Stability process predicate evaluation module

This commit is contained in:
IDONTSUDO 2023-09-12 19:09:33 +00:00 committed by Igor Brylyov
parent 78e31ea49c
commit 03bc34539c
19 changed files with 1365 additions and 123 deletions

4
.gitignore vendored
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@ -112,6 +112,4 @@ install_plugin_cad.sh
*#
.#*
\#*\#
Cube3
sdf-generation
p.json
out/

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@ -6,7 +6,7 @@ import { HttpRepository, HttpMethod, HttpRoute } from '../../core/repository/htt
export const pathAjaxTopologyScreen = '/topology/adjax/usecase/'
export interface IAdjaxMatrix {
allPars: string[];
allParts: string[];
firstDetail: string;
matrix: StringMap;
matrixError: StringMap | null;

877
asp/helper/xmlformatter.py Normal file
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@ -0,0 +1,877 @@
"""
Format and compress XML documents
"""
import getopt
import re
import sys
import xml.parsers.expat
__version__ = "0.2.4"
DEFAULT_BLANKS = False
DEFAULT_COMPRESS = False
DEFAULT_SELFCLOSE = False
DEFAULT_CORRECT = True
DEFAULT_INDENT = 2
DEFAULT_INDENT_CHAR = " "
DEFAULT_INLINE = True
DEFAULT_ENCODING_INPUT = None
DEFAULT_ENCODING_OUTPUT = None
DEFAULT_EOF_NEWLINE = False
class Formatter:
# Use internal encoding:
encoding_internal = None
def __init__(
self,
indent=DEFAULT_INDENT,
preserve=[],
blanks=DEFAULT_BLANKS,
compress=DEFAULT_COMPRESS,
selfclose=DEFAULT_SELFCLOSE,
indent_char=DEFAULT_INDENT_CHAR,
encoding_input=DEFAULT_ENCODING_INPUT,
encoding_output=DEFAULT_ENCODING_OUTPUT,
inline=DEFAULT_INLINE,
correct=DEFAULT_CORRECT,
eof_newline=DEFAULT_EOF_NEWLINE,
):
# Minify the XML document:
self.compress = compress
# Use self-closing tags
self.selfclose = selfclose
# Correct text nodes
self.correct = correct
# Decode the XML document:
self.encoding_input = self.enc_normalize(encoding_input)
# Encode ouput by:
self.encoding_output = self.enc_normalize(encoding_output)
# Insert indent = indent*level*indent_char:
self.indent = int(indent)
# Indent by char:
self.indent_char = indent_char
# Format inline objects:
self.inline = inline
# Don't compress this elements and their descendants:
self.preserve = preserve
# Preserve blanks lines (collapse multiple into one)
self.blanks = blanks
# Always add a newline character at EOF
self.eof_newline = eof_newline
@property
def encoding_effective(self, enc=None):
if self.encoding_output:
return self.encoding_output
elif self.encoding_internal:
return self.encoding_internal
elif self.encoding_input:
return self.encoding_input
else:
return "UTF-8"
def enc_normalize(self, string):
""" Format an Encoding identifier to upper case. """
if isinstance(string, str):
return string.upper()
return None
def enc_encode(self, strg):
""" Encode a formatted XML document in target"""
if sys.version_info > (3, 0):
return strg.encode(self.encoding_effective) # v3
return strg.decode("utf-8").encode(self.encoding_effective) # v2
def enc_output(self, path, strg):
""" Output according to encoding """
fh = sys.stdout
if strg is not None:
if path is not None:
open(path, "w+b").write(strg)
elif sys.version_info > (3, 0):
fh.buffer.write(strg)
else:
fh.write(strg)
def format_string(self, xmldoc=""):
""" Format a XML document given by xmldoc """
token_list = Formatter.TokenList(self)
token_list.parser.Parse(xmldoc)
return self.enc_encode(str(token_list))
def format_file(self, file):
""" Format a XML document given by path name """
fh = open(file, "rb")
token_list = Formatter.TokenList(self)
token_list.parser.ParseFile(fh)
fh.close()
return self.enc_encode(str(token_list))
class TokenList:
# Being in a cdata section:
cdata_section = False
# Lock deletion of leading whitespace:
desc_mixed_level = None
# Lock indenting:
indent_level = None
# Reference the Formatter:
formatter = None
# Count levels:
level_counter = 0
# Lock deletion of whitespaces:
preserve_level = None
def __init__(self, formatter):
# Keep tokens in a list:
self._list = []
self.formatter = formatter
self.parser = xml.parsers.expat.ParserCreate(
encoding=self.formatter.encoding_input
)
self.parser.specified_attributes = 1
self.parser.buffer_text = True
# Push tokens to buffer:
for pattern in [
"XmlDecl%s",
"ElementDecl%s",
"AttlistDecl%s",
"EntityDecl%s",
"StartElement%s",
"EndElement%s",
"ProcessingInstruction%s",
"CharacterData%s",
"Comment%s",
"Default%s",
"StartDoctypeDecl%s",
"EndDoctypeDecl%s",
"StartCdataSection%s",
"EndCdataSection%s",
"NotationDecl%s",
]:
setattr(
self.parser, pattern % "Handler", self.xml_handler(pattern % "")
)
def __iter__(self):
return iter(self._list)
def __len__(self):
return len(self._list)
def __getitem__(self, pos):
if 0 <= pos < len(self._list):
return self._list[pos]
else:
raise IndexError
def __setitem__(self, pos, value):
if 0 <= pos < len(self._list):
self._list[pos] = value
else:
raise IndexError
def __str__(self):
""" Returns the formatted XML document in UTF-8. """
for step in ["configure", "pre_operate", "post_operate"]:
for tk in iter(self):
getattr(tk, step)()
result = ""
for tk in iter(self):
result += str(tk)
if self.formatter.eof_newline and not result.endswith("\n"):
result += "\n"
return result
def append(self, tk):
""" Add token to tokenlist. """
tk.pos = len(self._list)
self._list.append(tk)
def level_increment(self):
""" Increment level counter. """
self.level_counter += 1
def level_decrement(self):
""" Decrement level counter. """
self.level_counter -= 1
def token_descendant_mixed(self, tk):
""" Mark descendants of mixed content. """
if tk.name == "StartElement":
# Mark every descendant:
if tk.content_model in [2, 3] and self.desc_mixed_level is None:
self.desc_mixed_level = tk.level
return False
return self.desc_mixed_level is not None
elif tk.name == "EndElement":
# Stop marking every descendant:
if tk.level is self.desc_mixed_level:
self.desc_mixed_level = None
elif self.desc_mixed_level is not None:
return True
return False
elif self.desc_mixed_level is None:
return False
return self.desc_mixed_level >= tk.level - 1
def sequence(self, tk, scheme=None):
"""Returns sublist of token list.
None: next to last
EndElement: first to previous"""
if scheme == "EndElement" or (scheme is None and tk.end):
return reversed(self._list[: tk.pos])
return self._list[(tk.pos + 1) :]
def token_indent(self, tk):
if self.formatter.inline:
return self.token_indent_inline(tk)
""" Indent outside of text of mixed content. """
if tk.name == "StartElement":
# Block indenting for descendants of text and mixed content:
if tk.content_model in [2, 3] and self.indent_level is None:
self.indent_level = tk.level
elif self.indent_level is not None:
return False
return True
elif tk.name == "EndElement":
# Unblock indenting for descendants of text and mixed content:
if tk.level == self.indent_level:
self.indent_level = None
elif self.indent_level is None:
return True
return False
return self.indent_level is None
def token_indent_inline(self, tk):
""" Indent every element content - no matter enclosed by text or mixed content. """
for itk in iter(self.sequence(tk, "EndElement")):
if itk.level < tk.level and itk.name == "StartElement":
if itk.content_model == 1:
return True
return False
if (
itk.level == tk.level
and tk.name == "EndElement"
and itk.name == "StartElement"
):
if itk.content_model == 1:
return True
return False
return True
def token_model(self, tk):
"""Returns code for content model.
0: empty
1: element
2: text
3: mixed"""
eflag = tflag = 0
