def merge_elements(target: Element, source: Element):
""" merges the source attributes into the target element and adds an attribute from source
if it does not exist in the target attribute list
Arguments:
target {Element} -- the target element
source {Element} -- the source element
"""
# the target-dictionary is dominant
# merge attributes
if (target.attrib == None):
target.attrib = {}
if (source.attrib == None):
source.attrib = {}
td: dict = target.attrib
sd: dict = source.attrib
for key, value in sd.items():
if td.get(key) == None:
td[key] = value
else:
# the key already exists
pass
# merge elements
# todo: recursive merge
for elem in source.iter():
target.append(elem)
def write_control_launch(package_name, robot_name, save_dir, joints_dict):
"""
write control launch file "save_dir/launch/controller.launch"
Parameter
---------
robot_name: str
name of the robot
save_dir: str
path of the repository to save
joints_dict: dict
information of the joints
"""
try: os.mkdir(save_dir + '/launch')
except: pass
#launch = Element('launch')
controller_name = robot_name + '_controller'
#rosparam = SubElement(launch, 'rosparam')
#rosparam.attrib = {'file':'$(find {})/launch/controller.yaml'.format(package_name),
# 'command':'load'}
controller_args_str = ""
for j in joints_dict:
joint_type = joints_dict[j]['type']
if joint_type != 'fixed':
controller_args_str += j + '_position_controller '
controller_args_str += 'joint_state_controller '
node_controller = Element('node')
node_controller.attrib = {'name':'controller_spawner', 'pkg':'controller_manager', 'type':'spawner',\
'respawn':'false', 'output':'screen', 'ns':robot_name,\
'args':'{}'.format(controller_args_str)}
node_publisher = Element('node')
node_publisher.attrib = {'name':'robot_state_publisher', 'pkg':'robot_state_publisher',\
'type':'robot_state_publisher', 'respawn':'false', 'output':'screen'}
remap = SubElement(node_publisher, 'remap')
remap.attrib = {'from':'/joint_states',\
'to':'/' + robot_name + '/joint_states'}
#launch_xml = "\n".join(utils.prettify(launch).split("\n")[1:])
launch_xml = "\n".join(utils.prettify(node_controller).split("\n")[1:])
launch_xml += "\n".join(utils.prettify(node_publisher).split("\n")[1:])
file_name = save_dir + '/launch/controller.launch'
with open(file_name, mode='w') as f:
f.write('<launch>\n')
f.write('\n')
#for some reason ROS is very picky about the attribute ordering, so we'll bitbang this element
f.write('<rosparam file="$(find {})/launch/controller.yaml" command="load"/>'.format(package_name))
f.write('\n')
f.write(launch_xml)
f.write('\n')
f.write('</launch>')
def make_transmission_xml(self):
"""
Generate the tran_xml and hold it by self.tran_xml
Notes
-----------
mechanicalTransmission: 1
type: transmission interface/SimpleTransmission
hardwareInterface: PositionJointInterface
"""
tran = Element('transmission')
tran.attrib = {'name': self.name + '_tran'}
joint_type = SubElement(tran, 'type')
joint_type.text = 'transmission_interface/SimpleTransmission'
joint = SubElement(tran, 'joint')
joint.attrib = {'name': self.name}
hardwareInterface_joint = SubElement(joint, 'hardwareInterface')
hardwareInterface_joint.text = 'PositionJointInterface'
actuator = SubElement(tran, 'actuator')
actuator.attrib = {'name': self.name + '_actr'}
hardwareInterface_actr = SubElement(actuator, 'hardwareInterface')
hardwareInterface_actr.text = 'PositionJointInterface'
mechanicalReduction = SubElement(actuator, 'mechanicalReduction')
mechanicalReduction.text = '1'
self.tran_xml = "\n".join(utils.prettify(tran).split("\n")[1:])
def recurse(self, oldnode, newnode):
"""
recursive function to remove
"""
from xml.etree.ElementTree import ElementTree, Element
try:
newnode.text = oldnode.text
except AttributeError:
pass
try:
newnode.attrib = oldnode.attrib
except AttributeError:
pass
try:
newnode.tail = oldnode.tail
except AttributeError:
pass
for oldi in oldnode.getchildren():
if oldi.tag != "Inputs" and oldi.tag == "DatasetInfo":
newi = Element(oldi.tag)
newtag = Element("Entry")
newtag.attrib = {'Name': 'Description'}
newtag.text = 'Unknown provenance'
newi.append(newtag)
newnode.append(newi)
self.recurse(oldi, newi)
elif oldi.tag != "Inputs" and oldi.tag != "DatasetInfo":
newi = Element(oldi.tag)
newnode.append(newi)
self.recurse(oldi, newi)
def test11():
top = Element('transactions')
attributes1 = {'id': '234567'}
top.attrib = attributes1
attributes2 = {'id': '2'}
SubElement(top, 'query', attributes2)
return prettify(top)
def post_entry(self, title, content, updated=None, draft=False):
