def test_object_actions() -> None:
actions = object_actions(TestObject, parse_def(TestObject))
assert len(actions) == 2
for act in actions.values():
if act.name == TestObject.action_1.__name__:
expected_meta = ActionMetadata(blocking=True)
expected_meta.cancellable = True
assert act.meta == expected_meta
assert not act.returns
assert act.description == "Short description."
assert not act.disabled
assert act.origins is None
assert len(act.parameters) == 3
for param in act.parameters:
if param.name == "param1":
assert param.description == "str param"
elif param.name == "param2":
assert param.description == "int param"
elif param.name == "param3":
assert param.description == "bool param"
else:
pytest.fail(
f"Unknown parameter: {param.name} of action {act.name}."
)
elif act.name == TestObject.action_2.__name__:
assert act.meta == ActionMetadata()
assert len(act.returns) == 1
assert act.description == "Short description"
assert not act.disabled
assert act.origins is None
assert not act.parameters
else:
pytest.fail(f"Unknown action: {act.name}.")
async def new_object_type_cb(req: srpc.o.NewObjectType.Request,
ui: WsClient) -> None:
async with ctx_write_lock(glob.LOCK.SpecialValues.ADDING_OBJECT, ui):
meta = req.args
if meta.type in glob.OBJECT_TYPES:
raise Arcor2Exception("Object type already exists.")
hlp.is_valid_type(meta.type)
if meta.base not in glob.OBJECT_TYPES:
raise Arcor2Exception(
f"Unknown base object type '{meta.base}', "
f"known types are: {', '.join(glob.OBJECT_TYPES.keys())}.")
base = glob.OBJECT_TYPES[meta.base]
if base.meta.disabled:
raise Arcor2Exception("Base object is disabled.")
assert base.type_def is not None
if issubclass(base.type_def, Robot):
raise Arcor2Exception("Can't subclass Robot.")
meta.has_pose = issubclass(base.type_def, GenericWithPose)
if not meta.has_pose and meta.object_model:
raise Arcor2Exception(
"Object without pose can't have collision model.")
if req.dry_run:
return None
obj = meta.to_object_type()
ast = new_object_type(glob.OBJECT_TYPES[meta.base].meta, meta)
obj.source = tree_to_str(ast)
if meta.object_model:
if meta.object_model.type == Model3dType.MESH:
# TODO check whether mesh id exists - if so, then use existing mesh, if not, upload a new one
# ...get whole mesh (focus_points) based on mesh id
assert meta.object_model.mesh
try:
meta.object_model.mesh = await storage.get_mesh(
meta.object_model.mesh.id)
except storage.ProjectServiceException as e:
glob.logger.error(e)
raise Arcor2Exception(
f"Mesh ID {meta.object_model.mesh.id} does not exist.")
else:
meta.object_model.model().id = meta.type
await storage.put_model(meta.object_model.model())
type_def = await hlp.run_in_executor(
hlp.save_and_import_type_def,
obj.source,
obj.id,
base.type_def,
settings.OBJECT_TYPE_PATH,
settings.OBJECT_TYPE_MODULE,
)
assert issubclass(type_def, base.type_def)
actions = object_actions(type_def, ast)
await storage.update_object_type(obj)
glob.OBJECT_TYPES[meta.type] = ObjectTypeData(meta, type_def, actions,
ast)
add_ancestor_actions(meta.type, glob.OBJECT_TYPES)
evt = sevts.o.ChangedObjectTypes([meta])
evt.change_type = events.Event.Type.ADD
asyncio.ensure_future(notif.broadcast_event(evt))
return None
async def get_object_data(object_types: ObjectTypeDict, obj_id: str) -> None:
logger.debug(f"Processing {obj_id}.")
if obj_id in object_types:
logger.debug(f"{obj_id} already processed, skipping...")
return
obj_iddesc = await storage.get_object_type_iddesc(obj_id)
if obj_id in glob.OBJECT_TYPES:
assert obj_iddesc.modified
assert glob.OBJECT_TYPES[
obj_id].meta.modified, f"Object {obj_id} does not have 'modified' in its meta."
if obj_iddesc.modified == glob.OBJECT_TYPES[obj_id].meta.modified:
logger.debug(f"No need to update {obj_id}.")
return
obj = await storage.get_object_type(obj_id)
try:
bases = otu.base_from_source(obj.source, obj_id)
if not bases:
logger.debug(
f"{obj_id} is definitely not an ObjectType (subclass of {object.__name__}), maybe mixin?"
