def test_get_value() -> None:
p = Pose(Position(1, 2, 3), Orientation(1, 0, 0, 0))
scene = Scene("s1")
obj = SceneObject("test_name", TestObject.__name__)
scene.objects.append(obj)
project = Project("p1", "s1")
ap1 = ActionPoint("ap1", Position(1, 0, 0))
project.action_points.append(ap1)
ap2 = ActionPoint("ap2", Position(), parent=ap1.id)
project.action_points.append(ap2)
ori1 = NamedOrientation("ori1", p.orientation)
ap2.orientations.append(ori1)
invalid_param_name = "invalid_param"
ac1 = Action(
"ac1",
f"{obj.id}/{TestObject.action.__name__}",
parameters=[
ActionParameter(param_name, PosePlugin.type_name(),
json.dumps(ori1.id)),
ActionParameter(invalid_param_name, PosePlugin.type_name(),
json.dumps("non_sense")),
],
)
ap1.actions.append(ac1)
cscene = CachedScene(scene)
cproject = CachedProject(project)
with pytest.raises(Arcor2Exception):
PosePlugin.parameter_value(type_defs, cscene, cproject, ac1.id,
"non_sense")
with pytest.raises(Arcor2Exception):
PosePlugin.parameter_value(type_defs, cscene, cproject, "non_sense",
param_name)
with pytest.raises(ParameterPluginException):
PosePlugin.parameter_value(type_defs, cscene, cproject, ac1.id,
invalid_param_name)
value = PosePlugin.parameter_value(type_defs, cscene, cproject, ac1.id,
param_name)
exe_value = PosePlugin.parameter_execution_value(type_defs, cscene,
cproject, ac1.id,
param_name)
assert value == value
assert value != exe_value
async def get_scene(scene_id: str) -> CachedScene:
async with _scenes_list_lock:
try:
scene = _scenes[scene_id]
assert scene.modified
except KeyError:
scene = CachedScene(await ps.get_scene(scene_id))
_scenes[scene_id] = scene
else:
await _update_list(ps.get_scenes, _scenes_list, _scenes)
if scene_id not in _scenes_list.listing:
_scenes.pop(scene_id, None)
raise Arcor2Exception("Scene removed externally.")
# scene in cache is outdated
if scene.modified < _scenes_list.listing[scene_id].modified:
scene = CachedScene(await ps.get_scene(scene_id))
_scenes[scene_id] = scene
return scene
def test_prev_result() -> None:
scene = Scene("s1")
obj = SceneObject("test_name", Test.__name__)
scene.objects.append(obj)
project = Project("p1", "s1")
ap1 = ActionPoint("ap1", Position())
project.action_points.append(ap1)
ac1 = Action("ac1", f"{obj.id}/{Test.get_int.__name__}", flows=[Flow(outputs=["res"])])
ap1.actions.append(ac1)
ac2 = Action(
"ac2",
f"{obj.id}/{Test.test_par.__name__}",
flows=[Flow()],
parameters=[ActionParameter("param", ActionParameter.TypeEnum.LINK, json.dumps(f"{ac1.id}/default/0"))],
)
ap1.actions.append(ac2)
project.logic.append(LogicItem(LogicItem.START, ac1.id))
project.logic.append(LogicItem(ac1.id, ac2.id))
project.logic.append(LogicItem(ac2.id, LogicItem.END))
src = program_src({Test.__name__: Test}, CachedProject(project), CachedScene(scene))
assert f"res = test_name.{Test.get_int.__name__}(an='{ac1.name}')" in src
assert f"test_name.{Test.test_par.__name__}(res, an='{ac2.name}')" in src
# test wrong order of logic
project.logic.clear()
project.logic.append(LogicItem(LogicItem.START, ac2.id))
project.logic.append(LogicItem(ac2.id, ac1.id))
project.logic.append(LogicItem(ac1.id, LogicItem.END))
with pytest.raises(SourceException):
program_src({Test.__name__: Test}, CachedProject(project), CachedScene(scene))
def test_get_value() -> None:
img = Image.new("RGB", (320, 240))
scene = Scene("s1", "s1")
obj = SceneObject("test_name", TestObject.__name__)
scene.objects.append(obj)
project = Project("p1", "s1")
ap1 = ActionPoint("ap1", Position(1, 0, 0))
