def onFileSaveData():
obj = om.getActiveObject()
if not obj:
app.showErrorMessage('Please select an object', title='No object selected')
return
if isinstance(obj, otdfmodel.OtdfModelItem):
mainWindow = app.getMainWindow()
filename = QtGui.QFileDialog.getSaveFileName(mainWindow, "Save Data...", getDefaultDirectory(), 'OTDF (*.otdf)', 'OTDF (*.otdf)')
if not os.path.splitext(filename)[1]:
filename += '.otdf'
storeDefaultDirectory(filename)
otdfString = obj.parser.getUpdatedOtdf()
otdfFile = open(filename, 'w')
otdfFile.write(otdfString)
otdfFile.close()
elif hasattr(obj, 'polyData'):
mainWindow = app.getMainWindow()
fileFilters = "PLY (*.ply);;STL (*.stl);;VTP (*.vtp)";
filename = QtGui.QFileDialog.getSaveFileName(mainWindow, "Save Data...", getDefaultDirectory(), fileFilters, 'VTP (*.vtp)')
if not filename:
return
if not os.path.splitext(filename)[1]:
filename += '.vtp'
polyData = io.writePolyData(obj.polyData, filename)
else:
app.showErrorMessage('Please select an object that contains geometry data or an OTDF object', title='Invalid object selected')
return
storeDefaultDirectory(filename)
def onIkStartup(ikServer, startSuccess):
if startSuccess:
app.getMainWindow().statusBar().showMessage(
'Planning server started.', 2000)
else:
app.showErrorMessage(
'Error detected while starting the matlab planning server. '
'Please check the output console for more information.',
title='Error starting matlab')
def onOpenGeometry(filename):
polyData = io.readPolyData(filename)
if not polyData or not polyData.GetNumberOfPoints():
app.showErrorMessage('Failed to read any data from file: %s' % filename, title='Reader error')
return
vis.showPolyData(polyData, os.path.basename(filename), parent='files')
def onFileSaveData():
obj = om.getActiveObject()
if not obj:
app.showErrorMessage("Please select an object",
title="No object selected")
return
if isinstance(obj, otdfmodel.OtdfModelItem):
mainWindow = app.getMainWindow()
filename = QtGui.QFileDialog.getSaveFileName(
mainWindow,
"Save Data...",
getDefaultDirectory(),
"OTDF (*.otdf)",
"OTDF (*.otdf)",
)
if not os.path.splitext(filename)[1]:
filename += ".otdf"
storeDefaultDirectory(filename)
otdfString = obj.parser.getUpdatedOtdf()
otdfFile = open(filename, "w")
otdfFile.write(otdfString)
otdfFile.close()
elif hasattr(obj, "polyData"):
mainWindow = app.getMainWindow()
fileFilters = "PLY (*.ply);;STL (*.stl);;VTP (*.vtp);;VTK (*.vtk)"
defaultFilter = "VTP (*.vtp)"
filename = QtGui.QFileDialog.getSaveFileName(
mainWindow,
"Save Data...",
getDefaultDirectory(),
fileFilters,
defaultFilter,
)
if not filename:
return
if not os.path.splitext(filename)[1]:
filename += ".vtp"
polyData = io.writePolyData(obj.polyData, filename)
else:
app.showErrorMessage(
"Please select an object that contains geometry data or an OTDF object",
title="Invalid object selected",
)
return
storeDefaultDirectory(filename)
def onOpenGeometry(filename):
if filename.lower().endswith('wrl'):
onOpenVrml(filename)
return
polyData = io.readPolyData(filename)
if not polyData or not polyData.GetNumberOfPoints():
app.showErrorMessage('Failed to read any data from file: %s' % filename, title='Reader error')
return
vis.showPolyData(polyData, os.path.basename(filename), parent='files')
def ensureDirectoryIsWritable(self, dirname):
if not os.path.isdir(dirname):
try:
os.makedirs(dirname)
except OSError:
app.showErrorMessage('Error creating directory: %s' % dirname)
return False
if not os.access(dirname, os.W_OK | os.X_OK):
app.showErrorMessage('Directory is not writable: %s' % dirname)
return False
return True
def ensureDirectoryIsWritable(self, dirname):
if not os.path.isdir(dirname):
try:
os.makedirs(dirname)
except OSError:
app.showErrorMessage("Error creating directory: %s" % dirname)
return False
if not os.access(dirname, os.W_OK | os.X_OK):
app.showErrorMessage("Directory is not writable: %s" % dirname)
return False
return True
def onFileExportUrdf():
obj = om.getActiveObject()
if not obj or not isinstance(obj, otdfmodel.OtdfModelItem):
app.showErrorMessage('Please select an OTDF object', title='OTDF object not selected')
return
mainWindow = app.getMainWindow()
filename = QtGui.QFileDialog.getSaveFileName(mainWindow, "Save Data...", getDefaultDirectory(), 'URDF (*.urdf)', 'URDF (*.urdf)')
if not os.path.splitext(filename)[1]:
filename += '.urdf'
storeDefaultDirectory(filename)
urdfString = obj.parser.getUrdfFromOtdf()
urdfFile = open(filename, 'w')
urdfFile.write(urdfString)
urdfFile.close()
def onIkStartup(ikServer, startSuccess):
if startSuccess:
app.getMainWindow().statusBar().showMessage('Planning server started.', 2000)
else:
app.showErrorMessage('Error detected while starting the matlab planning server. '
'Please check the output console for more information.', title='Error starting matlab')
def onOpenUrdf(filename):
model = roboturdf.openUrdf(filename, app.getCurrentRenderView())
if not model:
app.showErrorMessage('Failed to read urdf file: %s' % filename, title='Read urdf error')