for itk in iter(self.sequence(tk)):
# Element boundary found:
if itk.level <= tk.level:
break
# Direct child found:
elif (itk.level - 1) == tk.level:
if itk.start:
eflag = 1
elif itk.not_empty:
tflag = 2
return eflag + tflag
def token_preserve(self, tk):
"""Preseve eyery descendant of an preserved element.
0: not locked
1: just (un)locked
2: locked"""
# Lock perserving for StartElements:
if tk.name == "StartElement":
if self.preserve_level is not None:
return 2
if tk.arg[0] in self.formatter.preserve:
self.preserve_level = tk.level
return 1
return 0
# Unlock preserving for EndElements:
elif tk.name == "EndElement":
if (
tk.arg[0] in self.formatter.preserve
and tk.level == self.preserve_level
):
self.preserve_level = None
return 1
elif self.preserve_level is None:
return 0
return 2
return self.preserve_level is not None
def whitespace_append_trailing(self, tk):
""" Add a trailing whitespace to previous character data. """
if self.formatter.correct and tk.leading and tk.not_empty:
self.whitespace_append(tk, "EndElement", "StartElement", True)
def whitespace_append_leading(self, tk):
""" Add a leading whitespace to previous character data. """
if self.formatter.correct and tk.trailing and tk.not_empty:
self.whitespace_append(tk)
def whitespace_append(
self, tk, start="StartElement", stop="EndElement", direct=False
):
""" Add a whitspace to token list. """
for itk in self.sequence(tk, start):
if (
itk.empty
or (itk.name == stop and itk.descendant_mixed is False)
or (itk.name == start and abs(tk - itk) == 1)
):
break
elif itk.not_empty or (itk.name == start and itk.descendant_mixed):
self.insert_empty(itk, direct)
break
def whitespace_delete_leading(self, tk):
""" Returns True, if no next token or all empty (up to next end element)"""
if (
self.formatter.correct
and tk.leading
and not tk.preserve
and not tk.cdata_section
):
for itk in self.sequence(tk, "EndElement"):
if itk.trailing:
return True
elif itk.name in ["EndElement", "CharacterData", "EndCdataSection"]:
return False
return True
return False
def whitespace_delete_trailing(self, tk):
"""Returns True, if no next token or all empty (up to next end element)"""
if (
self.formatter.correct
and tk.trailing
and not tk.preserve
and not tk.cdata_section
):
for itk in self.sequence(tk, "StartElement"):
if itk.end:
return True
elif (
itk.name in ["StartElement", "StartCdataSection"]
or itk.not_empty
):
return False
return True
return False
def insert_empty(self, tk, before=True):
""" Insert an Empty Token into token list - before or after tk. """
if not (0 < tk.pos < (len(self) - 1)):
return False
ptk = self[tk.pos - 1]
ntk = self.formatter.CharacterData(self, [" "])
ntk.level = max(ptk.level, tk.level)
ntk.descendant_mixed = tk.descendant_mixed
ntk.preserve = ptk.preserve * tk.preserve
ntk.cdata_section = ptk.cdata_section or tk.cdata_section
if before:
self._list.insert(tk.pos + 1, ntk)
else:
self._list.insert(tk.pos, ntk)
for i in range((tk.pos - 1), len(self._list)):
self._list[i].pos = i
def xml_handler(self, key):
""" Returns lambda function which adds token to token list"""
return lambda *arg: self.append(getattr(self.formatter, key)(self, arg))
class Token(object):
def __init__(self, tklist, arg):
# Reference Token List:
self.list = tklist
# Token datas:
self.arg = list(arg)
# Token is placed in an CDATA section:
self.cdata_section = False
# Token has content model:
self.content_model = None
# Remove trailing wihtespaces:
self.delete_trailing = False
# Remove leading whitespaces:
self.delete_leading = False
# Token is descendant of text or mixed content element:
self.descendant_mixed = False
# Reference to formatter:
self.formatter = tklist.formatter
# Insert indenting white spaces:
self.indent = False
# N-th generation of roots descendants:
self.level = self.list.level_counter
# Token class:
self.name = self.__class__.__name__
# Preserve white spaces within enclosed tokens:
self.preserve = False
# Position in token list:
self.pos = None
def __sub__(self, other):
return self.pos - other.pos
def __unicode__(self):
return ""
# Workaround, see http://lucumr.pocoo.org/2011/1/22/forwards-compatible-python/:
if sys.version_info > (3, 0):
__str__ = lambda x: x.__unicode__()
else:
__str__ = lambda x: unicode(x).encode("utf-8")
@property
def end(self):
return self.name == "EndElement"
@property
def empty(self):
return self.name == "CharacterData" and re.match(
r"^[\t\s\n]*$", self.arg[0]
)
@property
def leading(self):
return self.name == "CharacterData" and re.search(
r"^[\t\s\n]+", self.arg[0]
)
@property
def not_empty(self):
return (
self.name == "CharacterData"
and not self.cdata_section
and not re.match(r"^[\t\s\n]+$", self.arg[0])
)
@property
def trailing(self):
return self.name == "CharacterData" and re.search(
r"[\t\s\n]+$", self.arg[0]
)
@property
def start(self):
return self.name == "StartElement"
@property
def correct(self):
return self.formatter.correct
def attribute(self, key, value):
if key and value:
return ' %s="%s"' % (key, value)
elif key:
return ' %s=""' % (key)
return ""
def indent_insert(self):
""" Indent token. """
# Child of root and no empty node
if (
self.level > 0 and not (self.end and self.list[self.pos - 1].start)
) or ( # not empty node:
self.end and not self.list[self.pos - 1].start
):
return self.indent_create(self.level)
return ""
def indent_create(self, times=1):
""" Returns indent string. """
if not self.formatter.compress and self.formatter.indent:
return "\n%s" % (
(times * self.formatter.indent) * self.formatter.indent_char
)
return ""
def identifier(self, systemid, publicid):
# TODO add base parameter:
if publicid and systemid:
return ' PUBLIC "%s" "%s"' % (publicid, systemid)
elif publicid:
return ' PUBLIC "%s"' % publicid
elif systemid:
return ' SYSTEM "%s"' % systemid
return ""
def configure(self):
""" Set token properties. """
self.descendant_mixed = self.list.token_descendant_mixed(self)
self.preserve = self.list.token_preserve(self)
self.cdata_section = self.list.cdata_section
def pre_operate(self):
pass
def post_operate(self):
pass
class AttlistDecl(Token):
def __unicode__(self):
str = self.indent_create()
str += "<!ATTLIST %s %s" % (self.arg[0], self.arg[1])
if self.arg[2] is not None:
str += " %s" % self.arg[2]
if self.arg[4] and not self.arg[3]:
str += " #REQUIRED"
elif self.arg[3] and self.arg[4]:
str += " #FIXED"
elif not self.arg[4] and not self.arg[3]:
str += " #IMPLIED"
if self.arg[3]:
str += ' "%s"' % self.arg[3]
str += ">"
return str
class CharacterData(Token):
def __unicode__(self):
str = self.arg[0]
if not self.preserve and not self.cdata_section:
# remove empty tokens always in element content!
if self.empty and not self.descendant_mixed:
if self.formatter.blanks and not self.formatter.compress and re.match(r"\s*\n\s*\n\s*", str):
str = "\n"
else:
str = ""
else:
if self.correct:
str = re.sub(r"\r\n", "\n", str)
str = re.sub(r"\r|\n|\t", " ", str)
str = re.sub(r"\s+", " ", str)
if self.delete_leading:
str = re.sub(r"^\s", "", str)
if self.delete_trailing:
str = re.sub(r"\s$", "", str)
if not self.cdata_section:
str = re.sub(r"&", "&amp;", str)
str = re.sub(r"<", "&lt;", str)
return str
def pre_operate(self):
self.list.whitespace_append_trailing(self)
self.list.whitespace_append_leading(self)
def post_operate(self):
self.delete_leading = self.list.whitespace_delete_leading(self)
self.delete_trailing = self.list.whitespace_delete_trailing(self)
class Comment(Token):
def __unicode__(self):
