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,
)
async def new_object_type_cb(req: rpc.objects.NewObjectTypeRequest,
ui: WsClient) -> None:
meta = req.args
if meta.type in glob.OBJECT_TYPES:
raise Arcor2Exception("Object type already exists.")
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())}.")
if not hlp.is_valid_type(meta.type):
raise Arcor2Exception("Object type invalid (should be CamelCase).")
if req.dry_run:
return None
obj = meta.to_object_type()
obj.source = new_object_type_source(glob.OBJECT_TYPES[meta.base], meta)
if meta.object_model and meta.object_model.type != Model3dType.MESH:
assert meta.type == meta.object_model.model().id
await storage.put_model(meta.object_model.model())
# TODO check whether mesh id exists - if so, then use existing mesh, if not, upload a new one
if meta.object_model and meta.object_model.type == Model3dType.MESH:
# ...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.PersistentStorageException as e:
await glob.logger.error(e)
raise Arcor2Exception(
f"Mesh ID {meta.object_model.mesh.id} does not exist.")
await storage.update_object_type(obj)
glob.OBJECT_TYPES[meta.type] = meta
glob.ACTIONS[meta.type] = otu.object_actions(
TYPE_TO_PLUGIN, hlp.type_def_from_source(obj.source, obj.id, Generic),
obj.source)
otu.add_ancestor_actions(meta.type, glob.ACTIONS, glob.OBJECT_TYPES)
asyncio.ensure_future(
notif.broadcast_event(
events.ChangedObjectTypesEvent(events.EventType.ADD, data=[meta])))
return None
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
def test_is_valid_type(val):
assert hlp.is_valid_type(val)
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