def value(cls, type_defs: TypesDict, scene: Scene, project: Project, action_id: str, parameter_id: str) -> Any:
param = project.action(action_id).parameter(parameter_id)
try:
return json.loads(param.value)
except json.decoder.JSONDecodeError as e:
raise ParameterPluginException(f"Value of {action_id}/{parameter_id} is not a valid JSON.", e)
def uses_robot_joints(cls, project: Project, action_id: str,
parameter_id: str, robot_joints_id: str) -> bool:
param = project.action(action_id).parameter(parameter_id)
value_id = cls.param_value(param)
return value_id == robot_joints_id
def value(cls, type_defs: TypesDict, scene: Scene, project: Project,
action_id: str, parameter_id: str) -> Pose:
action = project.action(action_id)
param = action.parameter(parameter_id)
ori_id: str = cls.param_value(param)
ap, ori = project.ap_and_orientation(ori_id)
return Pose(ap.position, ori.orientation)
def value(cls, type_defs: TypesDict, scene: Scene, project: Project, action_id: str, parameter_id: str) ->\
RelativePose:
param = project.action(action_id).parameter(parameter_id)
try:
return RelativePose.from_json(param.value)
except ValidationError as e:
raise ParameterPluginException(e)
def uses_orientation(cls, project: Project, action_id: str,
parameter_id: str, orientation_id: str) -> bool:
action = project.action(action_id)
param = action.parameter(parameter_id)
for ori_id in cls.param_value_list(param):
if ori_id == orientation_id:
return True
return False
def execution_value(cls, type_defs: TypesDict, scene: Scene,
project: Project, action_id: str,
parameter_id: str) -> Pose:
action = project.action(action_id)
param = action.parameter(parameter_id)
ori_id: str = cls.param_value(param)
ap, _ = project.ap_and_orientation(ori_id)
copy_of_ap = copy.deepcopy(ap)
tr.make_relative_ap_global(scene, project, copy_of_ap)
return Pose(copy_of_ap.position, ap.orientation(ori_id).orientation)
def value(cls, type_defs: TypesDict, scene: Scene, project: Project,
action_id: str, parameter_id: str) -> Enum:
action = project.action(action_id)
param = action.parameter(parameter_id)
obj_id, action_type = action.parse_type()
obj_type = type_defs[scene.object_or_service(obj_id).type]
method = getattr(obj_type, action_type)
ttype = get_type_hints(method)[param.id]
if not issubclass(ttype, cls.type()):
raise ParameterPluginException(
f"Type {ttype.__name__} is not subclass of {cls.type().__name__}."
)
try:
return ttype(json.loads(param.value))
except ValueError:
raise ParameterPluginException(
f"Parameter {parameter_id} of action {action.name} has invalid value."
)
def uses_orientation(cls, project: Project, action_id: str,
parameter_id: str, orientation_id: str) -> bool:
action = project.action(action_id)
param = action.parameter(parameter_id)
return orientation_id == cls.param_value(param)
