async def rename_object_cb(req: srpc.s.RenameObject.Request,
ui: WsClient) -> None:
scene = glob.LOCK.scene_or_exception(ensure_project_closed=True)
target_obj = scene.object(req.args.id)
if target_obj.name == req.args.new_name:
raise Arcor2Exception("Name unchanged")
for obj_name in scene.object_names():
if obj_name == req.args.new_name:
raise Arcor2Exception("Object name already exists.")
hlp.is_valid_identifier(req.args.new_name)
user_name = glob.USERS.user_name(ui)
await ensure_locked(req.args.id, ui)
if req.dry_run:
return None
target_obj.name = req.args.new_name
scene.update_modified()
evt = sevts.s.SceneObjectChanged(target_obj)
evt.change_type = Event.Type.UPDATE
asyncio.ensure_future(notif.broadcast_event(evt))
asyncio.create_task(glob.LOCK.write_unlock(req.args.id, user_name, True))
return None
async def add_action_point_orientation_cb(
req: srpc.p.AddActionPointOrientation.Request, ui: WsClient) -> None:
"""Adds orientation and joints to the action point.
:param req:
:return:
"""
assert glob.SCENE
assert glob.PROJECT
ap = glob.PROJECT.bare_action_point(req.args.action_point_id)
hlp.is_valid_identifier(req.args.name)
unique_name(req.args.name, glob.PROJECT.ap_orientation_names(ap.id))
if req.dry_run:
return None
orientation = common.NamedOrientation(req.args.name, req.args.orientation)
glob.PROJECT.upsert_orientation(ap.id, orientation)
evt = sevts.p.OrientationChanged(orientation)
evt.change_type = Event.Type.ADD
evt.parent_id = ap.id
asyncio.ensure_future(notif.broadcast_event(evt))
return None
def check_flows(parent: Union[CachedProject, common.ProjectFunction],
action: common.Action, action_meta: ObjectAction) -> None:
"""Raises exception if there is something wrong with flow(s).
:param parent:
:param action:
:param action_meta:
:return:
"""
flow = action.flow(
) # searches default flow (just this flow is supported so far)
# it is ok to not specify any output (if the values are not going to be used anywhere)
# return value(s) won't be stored in variable(s)
if not flow.outputs:
return
# otherwise, all return values have to be stored in variables
if len(flow.outputs) != len(action_meta.returns):
raise Arcor2Exception(
"Number of the flow outputs does not match the number of action outputs."
)
for output in flow.outputs:
hlp.is_valid_identifier(output)
outputs: Set[str] = set()
for act in parent.actions:
for fl in act.flows:
for output in fl.outputs:
if output in outputs:
raise Arcor2Exception(f"Output '{output}' is not unique.")
async def rename_object_cb(req: srpc.s.RenameObject.Request,
ui: WsClient) -> None:
assert glob.SCENE
target_obj = glob.SCENE.object(req.args.id)
if target_obj.name == req.args.new_name:
return
for obj_name in glob.SCENE.object_names():
if obj_name == req.args.new_name:
raise Arcor2Exception("Object name already exists.")