if updated and isinstance(updated, datetime) is False:
raise TypeError('Updated is must be datetime type. Passed updated is {}'.format(type(updated)))
entry = Element('entry')
entry.attrib = {'xmlns': 'http://purl.org/atom/ns#'}
_title = SubElement(entry, 'title')
_title.text = title
_content = SubElement(entry, 'content')
_content.attrib = {'type': 'text/plain'}
_content.text = content
_updated = SubElement(entry, 'updated')
if updated:
# default timezone is JST
utc_offset = re.sub(r'((?:\+|-)\d{2})(\d{2})', r'\1:\2', updated.strftime('%z')) if updated.tzinfo else '+09:00'
_updated.text = updated.strftime('%Y-%m-%dT%H:%M:%S{utc_offset}'.format(utc_offset=utc_offset))
else:
_updated.text = None
data = minidom.parseString(ET.tostring(entry)).toxml(encoding='utf-8')
url = self.draft_collection if draft else self.collection_url
response = requests.post(url=url, data=data, auth=self.auth)
if response.ok:
return ET.fromstring(response.text)
else:
return {'status_code': response.status_code, 'reason': response.reason}
def recurse(self,oldnode,newnode):
"""
recursive function to remove
"""
from xml.etree.ElementTree import ElementTree, Element
try:
newnode.text = oldnode.text
except AttributeError: pass
try:
newnode.attrib = oldnode.attrib
except AttributeError: pass
try:
newnode.tail = oldnode.tail
except AttributeError: pass
for oldi in oldnode.getchildren():
if oldi.tag != "Inputs" and oldi.tag == "DatasetInfo":
newi = Element(oldi.tag)
newtag = Element("Entry")
newtag.attrib = {'Name':'Description'}
newtag.text = 'Unknown provenance'
newi.append(newtag)
newnode.append(newi)
self.recurse(oldi, newi)
elif oldi.tag != "Inputs" and oldi.tag != "DatasetInfo":
newi = Element(oldi.tag)
newnode.append(newi)
self.recurse(oldi, newi)
def test5():
top = Element('transactions')
attributes1 = {'id': '123456'}
top.attrib = attributes1
attributes2 = {'sym': 'Test2', 'amount': '5000', 'limit': '1000'}
SubElement(top, 'order', attributes2)
return prettify(top) #err
def _convertGeoJSONToXML(requestData):
# for requests for a single country only a single object is returned
if not isinstance(requestData, list):
requestData = [requestData]
elem = Element('Request')
requestChild = Element('requestName')
requestChild.text = 'GeoJson'
elem.append(requestChild)
dataChild = Element('data')
countriesElem = Element('countries')
for country in requestData:
countryChild = Element('country')
countryChild.attrib = {'countryname': country['countryname']}
countriesElem.append(countryChild)
count = 0
while count in country:
pointElem = Element("point")
latElem = Element('latitude')
latElem.text = country[count]['latitude']
pointElem.append(latElem)
lonElem = Element('longitude')
lonElem.text = country[count]['longitude']
pointElem.append(lonElem)
countryChild.append(pointElem)
count = count + 1
dataChild.append(countriesElem)
elem.append(dataChild)
return tostring(elem)
def make_joint_xml(self):
"""
Generate the joint_xml and hold it by self.joint_xml
"""
joint = Element('joint')
joint.attrib = {'name': self.name, 'type': self.type}
origin = SubElement(joint, 'origin')
origin.attrib = {
'xyz': ' '.join([str(_) for _ in self.xyz]),
'rpy': '0 0 0'
}
parent = SubElement(joint, 'parent')
parent.attrib = {'link': self.parent}
child = SubElement(joint, 'child')
child.attrib = {'link': self.child}
if self.type == 'revolute' or self.type == 'continuous' or self.type == 'prismatic':
axis = SubElement(joint, 'axis')
axis.attrib = {'xyz': ' '.join([str(_) for _ in self.axis])}
if self.type == 'revolute' or self.type == 'prismatic':
limit = SubElement(joint, 'limit')
limit.attrib = {
'upper': str(self.upper_limit),
'lower': str(self.lower_limit),
'effort': '100',
'velocity': '100'
}
self.joint_xml = "\n".join(utils.prettify(joint).split("\n")[1:])
def make_link_xml(self):
"""
Generate the link_xml and hold it by self.link_xml
"""
link = Element('link')
link.attrib = {'name': self.name}
#inertial
inertial = SubElement(link, 'inertial')
origin_i = SubElement(inertial, 'origin')
origin_i.attrib = {
'xyz': ' '.join([str(_) for _ in self.center_of_mass]),
'rpy': '0 0 0'
}
mass = SubElement(inertial, 'mass')
mass.attrib = {'value': str(self.mass)}
inertia = SubElement(inertial, 'inertia')
inertia.attrib = \
{'ixx':str(self.inertia_tensor[0]), 'iyy':str(self.inertia_tensor[1]),\
'izz':str(self.inertia_tensor[2]), 'ixy':str(self.inertia_tensor[3]),\
'iyz':str(self.inertia_tensor[4]), 'ixz':str(self.inertia_tensor[5])}
# visual
visual = SubElement(link, 'visual')
origin_v = SubElement(visual, 'origin')
