def results_to_json(res: Any) -> Optional[list[str]]:
"""Prepares action results into list of JSONs. Return value could be tuple
or single value.
:param res:
:return:
"""
if res is None:
return None
if isinstance(res, tuple):
return [plugin_from_instance(r).value_to_json(r) for r in res]
else:
return [plugin_from_instance(res).value_to_json(res)]
def test_plugin_from_instance() -> None:
assert plugin_from_instance(Image.new("RGB", (320, 240))) is ImagePlugin
def test_plugin_from_instance(self, val: TestEnum) -> None:
assert plugin_from_instance(val) is StringEnumPlugin
def test_plugin_from_instance() -> None:
assert plugin_from_instance(Pose()) is PosePlugin
def test_plugin_from_instance(self, val: str) -> None:
assert plugin_from_instance(val) is StringPlugin
def test_plugin_from_instance(self, val: bool) -> None:
assert plugin_from_instance(val) is BooleanPlugin
def wrapper(obj: Generic,
*action_args: Any,
an: Optional[str] = None,
**kwargs: Any) -> Any:
# remembers the outermost action
# when set, serves as a flag, that we are inside an action
# ...then when another action is executed, we know that it is a nested one (and the outer one is composite)
global _executed_action
action_id: Optional[str] = None
action_mapping_provided = hasattr(obj, ACTION_NAME_ID_MAPPING_ATTR)
# if not set (e.g. when writing actions manually), do not attempt to get action IDs from names
if action_mapping_provided:
if _executed_action and an:
raise Arcor2Exception(
"Inner actions should not have name specified.")
if not _executed_action: # do not attempt to get id for inner actions
try:
action_id = getattr(obj, ACTION_NAME_ID_MAPPING_ATTR)[an]
except AttributeError:
# mapping from action name to id not provided, ActionState won't be sent
pass
except KeyError:
if an is None:
raise Arcor2Exception(
"Mapping from action name to id provided, but action name not set."
)
raise Arcor2Exception(
f"Mapping from action name to id is missing key {an}.")
if _executed_action and not _executed_action[
1].__action__.composite: # type: ignore
msg = f"Outer action {_executed_action[1].__name__}/{_executed_action[0]} not flagged as composite."
_executed_action = None
raise Arcor2Exception(msg)
if _executed_action is None: # the following code should be executed only for outermost action
_executed_action = action_id, f
# collect action point ids, ignore missing
action_point_ids: set[str] = set()
for aa in action_args:
try:
if isinstance(aa, (Pose, ProjectRobotJoints)):
action_point_ids.add(getattr(aa, AP_ID_ATTR))
except AttributeError:
if breakpoints:
raise Arcor2Exception(
"Orientations/Joints not patched. Breakpoints won't work!"
)
# validate if break is required
make_a_break = bool(breakpoints
and breakpoints.intersection(action_point_ids))
# dispatch ActionStateBefore event for every (outermost) action
state_before = ActionStateBefore(
ActionStateBefore.Data(
# TODO deal with kwargs parameters
action_id,
None,
action_point_ids if action_point_ids else None,
))
try:
state_before.data.parameters = [
plugin_from_instance(arg).value_to_json(arg)
for arg in action_args
]
except Arcor2Exception:
if action_id:
# for projects with logic, it should not happen that there is unknown parameter type
# for projects without logic (for which we don't know action_id), it is fine...
_executed_action = None
raise
print_event(state_before)
handle_stdin_commands(before=True, breakpoint=make_a_break)
# the action itself is executed under all circumstances
try:
res = f(obj, *action_args, an=an, **kwargs)
except Arcor2Exception:
# this is actually not necessary at the moment as when exception is raised, the script ends anyway
_executed_action = None
# TODO maybe print ProjectException from here instead of from Resources' context manager?
# ...could provide action_id from here
raise
# manage situation when we are getting out of (composite) action
if action_mapping_provided: # for projects with logic - check based on action_id
if action_id and _executed_action[0] == action_id:
_executed_action = None
print_event(
ActionStateAfter(
ActionStateAfter.Data(action_id,
results_to_json(res))))
else: # for projects without logic - can be only based on checking the method
if _executed_action[1] == f:
# TODO shouldn't we sent ActionStateAfter even here?
_executed_action = None
handle_stdin_commands(before=False)
return res
def test_plugin_from_instance() -> None:
assert plugin_from_instance(ProjectRobotJoints("name", "robot_id", [Joint("name", 0.333)])) is JointsPlugin
def wrapper(*args: Union[Generic, Any], an: Optional[str] = None, **kwargs: Any) -> Any:
global _executed_action
action_args = args[1:]
action_id: Optional[str] = None
if HANDLE_ACTIONS: # if not set, ignore everything
if _executed_action and an:
raise Arcor2Exception("Inner actions should not have name specified.")
if not _executed_action: # do not attempt to get id for inner actions
try:
action_id = args[0].action_name_to_id[an] # type: ignore
except AttributeError:
# mapping from action name to id not provided, ActionState won't be sent
pass
except KeyError:
if an is None:
raise Arcor2Exception("Mapping from action name to id provided, but action name not set.")
raise Arcor2Exception(f"Mapping from action name to id is missing key {an}.")
if _executed_action and not _executed_action[1].__action__.composite: # type: ignore
msg = f"Outer action {_executed_action[1].__name__}/{_executed_action[0]} not flagged as composite."
_executed_action = None
raise Arcor2Exception(msg)
if action_id: # can't do much without action_id
print_event(
ActionStateBefore(
ActionStateBefore.Data(
# TODO deal with kwargs parameters
action_id,
[plugin_from_instance(arg).value_to_json(arg) for arg in action_args],
)
)
)
if _executed_action is None:
_executed_action = action_id, f
handle_stdin_commands()
try:
res = f(*args, an=an, **kwargs)
except Arcor2Exception:
# this is actually not necessary at the moment as when exception is raised, the script ends anyway
_executed_action = None
# TODO maybe print ProjectException from here instead of from Resources' context manager?
# ...could provide action_id from here
raise
if HANDLE_ACTIONS:
if action_id:
# we are getting out of (composite) action
if _executed_action and _executed_action[0] == action_id:
_executed_action = None
print_event(ActionStateAfter(ActionStateAfter.Data(action_id, results_to_json(res))))
handle_stdin_commands()
return res