]])),
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(-1, self.customer_say, (5, "感谢，这些够啦，你去忙吧。")),
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(10, self.customer_say, (6, "我想来份点心和酸奶。")),
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(-1, self.customer_say, (6, "真美味啊！")),
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]
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pass
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def run_AT(self):
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self.add_walker(23, 60, 520, 0)
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self.signal_event_list = [
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(2, self.customer_say, (0,"可以关筒灯和关窗帘吗？")),
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]
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pass
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def run_VLM_AC(self):
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# 开关空调
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# 场景二 开和调节空调温度
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self.gen_obj()
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self.add_walkers([[4,1, 880], [31,250, 1200],[6,-55, 750],[10,70, -200],[27,-290, 400, 180],[26, 60,-320,90]])
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self.control_walkers(walker_loc=[[-55, 750]],is_autowalk = True)
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self.signal_event_list = [
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(3, self.add_walker, (0,0,700)),
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(1, self.control_walker, (6, False,100, 60, 520,0)), #[walkerID,autowalk,speed,X,Y,Yaw]
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(2, self.customer_say, (6, "好热呀，想开空调，想要温度调低点！")),
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(6, self.control_walker, (6, False, 200, 60, 80, 0)),
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(-1, self.customer_say, (6, "谢谢！这下凉快了！")), #(-100,600)
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]
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pass
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def run_CafeDaily(self):
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# self.run_AEM()
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self.walker_followed = False
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self.gen_obj()
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self.scene_flag = 1
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self.st1 = 3
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# self.st2 = self.st1 + 30
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# self.st3 = self.st2 + 65
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self.st2 = 3
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self.st3 = 3
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self.st4 = 3
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self.signal_event_list = [
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# 场景1：带小女孩找阳光下的空位
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(3, self.add_walker, (5, 230, 1200)), # 0号"Girl02_C_3"
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(1, self.control_walker, (0, False, 200, 60, 520, 0)),
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(9, self.customer_say, (0, "早上好呀，我想找个能晒太阳的地方。")),
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(1, self.customer_say, (0, "你可以带我过去嘛？")),#可以带我过去嘛？
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(13, self.control_walker, (0, False, 50, 140, 1200, 180)), # 小女孩站在了 BrightTable1 旁边就餐啦
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#
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# # # 场景2：有个胖胖男人点单交流并要咖啡，帮他送去角落的桌子
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# (3, self.add_walker, (5, 230, 1200)), # 小女孩
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# # # 上述准备
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(10, self.add_walker, (26, -28, -150, 90)),
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(0, self.add_walker, (10, -70, -200, -45)),
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(9, self.customer_say, (1, "嘿，RoboWaiter，过来一下！")),
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(10, self.control_walkers_and_say, ([[[1, False, 100, -18, -200, -90, "你们这有什么饮料嘛？"]]])), #6
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# 20 胖胖男到了 BrightTable6
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(2, self.customer_say, (1, "咖啡有哪些呢？")), # 10
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(2, self.customer_say, (1, "来杯卡布奇诺吧。")), # 15
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# # 场景3：有位女士要杯水和冰红茶
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# (0, self.add_walker, (5, 230, 1200)),
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# (0, self.add_walker, (26, -30, -200, -90)),
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# (0, self.add_walker, (10, -80, -180, -45)),
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#############
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(3, self.add_walkers,
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([[[21, 65, 1000, -90], [32, -80, 850, 135], [1, 60, 420, 135], [29, -290, 400, 180]]])),
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(0, self.control_walker, (5, True, 50, 250, 1200, 180)), # 设置id=4 的2小男孩随机游走红随机游走
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(0, self.add_walker, (48, 60, 520, 0)), # 生成他妈妈
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(0, self.add_walkers, ([[[48, 60, 520, 0], [31, 60, 600, -90], [20, 60, 680, -90], [9, 60, 760, -90]]])),
