加入别人的代码

README.md

@@ -6,3 +6,18 @@
 3.通过自己拍摄的图片把车位情况识别出来
 4.识别的是否有车信息传给地图，在地图上显示出来是否有车。
 5.让用户选择个空车位，最后在地图上把导航路径画出来。
+
+## TODO
+
+- 看懂他的代码，把他的底图换成我们制定的数据结构。/ 或者自己重新写。
+- 随机生成停车站状态，嵌入路径规划算法，实现交互。
+
+## 导航算法
+
+数据结构：
+- 0:路
+- 1:车位入口
+- 2:
+- 3:车位入口，有车了
+- 4:
+- -1:其他区域

cs.py

@@ -0,0 +1,38 @@
+import os
+
+# 车位编号列表
+left_side = list(range(119, 132))
+right_side = list(range(99, 87, -1))
+entry_left = [117, 115, 113]
+entry_right = [108, 106, 104, 102, 101, 100]
+p_row1 = [118, 116, 114, 112, 111, 110, None, 109, 107, 105, 103]
+middle_bottom_row1 = [292, 290, 288, 286, 284, 282, 280, 278, 276, 274, 272]
+middle_top_row2 = [293, 291, 289, 287, 285, 283, 281, 279, 277, 275, 273, 271]
+middle_bottom_row2 = list(range(259, 271))
+middle_top_row3 = [None] * 10 + [0] + [None]
+middle_bottom_row3 = [258, 257, 256, None, None, None, None, None, None, 255, 254, None]
+
+# 合并所有编号列表，去掉 None
+all_spots = [
+    left_side, right_side, entry_left, entry_right, p_row1,
+    middle_bottom_row1, middle_top_row2, middle_bottom_row2,
+    middle_top_row3, middle_bottom_row3
+]
+
+all_numbers = [number for row in all_spots for number in row if number is not None]
+
+# 指定存放文件夹的根目录
+root_directory = "D:/car2/parking_folders"
+
+# 创建根目录（如果不存在）
+if not os.path.exists(root_directory):
+    os.makedirs(root_directory)
+
+# 创建文件夹，确保文件夹名是三位数
+for number in all_numbers:
+    folder_name = str(number).zfill(3)  # 将编号转换为三位数
+    folder_path = os.path.join(root_directory, folder_name)
+    if not os.path.exists(folder_path):
+        os.makedirs(folder_path)
+
+print(f"已成功创建 {len(all_numbers)} 个文件夹。")

data.py

@@ -0,0 +1,52 @@
+import os
+import random
+import shutil
+
+# 车位编号列表
+left_side = list(range(119, 132))
+right_side = list(range(99, 87, -1))
+entry_left = [117, 115, 113]
+entry_right = [108, 106, 104, 102, 101, 100]
+p_row1 = [118, 116, 114, 112, 111, 110, None, 109, 107, 105, 103]
+middle_bottom_row1 = [292, 290, 288, 286, 284, 282, 280, 278, 276, 274, 272]
+middle_top_row2 = [293, 291, 289, 287, 285, 283, 281, 279, 277, 275, 273, 271]
+middle_bottom_row2 = list(range(259, 271))
+middle_top_row3 = [None] * 10 + [0] + [None]
+middle_bottom_row3 = [258, 257, 256, None, None, None, None, None, None, 255, 254, None]
+
+# 合并所有编号列表，去掉 None
+all_spots = [
+    left_side, right_side, entry_left, entry_right, p_row1,
+    middle_bottom_row1, middle_top_row2, middle_bottom_row2,
+    middle_top_row3, middle_bottom_row3
+]
+
+all_numbers = [number for row in all_spots for number in row if number is not None]
+
+# 指定存放文件夹的根目录
+root_directory = "D:/car2/parking_folders"
+source_directory = "D:/car2/cs"  # 图片文件夹
+
+# 遍历所有车位编号
+for number in all_numbers:
+    folder_name = str(number).zfill(3)  # 将编号转换为三位数
+    folder_path = os.path.join(root_directory, folder_name)
+
+    # 检查车位编号文件夹是否存在
+    if os.path.exists(folder_path):
+        # 获取所有图片文件
+        image_files = [f for f in os.listdir(source_directory) if f.lower().endswith(('.png', '.jpg', '.jpeg'))]
+
+        if image_files:
+            # 随机选择一张图片
+            selected_image = random.choice(image_files)
+            image_path = os.path.join(source_directory, selected_image)
+
+            # 目标路径是车位编号对应的文件夹
+            destination_path = os.path.join(folder_path, selected_image)
+
+            # 将图片复制到对应的文件夹中
+            shutil.copy(image_path, destination_path)
+            print(f"已将图片 {selected_image} 复制到 {folder_path} 文件夹。")
+
+print("图片已成功随机分配到车位文件夹。")

