def check_override(scene: CachedScene,
project: CachedProject,
obj_id: str,
override: Parameter,
add_new_one: bool = False) -> SceneObject:
obj = scene.object(obj_id)
for par in glob.OBJECT_TYPES[obj.type].meta.settings:
if par.name == override.name:
if par.type != override.type:
raise Arcor2Exception("Override can't change parameter type.")
break
else:
raise Arcor2Exception("Unknown parameter name.")
if add_new_one:
try:
for existing_override in project.overrides[obj.id]:
if override.name == existing_override.name:
raise Arcor2Exception("Override already exists.")
except KeyError:
pass
else:
if obj.id not in project.overrides:
raise Arcor2Exception("There are no overrides for the object.")
for override in project.overrides[obj.id]:
if override.name == override.name:
break
else:
raise Arcor2Exception("Override not found.")
return obj
def check_ap_parent(scene: CachedScene, proj: CachedProject, parent: Optional[str]) -> None:
if not parent:
return
if parent in scene.object_ids:
if scene.object(parent).pose is None:
raise Arcor2Exception("AP can't have object without pose as parent.")
elif parent not in proj.action_points_ids:
raise Arcor2Exception("AP has invalid parent ID (not an object or another AP).")
def project_problems(obj_types: ObjectTypeDict, scene: CachedScene, project: CachedProject) -> list[str]:
if project.scene_id != scene.id:
return ["Project/scene mismatch."]
problems: list[str] = scene_problems(obj_types, scene)
for proj_param in project.parameters:
try:
check_project_parameter(project, proj_param)
except Arcor2Exception as e:
problems.append(str(e))
for ap in project.action_points:
try:
check_ap_parent(scene, project, ap.parent)
except Arcor2Exception:
problems.append(f"Action point {ap.name} has invalid parent: {ap.parent}.")
for joints in project.ap_joints(ap.id):
if joints.robot_id not in scene.object_ids:
problems.append(
f"Action point {ap.name} has joints ({joints.name}) for an unknown robot: {joints.robot_id}."
)
for action in project.actions:
# check if objects have used actions
obj_id, action_type = action.parse_type()
if obj_id not in scene.object_ids:
problems.append(f"Object ID {obj_id} which action is used in {action.name} does not exist in scene.")
continue
scene_obj = scene.object(obj_id)
if action_type not in obj_types[scene_obj.type].actions:
problems.append(
f"ObjectType {scene_obj.type} does not have action {action_type} used in {action.name}."
)
continue
action_meta = obj_types[scene_obj.type].actions[action_type]
try:
check_action_params(obj_types, scene, project, action, action_meta)
except Arcor2Exception as e:
problems.append(str(e))
try:
check_flows(project, action, action_meta)
except Arcor2Exception as e:
problems.append(str(e))
return problems
def patch_with_action_mapping(type_def: type[Generic], scene: CachedScene,
project: CachedProject) -> None:
setattr(
type_def,
ACTION_NAME_ID_MAPPING_ATTR,
{
act.name: act.id
for act in project.actions
if scene.object(act.parse_type().obj_id).type == type_def.__name__
},
)
def find_object_action(obj_types: ObjectTypeDict, scene: CachedScene, action: Action) -> ObjectAction:
obj_id, action_type = action.parse_type()
obj = scene.object(obj_id)
obj_type = obj_types[obj.type]
try:
act = obj_type.actions[action_type]
except KeyError:
raise Arcor2Exception("Unknown type of action.")
if act.disabled:
raise Arcor2Exception("Action is disabled.")
return act
def find_object_action(scene: CachedScene, action: common.Action) -> ObjectAction:
obj_id, action_type = action.parse_type()
obj = scene.object(obj_id)
try:
obj_type = glob.OBJECT_TYPES[obj.type]
except KeyError:
raise Arcor2Exception("Unknown object type.")
try:
act = obj_type.actions[action_type]
except KeyError:
raise Arcor2Exception("Unknown type of action.")
if act.disabled:
raise Arcor2Exception("Action is disabled.")
return act
def get_parent_pose(scene: CScene, project: CProject, parent_id: str) -> Parent:
"""Returns pose of the parent and parent of the parent (if any).
