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Map.py
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Map.py
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import sys
from PyQt5.QtWidgets import *
from PyQt5 import uic
from PyQt5.QtGui import *
from PyQt5.QtCore import Qt
import math
import json
class Warehouse_Shelf :
def __init__(self, center_x, center_y, shelf_index, shelf_shape =(2,3),item_type=[1,1,1,1,1,1] ,item_amount=[10,10,10,10,10,10],supply_limit= 3,infinite_amount = True):
self.center_x = center_x
self.center_y = center_y
self.shelf_shape =shelf_shape
self.item_type = item_type
self.item_amount = item_amount
self.shelf_index = shelf_index# 선반 번호
self.supply_list = [] #재고가 얼마없는 부분
self.supply_limit =supply_limit# 재고가 얼마없다고 느끼는 양
self.infinite_amount= infinite_amount #물건의 개수가 무한대인가? 공급필요 x
'''
고려사항 :
- 선반안에 재고의 수가 무한인지
- 선반의 크기, 각 칸별 종류
- 꺼낼때, 선반의 위치를 따지는지
'''
def isEmpty(self):
if len(self.supply_list) >0:
return True
else:
return False
def mode_infinity(self, infinite_amount):#선반안에 재고의 수가 무한인지
self.infinite_amount= infinite_amount
def delete_item(self, item_type,item_point = None,delete_amount=1):# 이 선반의 특정 위치의 item수를 줄입니다.
if item_point is None: #만약에 물건의 위치가 아닌 해당 선반이 가진 물건 종류로만 따진다면
#해당 아이템을 가진 선반을 찾습니다.
item_type_ind = [self.item_amount[i] for i,value in enumerate(self.item_type) if i == item_type and (self.item_amount[i] > delete_amount or self.infinite_amount)]
if len(item_type_ind) ==0:
print("there is no-item error ", self.shelf_index, self.item_type)
return False
else :
# 첫 번째 인덱스의 물건에서 해당 물건만큼뺍니다.
if not self.infinite_amount:
self.item_amount[item_type_ind[0]] -= delete_amount
# 만약에 물건이 바닥난다면, 공급리스트에 추가합니다.
if self.item_amount[item_type_ind[0]] < self.supply_limit:
self.supply_list.append(item_type_ind[0])
return True
else: #만약에 물건의 종류뿐만 아니라 선반의 위치까지 신경쓴다면?
item_ind = 3*item_point[1] +item_point[0]
if self.item_amount[item_ind] > delete_amount:
if not self.infinite_amount:
self.item_amount[item_ind] -=delete_amount
if self.item_amount[item_ind] <self.supply_limit:
self.supply_list.append(item_ind)
return True
else :
print("there is no-item error ", self.shelf_index, self.item_type)
return False
def supply_item(self, item_type, item_point=None, supply_amount=1): # 이 선반의 특정 위치의 item수를 줄입니다.
if item_point is not None:
item_ind = 3 * item_point[1] + item_point[0]
self.item_amount[item_ind] += supply_amount
else :
for i in self.supply_list:
if self.item_type[i] == item_type:#item 타입이 같은 선반이 있다면
self.item_amount[i] += supply_amount#해당 선반의 물건 개수를 늘립니다.
class Warehouse_Map:
'''
그림으로 표현할때, 어떻게 해야할까.격자로 나누고, 각각의 화물개수를 표현할 수 있게끔 2차원배열을 만들어서 연산을 시켜야하나
내가 원하는 것 첫째는 세세하게 고르는 기능을 만들어서 넣기 두번째는 마우스 등으로 옮겨서 수정시키기(통로의 크기등을 정할 수 있음)
'''
def __init__(self, wh_width = 500, wh_height= 400, resolution=3):
'''
로봇의 상황과 관련되어서,
:param shelf_list : 선반의 객체체
:param pack_sps : 패킹스테이션의 위치들과 좌표
:param picking_sps : 픽킹스테이션의 위치들과 좌표
:param wh_width : 이미지의 width
:param wh_height : 이미지의 height
:param resolution : 이미지의 resolution
'''
self.wh_width = wh_width
self.wh_height = wh_height
self.resolution = resolution
def change_map_size(self, wh_width, wh_height,resolution):
self.wh_height = wh_height
self.wh_width = wh_width
self.resolution = resolution
class Widget_Warehouse(QWidget):
def __init__(self, *args, **kwargs):
super().__init__(*args, **kwargs)
uic.loadUi("w_map_editer.ui",self)
self.setWindowTitle("맵 생성도구")
self.setFixedWidth(1618)
self.setFixedHeight(856)
self.map_height = 400
self.map_width = 500
self.map_resolution = 10
self.map_resolution_2 = 10
self.setupSignal()
self.preview_map.hide()
self.preview_shelf.hide()
self.max_map_width = 1100
self.max_map_height = 750
self.max_map_resolution = 200
self.max_map_resolution_2 = 200
self.shelf_height =10
self.shelf_width =20
self.shelf_maxitem = 2
self.isoneside = False
self.init_map_x = self.groupBox_map.geometry().left() + self.preview_map.geometry().left()
self.init_map_y = self.groupBox_map.geometry().top() + self.preview_map.geometry().top()
self.init_shelf_x = self.groupBox_shelf.geometry().left() + self.preview_shelf.geometry().center().x()
self.init_shelf_y = self.groupBox_shelf.geometry().top() + self.preview_shelf.geometry().center().y()
self.mode = "Make Map"
self.current_mouse_x = 0
self.current_mouse_y =0
self.current_rotation_angle =0
self.saved_shelf_point = []
self.occupy_map = [[0 for col in range(30)] for row in range(30)]
self.current_upper_curser_ind =0
self.current_clicked_curser_ind =0
self.saved_block_point = []
self.current_upper_curser_ind_block = 0
self.current_clicked_curser_ind_block = 0
self.click_target = False
self.saved_sp_point = []
self.saved_pk_point = []
#map 크기 및 resolution 설정을 위한 모드를 위한 기본설정
self.init_mode_1()
#self.hide_warehouse_setting()
def init_mode_1(self):
# map 크기 및 resolution 설정을 위한 모드를 위한 기본설정
button_h = self.groupBox_2.geometry().bottom()+1
button_w = self.groupBox_2.geometry().center().x()+1-(self.pushMapsize.geometry().width()+1)/2
self.pushMapsize.move(button_w, button_h)
self.hide_shelfsetting()
def hide_shelfsetting(self):
# self.button_deleteblock.hide()
self.groupBox_shelf.hide()
self.preview_shelf.hide()
self.flag_hide_preview = True
def hide_warehouse_setting(self):
self.groupBox.hide()
self.groupBox_2.hide()
def draw(self, qp):
init_x = self.init_map_x
init_y = self.init_map_y
qp.setPen(QPen(QColor(189,189,189), 2))
qp.drawRect(init_x, init_y, self.map_width, self.map_height)
res_width = self.map_width/self.map_resolution
res_heigth = self.map_height/self.map_resolution_2
#맵의 격자를 그립니다.