hlp.is_valid_identifier(req.args.new_name)
if req.dry_run:
return None
target_obj.name = req.args.new_name
glob.SCENE.update_modified()
evt = sevts.s.SceneObjectChanged(target_obj)
evt.change_type = Event.Type.UPDATE
asyncio.ensure_future(notif.broadcast_event(evt))
return None
async def add_action_point_joints_using_robot_cb(
req: srpc.p.AddActionPointJointsUsingRobot.Request,
ui: WsClient) -> None:
ensure_scene_started()
assert glob.SCENE
assert glob.PROJECT
ap = glob.PROJECT.bare_action_point(req.args.action_point_id)
hlp.is_valid_identifier(req.args.name)
unique_name(req.args.name, glob.PROJECT.ap_joint_names(ap.id))
new_joints = await get_robot_joints(req.args.robot_id)
if req.dry_run:
return None
prj = common.ProjectRobotJoints(req.args.name, req.args.robot_id,
new_joints, True)
glob.PROJECT.upsert_joints(ap.id, prj)
evt = sevts.p.JointsChanged(prj)
evt.change_type = Event.Type.ADD
evt.parent_id = ap.id
asyncio.ensure_future(notif.broadcast_event(evt))
return None
async def rename_action_point_cb(req: srpc.p.RenameActionPoint.Request,
ui: WsClient) -> None:
assert glob.SCENE
assert glob.PROJECT
ap = glob.PROJECT.bare_action_point(req.args.action_point_id)
if req.args.new_name == ap.name:
return None
hlp.is_valid_identifier(req.args.new_name)
unique_name(req.args.new_name, glob.PROJECT.action_points_names)
if req.dry_run:
return None
ap.name = req.args.new_name
glob.PROJECT.update_modified()
evt = sevts.p.ActionPointChanged(ap)
evt.change_type = Event.Type.UPDATE_BASE
asyncio.ensure_future(notif.broadcast_event(evt))
return None
def check_project_parameter(proj: CachedProject, parameter: ProjectParameter) -> None:
hlp.is_valid_identifier(parameter.name)
for pparam in proj.parameters:
if parameter.id == pparam.id:
continue
if parameter.name == pparam.name:
raise Arcor2Exception(f"Project parameter name {parameter.name} is duplicate.")
check_parameter(parameter)
async def add_action_cb(req: rpc.project.AddActionRequest,
ui: WsClient) -> None:
assert glob.PROJECT
assert glob.SCENE
ap = glob.PROJECT.action_point(req.args.action_point_id)
unique_name(req.args.name, glob.PROJECT.action_user_names())
if not hlp.is_valid_identifier(req.args.name):
raise Arcor2Exception("Action name has to be valid Python identifier.")
new_action = common.Action(common.uid(), req.args.name, req.args.type,
req.args.parameters)
updated_project = copy.deepcopy(glob.PROJECT)
updated_ap = updated_project.action_point(req.args.action_point_id)
updated_ap.actions.append(new_action)
check_action_params(updated_project, new_action,
find_object_action(new_action))
if req.dry_run:
return None
ap.actions.append(new_action)
glob.PROJECT.update_modified()
asyncio.ensure_future(
notif.broadcast_event(
events.ActionChanged(events.EventType.ADD, ap.id,
data=new_action)))
return None
async def rename_object_cb(req: rpc.scene.RenameObjectRequest,
ui: WsClient) -> None:
assert glob.SCENE
target_obj = glob.SCENE.object(req.args.id)
for obj_name in glob.SCENE.object_names():
if obj_name == req.args.new_name:
raise Arcor2Exception("Object name already exists.")
if not hlp.is_valid_identifier(req.args.new_name):
raise Arcor2Exception("Object name invalid (should be snake_case).")
if req.dry_run:
return None
target_obj.name = req.args.new_name
glob.SCENE.update_modified()
asyncio.ensure_future(
notif.broadcast_event(
events.SceneObjectChanged(events.EventType.UPDATE,
data=target_obj)))
return None
async def rename_action_point_cb(req: rpc.project.RenameActionPointRequest,
ui: WsClient) -> None:
assert glob.SCENE and glob.PROJECT
ap = glob.PROJECT.action_point(req.args.action_point_id)
if req.args.new_name == ap.name:
return None
if not hlp.is_valid_identifier(req.args.new_name):
raise Arcor2Exception("Name has to be valid Python identifier.")