origin_v.attrib = {
'xyz': ' '.join([str(_) for _ in self.xyz]),
'rpy': '0 0 0'
}
geometry_v = SubElement(visual, 'geometry')
mesh_v = SubElement(geometry_v, 'mesh')
mesh_v.attrib = {
'filename':
'file://' + "$(find " + self.repo + ")" + self.name + '.stl',
'scale': '0.001 0.001 0.001'
}
material = SubElement(visual, 'material')
material.attrib = {'name': self.material}
# collision
collision = SubElement(link, 'collision')
origin_c = SubElement(collision, 'origin')
origin_c.attrib = {
'xyz': ' '.join([str(_) for _ in self.xyz]),
'rpy': '0 0 0'
}
geometry_c = SubElement(collision, 'geometry')
mesh_c = SubElement(geometry_c, 'mesh')
mesh_v.attrib = {
'filename':
'file://' + "$(find " + self.repo + ")" + self.name + '.stl',
'scale': '0.001 0.001 0.001'
}
# print("\n".join(utils.prettify(link).split("\n")[1:]))
self.link_xml = "\n".join(utils.prettify(link).split("\n")[1:])
def from_dict(d):
element = Element(tag=d['#tag'])
if '#text' in d:
element.text = d['#text']
if '@attributes' in d:
element.attrib = d['@attributes'].copy()
if '#children' in d:
element.extend([from_dict(c) for c in d['#children']])
return element
def data2xml(self, datas):
self.savedata = datas
fps = Element('fps')
fps.attrib = {'verdion': '1.2'}
self.now._setroot(fps)
item = SubElement(fps, 'item')
SubElement(item, 'title').text = datas['title']
time_limit = SubElement(item, 'time_limit')
time_limit.attrib = {'unit': 's'}
time_limit.text = '1'
memory_limit = SubElement(item, 'memory_limit')
memory_limit.attrib = {'unit': 'mb'}
memory_limit.text = '64'
all = datas['src_num']
print 'all of image :', all
i = 0
print datas
while i != all:
img = SubElement(item, 'img')
src = SubElement(img, 'src')
src.text = datas['src'][i]
base64 = SubElement(img, 'base64')
base64.text = datas['base64'][i]
i = i + 1
SubElement(item, 'description').text = datas['description']
SubElement(item, 'input').text = datas['input']
SubElement(item, 'output').text = datas['output']
sample_input = SubElement(item, 'sample_input')
data = CDATA(datas['sample_input'])
sample_input.append(data)
sample_output = SubElement(item, 'sample_output')
data = CDATA(datas['sample_output'])
sample_output.append(data)
test_input = SubElement(item, 'test_input')
data = CDATA(datas['sample_input'])
test_input.append(data)
test_output = SubElement(item, 'test_output')
data = CDATA(datas['sample_output'])
test_output.append(data)
# SubElement(item,'test_input').append(CDATA(datas['sample_input']))
# SubElement(item,'test_output').append(CDATA(datas['sample_output']))
solution = SubElement(item, 'solution')
data = CDATA(datas['solution'])
solution.append(data)
solution.attrib = {'language': 'C++'}
SubElement(item, 'hint').text = datas['hint']
SubElement(
item,
'source').text = datas['source'] + '(POJ' + ' ' + datas['ID'] + ')'
# dump(indent(fps))
self.save(datas)
def buildMTCStreamsElement(self):
# Create the MTCStreams element.
mtcStreams = Element("MTConnectStreams")
# Add the typical attributes to it.
mtcStreams.attrib = {"xmlns:m":"urn:mtconnect.org:MTConnectStreams:1.2",
"xmlns:xsi":"http://www.w3.org/2001/XMLSchema-instance",
"xmlns":"urn:mtconnect.org:MTConnectStreams:1.2",
"xsi:schemaLocation":"urn:mtconnect.org:MTConnectStreams:1.2 http://www.mtconnect.org/schemas/MTConnectStreams_1.2.xsd"
}
return mtcStreams
def asset_xml_download(sitename):
# select assets to generate trends for, based on form
asset_list = []
for asset_id in request.form.getlist('asset_id'):
asset = Asset.query.filter_by(id=asset_id).one()
asset_list.append(asset)
# generate xml
# top level objects
object_set = Element('ObjectSet')
object_set.attrib = {
'ExportMode': 'Standard',
'Version': '1.8.1.87',
'Note': 'TypesFirst'
}
exported_objects = SubElement(object_set, 'ExportedObjects')
# folder object for each asset
for asset in asset_list:
oi_folder = SubElement(exported_objects, 'OI')
oi_folder.attrib = {'NAME': asset.name, 'TYPE': 'system.base.Folder'}
# extended trend object for each point
for point in asset.points:
# generate unique identifier as base64encode(siteID.assetID.pointID)
# unique id is used for matching medusa points to webreports logs
identifier = 'DONOTMODIFY:' + str(
b64encode('{}.{}.{}'.format(
asset.site.id, asset.id,
point.id).encode('ascii')).decode('ascii'))
# create trend log for each point
oi_trend = SubElement(oi_folder, 'OI')
oi_trend.attrib = {
'NAME': '{} Extended'.format(point.name),
'TYPE': 'trend.ETLog',
'DESCR': identifier
}
# attribute flag to include in webreports
pi = SubElement(oi_trend, 'PI')
pi.attrib = {'Name': 'IncludeInReports', 'Value': '1'}
