def upload_def(type_def: Type[Generic], model: Optional[Models] = None, urdf: Optional[Urdf] = None) -> None:
if not issubclass(type_def, GenericWithPose) and model:
raise UploadException("Object without pose can't have collision model.")
try:
check_object_type(type_def)
except Arcor2Exception as e:
print(e)
raise UploadException(f"There is something wrong with source code of '{type_def.__name__}'.")
obj_type = ObjectType(
id=type_def.__name__, source=get_containing_module_sources(type_def), description=type_def.description()
)
if model:
obj_type.model = model.metamodel()
ps.put_model(model)
print(f"Storing '{obj_type.id}'...")
ps.update_object_type(obj_type)
if urdf:
if not os.path.isdir(urdf.path_to_directory):
print(f"{urdf.path_to_directory} is not a directory.")
return
print(f"Storing URDF package for '{obj_type.id}'.")
paths: List[str] = []
# full path is in form src/python/arcor2_fit_demo/data/dobot-m1/dobot_m1_description/meshes
# so we need to remove the prefix (e.g. src/python/arcor2_fit_demo/data/dobot-m1)
# let's find the prefix...
for root, _, files in os.walk(urdf.path_to_directory):
for filename in files:
paths.append(os.path.join(root, filename))
prefix = os.path.commonpath(paths)
mem_zip = BytesIO()
with zipfile.ZipFile(mem_zip, mode="w", compression=zipfile.ZIP_DEFLATED) as zf:
for root, _, files in os.walk(urdf.path_to_directory):
for filename in files:
path = os.path.join(root, filename)
# in the archive, the path will be without the prefix
zf.write(path, os.path.relpath(path, prefix))
mem_zip.seek(0)
ps.upload_mesh_file(urdf.archive_name, mem_zip.getvalue())
async def get_object_data(object_types: ObjectTypeDict, obj_id: str) -> None:
glob.logger.debug(f"Processing {obj_id}.")
if obj_id in object_types:
glob.logger.debug(f"{obj_id} already processed, skipping...")
return
obj = await storage.get_object_type(obj_id)
if obj_id in glob.OBJECT_TYPES and glob.OBJECT_TYPES[obj_id].type_def is not None:
stored_type_def = glob.OBJECT_TYPES[obj_id].type_def
assert stored_type_def
# TODO do not compare sources but 'modified`
# the code we get from type_def has Unix line endings, while the code from Project service might have Windows...
obj.source = convert_line_endings_to_unix(obj.source)
if get_containing_module_sources(stored_type_def) == obj.source:
glob.logger.debug(f"No need to update {obj_id}.")
return
try:
bases = otu.base_from_source(obj.source, obj_id)
if bases and bases[0] not in object_types.keys() | built_in_types_names():
glob.logger.debug(f"Getting base class {bases[0]} for {obj_id}.")
await get_object_data(object_types, bases[0])
for mixin in bases[1:]:
mixin_obj = await storage.get_object_type(mixin)
await hlp.run_in_executor(
hlp.save_and_import_type_def,
mixin_obj.source,
mixin_obj.id,
object,
settings.OBJECT_TYPE_PATH,
settings.OBJECT_TYPE_MODULE,
)
except Arcor2Exception as e:
glob.logger.warn(f"Disabling object type {obj.id}: can't get a base. {str(e)}")
object_types[obj_id] = ObjectTypeData(
ObjectTypeMeta(obj_id, "Object type disabled.", disabled=True, problem="Can't get base.")
)
return
glob.logger.debug(f"Updating {obj_id}.")
try:
type_def = await hlp.run_in_executor(
hlp.save_and_import_type_def,
obj.source,
obj.id,
Generic,
settings.OBJECT_TYPE_PATH,
settings.OBJECT_TYPE_MODULE,
)
except Arcor2Exception as e:
glob.logger.debug(f"{obj.id} is probably not an object type. {str(e)}")
return
assert issubclass(type_def, Generic)
try:
meta = meta_from_def(type_def)
otu.get_settings_def(type_def) # just to check if settings are ok
except Arcor2Exception as e:
glob.logger.warning(f"Disabling object type {obj.id}.")
glob.logger.debug(e, exc_info=True)
object_types[obj_id] = ObjectTypeData(
ObjectTypeMeta(obj_id, "Object type disabled.", disabled=True, problem=str(e))
)
return
if obj.model:
try:
model = await storage.get_model(obj.model.id, obj.model.type)
except Arcor2Exception:
glob.logger.error(f"{obj.model.id}: failed to get collision model of type {obj.model.type}.")
meta.disabled = True
meta.problem = "Can't get collision model."
object_types[obj_id] = ObjectTypeData(meta)
return
kwargs = {model.type().value.lower(): model}
meta.object_model = ObjectModel(model.type(), **kwargs) # type: ignore
ast = parse(obj.source)
otd = ObjectTypeData(meta, type_def, object_actions(type_def, ast), ast)
object_types[obj_id] = otd
async def get_object_data(object_types: ObjectTypeDict, obj_id: str) -> None:
glob.logger.debug(f"Processing {obj_id}.")
if obj_id in object_types:
glob.logger.debug(f"{obj_id} already processed, skipping...")
