def check_object_type(type_def: Type[Generic]) -> None:
"""Checks whether the object type source is a valid one.
:param type_def:
:return:
"""
if not issubclass(type_def, Generic):
raise ObjectTypeException("Not a subclass of Generic.")
# it might happen that the code is ok, but can't be parsed e.g. due to unsupported placement of comment
# parse_def is not enough here - there might be something unparseable outside of the ObjectType class itself
parse(get_containing_module_sources(type_def))
def base_from_source(source: Union[str, ast.AST], cls_name: str) -> List[str]:
"""Returns list, where the first element is name of the base class and
others are mixins.
:param source:
:param cls_name:
:return:
"""
if isinstance(source, str):
cls_def = find_class_def(cls_name, parse(source))
else:
cls_def = find_class_def(cls_name, source)
if not cls_def.bases:
return []
ret: List[str] = []
for base in reversed(cls_def.bases):
assert isinstance(base, ast.Name)
ret.append(base.id)
return ret
def base_from_source(source: str, cls_name: str) -> Optional[str]:
cls_def = find_class_def(cls_name, parse(source))
if not cls_def.bases:
return None
base_name = cls_def.bases[
-1] # allow usage of mixins e.g. class MyType(mixin, Generic)
assert isinstance(base_name, ast.Name)
return base_name.id
def get_base_from_project_service(
types_dict: TypesDict,
tmp_dir: str,
scene_object_types: set[str],
obj_type: ObjectType,
zf: zipfile.ZipFile,
ot_path: str,
ast: ast.AST,
) -> None:
for idx, base in enumerate(base_from_source(ast, obj_type.id)):
if base in types_dict.keys() | built_in_types_names(
) | scene_object_types:
continue
logger.debug(f"Getting {base} as base of {obj_type.id}.")
base_obj_type = ps.get_object_type(base)
# first try if the code is valid
try:
base_ast = parse(base_obj_type.source)
except Arcor2Exception:
raise FlaskException(
f"Invalid code of the {base_obj_type.id} (base of {obj_type.id}).",
error_code=401)
# try to get base of the base
get_base_from_project_service(types_dict, tmp_dir, scene_object_types,
base_obj_type, zf, ot_path, base_ast)
if idx == 0: # this is the base ObjectType
types_dict[base_obj_type.id] = save_and_import_type_def(
base_obj_type.source, base_obj_type.id, Generic, tmp_dir,
OBJECT_TYPE_MODULE)
else: # these are potential mixins (just try to import them, no need to store them)
save_and_import_type_def(base_obj_type.source, base_obj_type.id,
object, tmp_dir, OBJECT_TYPE_MODULE)
scene_object_types.add(base_obj_type.id)
zf.writestr(
os.path.join(ot_path, humps.depascalize(base_obj_type.id)) + ".py",
base_obj_type.source)
def get_base_from_imported_package(obj_type: ObjectType,
types_dict: dict[str, ObjectType],
zip_file: zipfile.ZipFile, tmp_dir: str,
ast: ast.AST) -> None:
for idx, base in enumerate(base_from_source(ast, obj_type.id)):
if base in types_dict.keys() | built_in_types_names():
continue
logger.debug(f"Getting {base} as base of {obj_type.id}.")
try:
base_obj_type_src = read_str_from_zip(
zip_file, f"object_types/{humps.depascalize(base)}.py")
except KeyError:
raise FlaskException(
f"Could not find {base} object type (base of {obj_type.id}).",
error_code=401)
# first try if the code is valid
try:
base_ast = parse(base_obj_type_src)
except Arcor2Exception:
raise FlaskException(
f"Invalid code of the {base} (base of {obj_type.id}).",
error_code=401)
types_dict[base] = ObjectType(base, base_obj_type_src)
# try to get base of the base
get_base_from_imported_package(types_dict[base], types_dict, zip_file,
tmp_dir, base_ast)
# then, try to import it (no need to store the result)
if idx == 0: # this is the base ObjectType
save_and_import_type_def(base_obj_type_src, base, Generic, tmp_dir,
OBJECT_TYPE_MODULE)
else: # these are potential mixins
save_and_import_type_def(base_obj_type_src, base, object, tmp_dir,
OBJECT_TYPE_MODULE)
def project_import() -> RespT:
"""Imports a project from execution package.