for i in range(self.map_resolution):
res_x = int(init_x +(i+1)*res_width)
qp.drawLine(res_x,init_y,res_x,init_y+self.map_height)
for i in range(self.map_resolution_2):
res_y = int(init_y +(i+1)*res_heigth)
qp.drawLine(init_x,res_y,init_x+self.map_width,res_y)
init_x = self.init_shelf_x
init_y = self.init_shelf_y
# 선반 미리보기
if not self.flag_hide_preview :
#선반을 표시할 영역을 그립니다.
qp.drawRect(self.groupBox_shelf.geometry().left()+self.preview_shelf.geometry().left(),
self.groupBox_shelf.geometry().top()+self.preview_shelf.geometry().top(),
self.preview_shelf.geometry().width(),
self.preview_shelf.geometry().height())
qp.setBrush(QColor(0,100,240))
qp.setPen(QPen(QColor(0,100,240),2))
# 선반을 그립니다.
qp.drawRect(init_x-int(self.shelf_width/2),init_y-int(self.shelf_height/2),self.shelf_width,self.shelf_height)
#선반이 oneside인지
item_width = self.shelf_width/self.shelf_maxitem
qp.setPen(QPen(QColor(189,189,189), 2))
#선반위에 선을 그립니다.(각 아이템이 들어갈 칸입니다.
for i in range(self.shelf_maxitem+1):
start_x =init_x-int(self.shelf_width/2)+item_width*i
qp.drawLine(start_x,init_y-int(self.shelf_height/2),start_x,init_y+int(self.shelf_height/2))
#선반의 중심선을 그릴지 정합니다.(양면인지 단면인지)
if not self.isoneside :
start_x = init_x - int(self.shelf_width / 2)
qp.drawLine(start_x, init_y, start_x+int(self.shelf_width), init_y)
else:
start_x = init_x - int(self.shelf_width / 2)
qp.drawLine(start_x, init_y+int(self.shelf_height/2), start_x + int(self.shelf_width), init_y+int(self.shelf_height/2))
# qp.setPen(QPen(QColor(255, 0, 0), 3))
#표시된 점들 그리기
for ind, point in enumerate(self.saved_shelf_point):
if point[2] == 0 or point[2] == 180:
lefttop = [point[0] - int(point[3] / 2),
point[1] - int(point[4] / 2)]
rightbottom = [point[0] + int(point[3]/ 2),
point[1] + int(point[4]/ 2)]
else:
lefttop = [point[0] - int(point[4] / 2),
point[1] - int(point[3] / 2)]
rightbottom = [point[0] + int(point[4] / 2),
point[1] + int(point[3] / 2)]
if ind+1 ==self.current_clicked_curser_ind:
if self.mode =="edit Map":
qp.setBrush(QColor(243, 97, 220))
qp.setPen(QPen(QColor(189,189,189), 2))
elif ind+1 ==self.current_upper_curser_ind:
if self.mode =="edit Map":
qp.setBrush(QColor(100, 100, 0))
qp.setPen(QPen(QColor(189,189,189), 2))
else:
qp.setBrush(QColor(0, 100, 0))
qp.setPen(QPen(QColor(189,189,189), 2))
init_x = self.init_map_x
init_y = self.init_map_y
small_x_index = math.floor((lefttop[0] - init_x) / res_width) # 맨왼쪽 포함
big_x_index = math.ceil((rightbottom[0] - init_x) / res_width)
small_y_index = math.floor((lefttop[1] - init_y) / res_heigth)
big_y_index = math.ceil((rightbottom[1] - init_y) / res_heigth)
for i in range(small_y_index, big_y_index):
for j in range(small_x_index, big_x_index):
lefttop_x = init_x + res_width * j
lefttop_y = init_y + res_heigth * i
qp.drawRect(lefttop_x, lefttop_y, res_width, res_heigth)
#벽그리기
for ind, block_point in enumerate(self.saved_block_point):
left = self.init_map_x
right = self.init_map_x + self.map_width
top = self.init_map_y
bottom = self.init_map_y + self.map_height
init_x = self.init_map_x
init_y = self.init_map_y
if -(ind + 1) == self.current_clicked_curser_ind_block:
if self.mode == "edit block":
qp.setBrush(QColor(243, 97, 220))
qp.setPen(QPen(QColor(100, 0, 0), 3))
elif -(ind + 1) == self.current_upper_curser_ind_block:
if self.mode == "edit block":
qp.setBrush(QColor(100, 100, 0))
qp.setPen(QPen(QColor(100, 0, 0), 3))
else:
qp.setBrush(QColor(0, 0, 0))
qp.setPen(QPen(QColor(189,189,189), 2))
small_x_index = math.floor((block_point[0] - init_x) / res_width) # 맨왼쪽 포함
big_x_index = math.ceil((block_point[0] - init_x) / res_width)
small_y_index = math.floor((block_point[1]- init_y) / res_heigth)
big_y_index = math.ceil((block_point[1] - init_y) / res_heigth)
small_x_index = init_x + res_width * small_x_index
# big_x_index = init_x + res_width * big_x_index
small_y_index = init_y + res_heigth * small_y_index
# big_y_index = init_y + res_heigth * big_y_index
qp.drawRect(small_x_index, small_y_index, res_width, res_heigth)
# 시작지점그리기
for ind, block_point in enumerate(self.saved_sp_point):
left = self.init_map_x
right = self.init_map_x + self.map_width
top = self.init_map_y