str = ""
if self.preserve in [0, 1] and self.indent:
str += self.indent_insert()
str += "<!--%s-->" % re.sub(
r"^[\r\n]+$", "\n", re.sub(r"^[\r\n]+", "\n", self.arg[0])
)
return str
def configure(self):
super(Formatter.Comment, self).configure()
self.indent = self.list.token_indent(self)
class Default(Token):
pass
class EndCdataSection(Token):
def __unicode__(self):
return "]]>"
def configure(self):
self.list.cdata_section = False
class ElementDecl(Token):
def __unicode__(self):
str = self.indent_create()
str += "<!ELEMENT %s%s>" % (self.arg[0], self.evaluate_model(self.arg[1]))
return str
def evaluate_model(self, model, modelStr="", concatStr=""):
childSeq = []
mixed = model[0] == xml.parsers.expat.model.XML_CTYPE_MIXED
hasChilds = len(model[3]) or mixed
if model[0] == xml.parsers.expat.model.XML_CTYPE_EMPTY: # 1
modelStr += " EMPTY"
elif model[0] == xml.parsers.expat.model.XML_CTYPE_ANY: # 2
modelStr += " ANY"
elif model[0] == xml.parsers.expat.model.XML_CTYPE_NAME: # 4
modelStr = "%s" % model[2] # new start
elif model[0] in (
xml.parsers.expat.model.XML_CTYPE_CHOICE,
xml.parsers.expat.model.XML_CTYPE_MIXED,
): # 5
concatStr = "|"
elif model[0] == xml.parsers.expat.model.XML_CTYPE_SEQ: # 6
concatStr = ","
if hasChilds:
modelStr += " ("
if mixed:
childSeq.append("#PCDATA")
for child in model[3]:
childSeq.append(self.evaluate_model(child))
modelStr += concatStr.join(childSeq)
if hasChilds:
modelStr += ")"
modelStr += {
xml.parsers.expat.model.XML_CQUANT_NONE: "",
xml.parsers.expat.model.XML_CQUANT_OPT: "?",
xml.parsers.expat.model.XML_CQUANT_PLUS: "+",
xml.parsers.expat.model.XML_CQUANT_REP: "*",
}[model[1]]
return modelStr
class EndDoctypeDecl(Token):
def __unicode__(self):
str = ""
if self.list[self.pos - 1].name != "StartDoctypeDecl":
str += self.indent_create(0)
str += "]"
str += ">"
str += self.indent_create(0)
return str
class EndElement(Token):
def __init__(self, list, arg):
list.level_decrement()
super(Formatter.EndElement, self).__init__(list, arg)
def __unicode__(self):
str = ""
# Don't close empty nodes on compression mode:
if (
not (self.formatter.compress or self.formatter.selfclose)
or self.list[self.pos - 1].name != "StartElement"
):
if self.preserve in [0] and self.indent:
str += self.indent_insert()
str += "</%s>" % self.arg[0]
return str
def configure(self):
self.descendant_mixed = self.list.token_descendant_mixed(self)
self.preserve = self.list.token_preserve(self)
self.indent = self.list.token_indent(self)
class EntityDecl(Token):
def __unicode__(self):
str = self.indent_create()
str += "<!ENTITY "
if self.arg[1]:
str += "% "
str += "%s " % self.arg[0]
if self.arg[2]:
str += '"%s"' % self.arg[2]
else:
str += "%s " % self.identifier(self.arg[4], self.arg[5])
if self.arg[6]:
str += "NDATA %s" % self.arg[6]
str += ">"
return str
class NotationDecl(Token):
def __unicode__(self):
str = self.indent_create()
str += "<!NOTATION %s%s>" % (
self.arg[0],
self.identifier(self.arg[2], self.arg[3]),
)
return str
class ProcessingInstruction(Token):
def __unicode__(self):
str = ""
if self.preserve in [0, 1] and self.indent:
str += self.indent_insert()
str += "<?%s %s?>" % (self.arg[0], self.arg[1])
return str
def configure(self):
super(Formatter.ProcessingInstruction, self).configure()
self.indent = self.list.token_indent(self)
class StartCdataSection(Token):
def __unicode__(self):
return "<![CDATA["
def configure(self):
self.list.cdata_section = True
class StartDoctypeDecl(Token):
def __unicode__(self):
str = "<!DOCTYPE %s" % (self.arg[0])
if self.arg[1]:
str += self.identifier(self.arg[1], self.arg[2])
if self.arg[3]:
str += " ["
return str
class StartElement(Token):
def __init__(self, list, arg):
super(Formatter.StartElement, self).__init__(list, arg)
self.list.level_increment()
def __unicode__(self):
str = ""
if self.preserve in [0, 1] and self.indent:
str += self.indent_insert()
str += "<%s" % self.arg[0]
for attr in sorted(self.arg[1].keys()):
str += self.attribute(attr, self.arg[1][attr])
if self.list[self.pos + 1].end and (self.formatter.compress or self.formatter.selfclose):
str += "/>"
else:
str += ">"
return str
def configure(self):
self.content_model = self.list.token_model(self)
self.descendant_mixed = self.list.token_descendant_mixed(self)
self.preserve = self.list.token_preserve(self)
self.indent = self.list.token_indent(self)
class XmlDecl(Token):
def __init__(self, list, arg):
super(Formatter.XmlDecl, self).__init__(list, arg)
if len(self.arg) > 1:
self.formatter.encoding_internal = self.arg[1]
def __unicode__(self):
str = "<?xml%s%s" % (
self.attribute("version", self.arg[0]),
self.attribute("encoding", self.formatter.encoding_effective),
)
if self.arg[2] > -1:
str += self.attribute("standalone", "yes")
str += "?>\n"
return str
def cli_usage(msg=""):
""" Output usage for command line tool. """
sys.stderr.write(msg + "\n")
sys.stderr.write(
'Usage: xmlformat [--preserve "pre,literal"] [--blanks]\
[--compress] [--selfclose] [--indent num] [--indent-char char]\
[--outfile file] [--encoding enc] [--outencoding enc]\
[--disable-inlineformatting] [--overwrite] [--disable-correction]\
[--eof-newline]\
[--help] <--infile file | file | - >\n'
)
sys.exit(2)
def cli():
""" Launch xmlformatter from command line. """
res = None
indent = DEFAULT_INDENT
indent_char = DEFAULT_INDENT_CHAR
outfile = None
overwrite = False
preserve = []
blanks = False
compress = DEFAULT_COMPRESS
selfclose = DEFAULT_SELFCLOSE
infile = None
encoding = DEFAULT_ENCODING_INPUT
outencoding = DEFAULT_ENCODING_OUTPUT
inline = DEFAULT_INLINE
correct = DEFAULT_CORRECT
eof_newline = DEFAULT_EOF_NEWLINE
try:
opts, args = getopt.getopt(
sys.argv[1:],
"",
[
"compress",
"selfclose",
"disable-correction",
"disable-inlineformatting",
"encoding=",
"help",
"infile=",
"indent=",
"indent-char=",
"outfile=",
"outencoding=",
"overwrite",
"preserve=",
"blanks",
"eof-newline"
],
)
except getopt.GetoptError as err:
cli_usage(str(err))
for key, value in opts:
if key in ["--indent"]:
indent = value
elif key in ["--preserve"]:
preserve = value.replace(",", " ").split()
elif key in ["--blanks"]:
blanks = True
elif key in ["--help"]:
cli_usage()
elif key in ["--compress"]:
compress = True
elif key in ["--selfclose"]:
selfclose = True
elif key in ["--outfile"]:
outfile = value
elif key in ["--infile"]:
infile = value
elif key in ["--encoding"]:
encoding = value
elif key in ["--outencoding"]:
outencoding = value
elif key in ["--indent-char"]:
indent_char = value
elif key in ["--disable-inlineformatting"]:
inline = False
elif key in ["--disable-correction"]:
correct = False
elif key in ["--overwrite"]:
overwrite = True
elif key in ["--eof-newline"]:
eof_newline = True
try:
formatter = Formatter(
indent=indent,
preserve=preserve,
blanks=blanks,
compress=compress,
selfclose=selfclose,
encoding_input=encoding,
encoding_output=outencoding,
indent_char=indent_char,
inline=inline,
correct=correct,
eof_newline=eof_newline,
)
input_file = None
if infile:
input_file = infile
res = formatter.format_file(input_file)
elif len(args) > 0:
if args[0] == "-":
res = formatter.format_string("".join(sys.stdin.readlines()))
else:
input_file = args[0]
res = formatter.format_file(input_file)
except xml.parsers.expat.ExpatError as err:
cli_usage("XML error: %s" % err)
except IOError as err:
cli_usage("IO error: %s" % err)
except:
cli_usage("Unkonwn error")
if overwrite:
formatter.enc_output(input_file, res)
else:
formatter.enc_output(outfile, res)