---
put:
tags:
- Build
summary: Imports a project from execution package.
operationId: ProjectImport
parameters:
- in: query
name: overwriteScene
schema:
type: boolean
default: false
description: overwrite Scene
- in: query
name: overwriteProject
schema:
type: boolean
default: false
description: overwrite Project
- in: query
name: overwriteObjectTypes
schema:
type: boolean
default: false
description: overwrite ObjectTypes
- in: query
name: overwriteProjectSources
schema:
type: boolean
default: false
description: overwrite ProjectSources
- in: query
name: overwriteCollisionModels
schema:
type: boolean
default: false
description: overwrite collision models
requestBody:
content:
multipart/form-data:
schema:
type: object
required:
- executionPackage
properties:
executionPackage:
type: string
format: binary
responses:
200:
description: Ok
content:
application/json:
schema:
$ref: ImportResult
400:
description: Some other error occurred.
content:
application/json:
schema:
type: string
401:
description: Invalid execution package.
content:
application/json:
schema:
type: string
402:
description: A difference between package/project service detected (overwrite needed).
content:
application/json:
schema:
type: string
404:
description: Something is missing.
content:
application/json:
schema:
type: string
"""
file = request.files["executionPackage"]
overwrite_scene = request.args.get("overwriteScene",
default="false") == "true"
overwrite_project = request.args.get("overwriteProject",
default="false") == "true"
overwrite_object_types = request.args.get("overwriteObjectTypes",
default="false") == "true"
overwrite_project_sources = request.args.get("overwriteProjectSources",
default="false") == "true"
overwrite_collision_models = request.args.get("overwriteCollisionModels",
default="false") == "true"
objects: dict[str, ObjectType] = {}
models: dict[str, Models] = {}
"""
1) get and validate all data from zip
2) check what is already on the Project service
3) do updates
"""
# BytesIO + stream.read() = workaround for a Python bug (SpooledTemporaryFile not seekable)
with zipfile.ZipFile(BytesIO(file.stream.read())) as zip_file:
try:
project = read_dc_from_zip(zip_file, "data/project.json", Project)
except KeyError:
raise FlaskException("Could not find project.json.",
error_code=404)
except (json.JsonException, ValidationError) as e:
raise FlaskException(f"Failed to process project.json. {str(e)}",
error_code=401)
try:
scene = read_dc_from_zip(zip_file, "data/scene.json", Scene)
except KeyError:
raise FlaskException("Could not find scene.json.", error_code=404)
except (json.JsonException, ValidationError) as e:
return json.dumps(f"Failed to process scene.json. {str(e)}"), 401
if project.scene_id != scene.id:
raise FlaskException("Project assigned to different scene id.",
error_code=401)
with tempfile.TemporaryDirectory() as tmp_dir:
# restore original environment
sys.path = list(original_sys_path)
sys.modules = dict(original_sys_modules)
prepare_object_types_dir(tmp_dir, OBJECT_TYPE_MODULE)
for scene_obj in scene.objects:
obj_type_name = scene_obj.type
if obj_type_name in objects: # there might be more instances of the same type
continue
logger.debug(f"Importing {obj_type_name}.")