bottom = self.init_map_y + self.map_height
init_x = self.init_map_x
init_y = self.init_map_y
if (ind + 1+10000) == self.current_clicked_curser_ind_block:
if self.mode == "delete sp":
qp.setBrush(QColor(0, 255, 0))
qp.setPen(QPen(QColor(189,189,189), 3))
elif (ind + 1+10000) == self.current_upper_curser_ind_block:
if self.mode == "delete sp":
qp.setBrush(QColor(100, 100, 0))
qp.setPen(QPen(QColor(189,189,189), 2))
else:
qp.setBrush(QColor(255, 0, 127))
qp.setPen(QPen(QColor(189,189,189), 2))
small_x_index = math.floor((block_point[0] - init_x) / res_width) # 맨왼쪽 포함
big_x_index = math.ceil((block_point[0] - init_x) / res_width)
small_y_index = math.floor((block_point[1] - init_y) / res_heigth)
big_y_index = math.ceil((block_point[1] - init_y) / res_heigth)
small_x_index = init_x + res_width * small_x_index
big_x_index = init_x + res_width * big_x_index
small_y_index = init_y + res_heigth * small_y_index
big_y_index = init_y + res_heigth * big_y_index
qp.drawRect(small_x_index, small_y_index, res_width, res_heigth)
# 패킹지점그리기
for ind, block_point in enumerate(self.saved_pk_point):
left = self.init_map_x
right = self.init_map_x + self.map_width
top = self.init_map_y
bottom = self.init_map_y + self.map_height
init_x = self.init_map_x
init_y = self.init_map_y
if (ind + 1+20000) == self.current_clicked_curser_ind_block:
if self.mode == "delete pk":
qp.setBrush(QColor(0, 255, 0))
qp.setPen(QPen(QColor(0, 255, 0), 3))
elif (ind + 1+20000) == self.current_upper_curser_ind_block:
if self.mode == "delete pk":
qp.setBrush(QColor(100, 100, 0))
qp.setPen(QPen(QColor(0, 100, 0), 2))
else:
qp.setBrush(QColor(0, 0, 255))
qp.setPen(QPen(QColor(0, 0, 255), 2))
small_x_index = math.floor((block_point[0] - init_x) / res_width) # 맨왼쪽 포함
big_x_index = math.ceil((block_point[0] - init_x) / res_width)
small_y_index = math.floor((block_point[1] - init_y) / res_heigth)
big_y_index = math.ceil((block_point[1] - init_y) / res_heigth)
small_x_index = init_x + res_width * small_x_index
big_x_index = init_x + res_width * big_x_index
small_y_index = init_y + res_heigth * small_y_index
big_y_index = init_y + res_heigth * big_y_index
qp.drawRect(small_x_index, small_y_index, res_width, res_heigth)
# 패킹지점 미리보기
if self.mode == "make pk":
left = self.init_map_x
right = self.init_map_x + self.map_width
top = self.init_map_y
bottom = self.init_map_y + self.map_height
if (self.current_mouse_x <= right and self.current_mouse_x >= left) and (
self.current_mouse_y <= bottom and self.current_mouse_y >= top):
init_x = self.init_map_x
init_y = self.init_map_y
qp.setBrush(QColor(0, 0, 255))
qp.setPen(QPen(QColor(0, 0, 255), 2))
small_x_index = math.floor((self.current_mouse_x - init_x) / res_width) # 맨왼쪽 포함
big_x_index = math.ceil((self.current_mouse_x - init_x) / res_width)
small_y_index = math.floor((self.current_mouse_y - init_y) / res_heigth)
big_y_index = math.ceil((self.current_mouse_y - init_y) / res_heigth)
small_x_index = init_x + res_width * small_x_index
big_x_index = init_x + res_width * big_x_index
small_y_index = init_y + res_heigth * small_y_index
big_y_index = init_y + res_heigth * big_y_index
qp.drawRect(small_x_index,small_y_index,res_width,res_heigth)
#시작지점 미리보기기
if self.mode == "make sp":
left = self.init_map_x
right = self.init_map_x + self.map_width
top = self.init_map_y
bottom = self.init_map_y + self.map_height
if (self.current_mouse_x <= right and self.current_mouse_x >= left) and (
self.current_mouse_y <= bottom and self.current_mouse_y >= top):
init_x = self.init_map_x
init_y = self.init_map_y
qp.setBrush(QColor(255, 0, 127))
qp.setPen(QPen(QColor(255, 0, 127), 2))
small_x_index = math.floor((self.current_mouse_x - init_x) / res_width) # 맨왼쪽 포함
big_x_index = math.ceil((self.current_mouse_x - init_x) / res_width)
small_y_index = math.floor((self.current_mouse_y - init_y) / res_heigth)
big_y_index = math.ceil((self.current_mouse_y - init_y) / res_heigth)
small_x_index = init_x + res_width * small_x_index
big_x_index = init_x + res_width * big_x_index
small_y_index = init_y + res_heigth * small_y_index
big_y_index = init_y + res_heigth * big_y_index
qp.drawRect(small_x_index,small_y_index,res_width,res_heigth)
