def make_relative_ap_global(scene: CScene, project: CProject,
ap: BareActionPoint) -> None:
"""Transforms (in place) relative AP into a global one.
:param scene:
:param project:
:param ap:
:return:
"""
if not ap.parent:
return
parent = get_parent_pose(scene, project, ap.parent)
ap.position = make_pose_abs(parent.pose, Pose(ap.position,
Orientation())).position
for ori in project.ap_orientations(ap.id):
ori.orientation = make_pose_abs(parent.pose,
Pose(Position(),
ori.orientation)).orientation
ap.parent = parent.parent_id
make_relative_ap_global(scene, project, ap)
def global_action_points_class(project: CachedProject) -> str:
tree = Module(body=[])
tree.body.append(
ImportFrom(
module=arcor2.data.common.__name__,
names=[
alias(name=ActionPoint.__name__, asname=None),
alias(name=Position.__name__, asname=None),
alias(name=Pose.__name__, asname=None),
alias(name=ProjectRobotJoints.__name__, asname=None),
],
level=0,
))
tree.body.append(
ImportFrom(
module=copy.__name__,
names=[alias(name=copy.deepcopy.__name__, asname=None)],
level=0,
))
tree.body.append(
ImportFrom(
module=RES_MODULE,
names=[alias(name=RES_CLS, asname=None)],
level=0,
))
aps_init_body: List[Union[Assign, Pass]] = []
for ap in project.action_points:
ap_cls_body: List[Assign] = [
Assign(
targets=[
Attribute(value=Name(id="self", ctx=Load()),
attr="_position",
ctx=Store())
],
value=Attribute(
value=Call(
func=Attribute(
value=Attribute(value=Name(id="res", ctx=Load()),
attr="project",
ctx=Load()),
attr=CachedProject.bare_action_point.__name__,
ctx=Load(),
),
args=[Str(s=ap.id, kind="")],
keywords=[],
),
attr="position",
ctx=Load(),
),
type_comment=None,
)
]
ap_type_name = humps.pascalize(ap.name)
ap_joints_init_body: List[Assign] = []
for joints in project.ap_joints(ap.id):
ap_joints_init_body.append(
Assign(
targets=[
Attribute(value=Name(id="self", ctx=Load()),
attr=f"_{joints.name}",
ctx=Store())
],
value=Call(
func=Attribute(
value=Attribute(value=Name(id="res", ctx=Load()),
attr="project",
ctx=Load()),
attr="joints",
ctx=Load(),
),
args=[Str(s=joints.id, kind="")],
keywords=[],
),
type_comment=None,
))
if ap_joints_init_body:
ap_joints_cls_def = ClassDef(
name=f"{ap_type_name}Joints",
bases=[],
keywords=[],
body=[
FunctionDef(
name="__init__",
args=arguments(
args=[
arg(arg="self",
annotation=None,
type_comment=None),
arg(arg="res",
annotation=Name(id=RES_CLS, ctx=Load()),
type_comment=None),
],
vararg=None,
kwonlyargs=[],
kw_defaults=[],
kwarg=None,
defaults=[],
),
body=ap_joints_init_body,
decorator_list=[],
returns=None,
type_comment=None,
)
],
decorator_list=[],
)
for joints in project.ap_joints(ap.id):
ap_joints_cls_def.body.append(
FunctionDef(
name=joints.name,
args=arguments(
args=[
arg(arg="self",
annotation=None,
type_comment=None)
],
vararg=None,
kwonlyargs=[],
kw_defaults=[],
kwarg=None,
defaults=[],
),
body=[
Return(value=Call(
func=Name(id=copy.deepcopy.__name__,
ctx=Load()),
args=[
Attribute(value=Name(id="self",
ctx=Load()),
attr=f"_{joints.name}",
ctx=Load())
],
keywords=[],
))
],
decorator_list=[Name(id="property", ctx=Load())],
returns=Name(id=ProjectRobotJoints.__name__,
ctx=Load()),
type_comment=None,
))
tree.body.append(ap_joints_cls_def)
ap_cls_body.append(
Assign(
targets=[
Attribute(value=Name(id="self", ctx=Load()),
attr="joints",
ctx=Store())
],
value=Call(
func=Name(id=f"{ap_type_name}Joints", ctx=Load()),
args=[Name(id="res", ctx=Load())],
keywords=[],
),
type_comment=None,
))
ap_orientations_init_body: List[Assign] = []