project.action_points.append(ap1)
invalid_param_name = "invalid_param"
ac1 = Action(
"ac1",
f"{obj.id}/{TestObject.action.__name__}",
parameters=[
ActionParameter(param_name, ImagePlugin.type_name(),
ImagePlugin.value_to_json(img)),
ActionParameter(invalid_param_name, ImagePlugin.type_name(),
json.dumps("non_sense")),
],
)
ap1.actions.append(ac1)
cscene = CachedScene(scene)
cproject = CachedProject(project)
with pytest.raises(Arcor2Exception):
ImagePlugin.parameter_value(type_defs, cscene, cproject, ac1.id,
"non_sense")
with pytest.raises(Arcor2Exception):
ImagePlugin.parameter_value(type_defs, cscene, cproject, "non_sense",
param_name)
with pytest.raises(ParameterPluginException):
ImagePlugin.parameter_value(type_defs, cscene, cproject, ac1.id,
invalid_param_name)
value = ImagePlugin.parameter_value(type_defs, cscene, cproject, ac1.id,
param_name)
exe_value = ImagePlugin.parameter_execution_value(type_defs, cscene,
cproject, ac1.id,
param_name)
assert value == value
assert value == exe_value
def test_get_value() -> None:
scene = Scene("s1", "s1")
obj = SceneObject("test_name", TestObject.__name__)
prj = ProjectRobotJoints("name", obj.id, [Joint("name", 0.333)])
scene.objects.append(obj)
project = Project("p1", "s1")
ap1 = ActionPoint("ap1", Position(1, 0, 0))
ap1.robot_joints.append(prj)
project.action_points.append(ap1)
invalid_param_name = "invalid_param"
act = Action(
"ac1",
f"{obj.id}/{TestObject.action.__name__}",
parameters=[
ActionParameter(param_name, JointsPlugin.type_name(),
json.dumps(prj.id)),
ActionParameter(invalid_param_name, JointsPlugin.type_name(),
json.dumps("non_sense")),
],
)
ap1.actions.append(act)
cscene = CachedScene(scene)
cproject = CachedProject(project)
with pytest.raises(Arcor2Exception):
JointsPlugin.parameter_value(type_defs, cscene, cproject, act.id,
"non_sense")
with pytest.raises(Arcor2Exception):
JointsPlugin.parameter_value(type_defs, cscene, cproject, "non_sense",
param_name)
with pytest.raises(ParameterPluginException):
JointsPlugin.parameter_value(type_defs, cscene, cproject, act.id,
invalid_param_name)
value = JointsPlugin.parameter_value(type_defs, cscene, cproject, act.id,
param_name)
exe_value = JointsPlugin.parameter_execution_value(type_defs, cscene,
cproject, act.id,
param_name)
assert value == value
assert value == exe_value
def test_get_value(self, val: str) -> None:
scene = Scene("s1")
obj = SceneObject("test_name", TestObject.__name__)
scene.objects.append(obj)
project = Project("p1", "s1")
ap1 = ActionPoint("ap1", Position())
project.action_points.append(ap1)
invalid_param_name = "invalid_param"
ac1 = Action(
"ac1",
f"{obj.id}/{TestObject.action.__name__}",
parameters=[
ActionParameter(param_name, StringPlugin.type_name(),
StringPlugin.value_to_json(val)),
ActionParameter(invalid_param_name, StringPlugin.type_name(),
json.dumps(666)),
],
)
ap1.actions.append(ac1)
cscene = CachedScene(scene)
cproject = CachedProject(project)
with pytest.raises(Arcor2Exception):
StringPlugin.parameter_value({}, cscene, cproject, ac1.id,
"non_sense")
with pytest.raises(Arcor2Exception):
StringPlugin.parameter_value({}, cscene, cproject, "non_sense",
param_name)
with pytest.raises(ParameterPluginException):
StringPlugin.parameter_value({}, cscene, cproject, ac1.id,
invalid_param_name)
value = StringPlugin.parameter_value({}, cscene, cproject, ac1.id,
param_name)
exe_value = StringPlugin.parameter_execution_value({}, cscene,
cproject, ac1.id,
param_name)
assert value == val