# save file
out = BytesIO()
tree = ElementTree(object_set)
# write xml into bytes object
tree.write(out, encoding='utf-8', xml_declaration=True)
# reset pointer to start of bytes object
out.seek(0)
# prevent browser from caching the download
response = make_response(
send_file(out, attachment_filename='Import.xml', as_attachment=True))
response.headers['Cache-Control'] = 'no-cache, no-store, must-revalidate'
return response
def gen_link_xml(self):
"""
Generate the link_xml and hold it by self.link_xml
"""
link = Element('link')
link.attrib = {'name': self.name}
#inertial
inertial = SubElement(link, 'inertial')
origin_i = SubElement(inertial, 'origin')
origin_i.attrib = {
'xyz': ' '.join([str(_) for _ in self.center_of_mass]),
'rpy': '0 0 0'
}
mass = SubElement(inertial, 'mass')
mass.attrib = {'value': str(self.mass)}
inertia = SubElement(inertial, 'inertia')
inertia.attrib = \
{'ixx':str(self.inertia_tensor[0]), 'iyy':str(self.inertia_tensor[1]),\
'izz':str(self.inertia_tensor[2]), 'ixy':str(self.inertia_tensor[3]),\
'iyz':str(self.inertia_tensor[4]), 'ixz':str(self.inertia_tensor[5])}
# visual
visual = SubElement(link, 'visual')
origin_v = SubElement(visual, 'origin')
origin_v.attrib = {
'xyz': ' '.join([str(_) for _ in self.xyz]),
'rpy': '0 0 0'
}
geometry_v = SubElement(visual, 'geometry')
mesh_v = SubElement(geometry_v, 'mesh')
mesh_v.attrib = {
'filename': 'package://' + self.repo + self.name + '_m-binary.stl'
}
material = SubElement(visual, 'material')
material.attrib = {'name': 'silver'}
color = SubElement(material, 'color')
color.attrib = {'rgba': '1 0 0 1'}
# collision
collision = SubElement(link, 'collision')
origin_c = SubElement(collision, 'origin')
origin_c.attrib = {
'xyz': ' '.join([str(_) for _ in self.xyz]),
'rpy': '0 0 0'
}
geometry_c = SubElement(collision, 'geometry')
mesh_c = SubElement(geometry_c, 'mesh')
mesh_c.attrib = {
'filename': 'package://' + self.repo + self.name + '_m-binary.stl'
}
# print("\n".join(prettify(link).split("\n")[1:]))
self.link_xml = "\n".join(prettify(link).split("\n")[1:])
def test6():
top = Element('transactions')
attributes1 = {'id': '98765'}
top.attrib = attributes1
attributes2 = {'sym': 'Test2', 'amount': '5000', 'limit': '1000'}
SubElement(top, 'order', attributes2)
attributes3 = {'id': '2'}
SubElement(top, 'query', attributes3)
attributes4 = {'id': '3'}
SubElement(top, 'cancel', attributes4)
return prettify(top) #err
def transaction_request():
top=Element('transactions')
attributes1={'id':str(random.randint(1,10001))}
top.attrib=attributes1
attributes2={'sym':randomword(3),'amount':str(random.randint(-10000,10001)),'limit':str(random.randint(1,10001))}
SubElement(top,'order',attributes2)
attributes3={'id':str(random.randint(1,10001))}
SubElement(top,'query',attributes3)
attributes4={'id':str(random.randint(1,10001))}
SubElement(top,'cancel',attributes4)
return prettify(top)
def data2xml(self,datas):
self.savedata=datas
fps=Element('fps')
fps.attrib={'verdion':'1.2'}
self.now._setroot(fps)
item=SubElement(fps,'item')
SubElement(item,'title').text=datas['title']
time_limit=SubElement(item,'time_limit')
time_limit.attrib={'unit':'s'}
time_limit.text='1'
memory_limit=SubElement(item,'memory_limit')
memory_limit.attrib={'unit':'mb'}
memory_limit.text='64'
all=datas['src_num']
print 'all of image :',all
i=0
print datas
while i!=all:
img=SubElement(item,'img')
src=SubElement(img,'src')
src.text=datas['src'][i]
base64=SubElement(img,'base64')
base64.text=datas['base64'][i]
i=i+1
SubElement(item,'description').text=datas['description']
SubElement(item,'input').text=datas['input']
SubElement(item,'output').text=datas['output']
sample_input=SubElement(item,'sample_input')
data=CDATA(datas['sample_input'])
sample_input.append(data)
sample_output=SubElement(item,'sample_output')
data=CDATA(datas['sample_output'])
sample_output.append(data)
test_input=SubElement(item,'test_input')
data=CDATA(datas['sample_input'])
test_input.append(data)
test_output=SubElement(item,'test_output')
data=CDATA(datas['sample_output'])
test_output.append(data)
# SubElement(item,'test_input').append(CDATA(datas['sample_input']))
# SubElement(item,'test_output').append(CDATA(datas['sample_output']))
solution=SubElement(item,'solution')
data=CDATA(datas['solution'])
solution.append(data)
solution.attrib={'language':'C++'}
SubElement(item,'hint').text=datas['hint']
SubElement(item,'source').text=datas['source']+'(POJ'+' '+datas['ID']+')'
# dump(indent(fps))
self.save(datas)
def _convertISSDBKeyToXML(requestData):
data = []
