Main.java - master - r.d.karimov/EmbodiedAI

Main.java
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r.d.karimov
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19 янв 2025, 21:02
19 янв 2025, 21:028af564b
package main;

import com.fasterxml.jackson.databind.ObjectMapper;

import UpperLevel.NLPModule;
import UpperLevel.TaskPlanner;
import LowerLevel.Navigation;
import LowerLevel.Manipulation;

import java.io.File;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

public class Main {
    public static void main(String[] args) {
        try {
            // Чтение входного JSON
            ObjectMapper objectMapper = new ObjectMapper();
            File inputFile = new File("test.json");
            Map<String, Object> inputData = objectMapper.readValue(inputFile, HashMap.class);

            // Извлечение данных
            String instruction = (String) inputData.get("instruction");
            Map<String, Object> sceneData = (Map<String, Object>) inputData.get("scene");
            Scene scene = objectMapper.convertValue(sceneData, Scene.class);

            // Верхний уровень: Планирование
            NLPModule nlpModule = new NLPModule();
            Map<String, String> command = nlpModule.parseInstruction(instruction);

            TaskPlanner taskPlanner = new TaskPlanner();
            List<String> plan = taskPlanner.generatePlan(command);

            // Нижний уровень: Навигация и манипуляция
            Navigation navigation = new Navigation();
            Manipulation manipulation = new Manipulation();
            List<Position> path = new ArrayList<>();

            for (String task : plan) {
                if (task.startsWith("NAVIGATE_TO")) {
                    String location = task.split(" ")[1];
                    Position position = findPositionByName(scene, location);
                    if (position != null) {
                        path.add(position);
                        navigation.navigateTo(location);
                    }
                } else if (task.startsWith("PICK")) {
                    String object = task.split(" ")[1];
                    manipulation.pick(object);
                } else if (task.startsWith("PLACE")) {
                    String object = task.split(" ")[1];
                    manipulation.place(object);
                }
            }

            // Создание траектории
            Trajectory trajectory = new Trajectory();
            trajectory.setId(1); // Уникальный ID траектории
            trajectory.setPath(path);

            // Запись выходного JSON
            File outputFile = new File("output.json");
            objectMapper.writerWithDefaultPrettyPrinter().writeValue(outputFile, trajectory);

            System.out.println("Траектория успешно сохранена в output.json");
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    private static Position findPositionByName(Scene scene, String name) {
        for (SceneObject object : scene.getObjects()) {
            if (object.getName().equals(name)) {
                return object.getPosition();
            }
        }
        return null;
    }
}