#벽미리보기
if self.mode =="set block":
left = self.init_map_x
right = self.init_map_x + self.map_width
top = self.init_map_y
bottom = self.init_map_y + self.map_height
# lefttop = [self.current_mouse_x - int(self.shelf_width / 2),
# self.current_mouse_y - int(self.shelf_height / 2)]
# rightbottom = [self.current_mouse_x + int(self.shelf_width / 2),
# self.current_mouse_y + int(self.shelf_height / 2)]
if (self.current_mouse_x<= right and self.current_mouse_x >= left) and (self.current_mouse_y <= bottom and self.current_mouse_y >= top):
init_x = self.init_map_x
init_y = self.init_map_y
qp.setBrush(QColor(100, 0, 0))
qp.setPen(QPen(QColor(0, 0, 0), 2))
small_x_index = math.floor((self.current_mouse_x - init_x) / res_width) # 맨왼쪽 포함
# big_x_index = math.ceil((self.current_mouse_x - init_x) / res_width)
small_y_index = math.floor((self.current_mouse_y - init_y) / res_heigth)
# big_y_index = math.ceil((self.current_mouse_y - init_y) / res_heigth)
small_x_index = init_x + res_width*small_x_index
# big_x_index = init_x + res_width * big_x_index
small_y_index = init_y + res_heigth * small_y_index
# big_y_index = init_y + res_heigth * big_y_index
qp.drawRect(small_x_index,small_y_index,res_width,res_heigth)
#선반미리보기
if self.mode == "Set Shelf":
left = self.init_map_x
right = self.init_map_x+self.map_width
top = self.init_map_y
bottom = self.init_map_y+self.map_height
lefttop = [0, 0]
rightbottom = [0, 0]
# 가능영역 표시하기
if self.current_rotation_angle == 0 or self.current_rotation_angle == 180:
lefttop = [self.current_mouse_x - int(self.shelf_width / 2),
self.current_mouse_y - int(self.shelf_height / 2)]
rightbottom = [self.current_mouse_x + int(self.shelf_width / 2),
self.current_mouse_y + int(self.shelf_height / 2)]
else:
lefttop = [self.current_mouse_x - int(self.shelf_height / 2),
self.current_mouse_y - int(self.shelf_width / 2)]
rightbottom = [self.current_mouse_x + int(self.shelf_height / 2),
self.current_mouse_y + int(self.shelf_width / 2)]
if (rightbottom[0]<= right and lefttop[0] >= left) and (rightbottom[1] <= bottom and lefttop[1] >= top):
init_x = self.init_map_x
init_y = self.init_map_y
qp.setBrush(QColor(100, 0, 0))
qp.setPen(QPen(QColor(0, 0, 0), 2))
small_x_index = math.floor((lefttop[0] - init_x) / res_width) # 맨왼쪽 포함
big_x_index = math.ceil((rightbottom[0] - init_x) / res_width)
small_y_index = math.floor((lefttop[1] - init_y) / res_heigth)
big_y_index = math.ceil((rightbottom[1] - init_y) / res_heigth)
for i in range(small_y_index, big_y_index):
for j in range(small_x_index, big_x_index):
lefttop_x = init_x + res_width * j
lefttop_y = init_y + res_heigth * i
qp.drawRect(lefttop_x, lefttop_y, res_width, res_heigth)
init_x =0
init_y = 0
qp.translate(self.current_mouse_x,self.current_mouse_y)
qp.rotate(self.current_rotation_angle)
item_width = self.shelf_width / self.shelf_maxitem
# 선반 미리보기
qp.setBrush(QColor(0, 100, 240))
qp.setPen(QPen(QColor(0, 100, 240), 2))
qp.drawRect(init_x - int(self.shelf_width / 2), init_y - int(self.shelf_height / 2), self.shelf_width,
self.shelf_height)
qp.setPen(QPen(QColor(0, 0, 0), 2))
for i in range(self.shelf_maxitem + 1):
start_x = init_x - int(self.shelf_width / 2) + item_width * i
qp.drawLine(start_x, init_y - int(self.shelf_height / 2), start_x, init_y + int(self.shelf_height / 2))
if not self.isoneside:
start_x = init_x - int(self.shelf_width / 2)
qp.drawLine(start_x, init_y, start_x + int(self.shelf_width), init_y)
else:
start_x = init_x - int(self.shelf_width / 2)
qp.drawLine(start_x, init_y + int(self.shelf_height / 2), start_x + int(self.shelf_width),
init_y + int(self.shelf_height / 2))
qp.rotate(-self.current_rotation_angle)
qp.translate(-self.current_mouse_x, -self.current_mouse_y)
qp.drawPoint(self.current_mouse_x, self.current_mouse_y)
#이제 resolution을 고려하여 차지하는 영역을 표시 해야한다. 뭐 빨간색이라든가
#사각형의 네가지 꼭지점의 위치를 고려해서 현재 resolution에따라서 다르게 표시하게 해도 될거같다. 4번정도만 해당 resolution에 포함되는지만 확인하자
#각 모서리 좌표
def setupSignal(self):
self.slider_wSize.valueChanged.connect(self.change_width_size)
self.slider_hSize.valueChanged.connect(self.change_height_size)
self.slider_resolution.valueChanged.connect(self.change_resolution)