# take only 10% of the positions. Goal: less XMLData to send to Frontend, faster drawing of ISS route.
# lower resolution of ISS route is no problem.
# take 2 ISSDBKeys (pair of longitude and latitude) and leave 18
for x in range(0, len(requestData), 20):
data.append(requestData[x])
data.append(requestData[x + 1])
requestData = data
elem = Element("Request")
requestChild = Element("requestName")
requestChild.text = "ISSDB"
elem.append(requestChild)
dataChild = Element("data")
roundChild = Element("round")
timeValueElem = Element("timeValue")
longNow = 0
LongLast = 0
longindex = 0
latindex = 0
for x in range(0, len(requestData), 2):
timeValueElem.attrib = {"time": requestData[x].timeValue}
if requestData[x].key == "longitude":
longindex = x
latindex = x + 1
else:
longindex = x + 1
latindex = x
longNow = float(requestData[longindex].value)
LatElem = Element(requestData[latindex].key)
LatElem.text = str(requestData[latindex].value)
LongElem = Element(requestData[longindex].key)
LongElem.text = requestData[longindex].value
timeValueElem.append(LatElem)
timeValueElem.append(LongElem)
if longNow < LongLast != 0:
dataChild.append(roundChild)
roundChild = Element("round")
test = False
LongLast = longNow
roundChild.append(timeValueElem)
timeValueElem = Element("timeValue")
dataChild.append(roundChild)
elem.append(dataChild)
return tostring(elem)
def create_new_route(rte, waypoints):
for waypoint in waypoints:
# turn the waypoint into a rtept
rtept = Element(RTEPT_TAG)
rtept.attrib = waypoint.attrib
for item in waypoint:
if item.tag.find("extension") >= 0:
continue
rtept.append(item)
rte.append(rtept)
return rte
def buildStreamHeader(self):
# Create the Header element.
header = Element("Header")
# Add the needed attributes to it.
header.attrib = {"creationTime":self.header.attributes["creationTime"],
"sender":self.header.attributes["sender"],
"instanceId":self.header.attributes["instanceId"],
"bufferSize":self.header.attributes["bufferSize"],
"version":self.header.attributes["version"],
"nextSequence":str(self.nextSequenceNumber),
"firstSequence":str(self.firstSequenceNumber),
"lastSequence":str(self.lastSequenceNumber)
}
return header
def clean_namespaces(element: ET.Element, parent: ET.Element):
for child in list(element):
clean_namespaces(child, element)
new_attrib = {}
for attr in element.attrib:
if -1 == attr.find(':'):
new_attrib[attr] = element.attrib[attr]
element.attrib = new_attrib
if -1 != element.tag.find('}'):
parts = element.tag.split('}')
if '{http://www.w3.org/2000/svg' == parts[0]:
element.tag = parts[1]
else:
parent.remove(element)
def buildMTCStreamsElement(self):
# Create the MTCStreams element.
mtcStreams = Element("MTConnectStreams")
# Add the typical attributes to it.
mtcStreams.attrib = {
"xmlns:m":
"urn:mtconnect.org:MTConnectStreams:1.2",
"xmlns:xsi":
"http://www.w3.org/2001/XMLSchema-instance",
"xmlns":
"urn:mtconnect.org:MTConnectStreams:1.2",
"xsi:schemaLocation":
"urn:mtconnect.org:MTConnectStreams:1.2 http://www.mtconnect.org/schemas/MTConnectStreams_1.2.xsd"
}
return mtcStreams
def href(link, element=None):
"""Builds an atom:link object for the link."""
if element == None:
element = Element("atom:link")
element.tag = "atom:link"
element.attrib = {
"xmlns:atom":"http://www.w3.org/2005/Atom",
"rel":"alternate",
"href":link,
"type":"application/xml",
}
return element
def buildStreamHeader(self):
# Create the Header element.
header = Element("Header")
# Add the needed attributes to it.
header.attrib = {
"creationTime": self.header.attributes["creationTime"],
"sender": self.header.attributes["sender"],
"instanceId": self.header.attributes["instanceId"],
"bufferSize": self.header.attributes["bufferSize"],
"version": self.header.attributes["version"],
"nextSequence": str(self.nextSequenceNumber),
"firstSequence": str(self.firstSequenceNumber),
"lastSequence": str(self.lastSequenceNumber)
}
return header
def get_font_element(self):
font_root_elem = self.root.find('font')
if font_root_elem is None:
font_root_elem = self.shared_functions.create_element('font')
self.root.append(font_root_elem)
child_font_elem = font_root_elem.find('font')
if child_font_elem is None:
child_font_elem = Element('font')
child_font_elem.attrib = {
'family': 'Liberation Sans',
'size': '14',
'style': 'REGULAR'
}
font_root_elem.append(child_font_elem)
return child_font_elem
def href(link, element=None):
"""Builds an atom:link object for the link."""
if element == None:
element = Element("atom:link")
element.tag = "atom:link"
element.attrib = {
"xmlns:atom": "http://www.w3.org/2005/Atom",
"rel": "alternate",
"href": link,
"type": "application/xml",
}
return element
def copy(treenode: Node, etnode: etree.Element) -> NoReturn:
etnode.tag = treenode.tag
# 如果 value 值为字典则按照键拷贝
if isinstance(treenode.value, dict):
etnode.attrib = treenode.value.get(attribute)
etnode.text = treenode.value.get(text)
# 如果是单纯的一个值
else:
# 如果 value 为 None 则设置为空
if treenode.value is None:
etnode.text = ''
else:
etnode.text = str(treenode.value)
def generate_xml(file_name, index_num):
real_name = "result" + file_name + ".xml"
with open(real_name, "w", encoding="utf-8") as g_file:
elem = Element("resources")
for name in index_list:
child = Element("string")
attr_dict = {"name": name}
child.attrib = attr_dict
try:
child.text = str(data_dict[index_dict[name]][index_num])
elem.append(child)
except Exception as e:
print(file_name + "翻译,没有" + str(e))
data = str(tostring(elem), encoding="utf-8")
g_file.write(html.unescape(data))
def gen_joint_xml(self):
"""generate the xml strings of joints
"""
joint = Element('joint')
joint.attrib = {'name':self.name, 'type':self.type}
origin = SubElement(joint, 'origin')
origin.attrib = {'xyz':' '.join([str(_) for _ in self.xyz]), 'rpy':'0 0 0'}
parent = SubElement(joint, 'parent')
parent.attrib = {'link':self.parent}
child = SubElement(joint, 'child')
child.attrib = {'link':self.child}
axis = SubElement(joint, 'axis')
axis.attrib = {'xyz':' '.join([str(_) for _ in self.axis])}
# print("\n".join(prettify(joint).split("\n")[1:]))
self.xml = "\n".join(prettify(joint).split("\n")[1:])
def __generateXMLElement(self, props: dict, tagname: str) -> Element:
el = Element(tagname)
if '_text' in props:
el.text = props['_text']
if '_attributes' in props:
el.attrib = props['_attributes']
for child_tagname, child_props_or_list in props.items():
if child_tagname.startswith('_'):
continue
if not isinstance(child_props_or_list, list):
child_props_list = [child_props_or_list]
else:
child_props_list = child_props_or_list
for child_props in child_props_list:
child_el = self.__generateXMLElement(child_props,
child_tagname)
el.append(child_el)
return el
def resource_etree_element(self, resource, element_name='url'):
"""Return xml.etree.ElementTree.Element representing the resource
Returns and element for the specified resource, of the form <url>
with enclosed properties that are based on the sitemap with extensions
for ResourceSync.