try:
obj_type_src = read_str_from_zip(
zip_file,
f"object_types/{humps.depascalize(obj_type_name)}.py")
except KeyError:
raise FlaskException(
f"Object type {obj_type_name} is missing in the package.",
error_code=404)
try:
ast = parse(obj_type_src)
except Arcor2Exception:
raise FlaskException(
f"Invalid code of the {obj_type_name} object type.",
error_code=401)
# TODO fill in OT description (is it used somewhere?)
objects[obj_type_name] = ObjectType(obj_type_name,
obj_type_src)
get_base_from_imported_package(objects[obj_type_name], objects,
zip_file, tmp_dir, ast)
type_def = save_and_import_type_def(obj_type_src,
obj_type_name, Generic,
tmp_dir,
OBJECT_TYPE_MODULE)
assert obj_type_name == type_def.__name__
if type_def.abstract():
raise FlaskException(
f"Scene contains abstract object type: {obj_type_name}.",
error_code=401)
for obj_type in objects.values(): # handle models
# TODO rather iterate on content of data/models?
try:
model = read_dc_from_zip(
zip_file,
f"data/models/{humps.depascalize(obj_type.id)}.json",
ObjectModel).model()
except KeyError:
continue
logger.debug(f"Found model {model.id} of type {model.type}.")
obj_type.model = model.metamodel()
if obj_type.id != obj_type.model.id:
raise FlaskException(
f"Model id ({obj_type.model.id}) has to be the same as ObjectType id ({obj_type.id}).",
error_code=401,
)
models[obj_type.id] = model
if not project.has_logic:
logger.debug("Importing the main script.")
try:
script = zip_file.read("script.py").decode("UTF-8")
except KeyError:
raise FlaskException("Could not find script.py.",
error_code=404)
try:
parse(script)
except Arcor2Exception:
raise FlaskException("Invalid code of the main script.",
error_code=401)
# check that we are not going to overwrite something
if not overwrite_scene:
try:
ps_scene = ps.get_scene(scene.id)
except ps.ProjectServiceException:
pass
else:
# do not take created / modified into account
ps_scene.created = scene.created = None
ps_scene.modified = scene.modified = None
if ps_scene != scene:
raise FlaskException(
"Scene difference detected. Overwrite needed.",
error_code=402)
if not overwrite_project:
try:
ps_project = ps.get_project(project.id)
except ps.ProjectServiceException:
pass
else:
# do not take created / modified into account
ps_project.created = project.created = None
ps_project.modified = project.modified = None
if ps_project != project:
raise FlaskException(
"Project difference detected. Overwrite needed.",
error_code=402)
if not overwrite_object_types:
for obj_type in objects.values():
try:
ot = ps.get_object_type(obj_type.id)
# ignore changes in description (no one cares)
if ot.source != obj_type.source or ot.model != obj_type.model:
raise FlaskException(
f"Difference detected for {obj_type.id} object type. Overwrite needed.",
error_code=402)
except ps.ProjectServiceException:
pass
if not overwrite_project_sources and not project.has_logic:
try:
if ps.get_project_sources(project.id).script != script:
raise FlaskException(
"Script difference detected. Overwrite needed.",
error_code=402)
except ps.ProjectServiceException:
pass
if not overwrite_collision_models:
for model in models.values():
try:
if model != ps.get_model(model.id, model.type()):
raise FlaskException(
"Collision model difference detected. Overwrite needed.",
error_code=402)
except ps.ProjectServiceException:
pass
for model in models.values():
ps.put_model(model)
for obj_type in objects.values():
ps.update_object_type(obj_type)
ps.update_scene(scene)
ps.update_project(project)
if not project.has_logic:
ps.update_project_sources(ProjectSources(project.id, script))
logger.info(
f"Imported project {project.name} (scene {scene.name}), with {len(objects)} "
f"object type(s) and {len(models)} model(s).")
return ImportResult(scene.id, project.id).to_json(), 200
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 get_object_data(object_types: ObjectTypeDict, obj_id: str) -> None:
logger.debug(f"Processing {obj_id}.")
if obj_id in object_types:
logger.debug(f"{obj_id} already processed, skipping...")
return
obj_iddesc = await storage.get_object_type_iddesc(obj_id)
if obj_id in glob.OBJECT_TYPES:
assert obj_iddesc.modified
assert glob.OBJECT_TYPES[
obj_id].meta.modified, f"Object {obj_id} does not have 'modified' in its meta."
if obj_iddesc.modified == glob.OBJECT_TYPES[obj_id].meta.modified:
logger.debug(f"No need to update {obj_id}.")
return
obj = await storage.get_object_type(obj_id)
try:
bases = otu.base_from_source(obj.source, obj_id)
if not bases:
logger.debug(
f"{obj_id} is definitely not an ObjectType (subclass of {object.__name__}), maybe mixin?"