unique_name(req.args.new_name, glob.PROJECT.action_points_names)
if req.dry_run:
return None
ap.name = req.args.new_name
glob.PROJECT.update_modified()
asyncio.ensure_future(
notif.broadcast_event(
events.ActionPointChanged(events.EventType.UPDATE_BASE,
data=ap.bare())))
return None
async def rename_action_point_joints_cb(
req: srpc.p.RenameActionPointJoints.Request, ui: WsClient) -> None:
assert glob.PROJECT
ap, joints = glob.PROJECT.ap_and_joints(req.args.joints_id)
hlp.is_valid_identifier(req.args.new_name)
unique_name(req.args.new_name, glob.PROJECT.ap_joint_names(ap.id))
if req.dry_run:
return None
joints.name = req.args.new_name
glob.PROJECT.update_modified()
evt = sevts.p.JointsChanged(joints)
evt.change_type = Event.Type.UPDATE_BASE
asyncio.ensure_future(notif.broadcast_event(evt))
return None
async def add_action_point_cb(req: srpc.p.AddActionPoint.Request,
ui: WsClient) -> None:
assert glob.SCENE
assert glob.PROJECT
hlp.is_valid_identifier(req.args.name)
unique_name(req.args.name, glob.PROJECT.action_points_names)
check_ap_parent(req.args.parent)
if req.dry_run:
return None
ap = glob.PROJECT.upsert_action_point(common.ActionPoint.uid(),
req.args.name, req.args.position,
req.args.parent)
evt = sevts.p.ActionPointChanged(ap)
evt.change_type = Event.Type.ADD
asyncio.ensure_future(notif.broadcast_event(evt))
return None
async def rename_action_point_orientation_cb(
req: srpc.p.RenameActionPointOrientation.Request,
ui: WsClient) -> None:
assert glob.PROJECT
ap, ori = glob.PROJECT.bare_ap_and_orientation(req.args.orientation_id)
hlp.is_valid_identifier(req.args.new_name)
unique_name(req.args.new_name, glob.PROJECT.ap_orientation_names(ap.id))
if req.dry_run:
return None
ori.name = req.args.new_name
glob.PROJECT.update_modified()
evt = sevts.p.OrientationChanged(ori)
evt.change_type = Event.Type.UPDATE_BASE
asyncio.ensure_future(notif.broadcast_event(evt))
return None
def check_constant(constant: common.ProjectConstant) -> None:
assert glob.PROJECT
hlp.is_valid_identifier(constant.name)
for const in glob.PROJECT.constants:
if constant.id == const.id:
continue
if constant.name == const.name:
raise Arcor2Exception("Name has to be unique.")
# TODO check using (constant?) plugin
import json
val = json.loads(constant.value)
if not isinstance(val, (int, float, str, bool)):
raise Arcor2Exception("Only basic types are supported so far.")
def object_instance_from_res(object_name: str, object_id: str,
cls_name: str) -> AnnAssign:
try:
is_valid_identifier(object_name)
except Arcor2Exception as e:
raise Arcor2Exception(f"Object name {object_name} invalid. {str(e)}")
try:
is_valid_type(cls_name)
except Arcor2Exception as e:
raise Arcor2Exception(f"Class name {cls_name} invalid. {str(e)}")
return AnnAssign(
target=Name(id=object_name, ctx=Store()),
annotation=Name(id=cls_name, ctx=Load()),
value=Subscript(value=get_name_attr("res", "objects"),
slice=Index(value=Str(s=object_id, kind="")),
ctx=Load()),
simple=1,
)
def check_object(scene: CachedScene,
obj: SceneObject,
new_one: bool = False) -> None:
"""Checks if object can be added into the scene."""
assert not obj.children
if obj.type not in glob.OBJECT_TYPES:
raise Arcor2Exception("Unknown object type.")
obj_type = glob.OBJECT_TYPES[obj.type]
if obj_type.meta.disabled:
raise Arcor2Exception("Object type disabled.")
check_object_parameters(obj_type, obj.parameters)
# TODO check whether object needs parent and if so, if the parent is in scene and parent_id is set
if obj_type.meta.needs_parent_type:
pass
if obj_type.meta.has_pose and obj.pose is None:
raise Arcor2Exception("Object requires pose.")
if not obj_type.meta.has_pose and obj.pose is not None:
raise Arcor2Exception("Object do not have pose.")
if obj_type.meta.abstract:
raise Arcor2Exception("Cannot instantiate abstract type.")
if new_one:
if obj.id in scene.object_ids:
raise Arcor2Exception(
"Object/service with that id already exists.")
if obj.name in scene.object_names():
raise Arcor2Exception("Name is already used.")
hlp.is_valid_identifier(obj.name)
def check_object(obj_types: ObjectTypeDict, scene: CachedScene, obj: SceneObject, new_one: bool = False) -> None:
"""Checks if object can be added into the scene."""