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(50, self.customer_say, (7, "哎呦，今天这么多人，还有空位吗？")), # 女士问 50
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(10, self.customer_say, (7, "我带着孩子呢，想要宽敞亮堂的地方。")), # 女士问
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(8, self.customer_say, (7, "大厅的桌子好啊，快带我去呀！")),
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(15, self.control_walker, (7, False, 50, -250, 480, 0)), # #290, 400
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(3, self.customer_say, (7, "我想来杯水，帮我孩子拿个酸奶吧。")),
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# # ### 9号灰色男 排队排着排着，不排了
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(0, self.control_walker, (10, False, 100, 100, 760, 180)),
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(0, self.control_walker, (10, True, 100, 0, 0, 180)),
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(110, self.customer_say, (7, "谢谢你的水和酸奶！")), # 倒水+取放酸奶 90s 这次是110
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# # # 场景4：三人排队点单，女士要保温杯
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# (0, self.add_walker, (5, 230, 1200)),
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# (0, self.add_walker, (26, -30, -200, -90)),
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# (0, self.add_walker, (10, -80, -180, -45)),
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# (0, self.add_walker, (21, 65, 1000, -90)), # 男 'BrightTable2': (65, 1000, 135),
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# (0, self.add_walker, (32, -80, 850, 135)),
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# (0, self.add_walker, (1, 60, 220, 135)),
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# (0, self.add_walker, (48, 60, 320, 0)),
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# (0, self.add_walker, (31, 60, 600, -90)), # 女红色排队 7号找保温杯的顾客
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# (0, self.add_walker, (20, 60, 680, -90)), # 大胖男排队
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# (0, self.add_walker, (9, 60, 760, -90)), # 男灰黑色排队
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# (0, self.add_walker, (29, -290, 400, 180)), # # 青色女人占了位置 BrightTable5
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# # # # # # 上述准备 10开始
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(10, self.control_walkers_and_say, ([[[8, False, 100, 60, 520, 180, "我昨天保温杯好像落在你们咖啡厅了，你看到了吗？"]]])),
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(9, self.customer_say, (8,"你可以帮我拿来吗，我在前门的桌子前等你。")),
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(1, self.control_walker,(8, False, 80, -10, 520, 90)),# 红女士在吧台前后退一步
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(1, self.control_walker, (8, False, 80, 240, 1000, -45)), # 红女士走到Table1前
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(1, self.control_walker, (9, False, 100, 60, 600, -90)), # 大胖男排队往前走一步
|
||
(2, self.control_walker, (10, False, 100, 60, 680, -90)), # 男灰黑色排队往前走一步
|
||
(15, self.customer_say, (8,"就是这个杯子！找到啦，好开心！")), # 红女士在Table1前
|
||
(5, self.customer_say, (8, "不用了。")), # 红女士在Table1前
|
||
|
||
|
||
(8, self.remove_walkers, ([[0, 7, 8]])),
|
||
(3, self.control_walker, (6, False, 100, 60, 520, 0)), # 10号变7号 男灰黑色排队往前,轮到他
|
||
(8, self.customer_say, (6, "还有酸奶吗")),
|
||
(8, self.customer_say, (6, "那好吧，那就先把窗帘给我关上，再开个空调")),
|
||
(35, self.control_walkers_and_say, ([[[6, True, 100, 60, 520, 0, "谢谢，这下凉快了"]]])),
|
||
|
||
|
||
# # 场景8 结束了，删除所有顾客。此处增加自主探索发现空间比较暗，打开大厅灯
|
||
(28, self.clean_walkers,()),
|
||
(1, self.add_walker, (17, 60, 1000)),# 增加警察，提醒下班啦
|
||
(3, self.control_walkers_and_say, ([[[0, False, 150, 60, 520, 0, "下班啦！别忘了打扫卫生。"]]])),
|
||
(10, self.control_walker, (0, False, 100, 60, 1000, 0)),
|
||
(4, self.clean_walkers, ())
|
||
|
||
]
|
||
|
||
|
||
pass
|
||
|
||
|
||
def run_reset(self):
|
||
self.gen_obj()
|
||
pass
|
||
|
||
def init_robot(self):
|
||
# init robot
|
||
|
||
if self.robot:
|
||
self.robot.set_scene(self)
|
||
self.robot.load_BT()
|
||
self.draw_current_bt()
|
||
|
||
def draw_current_bt(self):
|
||
render_dot_tree(self.robot.bt.root,target_directory=self.output_path,name="current_bt",png_only=True)
|
||
self.ui_queue.put(('draw_from_file',"img_view_bt", f"{self.output_path}/current_bt.png"))
|
||
# self.ui_queue.put(('draw_from_file', "img_view_bt", f"{self.output_path}/current_bt.svg"))
|
||
|
||
def ui_func(self,args):
|
||
# _,_,output_path = args
|
||
# plt.savefig(output_path)
|
||
|
||
self.ui_queue.put(args)
|
||
|
||
def _reset(self):
|
||
pass
|
||
|
||
def _step(self):
|
||
# print("已运行")
|
||
self.handle_queue_messages()
|
||
# if len(self.sub_task_seq.children) == 0:
|
||
# question = input("请输入指令：")
|
||
# if question[-1] == ")":
|
||
# print(f"设置目标:{question}")
|
||
# self.new_set_goal(question)
|
||
# else:
|
||
# self.customer_say("System",question)
|
||
if self.scene_flag == 1:
|
||
# 如果机器人不在 吧台
|
||
if self.walker_followed:
|
||
return
|
||
end = [self.status.location.X, self.status.location.Y]
|
||
if end[1] >= 600 or end[1] <= 450 or end[0] >= 250:
|
||
# if int(self.status.location.X)!=247 or int(self.status.location.X)!=520:
|
||
self.walker_followed = True
|
||
self.control_walkers_and_say([[0, False, 150, end[0], end[1], 90, "谢谢！"]])
|
||
self.scene_flag += 1
|
||
|
||
|
||
def handle_queue_messages(self):
|
||
while not self.scene_queue.empty():
|
||
message = self.scene_queue.get()
|
||
function_name = message[0]
|
||
function = getattr(self, function_name, None)
|
||
|
||
args = []
|
||
if len(message)>1:
|
||
args = message[1:]
|
||
|
||
result = function(*args)
|
||
|
||
def stop(self):
|
||
self.stoped = True
|
||
|
||
if __name__ == '__main__':
|
||
from robowaiter.robot.robot import Robot
|
||
|
||
robot = Robot()
|
||
ui = UI(Robot)
|
||
|
||
# create task
|
||
# task = SceneUI(robot,ui)
|
||
|