)
return
if bases[0] not in object_types.keys() | built_in_types_names():
logger.debug(f"Getting base class {bases[0]} for {obj_id}.")
await get_object_data(object_types, bases[0])
for mixin in bases[1:]:
mixin_obj = await storage.get_object_type(mixin)
await hlp.run_in_executor(
hlp.save_and_import_type_def,
mixin_obj.source,
mixin_obj.id,
object,
settings.OBJECT_TYPE_PATH,
settings.OBJECT_TYPE_MODULE,
)
except Arcor2Exception as e:
logger.error(
f"Disabling ObjectType {obj.id}: can't get a base. {str(e)}")
object_types[obj_id] = ObjectTypeData(
ObjectTypeMeta(obj_id,
"ObjectType disabled.",
disabled=True,
problem="Can't get base.",
modified=obj.modified))
return
logger.debug(f"Updating {obj_id}.")
try:
type_def = await hlp.run_in_executor(
hlp.save_and_import_type_def,
obj.source,
obj.id,
Generic,
settings.OBJECT_TYPE_PATH,
settings.OBJECT_TYPE_MODULE,
)
except Arcor2Exception as e:
logger.debug(f"{obj.id} is probably not an ObjectType. {str(e)}")
return
assert issubclass(type_def, Generic)
try:
meta = meta_from_def(type_def)
except Arcor2Exception as e:
logger.error(f"Disabling ObjectType {obj.id}.")
logger.debug(e, exc_info=True)
object_types[obj_id] = ObjectTypeData(
ObjectTypeMeta(obj_id,
"ObjectType disabled.",
disabled=True,
problem=str(e),
modified=obj.modified))
return
meta.modified = obj.modified
if obj.model:
try:
model = await storage.get_model(obj.model.id, obj.model.type)
except Arcor2Exception as e:
logger.error(
f"{obj.model.id}: failed to get collision model of type {obj.model.type}. {str(e)}"
)
meta.disabled = True
meta.problem = "Can't get collision model."
object_types[obj_id] = ObjectTypeData(meta)
return
if isinstance(model,
Mesh) and model.data_id not in await storage.files_ids():
logger.error(
f"Disabling {meta.type} as its mesh file {model.data_id} does not exist."
)
meta.disabled = True
meta.problem = "Mesh file does not exist."
object_types[obj_id] = ObjectTypeData(meta)
return
kwargs = {model.type().value.lower(): model}
meta.object_model = ObjectModel(model.type(), **kwargs) # type: ignore
ast = parse(obj.source)
otd = ObjectTypeData(meta, type_def, object_actions(type_def, ast), ast)
object_types[obj_id] = otd
def project_import() -> RespT:
"""Imports a project from execution package.
---
put:
description: Imports a project from execution package.
parameters:
- in: query
name: overwriteScene
schema:
type: boolean
default: false
- in: query
name: overwriteProject
schema:
type: boolean
default: false
- in: query
name: overwriteObjectTypes
schema:
type: boolean
default: false
- in: query
name: overwriteProjectSources
schema:
type: boolean
default: false
- in: query
name: overwriteCollisionModels
schema:
type: boolean
default: false
requestBody:
content:
multipart/form-data:
schema:
type: object
required:
- executionPackage
properties:
executionPackage:
type: string
format: binary
responses:
200:
description: Ok
content:
application/json:
schema:
$ref: ImportResult
400:
description: Some other error occurred.