self.slider_resolution_2.valueChanged.connect(self.change_resolution_2)
self.edit_wSize.returnPressed.connect(self.change_width_edit_size)
self.edit_hSize.returnPressed.connect(self.change_height_edit_size)
self.edit_resolution.returnPressed.connect(self.change_resolution_edit)
self.edit_resolution_2.returnPressed.connect(self.change_resolution_edit_2)
self.edit_shelfheight.returnPressed.connect(self.change_shelf_height)
self.edit_shelfwidth.returnPressed.connect(self.change_shelf_width)
self.edit_shelfmaxitem.returnPressed.connect(self.change_shelf_item)
self.check_oneside.stateChanged.connect(self.change_oneside_checkbox)
self.button_makeshelf.clicked.connect(self.make_shelf)
self.button_resetshelf.clicked.connect(self.reset_shelf)
self.setMouseTracking(True)
self.groupBox_map.setMouseTracking(True)
self.button_shelfeditor.clicked.connect(self.edit_shelf)
self.button_makeblock.clicked.connect(self.make_block)
self.button_deleteblock.clicked.connect(self.edit_block)
self.pushMapsize.clicked.connect(self.saveResNSize)
self.button_savemap.clicked.connect(self.saveMapInfo)
self.button_loadmap.clicked.connect(self.loadMapInfo)
self.button_makeSP.clicked.connect(self.make_sp)
self.button_deleteSP.clicked.connect(self.delete_sp)
self.button_makePK.clicked.connect(self.make_pk)
self.button_deletePK.clicked.connect(self.delete_pk)
self.button_close.clicked.connect(self.close_window)
def close_window(self):
self.close()
def delete_pk(self):
self.mode = "delete pk"
self.edit_shelfheight.setDisabled(True)
self.edit_shelfwidth.setDisabled(True)
self.edit_shelfmaxitem.setDisabled(True)
self.check_oneside.setDisabled(True)
self.button_makeshelf.setDisabled(True) # 선반만드는 버튼을 비활성화 합니다.
self.button_shelfeditor.setDisabled(True) # 선반수정하는 버튼을 비활성화합니다.
# 벽생성버튼을 비활성화합니다.
self.button_makeblock.setDisabled(True)
self.button_deleteblock.setDisabled(True)
# 패킹지점관련 버튼을 비활성화합니다.
self.button_makePK.setDisabled(True) # 선반만드는 버튼을 비활성화 합니다.
self.button_deletePK.setDisabled(True) # 선반수정하는 버튼을 비활성화합니다.
# 시작지점관련 버튼을 비활성화합니다.
self.button_makeSP.setDisabled(True) # 선반만드는 버튼을 비활성화 합니다.
self.button_deleteSP.setDisabled(True) # 선반수정하는 버튼을 비활성화합니다.
def make_pk(self):
self.mode = "make pk"
self.edit_shelfheight.setDisabled(True)
self.edit_shelfwidth.setDisabled(True)
self.edit_shelfmaxitem.setDisabled(True)
self.check_oneside.setDisabled(True)
self.button_makeshelf.setDisabled(True) # 선반만드는 버튼을 비활성화 합니다.
self.button_shelfeditor.setDisabled(True) # 선반수정하는 버튼을 비활성화합니다.
# 벽생성버튼을 비활성화합니다.
self.button_makeblock.setDisabled(True)
self.button_deleteblock.setDisabled(True)
# 패킹지점관련 버튼을 비활성화합니다.
self.button_makePK.setDisabled(True) # 선반만드는 버튼을 비활성화 합니다.
#self.button_deletePK.setDisabled(True) # 선반수정하는 버튼을 비활성화합니다.
# 시작지점관련 버튼을 비활성화합니다.
self.button_makeSP.setDisabled(True) # 선반만드는 버튼을 비활성화 합니다.
self.button_deleteSP.setDisabled(True) # 선반수정하는 버튼을 비활성화합니다.
def delete_sp(self):
self.mode = "delete sp"
self.edit_shelfheight.setDisabled(True)
self.edit_shelfwidth.setDisabled(True)
self.edit_shelfmaxitem.setDisabled(True)
self.check_oneside.setDisabled(True)
self.button_makeshelf.setDisabled(True) # 선반만드는 버튼을 비활성화 합니다.
self.button_shelfeditor.setDisabled(True) # 선반수정하는 버튼을 비활성화합니다.
# 벽생성버튼을 비활성화합니다.
self.button_makeblock.setDisabled(True)
self.button_deleteblock.setDisabled(True)
# 패킹지점관련 버튼을 비활성화합니다.
self.button_makePK.setDisabled(True) # 선반만드는 버튼을 비활성화 합니다.
self.button_deletePK.setDisabled(True) # 선반수정하는 버튼을 비활성화합니다.
# 시작지점관련 버튼을 비활성화합니다.
self.button_makeSP.setDisabled(True) # 선반만드는 버튼을 비활성화 합니다.
self.button_deleteSP.setDisabled(True) # 선반수정하는 버튼을 비활성화합니다.
def make_sp(self):
self.mode = "make sp"
self.edit_shelfheight.setDisabled(True)
self.edit_shelfwidth.setDisabled(True)
self.edit_shelfmaxitem.setDisabled(True)
self.check_oneside.setDisabled(True)
self.button_makeshelf.setDisabled(True) # 선반만드는 버튼을 비활성화 합니다.
self.button_shelfeditor.setDisabled(True) # 선반수정하는 버튼을 비활성화합니다.
# 벽생성버튼을 비활성화합니다.
self.button_makeblock.setDisabled(True)
self.button_deleteblock.setDisabled(True)
# 패킹지점관련 버튼을 비활성화합니다.
self.button_makePK.setDisabled(True) # 선반만드는 버튼을 비활성화 합니다.
self.button_deletePK.setDisabled(True) # 선반수정하는 버튼을 비활성화합니다.