View file

@ -7,7 +7,6 @@ from src.usecases.sdf_sub_assembly_usecase import SdfSubAssemblyUseCase
import os
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument('--generationFolder', help='FreeCad generation folder')
@ -27,8 +26,8 @@ if __name__ == "__main__":
for el in geometryFiles:
geometryModels.append(GeometryModel.from_dict(
FS.readJSON(args.generationFolder + '/assets/' + el)))
if os.path.exists(outPath + 'sdf-generation/'):
shutil.rmtree(path=outPath + 'sdf-generation/')
# if os.path.exists(outPath + 'sdf-generation/'):
# shutil.rmtree(path=outPath + 'sdf-generation/')
if (args.format == 'sdf'):
SdfSubAssemblyUseCase().call(

View file

@ -15,7 +15,7 @@
</inertial>
<visual>
<geometry>
<mesh filename="{stl}" scale="1 1 1" />
<mesh filename="{stl}" scale="0.001 0.001 0.001" />
</geometry>
<material name="white">
<color rgba="1. 1. 1. 1." />
@ -23,7 +23,7 @@
</visual>
<collision>
<geometry>
<mesh filename="{stl}" scale="1 1 1" />
<mesh filename="{stl}" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<friction>

View file

@ -30,6 +30,9 @@ def to_class(c, x):
return x.to_dict()
DELIMITER_SCALE = 10000
class GeometryModel:
def __init__(self, name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz, stl, link, friction, centerMassX, centerMassY, centerMassZ):
self.name = name