content:
application/json:
schema:
type: string
401:
description: Invalid execution package.
content:
application/json:
schema:
type: string
402:
description: A difference between package/project service detected (overwrite needed).
content:
application/json:
schema:
type: string
404:
description: Something is missing.
content:
application/json:
schema:
type: string
"""
file = request.files["executionPackage"]
overwrite_scene = request.args.get("overwriteScene",
default="false") == "true"
overwrite_project = request.args.get("overwriteProject",
default="false") == "true"
overwrite_object_types = request.args.get("overwriteObjectTypes",
default="false") == "true"
overwrite_project_sources = request.args.get("overwriteProjectSources",
default="false") == "true"
overwrite_collision_models = request.args.get("overwriteCollisionModels",
default="false") == "true"
objects: Dict[str, ObjectType] = {}
models: Dict[str, Models] = {}
"""
1) get and validate all data from zip
2) check what is already on the Project service
3) do updates
"""
# BytesIO + stream.read() = workaround for a Python bug (SpooledTemporaryFile not seekable)
with zipfile.ZipFile(BytesIO(file.stream.read())) as zip_file:
try:
project = read_dc_from_zip(zip_file, "data/project.json", Project)
except KeyError:
raise FlaskException("Could not find project.json.",
error_code=404)
except (JSONDecodeError, ValidationError) as e:
raise FlaskException(f"Failed to process project.json. {str(e)}",
error_code=401)
try:
scene = read_dc_from_zip(zip_file, "data/scene.json", Scene)
except KeyError:
raise FlaskException("Could not find scene.json.", error_code=404)
except (JSONDecodeError, ValidationError) as e:
return json.dumps(f"Failed to process scene.json. {str(e)}"), 401
if project.scene_id != scene.id:
raise FlaskException("Project assigned to different scene id.",
error_code=401)
for scene_obj in scene.objects:
obj_type_name = scene_obj.type
if obj_type_name in objects:
continue
try:
obj_type_src = read_str_from_zip(
zip_file,
f"object_types/{humps.depascalize(obj_type_name)}.py")
except KeyError:
raise FlaskException(
f"Object type {obj_type_name} is missing in the package.",
error_code=404)
try:
parse(obj_type_src)
except Arcor2Exception:
raise FlaskException(
f"Invalid code of the {obj_type_name} object type.",
error_code=401)
# TODO description (is it used somewhere?)
objects[obj_type_name] = ObjectType(obj_type_name, obj_type_src)
logger.debug(f"Just imported {obj_type_name}.")
while True:
base = base_from_source(obj_type_src, obj_type_name)
if not base:
return json.dumps(
f"Could not determine base class for {scene_obj.type}."
), 401
if base in objects.keys() | built_in_types_names():
break
logger.debug(f"Importing {base} as a base of {obj_type_name}.")
try:
base_obj_type_src = read_str_from_zip(
zip_file, f"object_types/{humps.depascalize(base)}.py")
except KeyError:
return json.dumps(
f"Could not find {base} object type (base of {obj_type_name})."
), 404
try:
parse(base_obj_type_src)
except Arcor2Exception:
return json.dumps(
f"Invalid code of the {base} object type (base of {obj_type_name})."
), 401
objects[base] = ObjectType(base, base_obj_type_src)
obj_type_name = base
obj_type_src = base_obj_type_src
for obj_type in objects.values(): # handle models
try:
model = read_dc_from_zip(
zip_file,
f"data/models/{humps.depascalize(obj_type.id)}.json",
ObjectModel).model()
except KeyError:
continue
logger.debug(f"Found model {model.id} of type {model.type}.")
obj_type.model = model.metamodel()
if obj_type.id != obj_type.model.id:
raise FlaskException(
f"Model id ({obj_type.model.id}) has to be the same as ObjectType id ({obj_type.id}).",
error_code=401,
)
models[obj_type.id] = model
if not project.has_logic:
logger.debug("Importing the main script.")