"""
e = Element(element_name)
sub = Element('loc')
sub.text = resource.uri
e.append(sub)
if (resource.timestamp is not None):
lastmod_name = 'lastmod'
lastmod_attrib = {}
if (hasattr(resource, 'changetype')
and resource.changetype is not None):
# Not a plain old <lastmod>, use <lastmod> with
# rs:type attribute or <expires>
if (resource.changetype == 'CREATED'):
lastmod_attrib = {'rs:type': 'created'}
elif (resource.changetype == 'UPDATED'):
lastmod_attrib = {'rs:type': 'updated'}
elif (resource.changetype == 'DELETED'):
lastmod_name = 'expires'
else:
raise Exception(
"Unknown change type '%s' for resource %s" %
(resource.changetype, resource.uri))
# Create appriate element for timestamp
sub = Element(lastmod_name, lastmod_attrib)
sub.text = str(resource.lastmod) #W3C Datetime in UTC
e.append(sub)
if (resource.size is not None):
sub = Element('rs:size')
sub.text = str(resource.size)
e.append(sub)
if (resource.md5 is not None):
sub = Element('rs:fixity')
sub.attrib = {'type': 'md5'}
sub.text = str(resource.md5)
e.append(sub)
if (self.pretty_xml):
e.tail = "\n"
return (e)
def make_link_xml(self):
"""
Generate the link_xml and hold it by self.link_xml
"""
link = Element('link')
link.attrib = {'name': "$(arg tf_prefix)" + self.name}
#inertial
inertial = SubElement(link, 'inertial')
origin_i = SubElement(inertial, 'origin')
origin_i.attrib = {'xyz':' '.join([str(_) for _ in self.center_of_mass]), 'rpy':'0 0 0'}
mass = SubElement(inertial, 'mass')
mass.attrib = {'value':str(self.mass)}
inertia = SubElement(inertial, 'inertia')
inertia.attrib = \
{'ixx':str(self.inertia_tensor[0]), 'iyy':str(self.inertia_tensor[1]),\
'izz':str(self.inertia_tensor[2]), 'ixy':str(self.inertia_tensor[3]),\
'iyz':str(self.inertia_tensor[4]), 'ixz':str(self.inertia_tensor[5])}
# visual
for body in self.bodies:
visual = SubElement(link, 'visual')
origin_v = SubElement(visual, 'origin')
origin_v.attrib = {'xyz':' '.join([str(_) for _ in self.xyz]), 'rpy':'0 0 0'}
geometry_v = SubElement(visual, 'geometry')
mesh_v = SubElement(geometry_v, 'mesh')
mesh_v.attrib = {'filename':'package://' + self.repo + self.name + "_" + self.design_name + "_" + body["name"] + "_" + self.name + '.stl','scale':'0.001 0.001 0.001'}
material = SubElement(visual, 'material')
material.attrib = {'name': body["material"]}
color = SubElement(material, 'color') # rviz is not reading the materials properly in melodic so specify color here
appearance = self.materials[body["material"]]
color.attrib = {'rgba': "{} {} {} {}".format(appearance[1]/255, appearance[2]/255, appearance[3]/255, appearance[4]/255)}
# collision
collision = SubElement(link, 'collision')
origin_c = SubElement(collision, 'origin')
origin_c.attrib = {'xyz':' '.join([str(_) for _ in self.xyz]), 'rpy':'0 0 0'}
geometry_c = SubElement(collision, 'geometry')
mesh_c = SubElement(geometry_c, 'mesh')
mesh_c.attrib = {'filename':'package://' + self.repo + self.name + '.stl','scale':'0.001 0.001 0.001'}
# print("\n".join(utils.prettify(link).split("\n")[1:]))
self.link_xml = "\n".join(utils.prettify(link).split("\n")[1:])
def resource_etree_element(self, resource, element_name='url'):
"""Return xml.etree.ElementTree.Element representing the resource
Returns and element for the specified resource, of the form <url>
with enclosed properties that are based on the sitemap with extensions
for ResourceSync.