View file

@ -1,10 +1,10 @@
from helper.xmlformatter import Formatter
from src.model.enum import Enum
from helper.fs import FS
import xmlformatter
class FormatterUseCase:
def call(outPath: str, format: str):
formatter = xmlformatter(
formatter = Formatter(
indent="1", indent_char="\t", encoding_output="ISO-8859-1", preserve=["literal"])
files = FS.readFilesTypeFolder(

View file

@ -1,16 +1,11 @@
from typing import Optional
from helper.fs import FS
from src.model.enum import Enum
from src.model.asm import Assembly
from src.model.sdf_geometry import GeometryModel
from helper.fs import filterModels, listGetFirstValue
import json
import re
URDF_FILE_FORMAT = '.urdf'
URDF_GENERATOR_FILE = 'urdf-generation' + '.json'

View file

@ -1,6 +1,6 @@
{
"doc": "/home/idontsudo/t/framework/asp-review-app/server/public/cubes/cubes.FCStd",
"out": "/home/idontsudo/t/framework/cad_generation",
"doc": "/home/idontsudo/framework/asp/out/disk_and_axis_n.FCStd",
"out": "/home/idontsudo/framework/asp/out",
"resultURL": "http://localhost:3002/assembly/save/out",
"projectId": "cubes"
}

View file

@ -36,9 +36,9 @@ class RobossemblerFreeCadExportScenario:
self.geometry(directory)
ExportAssemblyThemAllUseCase().call(directoryExport)
shutil.make_archive(directory, 'zip', directory)
# shutil.make_archive(directory, 'zip', directory)
shutil.rmtree(directory)
# shutil.rmtree(directory)
return True
def geometry(self, outPutsPath: str):

View file

@ -7,6 +7,7 @@ from helper.is_solid import is_object_solid
class SdfGeometryUseCase:
ShapePropertyCheck = ['Mass', 'MatrixOfInertia', 'Placement', ]
PartPropertyCheck = ['Shape']
def call(self, stlPaths: dict) -> list[SdfGeometryModel]:
materialSolid = {}
for el in App.ActiveDocument.Objects:
@ -17,22 +18,24 @@ class SdfGeometryUseCase:
geometry = []
try:
for el in App.ActiveDocument.Objects:
if is_object_solid(el):
mass = el.Shape.Mass
inertia = el.Shape.MatrixOfInertia
pos = el.Shape.Placement
inertia = el.Shape.MatrixOfInertia
name = el.Label
ixx = str(inertia.A11 / 1000000)
ixy = str(inertia.A12 / 1000000)
ixz = str(inertia.A13 / 1000000)
iyy = str(inertia.A22 / 1000000)
iyz = str(inertia.A23 / 1000000)
izz = str(inertia.A33 / 1000000)
massSDF = str(mass / 1000000)
posX = str(pos.Base[0] / 1000000)
posY = str(pos.Base[1] / 1000000)
posZ = str(pos.Base[2] / 1000000)
delimiter = 1000000
ixx = str(inertia.A11 / delimiter)
ixy = str(inertia.A12 / delimiter)
ixz = str(inertia.A13 / delimiter)
iyy = str(inertia.A22 / delimiter)
iyz = str(inertia.A23 / delimiter)
izz = str(inertia.A33 / delimiter)
massSDF = str(mass / delimiter)
posX = str(pos.Base[0] / delimiter)
posY = str(pos.Base[1] / delimiter)
posZ = str(pos.Base[2] / delimiter)
eulerX = str(pos.Rotation.toEuler()[0])
eulerY = str(pos.Rotation.toEuler()[1])
eulerZ = str(pos.Rotation.toEuler()[2])
@ -64,10 +67,4 @@ class SdfGeometryUseCase:
)
except Exception as e:
print(e)
return geometry