)
return
if bases[0] not in object_types.keys() | built_in_types_names():
logger.debug(f"Getting base class {bases[0]} for {obj_id}.")
await get_object_data(object_types, bases[0])
for mixin in bases[1:]:
mixin_obj = await storage.get_object_type(mixin)
await hlp.run_in_executor(
hlp.save_and_import_type_def,
mixin_obj.source,
mixin_obj.id,
object,
settings.OBJECT_TYPE_PATH,
settings.OBJECT_TYPE_MODULE,
)
except Arcor2Exception as e:
logger.error(
f"Disabling ObjectType {obj.id}: can't get a base. {str(e)}")
object_types[obj_id] = ObjectTypeData(
ObjectTypeMeta(obj_id,
"ObjectType disabled.",
disabled=True,
problem="Can't get base.",
modified=obj.modified))
return
logger.debug(f"Updating {obj_id}.")
try:
type_def = await hlp.run_in_executor(
hlp.save_and_import_type_def,
obj.source,
obj.id,
Generic,
settings.OBJECT_TYPE_PATH,
settings.OBJECT_TYPE_MODULE,
)
except Arcor2Exception as e:
logger.debug(f"{obj.id} is probably not an ObjectType. {str(e)}")
return
assert issubclass(type_def, Generic)
try:
meta = meta_from_def(type_def)
except Arcor2Exception as e:
logger.error(f"Disabling ObjectType {obj.id}.")
logger.debug(e, exc_info=True)
object_types[obj_id] = ObjectTypeData(
ObjectTypeMeta(obj_id,
"ObjectType disabled.",
disabled=True,
problem=str(e),
modified=obj.modified))
return
meta.modified = obj.modified
if obj.model:
try:
model = await storage.get_model(obj.model.id, obj.model.type)
except Arcor2Exception as e:
logger.error(
f"{obj.model.id}: failed to get collision model of type {obj.model.type}. {str(e)}"
)
meta.disabled = True
meta.problem = "Can't get collision model."
object_types[obj_id] = ObjectTypeData(meta)
return
if isinstance(model,
Mesh) and model.data_id not in await storage.files_ids():
logger.error(
f"Disabling {meta.type} as its mesh file {model.data_id} does not exist."
)
meta.disabled = True
meta.problem = "Mesh file does not exist."
object_types[obj_id] = ObjectTypeData(meta)
return
kwargs = {model.type().value.lower(): model}
meta.object_model = ObjectModel(model.type(), **kwargs) # type: ignore
ast = parse(obj.source)
otd = ObjectTypeData(meta, type_def, object_actions(type_def, ast), ast)
object_types[obj_id] = otd
async def get_object_data(object_types: ObjectTypeDict, obj_id: str) -> None:
glob.logger.debug(f"Processing {obj_id}.")
if obj_id in object_types:
glob.logger.debug(f"{obj_id} already processed, skipping...")
return
obj = await storage.get_object_type(obj_id)
if obj_id in glob.OBJECT_TYPES and glob.OBJECT_TYPES[obj_id].type_def is not None:
stored_type_def = glob.OBJECT_TYPES[obj_id].type_def
assert stored_type_def
# TODO do not compare sources but 'modified`
# the code we get from type_def has Unix line endings, while the code from Project service might have Windows...
obj.source = convert_line_endings_to_unix(obj.source)
if get_containing_module_sources(stored_type_def) == obj.source:
glob.logger.debug(f"No need to update {obj_id}.")
return
try:
bases = otu.base_from_source(obj.source, obj_id)
if bases and bases[0] not in object_types.keys() | built_in_types_names():
glob.logger.debug(f"Getting base class {bases[0]} for {obj_id}.")
await get_object_data(object_types, bases[0])
for mixin in bases[1:]:
mixin_obj = await storage.get_object_type(mixin)
await hlp.run_in_executor(
hlp.save_and_import_type_def,
mixin_obj.source,
mixin_obj.id,
object,
settings.OBJECT_TYPE_PATH,
settings.OBJECT_TYPE_MODULE,
)
except Arcor2Exception as e:
glob.logger.warn(f"Disabling object type {obj.id}: can't get a base. {str(e)}")
object_types[obj_id] = ObjectTypeData(
ObjectTypeMeta(obj_id, "Object type disabled.", disabled=True, problem="Can't get base.")
)
return
glob.logger.debug(f"Updating {obj_id}.")
try:
type_def = await hlp.run_in_executor(
hlp.save_and_import_type_def,
obj.source,
obj.id,
Generic,
settings.OBJECT_TYPE_PATH,
settings.OBJECT_TYPE_MODULE,
)
except Arcor2Exception as e:
glob.logger.debug(f"{obj.id} is probably not an object type. {str(e)}")
return
assert issubclass(type_def, Generic)
try:
meta = meta_from_def(type_def)
otu.get_settings_def(type_def) # just to check if settings are ok
except Arcor2Exception as e:
glob.logger.warning(f"Disabling object type {obj.id}.")
glob.logger.debug(e, exc_info=True)
object_types[obj_id] = ObjectTypeData(
ObjectTypeMeta(obj_id, "Object type disabled.", disabled=True, problem=str(e))
)
return
if obj.model:
try:
model = await storage.get_model(obj.model.id, obj.model.type)
except Arcor2Exception:
glob.logger.error(f"{obj.model.id}: failed to get collision model of type {obj.model.type}.")
meta.disabled = True
meta.problem = "Can't get collision model."