return
obj = await storage.get_object_type(obj_id)
if obj_id in glob.OBJECT_TYPES and glob.OBJECT_TYPES[
obj_id].type_def is not None:
stored_type_def = glob.OBJECT_TYPES[obj_id].type_def
assert stored_type_def
if hash(get_containing_module_sources(stored_type_def)) == hash(
obj.source):
glob.logger.debug(f"No need to update {obj_id}.")
return
try:
base = otu.base_from_source(obj.source, obj_id)
if base and base not in object_types.keys() | built_in_types_names():
glob.logger.debug(f"Getting base class {base} for {obj_id}.")
await get_object_data(object_types, base)
except Arcor2Exception:
object_types[obj_id] = ObjectTypeData(
ObjectTypeMeta(obj_id,
"Object type disabled.",
disabled=True,
problem="Can't get base."))
return
glob.logger.debug(f"Updating {obj_id}.")
try:
type_def = await hlp.run_in_executor(
hlp.save_and_import_type_def,
obj.source,
obj.id,
Generic,
settings.OBJECT_TYPE_PATH,
settings.OBJECT_TYPE_MODULE,
)
assert issubclass(type_def, Generic)
meta = meta_from_def(type_def)
otu.get_settings_def(type_def) # just to check if settings are ok
except Arcor2Exception as e:
glob.logger.warning(f"Disabling object type {obj.id}.")
glob.logger.debug(e, exc_info=True)
object_types[obj_id] = ObjectTypeData(
ObjectTypeMeta(obj_id,
"Object type disabled.",
disabled=True,
problem=str(e)))
return
if obj.model:
try:
model = await storage.get_model(obj.model.id, obj.model.type)
except Arcor2Exception:
glob.logger.error(
f"{obj.model.id}: failed to get collision model of type {obj.model.type}."
)
meta.disabled = True
meta.problem = "Can't get collision model."
object_types[obj_id] = ObjectTypeData(meta)
return
kwargs = {model.type().value.lower(): model}
meta.object_model = ObjectModel(model.type(), **kwargs) # type: ignore
ast = parse(obj.source)
otd = ObjectTypeData(meta, type_def, object_actions(type_def, ast), ast)
object_types[obj_id] = otd
def upload_whatever(type_def: Type[object]) -> None:
obj_type = ObjectType(id=type_def.__name__, source=get_containing_module_sources(type_def))
print(f"Storing '{obj_type.id}'...")
ps.update_object_type(obj_type)
def upload_def(
type_def: type[Generic],
model: Optional[Models] = None,
urdf: Optional[Urdf] = None,
file_to_upload: Optional[str] = None,
) -> None:
"""Uploads ObjectType definition to the Project service.
:param type_def: Class definition.
:param model: Collision model.
:param urdf: If the type is robot, path to its URDF can be given here.
:param file_to_upload: Path to a file. Used e.g. to upload a mesh together with the ObjectType.
:return:
"""
if not issubclass(type_def, Robot) and urdf:
raise UploadException("Parameter 'urdf' set for non-Robot.")
try:
check_object_type(type_def)
except Arcor2Exception as e:
raise UploadException(
f"{type_def.__name__} is not a valid ObjectType. {str(e)}")
obj_type = ObjectType(id=type_def.__name__,
source=get_containing_module_sources(type_def),
description=type_def.description())
if issubclass(type_def, CollisionObject):
if not model:
raise UploadException(
"Parameter 'model' must be set for CollisionObject.")
if model.id != obj_type.id:
raise UploadException(
"Model id have to be the same as ObjectType id.")
obj_type.model = model.metamodel()
if isinstance(model, Mesh):
if not type_def.mesh_filename:
raise UploadException("Mesh filename not set.")
if not file_to_upload:
raise UploadException(
"For mesh collision model, file_to_upload parameter have to be set."
)
try:
with open(file_to_upload, "rb") as f:
ps.upload_file(type_def.mesh_filename, f.read())
except OSError as e:
raise UploadException(f"Failed to read mesh file. {str(e)}")
ps.put_model(model)
else:
if model:
raise UploadException(
"Parameter 'model' set for non-CollisionObject.")
print(f"Storing '{obj_type.id}'...")
ps.update_object_type(obj_type)
if urdf:
if not os.path.isdir(urdf.path_to_directory):
print(f"{urdf.path_to_directory} is not a directory.")
return
print(f"Storing URDF package for '{obj_type.id}'.")
paths: list[str] = []
# full path is in form src/python/arcor2_fit_demo/data/dobot-m1/dobot_m1_description/meshes
# so we need to remove the prefix (e.g. src/python/arcor2_fit_demo/data/dobot-m1)
# let's find the prefix...
for root, _, files in os.walk(urdf.path_to_directory):
for filename in files:
paths.append(os.path.join(root, filename))
prefix = os.path.commonpath(paths)
mem_zip = BytesIO()
with zipfile.ZipFile(mem_zip,
mode="w",
compression=zipfile.ZIP_DEFLATED) as zf:
for root, _, files in os.walk(urdf.path_to_directory):
for filename in files:
path = os.path.join(root, filename)
# in the archive, the path will be without the prefix
zf.write(path, os.path.relpath(path, prefix))
mem_zip.seek(0)
ps.upload_file(urdf.archive_name, mem_zip.getvalue())