View file

@ -93,3 +93,4 @@ ENV/
# Rope project settings
.ropeproject
env.json
out/

View file

@ -1,16 +1,267 @@
# Алгоритм генерации графа с помощью оценки стабильности подсборок в физическом движке PyBullet
from typing import Any, TypeVar, Type, cast
import FreeCAD as App
import json
import re
from pyquaternion import Quaternion
def importObjAtPath(path: str):
import importOBJ
import FreeCAD as App
import Draft
import os
import Part
import numpy as np
from typing import TypeAlias
import FreeCADGui as Gui
ISequencesUnion: TypeAlias = dict[str:dict[str:list[str]]]
def importObjAtPath(path: str, inc: int):
importOBJ.insert(u"" + path, App.ActiveDocument.Label)
mesh = App.ActiveDocument.Objects[inc]
shape = Part.Shape()
shape.makeShapeFromMesh(mesh.Mesh.Topology, 0.05)
solid = Part.makeSolid(shape)
Part.show(solid)
App.ActiveDocument.Objects[inc +
1].Label = App.ActiveDocument.Objects[inc].Name
App.ActiveDocument.removeObject(App.ActiveDocument.Objects[inc].Name)
return App.ActiveDocument.Objects[inc]
T = TypeVar("T")
def from_float(x: Any) -> float:
assert isinstance(x, (float, int)) and not isinstance(x, bool)
return float(x)
def to_float(x: Any) -> float:
assert isinstance(x, float)
return x
def from_str(x: Any) -> str:
assert isinstance(x, str)
return x
def to_class(c: Type[T], x: Any) -> dict:
assert isinstance(x, c)
return cast(Any, x).to_dict()
def euler_to_quaternion(yaw, pitch, roll):
qx = np.sin(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) - \
np.cos(roll/2) * np.sin(pitch/2) * np.sin(yaw/2)
qy = np.cos(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) + \
np.sin(roll/2) * np.cos(pitch/2) * np.sin(yaw/2)
qz = np.cos(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) - \
np.sin(roll/2) * np.sin(pitch/2) * np.cos(yaw/2)
qw = np.cos(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) + \
np.sin(roll/2) * np.sin(pitch/2) * np.sin(yaw/2)
return [qx, qy, qz, qw]
class Coords:
x: float
y: float
z: float
def __init__(self, x: float, y: float, z: float) -> None:
self.x = x
self.y = y
self.z = z
@staticmethod
def from_dict(obj: Any) -> 'Coords':
assert isinstance(obj, dict)
x = from_float(obj.get("x"))
y = from_float(obj.get("y"))
z = from_float(obj.get("z"))
return Coords(x, y, z)
def to_dict(self) -> dict:
result: dict = {}
result["x"] = to_float(self.x)
result["y"] = to_float(self.y)
result["z"] = to_float(self.z)
return result
def vector(self):
return App.Vector(self.x, self.y, self.z)
class MotionResultModel:
id: str
euler: Coords
position: Coords
def __init__(self, id: str, euler: Coords, position: Coords) -> None:
self.id = id
self.euler = euler
self.position = position
@staticmethod
def from_dict(obj: Any) -> 'MotionResultModel':
assert isinstance(obj, dict)
id = from_str(obj.get("id"))
euler = Coords.from_dict(obj.get("euler"))
position = Coords.from_dict(obj.get("position"))
return MotionResultModel(id, euler, position)
def to_dict(self) -> dict:
result: dict = {}
result["id"] = from_str(self.id)
result["euler"] = to_class(Coords, self.euler)
result["position"] = to_class(Coords, self.position)
return result
class SequencesEvaluation:
sequences: ISequencesUnion
assemblyDir: str
result: dict = {}
def __init__(self, sequences, assemblyDir) -> None:
self.sequences = sequences
self.assemblyDir = assemblyDir
pass
def assemblyComputed(self):
debug = True
for sequenceNumber, v in self.sequences.items():
for assemblyNumber, assemblySequenced in v.items():
# print(assemblyNumber)
# print()
# if(assemblyNumber == 1 and sequenceNumber == 4 or assemblyNumber == 1 and sequenceNumber == 0):
if(assemblyNumber == 1 and sequenceNumber == 1 and debug):
debug = False
if(sequenceNumber == 0):
sequenceNumber+=1
print(assemblySequenced)
self.comptedAssembly(
assemblySequenced, sequenceNumber, assemblyNumber)
pass
def comptedAssembly(self, assembly: list[str], sequenceNumber: int, assemblyNumber: int):
assemblyParts = []
for counter in range(len(assembly)):
importObjAtPath(
self.assemblyDir + 'sdf/meshes/' + assembly[counter] + '.obj',
counter
)
assemblyParts.append({
"part": App.ActiveDocument.Objects[counter],
"name": assembly[counter]
})
motionResult = json.loads((open(self.assemblyDir + 'stability' + '/' + str(
sequenceNumber + 1) + '/' + str(assemblyNumber) + '/' + 'motion_result.json')).read())
simulatorMotionResults: list['MotionResultModel'] = []
for _k, v in motionResult.items():
simulatorMotionResults.append(MotionResultModel.from_dict(v))
for el in simulatorMotionResults:
for e in assemblyParts:
# сопоставляем детали
if (el.id == e.get('name')):
# вычисляем центр детали для перемещения
center = e.get('part').Shape.CenterOfMass
# получаем центр деталей из симуляции
new_center = App.Vector(el.position.vector())
# вычисляем вектор смещения
offset = new_center - center
# перемещаем деталь на вектор смещения
e.get('part').Placement.Base += offset
# импортируем меш связанный с зоной обьекта
# zonePart = importObjAtPath(self.assemblyDir + "stability/zones/meshes/zone_sub_assembly" + str(
# assembly.__len__() - 1) + ".obj", len(App.ActiveDocument.Objects))
# получаем координаты зоны относительно детали за которой закреплена зона
print(assemblyNumber)
coords = json.loads(
(open(self.assemblyDir + "stability/zones/sub_assembly_coords_" + str(assemblyNumber - 1) + ".json")).read())
assemblyCounter = len(assemblyParts)
detailWhichZoneBindings = assemblyParts[assemblyCounter - 2].get(
'part')
detailStabilityComputed = assemblyParts[assemblyCounter - 1].get(
'part')
relativeCoordinates = coords.get('relativeCoordinates')
relativeEuler = coords.get('relativeEuler')
specificEuler = {
'yaw': detailWhichZoneBindings.Placement.Rotation.toEuler()[0] - relativeEuler.get('yaw'),
'pitch': detailWhichZoneBindings.Placement.Rotation.toEuler()[1] - relativeEuler.get('pitch'),
'roll': detailWhichZoneBindings.Placement.Rotation.toEuler()[2] - relativeEuler.get('roll')
}
quaternion = euler_to_quaternion(specificEuler.get(
'yaw'), specificEuler.get('pitch'), specificEuler.get('roll'))
rotation = App.Rotation(
quaternion[0], quaternion[1], quaternion[2], quaternion[3])
detailStabilityComputed.Placement.Rotation = rotation
centerVector = detailWhichZoneBindings.Shape.CenterOfMass
vector = App.Vector(relativeCoordinates.get(
'x'), relativeCoordinates.get('y'), relativeCoordinates.get('z'))
# current_center = zonePart.Shape.CenterOfMass
# move_vector = App.Vector(centerVector + vector) - current_center
# zonePart.Placement.move(move_vector)
# computedStabilityResult = computedStability(
# zonePart, detailStabilityComputed)
if sequenceNumber not in self.result.keys():
self.result[sequenceNumber] = []
# self.result[sequenceNumber].append({
# str(assemblyNumber): assembly,
# "result": computedStabilityResult
# })
# for part in App.ActiveDocument.Objects:
# App.ActiveDocument.removeObject(part.Name)
def get_part_center(part):
shape = None
if not hasattr(part, 'Shape'):