"""
e = Element(element_name)
sub = Element('loc')
sub.text=resource.uri
e.append(sub)
if (resource.timestamp is not None):
lastmod_name = 'lastmod'
lastmod_attrib = {}
if (hasattr(resource,'changetype') and
resource.changetype is not None):
# Not a plain old <lastmod>, use <lastmod> with
# rs:type attribute or <expires>
if (resource.changetype == 'CREATED'):
lastmod_attrib = {'rs:type': 'created'}
elif (resource.changetype == 'UPDATED'):
lastmod_attrib = {'rs:type': 'updated'}
elif (resource.changetype == 'DELETED'):
lastmod_name = 'expires'
else:
raise Exception("Unknown change type '%s' for resource %s" % (resource.changetype,resource.uri))
# Create appriate element for timestamp
sub = Element(lastmod_name,lastmod_attrib)
sub.text = str(resource.lastmod) #W3C Datetime in UTC
e.append(sub)
if (resource.size is not None):
sub = Element('rs:size')
sub.text = str(resource.size)
e.append(sub)
if (resource.md5 is not None):
sub = Element('rs:fixity')
sub.attrib = {'type':'md5'}
sub.text = str(resource.md5)
e.append(sub)
if (self.pretty_xml):
e.tail="\n"
return(e)
def edit_entry(self, date, entry_id, title, content, updated=None, draft=False):
entry = Element('entry')
entry.attrib = {'xmlns': 'http://purl.org/atom/ns#'}
_title = SubElement(entry, 'title')
_title.text = title
_content = SubElement(entry, 'content')
_content.attrib = {'type': 'text/plain'}
_content.text = content
_updated = SubElement(entry, 'updated')
_updated.text = updated
data = minidom.parseString(ET.tostring(entry)).toxml(encoding='utf-8')
url = self.draft_member.format(entry_id=entry_id) if draft else self.member_url.format(date=date, entry_id=entry_id)
response = requests.put(url=url, data=data, auth=self.auth)
if response.ok:
return ET.fromstring(response.text)
else:
return {'status_code': response.status_code, 'reason': response.reason}
def _convertAstrosToXML(requestData):
elem = Element('Request')
requestChild = Element("requestName")
requestChild.text = "AstrosOnISS"
elem.append(requestChild)
dataChild = Element("data")
for astro in requestData:
AstroChild = Element("Astro")
AstroChild.attrib = {"name": astro.name}
picture = Element("picture")
flag = Element("flag")
nation = Element("nation")
picture.text = astro.pic
flag.text = astro.flag
nation.text = astro.nation
AstroChild.append(picture)
AstroChild.append(flag)
AstroChild.append(nation)
dataChild.append(AstroChild)
elem.append(dataChild)
return tostring(elem)
def _convertISSFuturePassesToXML(requestData):
elem = Element('Request')
requestChild = Element('requestName')
requestChild.text = 'ISSfuturePasses'
elem.append(requestChild)
dataChild = Element('data')
timeValueElem = Element('timeValue')
# create tuples for time values
for index, r in enumerate(requestData):
timeElem = Element('time')
timeElem.attrib = {'index': str(index)}
passDateElem = Element('futurePassDatetime')
passDateElem.text = r['futurePassDatetime']
durationElem = Element('duration')
durationElem.text = str(r['duration'])
timeElem.append(passDateElem)
timeElem.append(durationElem)
timeValueElem.append(timeElem)
dataChild.append(timeValueElem)
elem.append(dataChild)
return tostring(elem)
def toxml(self):
xliff = Element('xliff')
xliff.attrib = {'xmlns': self.xmlns, 'xmlns:xsi': self.xmlns_xsi, 'version': self.version,
'xsi:schemaLocation': self.xmlns + ' ' + self.xsi_schema_location}
map(lambda file: file.toxml(xliff), self.files)
return minidom.parseString(tostring(xliff, 'utf-8')).toprettyxml(indent=" ")
def get_vulnerability(filename="", run_time=10):
tree = ET.parse(filename)
root = tree.getroot()
issues = []
preferences = root.findall(
"Policy/Preferences/ServerPreferences/preference")
for preference in preferences:
result = {}
for node in preference:
result[node.tag] = node.text
if result["name"] == "plugin_set":
plugin_set = result["value"]
number_tests = len(plugin_set.split(";"))
severity_match = {0: "S4", 1: "S3", 2: "S2", 3: "S1", 4: "S0"}
testsuites = Element("testsuites")
number_issues = 0
for elem in root.findall("Report/ReportHost"):
# need to get host name or IP address
host = elem.attrib["name"]
testsuite = SubElement(testsuites, "testsuite")
for issue in elem.findall("ReportItem"):
number_issues = number_issues + 1
testcase = SubElement(testsuite, "testcase")
attribs = issue.attrib
failure = SubElement(testcase, "failure")
description = ""
synopsis = ""
plugin_output = ""
see_also = ""
solution = ""
fname = ""
plugin_type = ""
plugin_publication_date = ""
plugin_modification_date = ""
plugin_name = ""
fname = ""
script_version = ""
risk_factor = ""
for atom in issue:
if atom.tag == "description":
description = atom.text
elif atom.tag == "synopsis":
synopsis = atom.text
elif atom.tag == "plugin_output":
plugin_output = atom.text
elif atom.tag == "see_also":
see_also = atom.text
elif atom.tag == "solution":
solution = atom.text
elif atom.tag == "fname":
fname = atom.text
elif atom.tag == "plugin_modification_date":