assert not obj.children
if obj.type not in obj_types:
raise Arcor2Exception(f"Unknown ObjectType {obj.type}.")
obj_type = obj_types[obj.type]
if obj_type.meta.disabled:
raise Arcor2Exception(f"ObjectType {obj.type} is disabled. {obj_type.meta.problem}")
check_object_parameters(obj_type, obj.parameters)
# TODO check whether object needs parent and if so, if the parent is in scene and parent_id is set
if obj_type.meta.needs_parent_type:
pass
if obj_type.meta.has_pose and obj.pose is None:
raise Arcor2Exception(f"Object {obj.name} requires pose.")
if not obj_type.meta.has_pose and obj.pose is not None:
raise Arcor2Exception(f"Object {obj.name} should not have pose.")
if obj_type.meta.abstract:
raise Arcor2Exception(f"ObjectType {obj.type} is abstract.")
if new_one:
if obj.id in scene.object_ids:
raise Arcor2Exception(f"Object {obj.name} has duplicate id.")
if obj.name in scene.object_names():
raise Arcor2Exception(f"Object name {obj.name} is duplicate.")
hlp.is_valid_identifier(obj.name)
async def add_action_point_orientation_using_robot_cb(
req: srpc.p.AddActionPointOrientationUsingRobot.Request,
ui: WsClient) -> None:
"""Adds orientation and joints to the action point.
:param req:
:return:
"""
ensure_scene_started()
assert glob.SCENE
assert glob.PROJECT
ap = glob.PROJECT.bare_action_point(req.args.action_point_id)
hlp.is_valid_identifier(req.args.name)
unique_name(req.args.name, glob.PROJECT.ap_orientation_names(ap.id))
if req.dry_run:
return None
new_pose = await get_end_effector_pose(req.args.robot.robot_id,
req.args.robot.end_effector)
if ap.parent:
new_pose = tr.make_pose_rel_to_parent(glob.SCENE, glob.PROJECT,
new_pose, ap.parent)
orientation = common.NamedOrientation(req.args.name, new_pose.orientation)
glob.PROJECT.upsert_orientation(ap.id, orientation)
evt = sevts.p.OrientationChanged(orientation)
evt.change_type = Event.Type.ADD
evt.parent_id = ap.id
asyncio.ensure_future(notif.broadcast_event(evt))
return None
async def add_action_point_cb(req: rpc.project.AddActionPointRequest,
ui: WsClient) -> None:
assert glob.SCENE
assert glob.PROJECT
unique_name(req.args.name, glob.PROJECT.action_points_names)
check_ap_parent(req.args.parent)
if not hlp.is_valid_identifier(req.args.name):
raise Arcor2Exception("Name has to be valid Python identifier.")
if req.dry_run:
return None
ap = common.ProjectActionPoint(common.uid(), req.args.name,
req.args.position, req.args.parent)
glob.PROJECT.action_points.append(ap)
glob.PROJECT.update_modified()
asyncio.ensure_future(
notif.broadcast_event(
events.ActionPointChanged(events.EventType.ADD, data=ap)))
return None
async def add_object_to_scene(obj: SceneObject,
add_to_scene=True,
srv_obj_ok=False,
dry_run: bool = False):
"""
:param obj:
:param add_to_scene: Set to false to only create object instance and add its collision model (if any).
:return:
"""
assert glob.SCENE
if obj.type not in glob.OBJECT_TYPES:
raise Arcor2Exception("Unknown object type.")
obj_meta = glob.OBJECT_TYPES[obj.type]
if obj_meta.disabled:
raise Arcor2Exception("Object type disabled.")
if srv_obj_ok: # just for internal usage
if not obj_meta.needs_services <= osa.valid_service_types().keys():
raise Arcor2Exception(
"Some of required services is not available.")
if not obj_meta.needs_services <= glob.SERVICES_INSTANCES.keys():
raise Arcor2Exception(
"Some of required services is not in the scene.")
elif obj_meta.needs_services:
raise Arcor2Exception("Service(s)-based object.")
if obj_meta.abstract:
raise Arcor2Exception("Cannot instantiate abstract type.")