# 시작지점관련 버튼을 비활성화합니다.
self.button_makeSP.setDisabled(True) # 선반만드는 버튼을 비활성화 합니다.
#self.button_deleteSP.setDisabled(True) # 선반수정하는 버튼을 비활성화합니다.
def saveMapInfo(self):
FileSave = QFileDialog.getSaveFileName(self,'맵 저장하기','./Map/',"Map File (*.json)")[0]
if FileSave == "":
pass
else:
with open(FileSave,'w') as fp:
data = {}
data['map_size'] = (self.map_width, self.map_height)
data['map_resolution'] = (self.map_resolution,self.map_resolution_2)
data['occupay_map'] = self.occupy_map
data['shelf_point'] = self.saved_shelf_point #x좌표,y좌표, 선반 회전각[degree], 선반 너비, 선반 높이, 한 면의 아이템수, 단면여부
data['block_point'] = self.saved_block_point #x좌표,y좌표,
data['pack_point'] = self.saved_pk_point # x좌표,y좌표,
data['start_point'] = self.saved_sp_point # x좌표,y좌표,
json.dump(data,fp)
def loadMapInfo(self):
FileSave = QFileDialog.getOpenFileName(self,'맵 불러오기','./Map/',"Map File (*.json)")[0]
if FileSave == "":
pass
else:
with open(FileSave,'r') as fp:
data = json.load(fp)
self.map_width = data['map_size'][0]
self.map_height = data['map_size'][1]
self.map_resolution = data['map_resolution'][0]
self.map_resolution_2 = data['map_resolution'][1]
self.occupy_map = data['occupay_map']
self.saved_shelf_point = data['shelf_point']
self.saved_block_point = data['block_point']
self.saved_pk_point = data['pack_point']
self.saved_sp_point = data['start_point']
#ui를 위에서 얻은 정보로 바꿉니다.
self.update()
self.edit_wSize.setText(str(self.map_width))
self.edit_hSize.setText(str(self.map_height))
self.slider_wSize.setValue(self.map_width)
self.slider_hSize.setValue(self.map_height)
self.edit_resolution.setText(str(self.map_resolution))
self.edit_resolution_2.setText(str(self.map_resolution_2))
self.slider_resolution.setValue(self.map_resolution)
self.slider_resolution_2.setValue(self.map_resolution_2)
self.hide_warehouse_setting()
self.flag_hide_preview = False
self.pushMapsize.hide()
want_height = self.groupBox_map.geometry().top()
want_width = self.groupBox_shelf.geometry().left()
self.groupBox_shelf.move(want_width, want_height)
self.groupBox_shelf.show()
self.init_shelf_x = self.groupBox_shelf.geometry().left() + self.preview_shelf.geometry().center().x()
self.init_shelf_y = self.groupBox_shelf.geometry().top() + self.preview_shelf.geometry().center().y()
self.update()
def mouseMoveEvent(self, e):
self.current_mouse_x = e.x()
self.current_mouse_y = e.y()
if self.mode =="edit Map":
left = self.init_map_x
right = self.init_map_x + self.map_width
top = self.init_map_y
bottom = self.init_map_y + self.map_height
lefttop = [0, 0]
rightbottom = [0, 0]
# 가능영역 표시하기
if self.current_rotation_angle == 0 or self.current_rotation_angle == 180:
lefttop = [self.current_mouse_x - int(self.shelf_width / 2),
self.current_mouse_y - int(self.shelf_height / 2)]
rightbottom = [self.current_mouse_x + int(self.shelf_width / 2),
self.current_mouse_y + int(self.shelf_height / 2)]
else:
lefttop = [self.current_mouse_x - int(self.shelf_height / 2),
self.current_mouse_y - int(self.shelf_width / 2)]
rightbottom = [self.current_mouse_x + int(self.shelf_height / 2),
self.current_mouse_y + int(self.shelf_width / 2)]
if (rightbottom[0] <= right and lefttop[0] >= left) and (rightbottom[1] <= bottom and lefttop[1] >= top):
self.setCursor(QCursor(Qt.PointingHandCursor))
if (rightbottom[0] <= right and lefttop[0] >= left) and (
rightbottom[1] <= bottom and lefttop[1] >= top):
init_x = self.init_map_x
init_y = self.init_map_y
res_width = self.map_width / self.map_resolution
res_heigth = self.map_height / self.map_resolution_2
small_x_index = math.floor((lefttop[0] - init_x) / res_width) # 맨왼쪽 포함
big_x_index = math.ceil((rightbottom[0] - init_x) / res_width)
small_y_index = math.floor((lefttop[1] - init_y) / res_heigth)
big_y_index = math.ceil((rightbottom[1] - init_y) / res_heigth)
is_not = True
for i in range(small_y_index, big_y_index):
for j in range(small_x_index, big_x_index):
if self.occupy_map[i][j] > 0 :
is_not = False
self.current_upper_curser_ind = self.occupy_map[i][j]
if is_not:
self.current_upper_curser_ind =0
else:
self.setCursor(QCursor(Qt.ArrowCursor))
if (self.mode =="edit block" or self.mode == "delete pk") or self.mode == "delete sp":
left = self.init_map_x
right = self.init_map_x + self.map_width
top = self.init_map_y
bottom = self.init_map_y + self.map_height
# 가능영역 표시하기
if (self.current_mouse_x <= right and self.current_mouse_x >= left) and (self.current_mouse_y <= bottom and self.current_mouse_y >= top):
self.setCursor(QCursor(Qt.PointingHandCursor))
init_x = self.init_map_x
init_y = self.init_map_y
res_width = self.map_width / self.map_resolution
res_heigth = self.map_height / self.map_resolution_2
small_x_index = math.floor((self.current_mouse_x - init_x) / res_width) # 맨왼쪽 포함
big_x_index = math.ceil((self.current_mouse_x - init_x) / res_width)
small_y_index = math.floor((self.current_mouse_y - init_y) / res_heigth)
big_y_index = math.ceil((self.current_mouse_y - init_y) / res_heigth)
is_not = True
for i in range(small_y_index, big_y_index):
for j in range(small_x_index, big_x_index):
if self.mode =="edit block" :
if self.occupy_map[i][j] < 0:
is_not = False