plugin_modification_date = atom.text
elif atom.tag == "plugin_name":
plugin_name = atom.text
elif atom.tag == "plugin_type":
plugin_type = atom.text
elif atom.tag == "risk_factor":
risk_factor = atom.text
elif atom.tag == "script_version":
script_version = atom.text
testcase_attribs = {}
sev_level = int(attribs["severity"])
testcase_attribs["severity"] = severity_match[sev_level]
testcase_attribs["name"] = attribs["pluginName"]
testcase_attribs["pluginID"] = attribs["pluginID"]
testcase_attribs["pluginName"] = attribs["pluginName"]
testcase_attribs["classname"] = attribs["pluginID"]
testcase.attrib = testcase_attribs
failure.text = u"""Host:{}
Description:{}
Severity:{}
Fname:{}
Plugin_modification_date:{}
Plugin_name:{}
Plugin_publication_date:{}
Plugin_type:{}
Risk_factor:{}
Script_version:{}
See Also:{}
Solution:{}
Synopsis:{}
Plugin_output:{}
""".format(
host,
description,
testcase_attribs["severity"],
fname,
plugin_modification_date,
plugin_name,
plugin_publication_date,
plugin_type,
risk_factor,
script_version,
see_also,
solution,
synopsis,
plugin_output)
issues.append(issue)
testsuites_attribs = {}
testsuites_attribs["failures"] = str(number_issues)
testsuites_attribs["errors"] = "0"
testsuites_attribs["name"] = "name"
testsuites_attribs["skips"] = "0"
testsuites_attribs["tests"] = str(number_tests)
testsuites_attribs["host"] = host
testsuites_attribs["time"] = str(run_time)
testsuites.attrib = testsuites_attribs
return tostring(testsuites)
def add_file(self, fp: str) -> None:
'''
增加文件到Dicom树
这是定义Dicom树的核心方法
因为Dicom树本质上只是具有特定Element和Attribute的xml树,提取和维护哪些属性就决定了DicomTree的定义
'''
# TEST
print(fp)
'''将.dcm文件索引加入Dicom树'''
if not fp.endswith('.dcm'):
return
dicom_object = pydicom.dcmread(fp)
metadata_dict = DicomTree.get_necessary_meatadata(dicom_object)
# 逐级检查标识符，若无则创建，若有则添加到其上
# 检查是否已有此患者
patient_id_list = [patient.get('id') for patient in list(self._root)]
patient_id = metadata_dict['Patient ID']
if patient_id not in patient_id_list:
# 构建新的patient元素
new_patient = Element('patient')
new_patient.attrib = {
'id': metadata_dict['Patient ID'],
'name': metadata_dict['Patient Name']
}
# 根据patient id进行排序，将新的patient元素插入合适的位置
patient_id_list.append(metadata_dict['Patient ID'])
index = sorted(patient_id_list).index(metadata_dict['Patient ID'])
self._root.insert(index, new_patient)
current_patient = new_patient
else:
current_patient = list(
self._root)[patient_id_list.index(patient_id)]
# 检查是否已有此study，执行操作同上
study_uid_list = [
study.get('uid') for study in current_patient.findall('study')
]
study_id_list = [
study.get('id') for study in current_patient.findall('study')
]
study_uid = metadata_dict['Study UID']
if study_uid not in study_uid_list:
new_study = Element('study')
new_study.attrib = {
'uid': metadata_dict['Study UID'],
'id': metadata_dict['Study ID'],
'date': metadata_dict['Study Date'],
'time': metadata_dict['Study Time']
}
study_id_list.append(metadata_dict['Study ID'])
index = sorted(study_id_list).index(metadata_dict['Study ID'])
current_patient.insert(index, new_study)
current_study = new_study
else:
current_study = list(current_patient)[study_uid_list.index(
study_uid)]
# 检查是否已有此series，执行操作同上
series_uid_list = [
series.get('uid') for series in current_study.findall('series')
]
series_number_list = [
series.get('number') for series in current_study.findall('series')
]
series_uid = metadata_dict['Series UID']
if series_uid not in series_uid_list:
new_series = Element('series')
new_series.attrib = {
'uid': metadata_dict['Series UID'],
'number': metadata_dict['Series Number'],
'description': metadata_dict['Series Description'],
'annotated': self.NOT_ANNOTATED,
# 以时间戳字符串(float转字符串)形式存储时间,便于排序
# 以time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(float(timestamp))) 语句进行格式化显示
'imported_timestamp': str(time.time()),
'modified_timestamp': ''
}
series_number_list.append(metadata_dict['Series Number'])
index = sorted(series_number_list).index(
metadata_dict['Series Number'])
current_study.insert(index, new_series)
current_series = new_series
else:
current_series = list(current_study)[series_uid_list.index(
series_uid)]
# 根据标记文件的存在性,在series级上标记序列的被标记状况
if osp.exists(fp.replace('.dcm', '.pkl')):
current_series.attrib.update(
{'annotated': self.SYSTEM_DEFINED_ANNOTATED})
# 检查是否已有此instance
instance_uid_list = [
instance.get('uid')
for instance in current_series.findall('instance')
]
instance_number_list = [
instance.get('number')
for instance in current_series.findall('instance')
]
instance_uid = metadata_dict['Instance UID']
if instance_uid not in instance_uid_list:
new_instance = Element('instance')
new_instance.attrib = {
'uid': metadata_dict['Instance UID'],
'number': metadata_dict['Instance Number'],
'path': fp
}
# 根据instance number进行排序
instance_number_list.append(metadata_dict['Instance Number'])
index = sorted(instance_number_list).index(
metadata_dict['Instance Number'])
current_series.insert(index, new_instance)