try:
script = zip_file.read("script.py").decode("UTF-8")
except KeyError:
raise FlaskException("Could not find script.py.",
error_code=404)
try:
parse(script)
except Arcor2Exception:
raise FlaskException("Invalid code of the main script.",
error_code=401)
# check that we are not going to overwrite something
if not overwrite_scene:
try:
ps_scene = ps.get_scene(scene.id)
except ps.ProjectServiceException:
pass
else:
ps_scene.modified = scene.modified # modified is updated with each PUT
if ps_scene != scene:
raise FlaskException(
"Scene difference detected. Overwrite needed.",
error_code=402)
if not overwrite_project:
try:
ps_project = ps.get_project(project.id)
except ps.ProjectServiceException:
pass
else:
ps_project.modified = project.modified
if ps_project != project:
raise FlaskException(
"Project difference detected. Overwrite needed.",
error_code=402)
if not overwrite_object_types:
for obj_type in objects.values():
try:
if ps.get_object_type(obj_type.id) != obj_type:
raise FlaskException(
f"Difference detected for {obj_type.id} object type. Overwrite needed.",
error_code=402)
except ps.ProjectServiceException:
pass
if not overwrite_project_sources and not project.has_logic:
try:
if ps.get_project_sources(project.id).script != script:
raise FlaskException(
"Script difference detected. Overwrite needed.",
error_code=402)
except ps.ProjectServiceException:
pass
if not overwrite_collision_models:
for model in models.values():
try:
if model != ps.get_model(model.id, model.type()):
raise FlaskException(
"Collision model difference detected. Overwrite needed.",
error_code=402)
except ps.ProjectServiceException:
pass
for model in models.values():
ps.put_model(model)
for obj_type in objects.values():
ps.update_object_type(obj_type)
ps.update_scene(scene)
ps.update_project(project)
if not project.has_logic:
ps.update_project_sources(ProjectSources(project.id, script))
logger.info(
f"Imported project {project.name} (scene {scene.name}), with {len(objects)} "
f"object type(s) and {len(models)} model(s).")
return ImportResult(scene.id, project.id).to_json(), 200
async def get_object_data(object_types: ObjectTypeDict, obj_id: str) -> None:
glob.logger.debug(f"Processing {obj_id}.")
if obj_id in object_types:
glob.logger.debug(f"{obj_id} already processed, skipping...")
return
obj = await storage.get_object_type(obj_id)
if obj_id in glob.OBJECT_TYPES and glob.OBJECT_TYPES[obj_id].type_def is not None:
stored_type_def = glob.OBJECT_TYPES[obj_id].type_def
assert stored_type_def
# TODO do not compare sources but 'modified`
# the code we get from type_def has Unix line endings, while the code from Project service might have Windows...
obj.source = convert_line_endings_to_unix(obj.source)
if get_containing_module_sources(stored_type_def) == obj.source:
glob.logger.debug(f"No need to update {obj_id}.")
return
try:
bases = otu.base_from_source(obj.source, obj_id)
if bases and bases[0] not in object_types.keys() | built_in_types_names():
glob.logger.debug(f"Getting base class {bases[0]} for {obj_id}.")
await get_object_data(object_types, bases[0])
for mixin in bases[1:]:
mixin_obj = await storage.get_object_type(mixin)
await hlp.run_in_executor(
hlp.save_and_import_type_def,
mixin_obj.source,
mixin_obj.id,
object,
settings.OBJECT_TYPE_PATH,
settings.OBJECT_TYPE_MODULE,
)
except Arcor2Exception as e:
glob.logger.warn(f"Disabling object type {obj.id}: can't get a base. {str(e)}")
object_types[obj_id] = ObjectTypeData(
ObjectTypeMeta(obj_id, "Object type disabled.", disabled=True, problem="Can't get base.")