self.current_upper_curser_ind_block = self.occupy_map[i][j]
elif self.mode =="delete pk":
if self.occupy_map[i][j] >20000:
is_not = False
self.current_upper_curser_ind_block = self.occupy_map[i][j]
elif self.mode =="delete sp":
if self.occupy_map[i][j] >10000:
is_not = False
self.current_upper_curser_ind_block = self.occupy_map[i][j]
if is_not:
self.current_upper_curser_ind_block =0
else:
self.setCursor(QCursor(Qt.ArrowCursor))
self.update()
def mousePressEvent(self, e):
if self.mode == "Set Shelf":
self.current_mouse_x = e.x()
self.current_mouse_y = e.y()
print(self.current_mouse_y,self.current_mouse_x)
left = self.init_map_x
right = self.init_map_x + self.map_width
top = self.init_map_y
bottom = self.init_map_y + self.map_height
lefttop = [0, 0]
rightbottom = [0, 0]
# 가능영역 표시하기
if self.current_rotation_angle == 0 or self.current_rotation_angle == 180:
lefttop = [self.current_mouse_x - int(self.shelf_width / 2),
self.current_mouse_y - int(self.shelf_height / 2)]
rightbottom = [self.current_mouse_x + int(self.shelf_width / 2),
self.current_mouse_y + int(self.shelf_height / 2)]
else:
lefttop = [self.current_mouse_x - int(self.shelf_height / 2),
self.current_mouse_y - int(self.shelf_width / 2)]
rightbottom = [self.current_mouse_x + int(self.shelf_height / 2),
self.current_mouse_y + int(self.shelf_width / 2)]
if (rightbottom[0] <= right and lefttop[0] >= left) and (rightbottom[1] <= bottom and lefttop[1] >= top):
init_x = self.init_map_x
init_y = self.init_map_y
res_width = self.map_width / self.map_resolution
res_heigth = self.map_height / self.map_resolution_2
small_x_index = math.floor((lefttop[0] - init_x) / res_width) # 맨왼쪽 포함
big_x_index = math.ceil((rightbottom[0] - init_x) / res_width)
small_y_index = math.floor((lefttop[1] - init_y) / res_heigth)
big_y_index = math.ceil((rightbottom[1] - init_y) / res_heigth)
flag_false = False
for i in range(small_y_index, big_y_index):
for j in range(small_x_index, big_x_index):
if self.occupy_map[i][j] !=0 :
flag_false =True
if flag_false :
msgBox = QMessageBox()
msgBox.setWindowTitle("경고")
msgBox.setText("해당점은 이미 차지하고 있습니다.")
msgBox.exec_()
else :
self.saved_shelf_point.append([self.current_mouse_x,self.current_mouse_y,self.current_rotation_angle,self.shelf_width,self.shelf_height,self.shelf_maxitem,self.isoneside])
self.occupancy_change()
elif self.mode == "edit Map":
self.current_clicked_curser_ind = self.current_upper_curser_ind
self.click_target = True
elif self.mode == "set block":
left = self.init_map_x
right = self.init_map_x + self.map_width
top = self.init_map_y
bottom = self.init_map_y + self.map_height
if (self.current_mouse_x <= right and self.current_mouse_x >= left) and (
self.current_mouse_y <= bottom and self.current_mouse_y >= top):
init_x = self.init_map_x
init_y = self.init_map_y
res_width = self.map_width / self.map_resolution
res_heigth = self.map_height / self.map_resolution_2
small_x_index = math.floor((self.current_mouse_x - init_x) / res_width) # 맨왼쪽 포함
big_x_index = math.ceil((self.current_mouse_x - init_x) / res_width)
small_y_index = math.floor((self.current_mouse_y - init_y) / res_heigth)
big_y_index = math.ceil((self.current_mouse_y - init_y) / res_heigth)
flag_false = False
if small_x_index == big_x_index or small_y_index == big_y_index:
msgBox = QMessageBox()
msgBox.setWindowTitle("경고")
msgBox.setText("resolution에 맞는점을 찍어주세요")
msgBox.exec_()
else:
for i in range(small_y_index, big_y_index):
for j in range(small_x_index, big_x_index):
if self.occupy_map[i][j] != 0:
flag_false = True
if flag_false :
msgBox = QMessageBox()
msgBox.setWindowTitle("경고")
msgBox.setText("해당점은 이미 차지하고 있습니다.")
msgBox.exec_()
else :
self.saved_block_point.append([self.current_mouse_x,self.current_mouse_y])
self.occupancy_change()
elif (self.mode =="edit block" or self.mode == "delete pk")or self.mode == "delete sp":
self.current_clicked_curser_ind_block = self.current_upper_curser_ind_block
self.click_target = True
elif self.mode == "make pk":
left = self.init_map_x
right = self.init_map_x + self.map_width
top = self.init_map_y
bottom = self.init_map_y + self.map_height
if (self.current_mouse_x <= right and self.current_mouse_x >= left) and (
self.current_mouse_y <= bottom and self.current_mouse_y >= top):
init_x = self.init_map_x
init_y = self.init_map_y
res_width = self.map_width / self.map_resolution
res_heigth = self.map_height / self.map_resolution_2
small_x_index = math.floor((self.current_mouse_x - init_x) / res_width) # 맨왼쪽 포함
big_x_index = math.ceil((self.current_mouse_x - init_x) / res_width)
small_y_index = math.floor((self.current_mouse_y - init_y) / res_heigth)
big_y_index = math.ceil((self.current_mouse_y - init_y) / res_heigth)
flag_false = False
if small_x_index == big_x_index or small_y_index == big_y_index:
msgBox = QMessageBox()
msgBox.setWindowTitle("경고")
msgBox.setText("resolution에 맞는점을 찍어주세요")
msgBox.exec_()
else:
for i in range(small_y_index, big_y_index):
for j in range(small_x_index, big_x_index):
if self.occupy_map[i][j] != 0:
flag_false = True
if flag_false :
msgBox = QMessageBox()
msgBox.setWindowTitle("경고")
msgBox.setText("해당점은 이미 차지하고 있습니다.")