assert value == exe_value
def test_make_relative_ap_global_and_relative_again() -> None:
scene = Scene("s1")
so1 = SceneObject("so1", "WhatEver", Pose(Position(3, 0, 0),
Orientation()))
scene.objects.append(so1)
cached_scene = CachedScene(scene)
project = Project("p1", scene.id)
ap1 = ActionPoint("ap1", Position(-1, 0, 0), parent=so1.id)
project.action_points.append(ap1)
ap2 = ActionPoint("ap2", Position(-1, 0, 0), parent=ap1.id)
project.action_points.append(ap2)
ap3 = ActionPoint(
"ap3",
Position(-1, 0, 0),
parent=ap2.id,
orientations=[NamedOrientation("bla", random_orientation())])
project.action_points.append(ap3)
cached_project = CachedProject(project)
assert ap3.parent
ap3_parent = get_parent_pose(cached_scene, cached_project, ap3.parent)
assert Pose(ap2.position, Orientation()) == ap3_parent.pose
assert ap3_parent.parent_id == ap1.id
make_relative_ap_global(cached_scene, cached_project, ap3)
check_ap(ap3)
assert ap3.parent is None
assert ap3.position.x == 0.0 # type: ignore
make_global_ap_relative(cached_scene, cached_project, ap3, ap2.id)
check_ap(ap3)
assert ap3.parent == ap2.id
assert ap3.position.x == -1
ap3.parent = "something_unknown"
with pytest.raises(Arcor2Exception):
make_relative_ap_global(cached_scene, cached_project, ap3)
async def project_info(
project_id: str, scenes_lock: asyncio.Lock,
scenes: Dict[str, CachedScene]) -> srpc.p.ListProjects.Response.Data:
project = await storage.get_project(project_id)
assert project.modified is not None
pd = srpc.p.ListProjects.Response.Data(id=project.id,
desc=project.desc,
name=project.name,
scene_id=project.scene_id,
modified=project.modified)
try:
cached_project = UpdateableCachedProject(project)
except CachedProjectException as e:
pd.problems.append(str(e))
return pd
try:
async with scenes_lock:
if project.scene_id not in scenes:
scenes[project.scene_id] = CachedScene(await storage.get_scene(
project.scene_id))
except storage.ProjectServiceException:
pd.problems.append("Scene does not exist.")
return pd
pd.problems = project_problems(scenes[project.scene_id], cached_project)
pd.valid = not pd.problems
if not pd.valid:
return pd
try:
# TODO call build service!!!
pd.executable = True
except Arcor2Exception as e:
pd.problems.append(str(e))
return pd
def test_blind_branch() -> None:
scene = Scene("s1")
obj = SceneObject("test_name", Test.__name__)
scene.objects.append(obj)
project = Project("p1", "s1")
ap1 = ActionPoint("ap1", Position())
project.action_points.append(ap1)
ac1 = Action("ac1", f"{obj.id}/test", flows=[Flow(outputs=["bool_res"])])
ap1.actions.append(ac1)
ac2 = Action("ac2", f"{obj.id}/test", flows=[Flow()])
ap1.actions.append(ac2)
ac3 = Action("ac3", f"{obj.id}/test", flows=[Flow()])
ap1.actions.append(ac3)
ac4 = Action("ac4", f"{obj.id}/test", flows=[Flow()])
ap1.actions.append(ac4)
project.logic.append(LogicItem(LogicItem.START, ac1.id))
project.logic.append(
LogicItem(ac1.id, ac2.id,
ProjectLogicIf(f"{ac1.id}/default/0", json.dumps(True))))
project.logic.append(
LogicItem(ac1.id, ac3.id,
ProjectLogicIf(f"{ac1.id}/default/0", json.dumps(False))))
project.logic.append(LogicItem(ac2.id, ac4.id))
project.logic.append(LogicItem(ac4.id, LogicItem.END))
with pytest.raises(SourceException,
match=f"Action {ac3.name} has no outputs."):
program_src({Test.__name__: Test}, CachedProject(project),
CachedScene(scene))
def _publish(project_id: str, package_name: str) -> RespT:
mem_zip = BytesIO()
logger.debug(
f"Generating package {package_name} for project_id: {project_id}.")