for ori in project.ap_orientations(ap.id):
ap_orientations_init_body.append(
Assign(
targets=[
Attribute(value=Name(id="self", ctx=Load()),
attr=f"_{ori.name}",
ctx=Store())
],
value=Call(
func=Attribute(
value=Attribute(value=Name(id="res", ctx=Load()),
attr="project",
ctx=Load()),
attr="pose",
ctx=Load(),
),
args=[Str(s=ori.id, kind="")],
keywords=[],
),
type_comment=None,
))
if ap_orientations_init_body:
ap_orientations_cls_def = ClassDef(
name=f"{ap_type_name}Poses",
bases=[],
keywords=[],
body=[
FunctionDef(
name="__init__",
args=arguments(
args=[
arg(arg="self",
annotation=None,
type_comment=None),
arg(arg="res",
annotation=Name(id=RES_CLS, ctx=Load()),
type_comment=None),
],
vararg=None,
kwonlyargs=[],
kw_defaults=[],
kwarg=None,
defaults=[],
),
body=ap_orientations_init_body,
decorator_list=[],
returns=None,
type_comment=None,
)
],
decorator_list=[],
)
for ori in project.ap_orientations(ap.id):
ap_orientations_cls_def.body.append(
FunctionDef(
name=ori.name,
args=arguments(
args=[
arg(arg="self",
annotation=None,
type_comment=None)
],
vararg=None,
kwonlyargs=[],
kw_defaults=[],
kwarg=None,
defaults=[],
),
body=[
Return(value=Call(
func=Name(id=copy.deepcopy.__name__,
ctx=Load()),
args=[
Attribute(value=Name(id="self",
ctx=Load()),
attr=f"_{ori.name}",
ctx=Load())
],
keywords=[],
))
],
decorator_list=[Name(id="property", ctx=Load())],
returns=Name(id=Pose.__name__, ctx=Load()),
type_comment=None,
))
tree.body.append(ap_orientations_cls_def)
ap_cls_body.append(
Assign(
targets=[
Attribute(value=Name(id="self", ctx=Load()),
attr="poses",
ctx=Store())
],
value=Call(
func=Name(id=f"{ap_type_name}Poses", ctx=Load()),
args=[Name(id="res", ctx=Load())],
keywords=[],
),
type_comment=None,
))
ap_cls_def = ClassDef(
name=ap_type_name,
bases=[],
keywords=[],
body=[
FunctionDef(
name="__init__",
args=arguments(
args=[
arg(arg="self", annotation=None,
type_comment=None),
arg(arg="res",
annotation=Name(id=RES_CLS, ctx=Load()),
type_comment=None),
],
vararg=None,
kwonlyargs=[],
kw_defaults=[],
kwarg=None,
defaults=[],
),
body=ap_cls_body,
decorator_list=[],
returns=None,
type_comment=None,
)
],
decorator_list=[],
)
# add copy property for position
ap_cls_def.body.append(
FunctionDef(
name="position",
args=arguments(
args=[arg(arg="self", annotation=None, type_comment=None)],
vararg=None,
kwonlyargs=[],
kw_defaults=[],
kwarg=None,
defaults=[],
),
body=[
Return(value=Call(
func=Name(id=copy.deepcopy.__name__, ctx=Load()),
args=[
Attribute(value=Name(id="self", ctx=Load()),
attr="_position",
ctx=Load())
],
keywords=[],
))
],
decorator_list=[Name(id="property", ctx=Load())],
returns=Name(id=Position.__name__, ctx=Load()),
type_comment=None,
))
tree.body.append(ap_cls_def)
aps_init_body.append(
Assign(
targets=[
Attribute(value=Name(id="self", ctx=Load()),
attr=ap.name,
ctx=Store())
],
value=Call(func=Name(id=ap_type_name, ctx=Load()),
args=[Name(id="res", ctx=Load())],
keywords=[]),
type_comment=None,
))
if not aps_init_body: # there are no action points
aps_init_body.append(Pass())
aps_cls_def = ClassDef(
name="ActionPoints",
bases=[],
keywords=[],
body=[
FunctionDef(
name="__init__",
args=arguments(
args=[
arg(arg="self", annotation=None, type_comment=None),
arg(arg="res",
annotation=Name(id=RES_CLS, ctx=Load()),
type_comment=None),
],
vararg=None,
kwonlyargs=[],
kw_defaults=[],
kwarg=None,
defaults=[],
),
body=aps_init_body,
decorator_list=[],
returns=None,
type_comment=None,
)
],
decorator_list=[],
)
tree.body.append(aps_cls_def)
return tree_to_str(tree)