shape = part.Mesh
if hasattr(part, 'Shape'):
shape = part.Shape
center = shape.BoundBox.Center
return App.Vector(center[0],
center[1],
center[2])
def move_second_part_to_match_center(first_part, second_part):
first_center = get_part_center(first_part)
second_center = get_part_center(second_part)
offset = first_center - second_center
second_part.Placement.move(offset)
def create(part):
clone = Draft.make_clone([part], forcedraft=True)
clone.Scale = App.Vector(1.30, 1.30, 1.30)
clone_corr = (App.Vector(0.4476673941774023, -2.109332894191716, -0.5918687740295264) -
clone.Placement.Base).scale(*App.Vector(-0.25, -0.25, -0.25))
clone.Placement.move(clone_corr)
App.ActiveDocument.recompute()
return clone
def getFullPathObj(assemblyFolder: str, name: str):
return assemblyFolder + 'sdf/meshes/' + name + '.obj'
@ -36,58 +287,119 @@ def computedStability(refElement, childElement):
return False
def autoStabilityZoneComputed(stepFilesPaths: list[str], directoryStableZonesPath: str):
cadObjects = []
for count in range(len(stepFilesPaths)):
importObjAtPath(stepFilesPaths[count], count)
cadObjects.append(App.ActiveDocument.Objects[count])
assemblesBindings = []
for increment in range(len(cadObjects)):
if (increment != 0):
detailForEvaluationZ = cadObjects[increment]
zoneBindingDetailZ = cadObjects[increment-1]
assemblesBindings.append(
{'zoneBindingDetail': detailForEvaluationZ, 'detailForEvaluation': zoneBindingDetailZ, 'relativeCoordinates': None, 'zonePart': None})
for increment in range(len(assemblesBindings)):
el = assemblesBindings[increment]
zoneBindingDetail = el.get('zoneBindingDetail')
zoneBindingDetailCenterVector = zoneBindingDetail.Shape.CenterOfMass
zoneDetail = create(el.get('detailForEvaluation'))
move_second_part_to_match_center(
el.get('zoneBindingDetail'), zoneDetail)
zoneDetail.Label = 'zone_sub_assembly' + str(increment + 1)
zoneDetail.ViewObject.ShapeColor = (0.40, 0.74, 0.71)
zoneDetail.ViewObject.Transparency = 50
zoneDetailCenterVector = el.get(
'detailForEvaluation').Shape.CenterOfMass
el['relativeCoordinates'] = {
'x': zoneBindingDetailCenterVector.x - zoneDetailCenterVector.x,
'y': zoneBindingDetailCenterVector.y - zoneDetailCenterVector.y,
'z': zoneBindingDetailCenterVector.z - zoneDetailCenterVector.z
}
el['relativeEuler'] = {
'yaw': zoneBindingDetail.Placement.Rotation.toEuler()[0] - el.get('detailForEvaluation').Placement.Rotation.toEuler()[0],
'pitch': zoneBindingDetail.Placement.Rotation.toEuler()[1] - el.get('detailForEvaluation').Placement.Rotation.toEuler()[1],
'roll': zoneBindingDetail.Placement.Rotation.toEuler()[2] - el.get('detailForEvaluation').Placement.Rotation.toEuler()[2]
}
el['zonePart'] = zoneDetail
meshesPath = directoryStableZonesPath + 'meshes/'
if not os.path.exists(directoryStableZonesPath):
os.makedirs(directoryStableZonesPath)
if not os.path.exists(meshesPath):
os.makedirs(meshesPath)
zonesSaved = {}
for counter in range(len(assemblesBindings)):
zoneComputed = assemblesBindings[counter]
mesh = zoneComputed.get('zonePart')
zonesSavePath = meshesPath + mesh.Label + '.obj'
importOBJ.export([mesh], zonesSavePath)
zonesSaved[mesh.Label] = 'meshes/' + mesh.Label + '.obj'
for counter in range(len(assemblesBindings)):
el = assemblesBindings[counter]
savePath = zonesSaved[el.get('zonePart').Label]
el['zonePart'] = savePath
el['detailForEvaluation'] = el['detailForEvaluation'].Label
el['zoneBindingDetail'] = el['zoneBindingDetail'].Label
json_result = json.dumps(el)
file_to_open = directoryStableZonesPath + \
'sub_assembly_coords_' + str(counter) + '.json'
f = open(file_to_open, 'w', )
f.write(json_result)
f.close()
def main():
App.newDocument()
# загрузка env интерфейса
env = json.loads((open('./env.json')).read())
# получение пути координат файла
coordinatesFilePath = env.get('pathToTheSimulationCoordinatesFile')
assemblyDir = env.get('aspPath')
sequencesJSON = json.loads((open(assemblyDir + 'sequences.json')).read())
directoryStableZones = assemblyDir + 'stability/zones/'
# получение папки сборки
assemblyFolder = env.get('generationFolder')
buildNumber = int(re.findall(r'\d', coordinatesFilePath)[0])
sequences = sequencesJSON.get('sequences')
stepStructure = json.loads(
(open(assemblyDir + 'step-structure.json')).read())
# загрузка последовательности сборки ввиде списка строк деталей
assemblyStructure = json.loads(
(open(assemblyFolder + 'step-structure.json')).read())
# получение номера тестируемой сборки
assemblyNumber = int(buildNumber)
# получение тестируемой детали в сборке
activeDetail = assemblyStructure[assemblyNumber]
stepFilesPaths = []
for step in stepStructure:
stepFilesPaths.append(assemblyDir+'sdf/meshes/' + step + '.obj')
if not os.path.exists(directoryStableZones):
print('Zones not found automatic calculation started')
autoStabilityZoneComputed(stepFilesPaths, directoryStableZones)
subassemblyNotParticipatingInMarkup = assemblyStructure[0:assemblyNumber - 1]
detailOfTheMarkingZoneOfWhich = assemblyStructure[assemblyNumber - 1]
importObjAtPath(getFullPathObj(assemblyFolder, activeDetail))
importObjAtPath(getFullPathObj(
assemblyFolder, detailOfTheMarkingZoneOfWhich))
meshMark = App.ActiveDocument.Objects[0]
meshDetailOfTheMarkZone = App.ActiveDocument.Objects[1]
meshMark.ViewObject.ShapeColor = (0.31, 0.77, 0.87)
meshDetailOfTheMarkZone.ViewObject.ShapeColor = (0.68, 0.66, 0.95)
for el in list(map(lambda el: getFullPathObj(assemblyFolder, el), subassemblyNotParticipatingInMarkup)):
importObjAtPath(el)
for el in App.ActiveDocument.Objects[2:App.ActiveDocument.Objects.__len__()]:
el.ViewObject.ShapeColor = (0.32, 0.05, 0.38)
# загрузка координат
coordinates = json.loads((open(coordinatesFilePath)).read())
inc = 1
# перемещение обьектов в документе на точки стабильность полученные из pybullet
for el in App.ActiveDocument.Objects:
pos = coordinates[inc]['position']
qua = coordinates[inc]['quaternion']
new_quaternion = Quaternion(qua[0], qua[1], qua[2], qua[3])
rotation_matrix = new_quaternion.rotation_matrix
current_position = el.Placement.Base
new_position = App.Vector(
current_position.x, current_position.y, current_position.z)
new_placement = App.Placement(new_position, rotation_matrix)
el.Placement = new_placement
App.ActiveDocument.recompute()
el.Placement.move(App.Vector(pos[0], pos[1], pos[2]))
# вычисление стабильность
computedStability(meshMark, meshDetailOfTheMarkZone)
pass
sequencesJoin = {}
for arrayCounter in range(len(sequences)):
for indexCounter in range(len(sequences[arrayCounter])):
if (indexCounter != 0):
if (sequencesJoin.get(arrayCounter) == None):
sequencesJoin[arrayCounter] = {
indexCounter: sequences[arrayCounter][0:indexCounter+1]
}
else:
sequencesJoin[arrayCounter][indexCounter] = sequences[arrayCounter][0:indexCounter+1]
seqEvaluation = SequencesEvaluation(sequencesJoin, assemblyDir)
seqEvaluation.assemblyComputed()
print(seqEvaluation.result)
main()