navigate.py

@@ -52,14 +52,18 @@ def a_star(start, goal):
 if __name__ == "__main__":
     # 停车场状态矩阵
     parking_lot = [
-        [1, 1, 1, 0, 1, 1, 1],
+        [1, 1, 1, 0, 3, 2, 1],
-        [1, 1, 1, 0, 1, 1, 1],
+        [1, 1, 1, 0, 3, 1, 1],
-        [0, 0, 0, 0, 0, 0, 0]
+        [0, 0, 0, 0, 0, 0, 0],
+        [0, 0, 0, 0, 0, 0, 0],
+        [0, 1, 1, 1, 1, 1, 0],
+        [0, 2, 2, 2, 2, 2, 0],
+        [0, 0, 0, 0, 0, 0, 0],
     ]
 
     # 起点和终点（行, 列）
     start = (0, 3)
-    goal = (1, 1)
+    goal = (3, 5)
     # 执行 A* 路径搜索
     path = a_star(start, goal)
 

test.py

@@ -0,0 +1,289 @@
+import tkinter as tk
+from tkinter import messagebox
+import random
+import heapq
+import os
+import cv2
+import numpy as np
+
+# 停车场布局数据
+left_side = list(range(119, 132))
+right_side = list(range(99, 87, -1))
+
+# 将右侧车位编号转换为三位数格式（例如：099, 098, ...）
+right_side = [str(number).zfill(3) for number in right_side]
+
+entry_left = [117, 115, 113]
+entry_right = [108, 106, 104, 102, 101, 100]
+p_row1 = [118, 116, 114, 112, 111, 110, None, 109, 107, 105, 103]
+middle_bottom_row1 = [292, 290, 288, 286, 284, 282, 280, 278, 276, 274, 272]
+middle_top_row2 = [293, 291, 289, 287, 285, 283, 281, 279, 277, 275, 273, 271]
+middle_bottom_row2 = list(range(259, 271))
+middle_top_row3 = [None] * 10 + [00] + [None]
+middle_bottom_row3 = [258, 257, 256, None, None, None, None, None, None, 255, 254, None]
+
+# 样式参数
+car_space_width = 50
+car_space_height = 80
+road_width = 40
+canvas_width = 1200
+canvas_height = 900
+middle_area_offset_y = 100  # 中间区域整体下移
+
+# 车位状态对应颜色
+status_color = {
+    'free': 'lightgreen',
+    'occupied': 'tomato',
+}
+
+default_color = 'white'
+selected_color = 'cyan'  # 搜索高亮颜色
+
+# 设置 YOLO 检测结果路径
+detection_folder = r"D:\car2\parking_folders"
+
+
+# A*算法的启发式函数
+def heuristic(a, b):
+    return abs(a[0] - b[0]) + abs(a[1] - b[1])  # 曼哈顿距离
+
+
+class ParkingLot(tk.Tk):
+    def __init__(self):
+        super().__init__()
+        self.title("停车场平面图 🚗")
+        self.geometry(f"{canvas_width}x{canvas_height}")
+        self.canvas = tk.Canvas(self, width=canvas_width, height=canvas_height, bg='#CCCCCC')
+        self.canvas.pack()
+
+        # 搜索部分
+        self.search_entry = tk.Entry(self)
+        self.search_entry.pack(pady=5)
+        self.search_button = tk.Button(self, text="搜索车位", command=self.search_spot)
+        self.search_button.pack(pady=5)
+
+        self.spots = {}  # 存储车位信息
+        self.path = []  # 存储路径
+        self.obstacles = []  # 存储障碍物坐标
+        self.draw_parking_lot()
+
+    def draw_parking_lot(self):
+        # 入口灰色路
+        self.canvas.create_rectangle(400, 0, 800, road_width, fill='gray')
+        self.canvas.create_text(750, 20, text="入口", fill="red", font=('Arial', 16))
+
+        # 入口两边车位
+        for idx, number in enumerate(entry_left):
+            x = 400 - (idx + 1) * (car_space_width + 5)
+            y = 0
+            self.draw_parking_spot(x, y, number, direction='down')
+
+        for idx, number in enumerate(entry_right):
+            x = 800 + idx * (car_space_width + 5)
+            y = 0
+            self.draw_parking_spot(x, y, number, direction='down')
+
+        # 左右两列
+        for idx, number in enumerate(left_side):
+            x = 0
+            y = road_width + idx * (car_space_height + 5)
+            self.draw_parking_spot(x, y, number, direction='right')
+
+        for idx, number in enumerate(right_side):
+            x = canvas_width - 50
+            y = road_width + idx * (car_space_height + 5)
+            self.draw_parking_spot(x, y, number, direction='left')
+
+        # 中间区域
+        start_y = road_width + 20 + middle_area_offset_y
+        self.draw_middle_row(start_y, p_row1, up=True)
+        self.draw_middle_row(start_y + car_space_height + 5, middle_bottom_row1, up=False)