types_dict: TypesDict = {}
# restore original environment
sys.path = list(original_sys_path)
sys.modules = dict(original_sys_modules)
with tempfile.TemporaryDirectory() as tmp_dir:
prepare_object_types_dir(tmp_dir, OBJECT_TYPE_MODULE)
with zipfile.ZipFile(mem_zip,
mode="w",
compression=zipfile.ZIP_DEFLATED) as zf:
try:
logger.debug("Getting scene and project.")
project = ps.get_project(project_id)
cached_project = CachedProject(project)
scene = ps.get_scene(project.scene_id)
cached_scene = CachedScene(scene)
if not package_name:
package_name = project.name
data_path = "data"
ot_path = "object_types"
zf.writestr(os.path.join(ot_path, "__init__.py"), "")
zf.writestr(os.path.join(data_path, "project.json"),
project.to_json())
zf.writestr(os.path.join(data_path, "scene.json"),
scene.to_json())
obj_types = set(cached_scene.object_types)
obj_types_with_models: set[str] = set()
if __debug__: # this should uncover potential problems with order in which ObjectTypes are processed
import random
random.shuffle(scene.objects)
for scene_obj in scene.objects:
if scene_obj.type in types_dict:
continue
logger.debug(
f"Getting scene object type {scene_obj.type}.")
obj_type = ps.get_object_type(scene_obj.type)
if obj_type.model and obj_type.id not in obj_types_with_models:
obj_types_with_models.add(obj_type.id)
model = ps.get_model(obj_type.model.id,
obj_type.model.type)
obj_model = ObjectModel(
obj_type.model.type,
**{model.type().value.lower():
model} # type: ignore
)
zf.writestr(
os.path.join(
data_path, "models",
humps.depascalize(obj_type.id) + ".json"),
obj_model.to_json(),
)
zf.writestr(
os.path.join(ot_path, humps.depascalize(obj_type.id)) +
".py", obj_type.source)
# handle inheritance
get_base_from_project_service(types_dict, tmp_dir,
obj_types, obj_type, zf,
ot_path,
parse(obj_type.source))
types_dict[scene_obj.type] = save_and_import_type_def(
obj_type.source, scene_obj.type, Generic, tmp_dir,
OBJECT_TYPE_MODULE)
except Arcor2Exception as e:
logger.exception(
f"Failed to prepare package content. {str(e)}")
raise FlaskException(str(e), error_code=404)
script_path = "script.py"
try:
if project.has_logic:
logger.debug("Generating script from project logic.")
zf.writestr(
script_path,
program_src(types_dict, cached_project, cached_scene,
True))
else:
try:
logger.debug("Getting project sources.")
script = ps.get_project_sources(project.id).script
# check if it is a valid Python code
try:
parse(script)
except SourceException:
logger.exception(
"Failed to parse code of the uploaded script.")
raise FlaskException("Invalid code.",
error_code=501)
zf.writestr(script_path, script)
except ps.ProjectServiceException:
logger.info(
"Script not found on project service, creating one from scratch."
)
# write script without the main loop
zf.writestr(
script_path,
program_src(types_dict, cached_project,
cached_scene, False))
logger.debug("Generating supplementary files.")
logger.debug("action_points.py")
zf.writestr("action_points.py",
global_action_points_class(cached_project))
logger.debug("package.json")
zf.writestr(
"package.json",
PackageMeta(package_name,
datetime.now(tz=timezone.utc)).to_json())
except Arcor2Exception as e:
logger.exception("Failed to generate script.")
raise FlaskException(str(e), error_code=501)
logger.info(
f"Done with {package_name} (scene {scene.name}, project {project.name})."