:param scene:
:param project:
:param parent_id:
:return:
"""
if parent_id in scene.object_ids:
parent_obj = scene.object(parent_id)
if not parent_obj.pose:
raise Arcor2Exception("Parent object does not have pose!")
# TODO find parent object in the graph (SceneObject has "children" property)
return Parent(parent_obj.pose, None)
elif parent_id in project.action_points_ids:
ap = project.bare_action_point(parent_id)
return Parent(Pose(ap.position, Orientation()), ap.parent)
else:
raise Arcor2Exception(f"Unknown parent_id {parent_id}.")
def parameter_value(cls, type_defs: TypesDict, scene: CScene,
project: CProject, action_id: str,
parameter_id: str) -> Enum:
action = project.action(action_id)
param = action.parameter(parameter_id)
obj_id, action_type = action.parse_type()
obj_type_name = scene.object(obj_id).type
try:
obj_type = type_defs[obj_type_name]
except KeyError:
raise ParameterPluginException(
f"Unknown object type {obj_type_name}.")
try:
method = getattr(obj_type, action_type)
except AttributeError:
raise ParameterPluginException(
f"Object type {obj_type_name} does not have method {action_type}."
)
try:
ttype = get_type_hints(method)[param.name]
except KeyError:
raise ParameterPluginException(
f"Method {obj_type}/{method.__name__} does not have parameter {param.name}."
)
if not issubclass(ttype, cls.type()):
raise ParameterPluginException(
f"Type {ttype.__name__} is not subclass of {cls.type().__name__}."
)
try:
return ttype(json.loads(param.value))
except ValueError:
raise ParameterPluginException(
f"Parameter {parameter_id} of action {action.name} has invalid value."
)
def check_action_params(scene: CachedScene, project: CachedProject,
action: common.Action,
object_action: ObjectAction) -> None:
_, action_type = action.parse_type()
assert action_type == object_action.name
if len(object_action.parameters) != len(action.parameters):
raise Arcor2Exception("Unexpected number of parameters.")
for req_param in object_action.parameters:
param = action.parameter(req_param.name)
if param.type == common.ActionParameter.TypeEnum.PROJECT_PARAMETER:
pparam = project.parameter(param.str_from_value())
param_meta = object_action.parameter(param.name)
if param_meta.type != pparam.type:
raise Arcor2Exception(
"Action parameter type does not match project parameter type."
)
elif param.type == common.ActionParameter.TypeEnum.LINK:
parsed_link = param.parse_link()
if parsed_link.action_id == action.id:
raise Arcor2Exception("Can't use own result as a parameter.")
parent_action = project.action(parsed_link.action_id)
source_action_pt = parent_action.parse_type()
parent_action_meta = glob.OBJECT_TYPES[scene.object(
source_action_pt.obj_id).type].actions[
source_action_pt.action_type]
if len(parent_action.flow(parsed_link.flow_name).outputs) != len(
parent_action_meta.returns):
raise Arcor2Exception(
"Source action does not have outputs specified.")
param_meta = object_action.parameter(param.name)
try:
if param_meta.type != parent_action_meta.returns[
parsed_link.output_index]:
raise Arcor2Exception(
"Param type does not match action output type.")
except IndexError:
raise Arcor2Exception(
f"Index {parsed_link.output_index} is invalid for action {object_action.name},"
f" which returns {len(object_action.returns)} values.")
else:
if param.type not in known_parameter_types():
raise Arcor2Exception(
f"Parameter {param.name} of action {action.name} has unknown type: {param.type}."
)
try:
plugin_from_type_name(param.type).parameter_value(
get_types_dict(), scene, project, action.id, param.name)
except ParameterPluginException as e:
raise Arcor2Exception(
f"Parameter {param.name} of action {action.name} has invalid value. {str(e)}"
)
def get_obj_type_data(scene: CachedScene, object_id: str) -> ObjectTypeData:
return glob.OBJECT_TYPES[scene.object(object_id).type]
def get_obj_type_data(scene: CachedScene, object_id: str) -> ObjectTypeData:
try:
return glob.OBJECT_TYPES[scene.object(object_id).type]
except KeyError:
raise Arcor2Exception("Unknown object type.")
def get_action_name_to_id(scene: CachedScene, project: CachedProject, object_type: str) -> Dict[str, str]:
return {act.name: act.id for act in project.actions if scene.object(act.parse_type().obj_id).type == object_type}