+
+        start_y += (car_space_height + 5) * 2 + road_width
+        self.draw_middle_row(start_y, middle_top_row2, up=True)
+        self.draw_middle_row(start_y + car_space_height + 5, middle_bottom_row2, up=False)
+
+        start_y += (car_space_height + 5) * 2 + road_width
+        self.draw_middle_row(start_y, middle_top_row3, up=True)
+        self.draw_middle_row(start_y + car_space_height + 5, middle_bottom_row3, up=False)
+
+    def draw_middle_row(self, start_y, row_data, up=True):
+        total_spots = len(row_data)
+        row_width = total_spots * (car_space_width + 5) - 5
+        start_x = (canvas_width - row_width) / 2
+
+        current_x = start_x
+        for number in row_data:
+            rect = self.canvas.create_rectangle(
+                current_x, start_y,
+                current_x + car_space_width,
+                start_y + car_space_height,
+                fill=default_color,
+                outline='black'
+            )
+
+            if number is not None:
+                # 初始随机给状态
+                status = random.choice(['free', 'occupied'])
+                self.spots[rect] = {'number': number, 'status': status}
+                self.draw_arrow(current_x, start_y, 'up' if up else 'down')
+                self.canvas.create_text(current_x + car_space_width / 2, start_y + car_space_height / 2,
+                                        text=str(number), font=('Arial', 8))
+                self.canvas.tag_bind(rect, '<Button-1>', self.toggle_spot)
+                # 按状态上色
+                fill_color = status_color.get(status, default_color)
+                self.canvas.itemconfig(rect, fill=fill_color)
+
+                # 添加障碍物坐标
+                self.obstacles.append((current_x, start_y))
+
+            current_x += car_space_width + 5
+
+    def draw_arrow(self, x, y, direction):
+        if direction == 'up':
+            points = [x + car_space_width / 2, y + 10, x + 10, y + 30, x + car_space_width - 10, y + 30]
+        elif direction == 'down':
+            points = [x + car_space_width / 2, y + car_space_height - 10, x + 10, y + car_space_height - 30,
+                      x + car_space_width - 10, y + car_space_height - 30]
+        elif direction == 'left':
+            points = [x + 10, y + car_space_height / 2, x + 30, y + 10, x + 30, y + car_space_height - 10]
+        else:
+            points = [x + car_space_width - 10, y + car_space_height / 2, x + car_space_width - 30, y + 10,
+                      x + car_space_width - 30, y + car_space_height - 10]
+        self.canvas.create_polygon(points, fill='black')
+
+    def draw_parking_spot(self, x, y, number, direction='up'):
+        rect = self.canvas.create_rectangle(x, y, x + car_space_width, y + car_space_height, fill=default_color,
+                                            outline='black')
+
+        # 获取车位编号对应的YOLO检测结果图像路径
+        detection_image_path = os.path.join(detection_folder, f"{number}.jpg")  # 假设图像以车位编号命名
+
+        # 检查文件是否存在
+        if os.path.exists(detection_image_path):
+            # 读取 YOLO 检测结果图像（假设是红绿图像，红色表示有车，绿色表示空位）
+            detection_image = cv2.imread(detection_image_path)
+
+            # 检查图片是否为空
+            if detection_image is not None:
+                # 假设检测图像中左上角是车位的检测状态，我们可以检查该区域的颜色
+                # 获取车位区域的颜色
+                region_color = detection_image[10, 10]  # 假设检测图像左上角有车位状态信息
+
+                # 判断颜色，红色表示有车，绿色表示空位
+                if np.array_equal(region_color, [0, 0, 255]):  # 红色
+                    status = 'occupied'
+                elif np.array_equal(region_color, [0, 255, 0]):  # 绿色
+                    status = 'free'
+                else:
+                    status = 'free'  # 默认状态为免费
+            else:
+                status = 'free'  # 默认状态为免费，如果读取失败
+        else:
+            status = 'free'  # 默认状态为免费，如果没有检测结果
+
+        self.spots[rect] = {'number': number, 'status': status}
+
+        # 绘制箭头
+        self.draw_arrow(x, y, direction)
+
+        # 绘制车位编号
+        self.canvas.create_text(x + car_space_width / 2, y + car_space_height / 2, text=str(number), font=('Arial', 8))
+
+        # 绑定点击事件
+        self.canvas.tag_bind(rect, '<Button-1>', self.toggle_spot)
+
+        # 按状态设置颜色
+        fill_color = status_color.get(status, default_color)
+        self.canvas.itemconfig(rect, fill=fill_color)
+
+    def toggle_spot(self, event):
+        clicked = event.widget.find_withtag('current')[0]
+        spot = self.spots.get(clicked)
+        if spot:
+            messagebox.showinfo("车位信息", f"车位编号: {spot['number']}\n状态: {spot['status']}")
+
+    def search_spot(self):
+        query = self.search_entry.get()
+        found = False
+        for rect, spot in self.spots.items():
+            if str(spot['number']) == query:
+                self.canvas.itemconfig(rect, fill=selected_color)
+                self.find_path(rect)
+                found = True
+            else:
+                # 恢复成状态颜色
+                self.canvas.itemconfig(rect, fill=status_color.get(spot['status'], default_color))
+
+        if not found:
+            messagebox.showwarning("提示", "未找到该车位编号！")
+
+    def find_path(self, target_rect):
+        target_coords = self.canvas.coords(target_rect)
+        start_coords = (canvas_width // 2, 0)  # 入口位置
+
+        # A*路径规划的实现，避免车位区域
+        path = self.a_star(start_coords, target_coords)
+
+        # 绘制路径
+        for i in range(len(path) - 1):
+            self.canvas.create_line(path[i][0], path[i][1], path[i + 1][0], path[i + 1][1], fill="blue", width=4,
+                                    arrow=tk.LAST)
+
+    def a_star(self, start, end):
+        open_list = []
+        closed_list = set()
+        came_from = {}
+
+        start_node = (start[0], start[1])
+        end_node = (end[0], end[1])
+
+        # 计算G、H、F值
+        def g_cost(node):
+            return abs(node[0] - start[0]) + abs(node[1] - start[1])
+
+        def h_cost(node):
+            return heuristic(node, end_node)
+
+        def f_cost(node):
+            return g_cost(node) + h_cost(node)
+
+        heapq.heappush(open_list, (f_cost(start_node), start_node))
+        came_from[start_node] = None
+
+        while open_list:
+            current_f, current_node = heapq.heappop(open_list)
+            if current_node == end_node:
+                path = []
+                while current_node:
+                    path.append(current_node)
+                    current_node = came_from[current_node]
+                return path[::-1]
+
+            closed_list.add(current_node)
+
+            for direction in [(0, -car_space_height - 5), (0, car_space_height + 5), (-car_space_width - 5, 0),
+                              (car_space_width + 5, 0)]:
+                neighbor = (current_node[0] + direction[0], current_node[1] + direction[1])
+
+                # Check if the neighbor is within bounds and not an obstacle
+                if 0 <= neighbor[0] < canvas_width and 0 <= neighbor[1] < canvas_height:
+                    if self.is_obstacle(neighbor) or neighbor in closed_list:
+                        continue
+
+                    heapq.heappush(open_list, (f_cost(neighbor), neighbor))
+                    came_from[neighbor] = current_node
+
+        return []  # No path found
+
+    def is_obstacle(self, coords):
+        # 判断当前位置是否为车位（障碍物）
+        for (x, y) in self.obstacles:
+            if x <= coords[0] <= x + car_space_width and y <= coords[1] <= y + car_space_height:
+                return True
+        return False
+
+
+if __name__ == "__main__":
+    app = ParkingLot()
+    app.mainloop()