if obj.id in glob.SCENE_OBJECT_INSTANCES or obj.id in glob.SERVICES_INSTANCES:
raise Arcor2Exception("Object/service with that id already exists.")
if obj.name in instances_names():
raise Arcor2Exception("Name is already used.")
if not hlp.is_valid_identifier(obj.name):
raise Arcor2Exception("Object name invalid (should be snake_case).")
if dry_run:
return None
await glob.logger.debug(f"Creating instance {obj.id} ({obj.type}).")
if obj.type in otu.built_in_types_names():
cls = otu.get_built_in_type(obj.type)
else:
obj_type = await storage.get_object_type(obj.type)
cls = hlp.type_def_from_source(obj_type.source, obj_type.id, Generic)
coll_model: Optional[Models] = None
if obj_meta.object_model:
coll_model = obj_meta.object_model.model()
if not obj_meta.needs_services:
obj_inst = cls(obj.id, obj.name, obj.pose, coll_model)
else:
srv_args: List[Service] = []
for name, ttype in get_type_hints(cls.__init__).items():
# service arguments should be listed first
if not issubclass(ttype, Service):
break
try:
srv_args.append(glob.SERVICES_INSTANCES[ttype.__name__])
except KeyError:
return False, f"Object type {obj.type} has invalid typ annotation in the constructor, " \
f"service {ttype.__name__} not available."
try:
obj_inst = cls(*srv_args, obj.id, obj.name, obj.pose,
coll_model) # type: ignore
except TypeError as e:
raise Arcor2Exception("System error.") from e
glob.SCENE_OBJECT_INSTANCES[obj.id] = obj_inst
if add_to_scene:
glob.SCENE.objects.append(obj)
await collision(obj_inst, add=True)
return None
async def auto_add_object_to_scene(obj_type_name: str,
dry_run: bool = False) -> None:
assert glob.SCENE
if obj_type_name not in glob.OBJECT_TYPES:
raise Arcor2Exception("Unknown object type.")
if obj_type_name in otu.built_in_types_names():
raise Arcor2Exception("Does not work for built in types.")
obj_meta = glob.OBJECT_TYPES[obj_type_name]
if not obj_meta.needs_services:
raise Arcor2Exception("Ordinary object.")
if obj_meta.abstract:
raise Arcor2Exception("Cannot instantiate abstract type.")
if not obj_meta.needs_services <= osa.valid_service_types().keys():
raise Arcor2Exception("Some of required services is not available.")
if not obj_meta.needs_services <= glob.SERVICES_INSTANCES.keys():
raise Arcor2Exception("Some of required services is not in the scene.")
if dry_run:
return None
obj_type = await storage.get_object_type(obj_type_name)
cls = hlp.type_def_from_source(obj_type.source, obj_type.id, Generic)
args: List[Service] = [
glob.SERVICES_INSTANCES[srv_name]
for srv_name in obj_meta.needs_services
]
assert hasattr(cls, otu.SERVICES_METHOD_NAME)
for obj_inst in cls.from_services(*args): # type: ignore
assert isinstance(obj_inst, Generic)
if not hlp.is_valid_identifier(obj_inst.name):
# TODO add message to response
await glob.logger.warning(f"Object id {obj_inst.id} invalid.")
continue
if obj_inst.id in glob.SCENE_OBJECT_INSTANCES:
await glob.logger.warning(
f"Object id {obj_inst.id} already in scene.")
continue
if obj_inst.name in instances_names():
await glob.logger.warning(f"Duplicate object name {obj_inst.name}."
)
continue
glob.SCENE_OBJECT_INSTANCES[obj_inst.id] = obj_inst
obj = obj_inst.scene_object()
glob.SCENE.objects.append(obj)
asyncio.ensure_future(
notif.broadcast_event(
events.SceneObjectChanged(events.EventType.ADD, data=obj)))
if obj_meta.object_model:
obj_inst.collision_model = obj_meta.object_model.model()
await collision(obj_inst, add=True)
return None
def test_is_valid_identifier(val, expectation) -> None:
with expectation:
hlp.is_valid_identifier(val)
def test_is_valid_identifier(val):
assert hlp.is_valid_identifier(val)
