def get_work_order_msg(json_file):
work_order = get_sorted_work_order(json_file=json_file)
msg = dict(left=WorkOrderArray(), right=WorkOrderArray())
abandon_target_objects = [
'genuine_joe_plastic_stir_sticks',
'cheezit_big_original',
'rolodex_jumbo_pencil_cup',
'champion_copper_plus_spark_plug',
'oreo_mega_stuf',
]
abandon_bin_objects = [
'rolodex_jumbo_pencil_cup',
'oreo_mega_stuf'
]
bin_contents = dict(get_bin_contents(json_file=json_file))
for bin_, target_object in work_order:
if target_object in abandon_target_objects:
continue
bin_contents_bool = False
for bin_object in bin_contents[bin_]:
if bin_object in abandon_bin_objects:
bin_contents_bool = True
if bin_contents_bool:
continue
if bin_ in 'abdegj':
msg['left'].array.append(WorkOrder(bin=bin_, object=target_object))
elif bin_ in 'cfhikl':
msg['right'].array.append(WorkOrder(bin=bin_, object=target_object))
return msg
def get_work_order_msg(json_file):
work_order = get_sorted_work_order(json_file=json_file)
msg = dict(left=WorkOrderArray(), right=WorkOrderArray())
abandon_target_objects = [
'genuine_joe_plastic_stir_sticks',
'cheezit_big_original',
'rolodex_jumbo_pencil_cup',
'champion_copper_plus_spark_plug',
'oreo_mega_stuf',
]
abandon_bin_objects = ['rolodex_jumbo_pencil_cup', 'oreo_mega_stuf']
bin_contents = dict(get_bin_contents(json_file=json_file))
for bin_, target_object in work_order:
if target_object in abandon_target_objects:
continue
bin_contents_bool = False
for bin_object in bin_contents[bin_]:
if bin_object in abandon_bin_objects:
bin_contents_bool = True
if bin_contents_bool:
continue
if bin_ in 'abdegj':
msg['left'].array.append(WorkOrder(bin=bin_, object=target_object))
elif bin_ in 'cfhikl':
msg['right'].array.append(WorkOrder(bin=bin_,
object=target_object))
return msg
def get_sorted_work_order(json_file):
"""Sort work order to maximize the score"""
bin_contents = get_bin_contents(json_file=json_file)
bins, objects = zip(*bin_contents)
bin_n_contents = dict(zip(bins, map(len, objects)))
sorted_work_order = []
work_order = dict(get_work_order(json_file=json_file))
for bin_, _ in sorted(bin_n_contents.items(), key=lambda x:x[1]):
sorted_work_order.append((bin_, work_order[bin_]))
return sorted_work_order
def get_sorted_work_order(json_file):
"""Sort work order to maximize the score"""
bin_contents = get_bin_contents(json_file=json_file)
bins, objects = zip(*bin_contents)
bin_n_contents = dict(zip(bins, map(len, objects)))
sorted_work_order = []
work_order = dict(get_work_order(json_file=json_file))
for bin_, _ in sorted(bin_n_contents.items(), key=lambda x:x[1]):
sorted_work_order.append((bin_, work_order[bin_]))
return sorted_work_order
def test_bin_contents(self, json_file=None):
from bin_contents import get_bin_contents
if json_file is None:
json_file = os.path.join(pkg_path, 'data/apc-a.json')
bin_contents = list(get_bin_contents(json_file))
object_list = jsk_apc2015_common.data.object_list()
for bin_, objects in bin_contents:
self.assertIn(bin_, 'abcdefghijkl')
for object_ in objects:
self.assertIn(object_, object_list)
self.assertEqual(len(bin_contents), len('abcdefghijkl'))
def test_bin_contents(self, json_file=None):
from bin_contents import get_bin_contents
if json_file is None:
json_file = os.path.join(pkg_path, 'data/apc-a.json')
bin_contents = list(get_bin_contents(json_file))
object_list = jsk_apc2015_common.data.object_list()
for bin_, objects in bin_contents:
self.assertIn(bin_, 'abcdefghijkl')
for object_ in objects:
self.assertIn(object_, object_list)
self.assertEqual(len(bin_contents), len('abcdefghijkl'))
def main():
arg_fmt = argparse.RawTextHelpFormatter
parser = argparse.ArgumentParser(formatter_class=arg_fmt,
description=main.__doc__)
required = parser.add_argument_group('required arguments')
required.add_argument(
'-f', '--file', required=True,
help='select json file.'
)
args = parser.parse_args(sys.argv[1:])
cmd = "montage"
for bin_contents in sorted(get_bin_contents(args.file)):
bin_label = bin_contents[0]
bin_content = bin_contents[1]
for obj_name in bin_content:
cmd += ' ../data/raw_img/' + obj_name + '.jpg'
for _ in range(3 - len(bin_content)):
cmd += ' ../data/paste_mask.png'
cmd += ' -tile 3x12 output.png'
os.system(cmd)
'kong_sitting_frog_dog_toy': 1,
'kong_air_dog_squeakair_tennis_ball': 1,
'dr_browns_bottle_brush': 2,
'kong_duck_dog_toy': 1,
'laugh_out_loud_joke_book': 3,
}
SCORING = {
'MOVE_FROM_MULTI_ITEM_BIN': 20,
'MOVE_FROM_DOUBLE_ITEM_BIN': 15,
'MOVE_FROM_SINGLE_ITEM_BIN': 10,
'MOVE_NON_TARGET_ITEM': -12,
'DAMAGE_ITEM': -5,
'DROP_TARGET_ITEM': -3,
}
bin_contents = dict(get_bin_contents(args.json))
work_order = dict(get_work_order(args.json))
cprint('#------------------#', 'blue')
cprint('# SCORE CALCULATOR #', 'blue')
cprint('#------------------#', 'blue')
def display_score(scores):
cprint('---------------------', 'blue')
for type_, score in scores.items():
if score == 0:
continue
score = '+{0}'.format(score) if score > 0 else str(score)
print('{0}: {1}'.format(type_, score))
bin_score = sum(scores.values())
'kong_sitting_frog_dog_toy': 1,
'kong_air_dog_squeakair_tennis_ball': 1,
'dr_browns_bottle_brush': 2,
'kong_duck_dog_toy': 1,
'laugh_out_loud_joke_book': 3,
}
SCORING = {
'MOVE_FROM_MULTI_ITEM_BIN': 20,
'MOVE_FROM_DOUBLE_ITEM_BIN': 15,
'MOVE_FROM_SINGLE_ITEM_BIN': 10,
'MOVE_NON_TARGET_ITEM': -12,
'DAMAGE_ITEM': -5,
'DROP_TARGET_ITEM': -3,
}
bin_contents = dict(get_bin_contents(args.json))
work_order = dict(get_work_order(args.json))
cprint('#------------------#', 'blue')
cprint('# SCORE CALCULATOR #', 'blue')
cprint('#------------------#', 'blue')
def display_score(scores):
cprint('---------------------', 'blue')
for type_, score in scores.items():
if score == 0:
continue
score = '+{0}'.format(score) if score > 0 else str(score)
print('{0}: {1}'.format(type_, score))
bin_score = sum(scores.values())
cprint('SCORE of bin_{0}: {1}'.format(bin_.upper(), bin_score), 'magenta')
def _init_bin_contents(self, json_file):
bin_contents = get_bin_contents(json_file)
self.bin_contents = dict(bin_contents)
def _init_bin_contents(self, json_file):
bin_contents = get_bin_contents(json_file)
self.bin_contents = dict(bin_contents)