)
mem_zip.seek(0)
return send_file(mem_zip,
as_attachment=True,
max_age=0,
download_name=f"{package_name}_package.zip")
def test_branched_output_2() -> None:
scene = Scene("s1")
obj = SceneObject("test_name", Test.__name__)
scene.objects.append(obj)
project = Project("p1", "s1")
ap1 = ActionPoint("ap1", Position())
project.action_points.append(ap1)
ac1 = Action("ac1", f"{obj.id}/test", flows=[Flow(outputs=["bool_res"])])
ap1.actions.append(ac1)
ac2 = Action("ac2", f"{obj.id}/test", flows=[Flow()])
ap1.actions.append(ac2)
ac3 = Action("ac3", f"{obj.id}/test", flows=[Flow()])
ap1.actions.append(ac3)
ac4 = Action("ac4", f"{obj.id}/test", flows=[Flow(outputs=["bool2_res"])])
ap1.actions.append(ac4)
ac5 = Action("ac5", f"{obj.id}/test", flows=[Flow()])
ap1.actions.append(ac5)
ac6 = Action("ac6", f"{obj.id}/test", flows=[Flow()])
ap1.actions.append(ac6)
project.logic.append(LogicItem(LogicItem.START, ac1.id))
project.logic.append(
LogicItem(ac1.id, ac2.id,
ProjectLogicIf(f"{ac1.id}/default/0", json.dumps(True))))
project.logic.append(
LogicItem(ac1.id, ac4.id,
ProjectLogicIf(f"{ac1.id}/default/0", json.dumps(False))))
project.logic.append(LogicItem(ac2.id, ac3.id))
project.logic.append(LogicItem(ac3.id, ac6.id))
project.logic.append(
LogicItem(ac4.id, ac5.id,
ProjectLogicIf(f"{ac4.id}/default/0", json.dumps(True))))
project.logic.append(LogicItem(ac5.id, ac6.id))
project.logic.append(LogicItem(ac6.id, LogicItem.END))
project.logic.append(
LogicItem(ac4.id, LogicItem.END,
ProjectLogicIf(f"{ac4.id}/default/0", json.dumps(False))))
src = program_src({Test.__name__: Test}, CachedProject(project),
CachedScene(scene))
parse(src)
"""
bool_res = test_name.test(res.ac1)
if (bool_res == False):
bool2_res = test_name.test(res.ac4)
if (bool2_res == False):
continue
elif (bool2_res == True):
test_name.test(res.ac5)
elif (bool_res == True):
test_name.test(res.ac2)
test_name.test(res.ac3)
test_name.test(res.ac6)
"""
spl = src.splitlines()
# it has to be robust against changed order of blocks
ac1_idx = subs_index(spl, "bool_res = test_name.test(an='ac1')")
if_bool_res_false_idx = subs_index(spl, "if (bool_res == False):")
assert if_bool_res_false_idx > ac1_idx
assert cntsp(spl[ac1_idx]) == cntsp(spl[if_bool_res_false_idx])
bool2_res_idx = subs_index(spl, "bool2_res = test_name.test(an='ac4')")
assert bool2_res_idx > if_bool_res_false_idx
assert cntsp(spl[if_bool_res_false_idx]) == cntsp(spl[bool2_res_idx]) - TAB
if_bool_2_res_false_idx = subs_index(spl, "if (bool2_res == False):")
assert cntsp(spl[if_bool_2_res_false_idx]) == cntsp(spl[bool2_res_idx])
assert if_bool_2_res_false_idx > bool2_res_idx
assert "continue" in spl[if_bool_2_res_false_idx + 1]