test2.py

@@ -0,0 +1,223 @@
+import tkinter as tk
+from tkinter import messagebox
+import os
+from ultralytics import YOLO
+
+# 停车场布局数据
+left_side = list(range(119, 132))
+right_side = list(range(99, 87, -1))
+right_side = [str(number).zfill(3) for number in right_side]
+
+entry_left = [117, 115, 113]
+entry_right = [108, 106, 104, 102, 101, 100]
+p_row1 = [118, 116, 114, 112, 111, 110, None, 109, 107, 105, 103]
+middle_bottom_row1 = [292, 290, 288, 286, 284, 282, 280, 278, 276, 274, 272]
+middle_top_row2 = [293, 291, 289, 287, 285, 283, 281, 279, 277, 275, 273, 271]
+middle_bottom_row2 = list(range(259, 271))
+middle_top_row3 = [None] * 10 + [0] + [None]
+middle_bottom_row3 = [258, 257, 256, None, None, None, None, None, None, 255, 254, None]
+
+# 样式参数
+car_space_width = 50
+car_space_height = 80
+road_width = 40
+canvas_width = 1200
+canvas_height = 900
+middle_area_offset_y = 100
+
+status_color = {
+    'free': 'lightgreen',
+    'occupied': 'tomato',
+}
+
+default_color = 'white'
+selected_color = 'cyan'
+path_color = 'yellow'
+
+MODEL_PATH = r"D:\\car2\\runs\\citrus_auto_detection_20250428-104743\\citrus_model\\weights\\best.pt"
+PARKING_FOLDER = r"D:\\car2\\parking_folders"
+
+model = YOLO(MODEL_PATH)
+
+
+class ParkingLot(tk.Tk):
+    def __init__(self):
+        super().__init__()
+        self.title("停车场平面图 🚗")
+        self.geometry(f"{canvas_width}x{canvas_height}")
+        self.canvas = tk.Canvas(self, width=canvas_width, height=canvas_height, bg='#CCCCCC')
+        self.canvas.pack()
+
+        self.search_entry = tk.Entry(self)
+        self.search_entry.pack(pady=5)
+
+        self.search_button = tk.Button(self, text="搜索车位", command=self.search_spot)
+        self.search_button.pack(pady=5)
+
+        self.nav_button = tk.Button(self, text="导航到车位", command=self.navigate_to_spot)
+        self.nav_button.pack(pady=5)
+
+        self.refresh_button = tk.Button(self, text="刷新车位状态", command=self.refresh_all_status)
+        self.refresh_button.pack(pady=5)
+
+        self.spots = {}
+        self.draw_parking_lot()
+
+        # 绑定空格键刷新
+        self.bind('<space>', lambda event: self.refresh_all_status())
+
+    def draw_parking_lot(self):
+        self.canvas.create_rectangle(400, 0, 800, road_width, fill='gray')
+        self.canvas.create_text(750, 20, text="入口", fill="red", font=('Arial', 16))
+
+        for idx, number in enumerate(entry_left):
+            x = 400 - (idx + 1) * (car_space_width + 5)
+            y = 0
+            self.draw_parking_spot(x, y, number, direction='down')
+
+        for idx, number in enumerate(entry_right):
+            x = 800 + idx * (car_space_width + 5)
+            y = 0
+            self.draw_parking_spot(x, y, number, direction='down')
+
+        for idx, number in enumerate(left_side):
+            x = 0
+            y = road_width + idx * (car_space_height + 5)
+            self.draw_parking_spot(x, y, number, direction='right')
+
+        for idx, number in enumerate(right_side):
+            x = canvas_width - 50
+            y = road_width + idx * (car_space_height + 5)
+            self.draw_parking_spot(x, y, number, direction='left')
+
+        start_y = road_width + 20 + middle_area_offset_y
+        self.draw_middle_row(start_y, p_row1, up=True)
+        self.draw_middle_row(start_y + car_space_height + 5, middle_bottom_row1, up=False)
+
+        start_y += (car_space_height + 5) * 2 + road_width
+        self.draw_middle_row(start_y, middle_top_row2, up=True)
+        self.draw_middle_row(start_y + car_space_height + 5, middle_bottom_row2, up=False)
+
+        start_y += (car_space_height + 5) * 2 + road_width
+        self.draw_middle_row(start_y, middle_top_row3, up=True)
+        self.draw_middle_row(start_y + car_space_height + 5, middle_bottom_row3, up=False)
+
+    def draw_middle_row(self, start_y, row_data, up=True):
+        total_spots = len(row_data)
+        row_width = total_spots * (car_space_width + 5) - 5
+        start_x = (canvas_width - row_width) / 2
+
+        current_x = start_x
+        for number in row_data:
+            rect = self.canvas.create_rectangle(
+                current_x, start_y,
+                current_x + car_space_width,
+                start_y + car_space_height,
+                fill=default_color,
+                outline='black'
+            )
+
+            if number is not None:
+                self.spots[rect] = {'number': number, 'status': 'unknown'}