msgBox.exec_()
else :
self.saved_pk_point.append([self.current_mouse_x,self.current_mouse_y])
self.occupancy_change()
elif self.mode == "make sp":
left = self.init_map_x
right = self.init_map_x + self.map_width
top = self.init_map_y
bottom = self.init_map_y + self.map_height
if (self.current_mouse_x <= right and self.current_mouse_x >= left) and (
self.current_mouse_y <= bottom and self.current_mouse_y >= top):
init_x = self.init_map_x
init_y = self.init_map_y
res_width = self.map_width / self.map_resolution
res_heigth = self.map_height / self.map_resolution_2
small_x_index = math.floor((self.current_mouse_x - init_x) / res_width) # 맨왼쪽 포함
big_x_index = math.ceil((self.current_mouse_x - init_x) / res_width)
small_y_index = math.floor((self.current_mouse_y - init_y) / res_heigth)
big_y_index = math.ceil((self.current_mouse_y - init_y) / res_heigth)
flag_false = False
if small_x_index == big_x_index or small_y_index == big_y_index:
msgBox = QMessageBox()
msgBox.setWindowTitle("경고")
msgBox.setText("resolution에 맞는점을 찍어주세요")
msgBox.exec_()
else:
for i in range(small_y_index, big_y_index):
for j in range(small_x_index, big_x_index):
if self.occupy_map[i][j] != 0:
flag_false = True
if flag_false :
msgBox = QMessageBox()
msgBox.setWindowTitle("경고")
msgBox.setText("해당점은 이미 차지하고 있습니다.")
msgBox.exec_()
else :
self.saved_sp_point.append([self.current_mouse_x,self.current_mouse_y])
self.occupancy_change()
def paintEvent(self, e):
qp = QPainter()
qp.begin(self)
self.draw(qp)
qp.end()
def saveResNSize(self):
msgBox = QMessageBox()
msgBox.setWindowTitle("경고")
msgBox.setText("한번 분해능과 맵크기를 정하면 못바꿉니다. \n 이 설정을 사용하시겠습니까?")
msgBox.setStandardButtons(QMessageBox.Yes | QMessageBox.No)
retval = msgBox.exec_()
if retval == QMessageBox.Yes:
self.hide_warehouse_setting()
self.flag_hide_preview = False
self.pushMapsize.hide()
want_height = self.groupBox_map.geometry().top()
want_width = self.groupBox_shelf.geometry().left()
self.groupBox_shelf.move(want_width,want_height)
self.groupBox_shelf.show()
self.init_shelf_x = self.groupBox_shelf.geometry().left() + self.preview_shelf.geometry().center().x()
self.init_shelf_y = self.groupBox_shelf.geometry().top() + self.preview_shelf.geometry().center().y()
self.update()
def keyReleaseEvent(self, e):
if self.mode == "Set Shelf":
if e.key() == Qt.Key_R:
if self.current_rotation_angle != 270:
self.current_rotation_angle += 90
else :
self.current_rotation_angle = 0
self.update()
if self.mode == "edit Map":
if e.key() == Qt.Key_Delete:
if self.current_clicked_curser_ind> 0 and self.current_clicked_curser_ind< 10000:
if len(self.saved_shelf_point) >0 and self.click_target:
del self.saved_shelf_point[self.current_clicked_curser_ind-1]
self.current_clicked_curser_ind = 0
self.current_upper_curser_ind = 0
self.click_target = False
self.occupancy_change()
self.update()
if self.mode == "edit block":
if e.key() == Qt.Key_Delete:
if self.current_clicked_curser_ind_block < 0 :
if len(self.saved_block_point) >0 and self.click_target:
#print(self.current_clicked_curser_ind_block)
del self.saved_block_point[-self.current_clicked_curser_ind_block-1]
self.current_clicked_curser_ind_block = 0
self.click_target = False
self.occupancy_change()
self.update()
#(self.mode =="edit block" or self.mode == "edit pk")or self.mode == "edit sp":
if self.mode == "delete pk":
if e.key() == Qt.Key_Delete:
if len(self.saved_pk_point) >0 and self.click_target:
if self.current_clicked_curser_ind_block > 20000 :
del self.saved_pk_point[self.current_clicked_curser_ind_block-20001]
self.current_clicked_curser_ind_block = 0
self.click_target = False
self.occupancy_change()
self.update()
if self.mode == "delete sp":
if e.key() == Qt.Key_Delete:
if len(self.saved_sp_point) >0 and self.click_target:
if self.current_clicked_curser_ind_block > 10000 and self.current_clicked_curser_ind_block < 20000:
del self.saved_sp_point[self.current_clicked_curser_ind_block-10001]
self.current_clicked_curser_ind_block = 0
self.click_target = False
self.occupancy_change()
self.update()
def change_oneside_checkbox(self):
if self.check_oneside.isChecked():
self.isoneside = True
else:
self.isoneside = False
self.update()