View file

@ -1,4 +1,4 @@
{
"cadFilePath":"/home/idontsudo/framework/geometric_feasibility_predicate/cubes.FCStd",
"outPath":"/home/idontsudo/framework/geometric_feasibility_predicate/out/"
"cadFilePath":"/home/idontsudo/framework/asp/out/disk_and_axis_n (2).FCStd",
"outPath":"/home/idontsudo/framework/asp/out/"
}

View file

@ -189,7 +189,7 @@ class AdjacencyMatrix:
@staticmethod
def from_dict(obj: Any) -> 'AdjacencyMatrix':
assert isinstance(obj, dict)
all_pars = from_list(from_str, obj.get("allPars"))
all_pars = from_list(from_str, obj.get("allParts"))
first_detail = from_str(obj.get("firstDetail"))
matrix = from_dict(lambda x: from_list(from_str, x), obj.get("matrix"))
@ -197,7 +197,7 @@ class AdjacencyMatrix:
def to_dict(self) -> dict:
result: dict = {}
result["allPars"] = from_list(from_str, self.all_parts)
result["allParts"] = from_list(from_str, self.all_parts)
result["firstDetail"] = from_str(self.first_detail)
result["matrix"] = from_dict(
lambda x: from_list(from_str, x), self.matrix)
@ -449,13 +449,54 @@ class CadAdjacencyMatrix:
part.Shape.distToShape(nextPart.Shape)[0])
if (collisionResult == 0):
matrix[part.Label].append(nextPart.Label)
return AdjacencyMatrix(all_parts=GetAllPartsLabelsUseCase(
).call(), first_detail=GetFirstDetailUseCase().call(),
matrix=matrix
)
def reduce(function, iterable, initializer=None):
it = iter(iterable)
if initializer is None:
value = next(it)
else:
value = initializer
for element in it:
value = function(value, element)
return value
def to_ascii_hash(text):
ascii_values = [ord(character) for character in text]
return reduce(lambda x, y: x + y, ascii_values)
def matrixGetUniqueContact(matrix):
detailsToCheck = []
detailsHashCheck = {}
for k, v in matrix.items():
for el in v:
if (el != k):
hash = to_ascii_hash(k + el)
if (detailsHashCheck.get(hash) == None):
detailsHashCheck[hash] = hash
detailsToCheck.append({
'child': el,
'parent': k
})
return detailsToCheck
def intersectionComputed(parts):
App.activeDocument().addObject("Part::MultiCommon", "Common")
App.activeDocument().Common.Shapes = [parts[0], parts[1]]
App.activeDocument().getObject('Common').ViewObject.ShapeColor = getattr(parts[0].getLinkedObject(True).ViewObject, 'ShapeColor', App.activeDocument().getObject('Common').ViewObject.ShapeColor)
App.activeDocument().getObject('Common').ViewObject.DisplayMode = getattr(parts[0].getLinkedObject(True).ViewObject, 'DisplayMode', App.activeDocument().getObject('Common').ViewObject.DisplayMode)
App.ActiveDocument.recompute()
area = App.activeDocument().getObject('Common').Shape.Area
App.ActiveDocument.removeObject('Common')
return area
def main():
env = FS.readJSON('env.json')
cadFile = env['cadFilePath']
@ -464,14 +505,34 @@ def main():
return TypeError('CadFile not found env.json')
App.open(u'' + cadFile)
# Получение матрицы
topologyMatrix = CadAdjacencyMatrix().primitiveMatrix()
topologyMatrix = CadAdjacencyMatrix().matrixBySurfaces()
import json
sequences = json.dumps({"sequences": AllSequences(
topologyMatrix.matrix).adj_matrix_names}, ensure_ascii=False, indent=4)
matrix = topologyMatrix.matrix
contacts = matrixGetUniqueContact(matrix)
intersection_geometry = {
'status':True,
'recalculations':None
}
for el in contacts:
child = App.ActiveDocument.getObjectsByLabel(el.get('child'))[0]
parent = App.ActiveDocument.getObjectsByLabel(el.get('parent'))[0]
area = intersectionComputed([child,parent])
if(area != 0.0):
if(intersection_geometry.get('recalculations') == None):
intersection_geometry['status'] = False
intersection_geometry['recalculations'] = []
intersection_geometry['recalculations'].append({
'area':area,
'connect': el.get('child') + ' ' + el.get('parent')
})
FS.writeFile(json.dumps(intersection_geometry, ensure_ascii=False, indent=4), outPath, 'intersection_geometry.json')
FS.writeFile(sequences, outPath, 'sequences.json')
FS.writeFile(json.dumps(topologyMatrix.to_dict(),
ensure_ascii=False, indent=4), outPath, 'adjacency_matrix.json')
main()

View file

@ -3,15 +3,15 @@ import json
class FS:
def readJSON(path:str):
return json.loads((open(path)).read())
f = open(path)
return json.loads((f).read())
def writeFile(data, filePath, fileName):
file_to_open = filePath + fileName
f = open(file_to_open, 'w', )
f = open(file_to_open, 'w')
f.write(data)
f.close()
def readFile(path):
return open(path).read()

View file

@ -5,7 +5,8 @@ from src.model.asm4_structure import Asm4Structure
from src.usecases.assembly_to_pddl_use_case import AssemblyToPddlUseCase
# python3 main.py --stepStructurePath /Users/idontsudo/robo/step-structure.json --outPath /Users/idontsudo/robo/pddl/out/
# python3 main.py --stepStructurePath --outPath /Users/idontsudo/robo/pddl/out/
# python3 main.py --stepStructurePath /Users/idontsudo/framework/asp/out/step-structure.json --outPath /Users/idontsudo/robo/pddl/out/
if __name__ == "__main__":
parser = argparse.ArgumentParser()

View file

@ -1,8 +1,7 @@
import argparse
from usecases.stability_check_usecase import StabilityCheckUseCase
# python3 main.py --aspPath /Users/idontsudo/framework/asp/out/
# python3 main.py --aspPath /Users/idontsudo/framework/asp/out
def main():
parser = argparse.ArgumentParser()
@ -10,3 +9,4 @@ def main():
args = parser.parse_args()
StabilityCheckUseCase().call(args.aspPath)
main()

View file

@ -116,7 +116,6 @@ class StabilityCheckUseCase:
f.write(urdf)
f.close()
urdfs.append(os.path.abspath(f.name))
return urdfs
def executeSimulation(self, assembly: list[str], outPath: str, urdfGeneration: dict[str:str], duration: int) -> list['SimulatorStabilityResultModel']:
@ -133,7 +132,6 @@ class StabilityCheckUseCase:
for el in urdfs:
id = p.loadURDF(el)
bulletIds.append(id)
for i in range(duration):
if (i + 200 == duration):
inc = 0