object_types[obj_id] = ObjectTypeData(meta)
return
kwargs = {model.type().value.lower(): model}
meta.object_model = ObjectModel(model.type(), **kwargs) # type: ignore
ast = parse(obj.source)
otd = ObjectTypeData(meta, type_def, object_actions(type_def, ast), ast)
object_types[obj_id] = otd
async def get_object_data(object_types: ObjectTypeDict, obj_id: str) -> None:
glob.logger.debug(f"Processing {obj_id}.")
if obj_id in object_types:
glob.logger.debug(f"{obj_id} already processed, skipping...")
return
obj = await storage.get_object_type(obj_id)
if obj_id in glob.OBJECT_TYPES and glob.OBJECT_TYPES[
obj_id].type_def is not None:
stored_type_def = glob.OBJECT_TYPES[obj_id].type_def
assert stored_type_def
if hash(get_containing_module_sources(stored_type_def)) == hash(
obj.source):
glob.logger.debug(f"No need to update {obj_id}.")
return
try:
base = otu.base_from_source(obj.source, obj_id)
if base and base not in object_types.keys() | built_in_types_names():
glob.logger.debug(f"Getting base class {base} for {obj_id}.")
await get_object_data(object_types, base)
except Arcor2Exception:
object_types[obj_id] = ObjectTypeData(
ObjectTypeMeta(obj_id,
"Object type disabled.",
disabled=True,
problem="Can't get base."))
return
glob.logger.debug(f"Updating {obj_id}.")
try:
type_def = await hlp.run_in_executor(
hlp.save_and_import_type_def,
obj.source,
obj.id,
Generic,
settings.OBJECT_TYPE_PATH,
settings.OBJECT_TYPE_MODULE,
)
assert issubclass(type_def, Generic)
meta = meta_from_def(type_def)
otu.get_settings_def(type_def) # just to check if settings are ok
except Arcor2Exception as e:
glob.logger.warning(f"Disabling object type {obj.id}.")
glob.logger.debug(e, exc_info=True)
object_types[obj_id] = ObjectTypeData(
ObjectTypeMeta(obj_id,
"Object type disabled.",
disabled=True,
problem=str(e)))
return
if obj.model:
try:
model = await storage.get_model(obj.model.id, obj.model.type)
except Arcor2Exception:
glob.logger.error(
f"{obj.model.id}: failed to get collision model of type {obj.model.type}."
)
meta.disabled = True
meta.problem = "Can't get collision model."
object_types[obj_id] = ObjectTypeData(meta)
return
kwargs = {model.type().value.lower(): model}
meta.object_model = ObjectModel(model.type(), **kwargs) # type: ignore
ast = parse(obj.source)
otd = ObjectTypeData(meta, type_def, object_actions(type_def, ast), ast)
object_types[obj_id] = otd
async def new_object_type_cb(req: srpc.o.NewObjectType.Request,
ui: WsClient) -> None:
async with ctx_write_lock(glob.LOCK.SpecialValues.ADDING_OBJECT,
glob.USERS.user_name(ui)):
meta = req.args
if meta.type in glob.OBJECT_TYPES:
raise Arcor2Exception("Object type already exists.")
hlp.is_valid_type(meta.type)
if meta.base not in glob.OBJECT_TYPES:
raise Arcor2Exception(
f"Unknown base object type '{meta.base}', "
f"known types are: {', '.join(glob.OBJECT_TYPES.keys())}.")
base = glob.OBJECT_TYPES[meta.base]
if base.meta.disabled:
raise Arcor2Exception("Base object is disabled.")
assert base.type_def is not None
if issubclass(base.type_def, Robot):
raise Arcor2Exception("Can't subclass Robot.")
meta.has_pose = issubclass(base.type_def, GenericWithPose)
if issubclass(base.type_def, CollisionObject):
if not meta.object_model:
raise Arcor2Exception(
"Objects based on CollisionObject must have collision model."
)
else:
if meta.object_model:
raise Arcor2Exception(
"Only objects based on CollisionObject can have collision model."
)
if req.dry_run:
return None
obj = meta.to_object_type()
ast = new_object_type(glob.OBJECT_TYPES[meta.base].meta, meta)
obj.source = tree_to_str(ast)
if meta.object_model:
await update_object_model(meta, meta.object_model)
type_def = await hlp.run_in_executor(
hlp.save_and_import_type_def,
obj.source,
obj.id,
base.type_def,
settings.OBJECT_TYPE_PATH,
settings.OBJECT_TYPE_MODULE,
)
assert issubclass(type_def, base.type_def)
actions = object_actions(type_def, ast)
meta.modified = await storage.update_object_type(obj)
glob.OBJECT_TYPES[meta.type] = ObjectTypeData(meta, type_def, actions,
ast)
add_ancestor_actions(meta.type, glob.OBJECT_TYPES)
evt = sevts.o.ChangedObjectTypes([meta])
evt.change_type = events.Event.Type.ADD
asyncio.ensure_future(notif.broadcast_event(evt))
return None