assert cntsp(
spl[bool2_res_idx]) == cntsp(spl[if_bool_2_res_false_idx + 1]) - TAB
if_bool_2_res_true_idx = subs_index(spl, "if (bool2_res == True):")
assert if_bool_2_res_true_idx > bool2_res_idx
assert "test_name.test(an='ac5')" in spl[if_bool_2_res_true_idx + 1]
assert cntsp(spl[if_bool_2_res_true_idx]) == cntsp(
spl[if_bool_2_res_true_idx + 1]) - TAB
if_bool_res_true_idx = subs_index(spl, "if (bool_res == True):")
assert if_bool_res_true_idx > ac1_idx
assert cntsp(spl[ac1_idx]) == cntsp(spl[if_bool_res_true_idx])
assert "test_name.test(an='ac2')" in spl[if_bool_res_true_idx + 1]
assert cntsp(spl[if_bool_res_true_idx]) == cntsp(
spl[if_bool_res_true_idx + 1]) - TAB
assert "test_name.test(an='ac3')" in spl[if_bool_res_true_idx + 2]
assert cntsp(spl[if_bool_res_true_idx]) == cntsp(
spl[if_bool_res_true_idx + 2]) - TAB
ac6_idx = subs_index(spl, "test_name.test(an='ac6')")
assert cntsp(spl[ac1_idx]) == cntsp(spl[ac6_idx])
assert ac6_idx > if_bool_2_res_false_idx
assert ac6_idx > if_bool_2_res_true_idx
async def scenes() -> AsyncIterator[CachedScene]:
for scene_id in await storage.get_scene_ids():
yield CachedScene(await storage.get_scene(scene_id))
def __init__(self, apply_action_mapping: bool = True) -> None:
models: dict[str, Optional[Models]] = {}
scene = self.read_project_data(Scene.__name__.lower(), Scene)
project = self.read_project_data(Project.__name__.lower(), Project)
self.scene = CachedScene(scene)
self.project = CachedProject(project)
if self.project.scene_id != self.scene.id:
raise ResourcesException("Project/scene not consistent!")
# make all poses absolute
for aps in self.project.action_points_with_parent:
# Action point pose is relative to its parent object/AP pose in scene but is absolute during runtime.
tr.make_relative_ap_global(self.scene, self.project, aps)
for obj_type in self.scene.object_types:
try:
models[obj_type] = self.read_project_data(
"models/" + humps.depascalize(obj_type),
ObjectModel).model()
except IOError:
models[obj_type] = None
type_defs: TypesDict = {}
for scene_obj_type in self.scene.object_types: # get all type-defs
assert scene_obj_type not in type_defs
assert scene_obj_type not in built_in_types_names()
module = importlib.import_module(CUSTOM_OBJECT_TYPES_MODULE + "." +
humps.depascalize(scene_obj_type))
cls = getattr(module, scene_obj_type)
patch_object_actions(cls)
type_defs[cls.__name__] = cls
if apply_action_mapping:
patch_with_action_mapping(cls, self.scene, self.project)
action.start_paused, action.breakpoints = parse_args()
if action.breakpoints:
ap_ids = self.project.action_points_ids
for bp in action.breakpoints:
if bp not in ap_ids:
raise ResourcesException(f"Breakpoint ID unknown: {bp}.")