)
return
glob.logger.debug(f"Updating {obj_id}.")
try:
type_def = await hlp.run_in_executor(
hlp.save_and_import_type_def,
obj.source,
obj.id,
Generic,
settings.OBJECT_TYPE_PATH,
settings.OBJECT_TYPE_MODULE,
)
except Arcor2Exception as e:
glob.logger.debug(f"{obj.id} is probably not an object type. {str(e)}")
return
assert issubclass(type_def, Generic)
try:
meta = meta_from_def(type_def)
otu.get_settings_def(type_def) # just to check if settings are ok
except Arcor2Exception as e:
glob.logger.warning(f"Disabling object type {obj.id}.")
glob.logger.debug(e, exc_info=True)
object_types[obj_id] = ObjectTypeData(
ObjectTypeMeta(obj_id, "Object type disabled.", disabled=True, problem=str(e))
)
return
if obj.model:
try:
model = await storage.get_model(obj.model.id, obj.model.type)
except Arcor2Exception:
glob.logger.error(f"{obj.model.id}: failed to get collision model of type {obj.model.type}.")
meta.disabled = True
meta.problem = "Can't get collision model."
object_types[obj_id] = ObjectTypeData(meta)
return
kwargs = {model.type().value.lower(): model}
meta.object_model = ObjectModel(model.type(), **kwargs) # type: ignore
ast = parse(obj.source)
otd = ObjectTypeData(meta, type_def, object_actions(type_def, ast), ast)
object_types[obj_id] = otd
async def get_object_data(object_types: ObjectTypeDict, obj_id: str) -> None:
glob.logger.debug(f"Processing {obj_id}.")
if obj_id in object_types:
glob.logger.debug(f"{obj_id} already processed, skipping...")
return
obj = await storage.get_object_type(obj_id)
if obj_id in glob.OBJECT_TYPES and glob.OBJECT_TYPES[
obj_id].type_def is not None:
stored_type_def = glob.OBJECT_TYPES[obj_id].type_def
assert stored_type_def
if hash(get_containing_module_sources(stored_type_def)) == hash(
obj.source):
glob.logger.debug(f"No need to update {obj_id}.")
return
try:
base = otu.base_from_source(obj.source, obj_id)
if base and base not in object_types.keys() | built_in_types_names():
glob.logger.debug(f"Getting base class {base} for {obj_id}.")
await get_object_data(object_types, base)
except Arcor2Exception:
object_types[obj_id] = ObjectTypeData(
ObjectTypeMeta(obj_id,
"Object type disabled.",
disabled=True,
problem="Can't get base."))
return
glob.logger.debug(f"Updating {obj_id}.")
try:
type_def = await hlp.run_in_executor(
hlp.save_and_import_type_def,
obj.source,
obj.id,
Generic,
settings.OBJECT_TYPE_PATH,
settings.OBJECT_TYPE_MODULE,
)
assert issubclass(type_def, Generic)
meta = meta_from_def(type_def)
otu.get_settings_def(type_def) # just to check if settings are ok
except Arcor2Exception as e:
glob.logger.warning(f"Disabling object type {obj.id}.")
glob.logger.debug(e, exc_info=True)
object_types[obj_id] = ObjectTypeData(
ObjectTypeMeta(obj_id,
"Object type disabled.",
disabled=True,
problem=str(e)))
return
if obj.model:
try:
model = await storage.get_model(obj.model.id, obj.model.type)
except Arcor2Exception:
glob.logger.error(
f"{obj.model.id}: failed to get collision model of type {obj.model.type}."
)
meta.disabled = True
meta.problem = "Can't get collision model."
object_types[obj_id] = ObjectTypeData(meta)
return
kwargs = {model.type().value.lower(): model}
meta.object_model = ObjectModel(model.type(), **kwargs) # type: ignore
ast = parse(obj.source)
otd = ObjectTypeData(meta, type_def, object_actions(type_def, ast), ast)
object_types[obj_id] = otd
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])
