def upsert_action_point(
self, ap_id: str, name: str, position: cmn.Position, parent: Optional[str] = None
) -> cmn.BareActionPoint:
try:
ap = self.bare_action_point(ap_id)
ap.name = name
if position != ap.position:
self.invalidate_joints(ap_id)
ap.position = position
ap.parent = parent
except CachedProjectException:
ap = cmn.BareActionPoint(name, position, parent, id=ap_id)
self._action_points[ap_id] = ap
self._upsert_child(parent, ap_id)
self.update_modified()
return ap
def __init__(self, project: Union[cmn.Project, CachedProject]):
super().__init__(project)
self.scene_id: str = project.scene_id
self.has_logic: bool = project.has_logic
self.project_objects_ids: Optional[list[str]] = project.project_objects_ids
self._action_points: dict[str, cmn.BareActionPoint] = {}
self._actions: dict[str, ApAction] = {}
self._joints: dict[str, ApJoints] = {}
self._orientations: dict[str, ApOrientation] = {}
self._parameters: dict[str, cmn.ProjectParameter] = {}
self._logic_items: dict[str, cmn.LogicItem] = {}
self._functions: dict[str, cmn.ProjectFunction] = {}
self.overrides: dict[str, list[cmn.Parameter]] = {}
self._childs: dict[str, set[str]] = {}
if isinstance(project, CachedProject):
self._action_points = project._action_points
self._actions = project._actions
self._joints = project._joints
self._orientations = project._orientations
self._parameters = project._parameters
self._logic_items = project._logic_items
self._functions = project._functions
self.overrides = project.overrides
self._childs = project._childs
else:
for ap in project.action_points:
if ap.id in self._action_points:
raise CachedProjectException(f"Duplicate AP id: {ap.id}.")
bare_ap = cmn.BareActionPoint(ap.name, ap.position, ap.parent, id=ap.id)
self._action_points[ap.id] = bare_ap
self._upsert_child(ap.parent, ap.id)
for ac in ap.actions:
if ac.id in self._actions:
raise CachedProjectException(f"Duplicate action id: {ac.id}.")
self._actions[ac.id] = ApAction(bare_ap, ac)
self._upsert_child(ap.id, ac.id)
for joints in ap.robot_joints:
if joints.id in self._joints:
raise CachedProjectException(f"Duplicate joints id: {joints.id}.")
self._joints[joints.id] = ApJoints(bare_ap, joints)
self._upsert_child(ap.id, joints.id)
for orientation in ap.orientations:
if orientation.id in self._orientations:
raise CachedProjectException(f"Duplicate orientation id: {orientation.id}.")
self._orientations[orientation.id] = ApOrientation(bare_ap, orientation)
self._upsert_child(ap.id, orientation.id)
for override in project.object_overrides:
self.overrides[override.id] = override.parameters
for param in project.parameters:
self._parameters[param.id] = param
for logic_item in project.logic:
self._logic_items[logic_item.id] = logic_item
for function in project.functions:
self._functions[function.id] = function
def __init__(self, project: cmn.Project):
self.id: str = project.id
self.name: str = project.name
self.scene_id: str = project.scene_id
self.desc: str = project.desc
self.has_logic: bool = project.has_logic
self.modified: Optional[datetime] = project.modified
self._int_modified: Optional[datetime] = project.int_modified
self._action_points: Dict[str, cmn.BareActionPoint] = {}
self._actions = Actions()
self._joints = Joints()
self._orientations = Orientations()
self._constants: Dict[str, cmn.ProjectConstant] = {}
self._logic_items: Dict[str, cmn.LogicItem] = {}
self._functions: Dict[str, cmn.ProjectFunction] = {}
self.overrides: Dict[str, List[cmn.Parameter]] = {}
for ap in project.action_points:
if ap.id in self._action_points:
raise CachedProjectException(f"Duplicate AP id: {ap.id}.")
bare_ap = cmn.BareActionPoint(ap.name,
ap.position,
ap.parent,
id=ap.id)
self._action_points[ap.id] = bare_ap
for ac in ap.actions:
if ac.id in self._actions.data:
raise CachedProjectException(
f"Duplicate action id: {ac.id}.")
self._actions.data[ac.id] = ac
self._actions.parent[ac.id] = bare_ap
for joints in ap.robot_joints:
if joints.id in self._joints.data:
raise CachedProjectException(
f"Duplicate joints id: {joints.id}.")
self._joints.data[joints.id] = joints
self._joints.parent[joints.id] = bare_ap
for orientation in ap.orientations:
if orientation.id in self._orientations.data:
raise CachedProjectException(
f"Duplicate orientation id: {orientation.id}.")
self._orientations.data[orientation.id] = orientation
self._orientations.parent[orientation.id] = bare_ap
for override in project.object_overrides:
self.overrides[override.id] = override.parameters
for constant in project.constants:
self._constants[constant.id] = constant
for logic_item in project.logic:
self._logic_items[logic_item.id] = logic_item
for function in project.functions:
self._functions[function.id] = function