# orientations / joints have to be monkey-patched with AP's ID in order to make breakpoints work in @action
for ap in self.project.action_points:
setattr(ap.position, AP_ID_ATTR, ap.id)
for joints in self.project.ap_joints(ap.id):
setattr(joints, AP_ID_ATTR, ap.id)
package_id = os.path.basename(os.getcwd())
package_meta = package.read_package_meta(package_id)
package_info_event = PackageInfo(
PackageInfo.Data(package_id, package_meta.name, scene, project))
for model in models.values():
if not model:
continue
if isinstance(model, Box):
package_info_event.data.collision_models.boxes.append(model)
elif isinstance(model, Sphere):
package_info_event.data.collision_models.spheres.append(model)
elif isinstance(model, Cylinder):
package_info_event.data.collision_models.cylinders.append(
model)
elif isinstance(model, Mesh):
package_info_event.data.collision_models.meshes.append(model)
# following steps might take some time, so let UIs know about the package as a first thing
print_event(package_info_event)
# in order to prepare a clean environment (clears all configurations and all collisions)
scene_service.stop()
self.executor = concurrent.futures.ThreadPoolExecutor()
futures: list[concurrent.futures.Future] = []
for scene_obj in self.scene.objects:
cls = type_defs[scene_obj.type]
settings = settings_from_params(
cls, scene_obj.parameters,
self.project.overrides.get(scene_obj.id, None))
if issubclass(cls, Robot):
futures.append(
self.executor.submit(cls, scene_obj.id, scene_obj.name,
scene_obj.pose, settings))
elif issubclass(cls, CollisionObject):
futures.append(
self.executor.submit(cls, scene_obj.id, scene_obj.name,
scene_obj.pose,
models[scene_obj.type], settings))
elif issubclass(cls, GenericWithPose):
futures.append(
self.executor.submit(cls, scene_obj.id, scene_obj.name,
scene_obj.pose, settings))
elif issubclass(cls, Generic):
futures.append(
self.executor.submit(cls, scene_obj.id, scene_obj.name,
settings))
else:
raise Arcor2Exception(
f"{cls.__name__} has unknown base class.")
exceptions: list[Arcor2Exception] = []
self.objects: dict[str, Generic] = {}
for f in concurrent.futures.as_completed(futures):
try:
inst = f.result(
) # if an object creation resulted in exception, it will be raised here
except Arcor2Exception as e:
print_exception(e)
exceptions.append(e)
else:
self.objects[
inst.id] = inst # successfully initialized objects
if exceptions: # if something failed, tear down those that succeeded and stop
self.cleanup_all_objects()
raise ResourcesException(" ".join([str(e) for e in exceptions]),
exceptions)
scene_service.start()
self._stream_futures: list[concurrent.futures.Future] = []
def test_branched_output() -> None:
scene = Scene("s1")
obj = SceneObject("test_name", "Test")
scene.objects.append(obj)
project = Project("p1", "s1")
ap1 = ActionPoint("ap1", Position())
project.action_points.append(ap1)
ac1 = Action("ac1", f"{obj.id}/test", flows=[Flow(outputs=["bool_res"])])
ap1.actions.append(ac1)
ac2 = Action("ac2", f"{obj.id}/test", flows=[Flow()])
ap1.actions.append(ac2)
ac3 = Action("ac3", f"{obj.id}/test", flows=[Flow()])
ap1.actions.append(ac3)
ac4 = Action("ac4", f"{obj.id}/test", flows=[Flow()])
ap1.actions.append(ac4)
project.logic.append(LogicItem(LogicItem.START, ac1.id))
project.logic.append(
LogicItem(ac1.id, ac2.id,
ProjectLogicIf(f"{ac1.id}/default/0", json.dumps(True))))
project.logic.append(
LogicItem(ac1.id, ac3.id,
ProjectLogicIf(f"{ac1.id}/default/0", json.dumps(False))))
project.logic.append(LogicItem(ac2.id, ac4.id))
project.logic.append(LogicItem(ac3.id, ac4.id))
project.logic.append(LogicItem(ac4.id, LogicItem.END))
src = program_src({Test.__name__: Test}, CachedProject(project),
CachedScene(scene))
parse(src)
"""
bool_res = test_name.test(res.ac1)
if bool_res == False:
test_name.test(res.ac3)
elif bool_res == True:
test_name.test(res.ac2)
test_name.test(res.ac4)
"""
spl = src.splitlines()
ac1_idx = subs_index(spl, "bool_res = test_name.test(an='ac1')")
if_bool_res_false_idx = subs_index(spl, "if bool_res == False:")
assert if_bool_res_false_idx > ac1_idx
assert cntsp(spl[if_bool_res_false_idx]) == cntsp(spl[ac1_idx])
assert "test_name.test(an='ac3')" in spl[if_bool_res_false_idx + 1]
assert cntsp(spl[if_bool_res_false_idx]) == cntsp(
spl[if_bool_res_false_idx + 1]) - TAB
if_bool_res_true_idx = subs_index(spl, "if bool_res == True:")
assert if_bool_res_true_idx > ac1_idx
assert cntsp(spl[if_bool_res_true_idx]) == cntsp(spl[ac1_idx])
assert "test_name.test(an='ac2')" in spl[if_bool_res_true_idx + 1]
assert cntsp(spl[if_bool_res_true_idx]) == cntsp(
spl[if_bool_res_true_idx + 1]) - TAB
ac4_idx = subs_index(spl, "test_name.test(an='ac4')")
assert ac4_idx > if_bool_res_false_idx
assert ac4_idx > if_bool_res_true_idx
assert cntsp(spl[ac4_idx]) == cntsp(spl[ac1_idx])
def __init__(self, scene: Scene, project: Project,
models: Dict[str, Optional[Models]]) -> None:
self.project = CachedProject(project)
self.scene = CachedScene(scene)
if self.project.scene_id != self.scene.id:
raise ResourcesException("Project/scene not consistent!")