+                self.draw_arrow(current_x, start_y, 'up' if up else 'down')
+                self.canvas.create_text(current_x + car_space_width / 2, start_y + car_space_height / 2,
+                                        text=str(number).zfill(3), font=('Arial', 8))
+                self.canvas.tag_bind(rect, '<Button-1>', self.toggle_spot)
+            current_x += car_space_width + 5
+
+    def draw_arrow(self, x, y, direction):
+        if direction == 'up':
+            points = [x + car_space_width / 2, y + 10, x + 10, y + 30, x + car_space_width - 10, y + 30]
+        elif direction == 'down':
+            points = [x + car_space_width / 2, y + car_space_height - 10, x + 10, y + car_space_height - 30,
+                      x + car_space_width - 10, y + car_space_height - 30]
+        elif direction == 'left':
+            points = [x + 10, y + car_space_height / 2, x + 30, y + 10, x + 30, y + car_space_height - 10]
+        else:
+            points = [x + car_space_width - 10, y + car_space_height / 2, x + car_space_width - 30, y + 10,
+                      x + car_space_width - 30, y + car_space_height - 10]
+        self.canvas.create_polygon(points, fill='black')
+
+    def draw_parking_spot(self, x, y, number, direction='up'):
+        rect = self.canvas.create_rectangle(x, y, x + car_space_width, y + car_space_height, fill=default_color,
+                                            outline='black')
+
+        self.spots[rect] = {'number': number, 'status': 'unknown'}
+        self.draw_arrow(x, y, direction)
+        self.canvas.create_text(x + car_space_width / 2, y + car_space_height / 2,
+                                text=str(number).zfill(3), font=('Arial', 8))
+        self.canvas.tag_bind(rect, '<Button-1>', self.toggle_spot)
+
+    def refresh_all_status(self):
+        for rect, spot in self.spots.items():
+            number = spot['number']
+            if number is None:
+                continue
+            new_status = self.detect_parking_status(number)
+            spot['status'] = new_status
+            self.canvas.itemconfig(rect, fill=status_color.get(new_status, default_color))
+        messagebox.showinfo("提示", "所有车位状态已刷新！")
+
+    def detect_parking_status(self, number):
+        folder_name = str(number).zfill(3)
+        folder_path = os.path.join(PARKING_FOLDER, folder_name)
+        if not os.path.isdir(folder_path):
+            return 'free'
+
+        images = [f for f in os.listdir(folder_path) if f.lower().endswith('.jpg')]
+        if not images:
+            return 'free'
+
+        image_path = os.path.join(folder_path, sorted(images)[-1])
+
+        try:
+            results = model(image_path)
+            for result in results:
+                if len(result.boxes) > 0:
+                    return 'occupied'
+        except Exception as e:
+            print(f"检测{number}出错: {e}")
+
+        return 'free'
+
+    def toggle_spot(self, event):
+        clicked = event.widget.find_withtag('current')[0]
+        spot = self.spots.get(clicked)
+        if spot:
+            messagebox.showinfo("车位信息", f"车位编号: {str(spot['number']).zfill(3)}\n状态: {spot['status']}")
+
+    def search_spot(self):
+        query = self.search_entry.get().zfill(3)
+        found = False
+        for rect, spot in self.spots.items():
+            spot_number = str(spot['number']).zfill(3)
+            if spot_number == query:
+                self.canvas.itemconfig(rect, fill=selected_color)
+                found = True
+            else:
+                self.canvas.itemconfig(rect, fill=status_color.get(spot['status'], default_color))
+
+        if not found:
+            messagebox.showwarning("提示", "未找到该车位编号！")
+
+    def navigate_to_spot(self):
+        query = self.search_entry.get().zfill(3)
+        found = False
+        for rect, spot in self.spots.items():
+            spot_number = str(spot['number']).zfill(3)
+            if spot_number == query:
+                self.canvas.itemconfig(rect, fill=selected_color)
+                found = True
+            else:
+                if spot['number'] is not None and spot_number[0] == query[0]:
+                    self.canvas.itemconfig(rect, fill=path_color)
+                else:
+                    self.canvas.itemconfig(rect, fill=status_color.get(spot['status'], default_color))
+
+        if not found:
+            messagebox.showwarning("提示", "未找到该车位编号！")
+
+
+if __name__ == "__main__":
+    app = ParkingLot()
+    app.mainloop()