async def get_object_types() -> UpdatedObjectTypes:
"""Serves to initialize or update knowledge about awailable ObjectTypes.
:return:
"""
initialization = False
# initialize with built-in types, this has to be done just once
if not glob.OBJECT_TYPES:
logger.debug("Initialization of ObjectTypes.")
initialization = True
await hlp.run_in_executor(prepare_object_types_dir,
settings.OBJECT_TYPE_PATH,
settings.OBJECT_TYPE_MODULE)
glob.OBJECT_TYPES.update(built_in_types_data())
updated_object_types: ObjectTypeDict = {}
object_type_ids: Union[set[str],
list[str]] = await storage.get_object_type_ids()
if __debug__: # this should uncover potential problems with order in which ObjectTypes are processed
import random
object_type_ids = list(object_type_ids)
random.shuffle(object_type_ids)
for obj_id in object_type_ids:
await get_object_data(updated_object_types, obj_id)
removed_object_ids = {
obj
for obj in glob.OBJECT_TYPES.keys() if obj not in object_type_ids
} - built_in_types_names()
updated_object_ids = {
k
for k in updated_object_types.keys() if k in glob.OBJECT_TYPES
}
new_object_ids = {
k
for k in updated_object_types.keys() if k not in glob.OBJECT_TYPES
}
logger.debug(f"Removed ids: {removed_object_ids}")
logger.debug(f"Updated ids: {updated_object_ids}")
logger.debug(f"New ids: {new_object_ids}")
if not initialization and removed_object_ids:
# TODO remove it from sys.modules
remove_evt = ChangedObjectTypes([
v.meta for k, v in glob.OBJECT_TYPES.items()
if k in removed_object_ids
])
remove_evt.change_type = Event.Type.REMOVE
asyncio.ensure_future(notif.broadcast_event(remove_evt))
for removed in removed_object_ids:
assert removed not in built_in_types_names(
), "Attempt to remove built-in type."
del glob.OBJECT_TYPES[removed]
await hlp.run_in_executor(remove_object_type, removed)
glob.OBJECT_TYPES.update(updated_object_types)
logger.debug(f"All known ids: {glob.OBJECT_TYPES.keys()}")
for obj_type in updated_object_types.values():
# if description is missing, try to get it from ancestor(s)
if not obj_type.meta.description:
try:
obj_type.meta.description = obj_description_from_base(
glob.OBJECT_TYPES, obj_type.meta)
except otu.DataError as e:
logger.error(
f"Failed to get info from base for {obj_type}, error: '{e}'."
)
if not obj_type.meta.disabled and not obj_type.meta.built_in:
add_ancestor_actions(obj_type.meta.type, glob.OBJECT_TYPES)
if not initialization:
if updated_object_ids:
update_evt = ChangedObjectTypes([
v.meta for k, v in glob.OBJECT_TYPES.items()
if k in updated_object_ids
])
update_evt.change_type = Event.Type.UPDATE
asyncio.ensure_future(notif.broadcast_event(update_evt))
if new_object_ids:
add_evt = ChangedObjectTypes([
v.meta for k, v in glob.OBJECT_TYPES.items()
if k in new_object_ids
])
add_evt.change_type = Event.Type.ADD
asyncio.ensure_future(notif.broadcast_event(add_evt))
for obj_type in updated_object_types.values():
if obj_type.type_def and issubclass(
obj_type.type_def, Robot) and not obj_type.type_def.abstract():
await get_robot_meta(obj_type)
# if object does not change but its base has changed, it has to be reloaded
for obj_id, obj in glob.OBJECT_TYPES.items():
if obj_id in updated_object_ids:
continue
if obj.type_def and obj.meta.base in updated_object_ids:
logger.debug(
f"Re-importing {obj.meta.type} because its base {obj.meta.base} type has changed."
)
obj.type_def = await hlp.run_in_executor(
hlp.import_type_def,
obj.meta.type,
Generic,
settings.OBJECT_TYPE_PATH,
settings.OBJECT_TYPE_MODULE,
)
return UpdatedObjectTypes(new_object_ids, updated_object_ids,
removed_object_ids)
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 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