self.objects: Dict[str, Generic] = {}
self.type_defs: TypesDict = {}
built_in = built_in_types_names()
if scene_service.started():
scene_service.stop()
scene_service.delete_all_collisions()
package_id = os.path.basename(os.getcwd())
package_meta = package.read_package_meta(package_id)
package_info_event = PackageInfo(
PackageInfo.Data(package_id, package_meta.name, scene, project))
for scene_obj_type in self.scene.object_types: # get all type-defs
assert scene_obj_type not in self.type_defs
if scene_obj_type in built_in:
module = importlib.import_module(
arcor2.object_types.__name__ + "." +
humps.depascalize(scene_obj_type))
else:
module = importlib.import_module(
Resources.CUSTOM_OBJECT_TYPES_MODULE + "." +
humps.depascalize(scene_obj_type))
cls = getattr(module, scene_obj_type)
patch_object_actions(
cls,
get_action_name_to_id(self.scene, self.project, cls.__name__))
self.type_defs[cls.__name__] = cls
scene_objects = list(self.scene.objects)
# sort according to OT initialization priority (highest is initialized first)
scene_objects.sort(key=lambda x: self.type_defs[x.type].INIT_PRIORITY,
reverse=True)
for scene_obj in scene_objects:
cls = self.type_defs[scene_obj.type]
assert scene_obj.id not in self.objects, "Duplicate object id {}!".format(
scene_obj.id)
settings = settings_from_params(
cls, scene_obj.parameters,
self.project.overrides.get(scene_obj.id, None))
if issubclass(cls, Robot):
self.objects[scene_obj.id] = cls(scene_obj.id, scene_obj.name,
scene_obj.pose, settings)
elif issubclass(cls, GenericWithPose):
self.objects[scene_obj.id] = cls(scene_obj.id, scene_obj.name,
scene_obj.pose,
models[scene_obj.type],
settings)
elif issubclass(cls, Generic):
self.objects[scene_obj.id] = cls(scene_obj.id, scene_obj.name,
settings)
else:
raise Arcor2Exception("Unknown base class.")
for model in models.values():
if not model:
continue
if isinstance(model, Box):
package_info_event.data.collision_models.boxes.append(model)
elif isinstance(model, Sphere):
package_info_event.data.collision_models.spheres.append(model)
elif isinstance(model, Cylinder):
package_info_event.data.collision_models.cylinders.append(
model)
elif isinstance(model, Mesh):
package_info_event.data.collision_models.meshes.append(model)
scene_service.start()
print_event(package_info_event)
# make all poses absolute
for aps in self.project.action_points_with_parent:
# Action point pose is relative to its parent object/AP pose in scene but is absolute during runtime.
tr.make_relative_ap_global(self.scene, self.project, aps)
async def scenes() -> AsyncIterator[CachedScene]:
for scene_id in (await storage.get_scenes()).items:
yield CachedScene(await storage.get_scene(scene_id.id))
