multiple evaluation of assemblies by sequences

stability_process_predicate/main.py

@@ -1,16 +1,12 @@
-# Алгоритм для вычисления стабильности при помощи PyBullet
 import argparse
 from usecases.stability_check_usecase import StabilityCheckUseCase
-
-# python3 main.py --aspPath /home/idontsudo/t/framework/asp/out/sdf-generation --buildNumber 3
+ 
+# python3 main.py --aspPath /Users/idontsudo/framework/asp/out/ 
 
 
 def main():
     parser = argparse.ArgumentParser()
     parser.add_argument('--aspPath', help='asp folder generation path')
-    parser.add_argument('--buildNumber', help='FreeCad generation buildNumber')
     args = parser.parse_args()
-    StabilityCheckUseCase().call(args.aspPath, args.buildNumber)
-
-
+    StabilityCheckUseCase().call(args.aspPath)
 main()

stability_process_predicate/usecases/stability_check_usecase.py

@@ -1,3 +1,4 @@
+from typing import Any, List, TypeVar, Type, cast, Callable
 import numpy as np
 import pybullet as p
 import time
@@ -5,59 +6,189 @@ import pybullet_data
 import os
 import json
 
+from time import sleep
+
+
+T = TypeVar("T")
+
+
+def from_str(x):
+    assert isinstance(x, str)
+    return x
+
+
+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_int(x: Any) -> int:
+    assert isinstance(x, int) and not isinstance(x, bool)
+    return x
+
+
+def to_class(c: Type[T], x: Any) -> dict:
+    assert isinstance(x, c)
+    return cast(Any, x).to_dict()
+
+
+def from_list(f: Callable[[Any], T], x: Any) -> List[T]:
+    assert isinstance(x, list)
+    return [f(y) for y in x]
+
+
+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
+
+
+class SimulatorStabilityResultModel:
+    id: str
+    quaternion: Coords
+    position: Coords
+
+    def __init__(self, id: int, quaternion: Coords, position: Coords) -> None:
+        self.id = id
+        self.quaternion = quaternion
+        self.position = position
+
+    @staticmethod
+    def from_dict(obj: Any) -> 'SimulatorStabilityResultModel':
+        assert isinstance(obj, dict)
+        id = from_str(obj.get("id"))
+        quaternion = Coords.from_dict(obj.get("quaternion"))
+        position = Coords.from_dict(obj.get("position"))
+        return SimulatorStabilityResultModel(id, quaternion, position)
+
+    def to_dict(self) -> dict:
+        result: dict = {}
+        result["id"] = from_str(self.id)
+        result["quaternion"] = to_class(Coords, self.quaternion)
+        result["position"] = to_class(Coords, self.position)
+        return result
+
+
+def SimulatorStabilityModelfromdict(s: Any) -> List[SimulatorStabilityResultModel]:
+    return from_list(SimulatorStabilityResultModel.from_dict, s)
+
+
+def SimulatorStabilityModeltodict(x: List[SimulatorStabilityResultModel]) -> Any:
+    return from_list(lambda x: to_class(SimulatorStabilityResultModel, x), x)
+
 
 class StabilityCheckUseCase:
-    def call(self, outPath: str, buildNumber: int, duration=500):
-        DURATION = duration
-        try:
-            # Получение сгенерированного URDF для сборки
-            assemblyUrdf = json.loads(
-                (open(outPath + 'urdf-generation.json')).read()).get(buildNumber)
-        except:
-            return TypeError('not found urfd file or not found build number')
-        inc = 0
+    def urdfLoader(self, assembly: list[str], outPath: str, urdfGeneration: dict[str:str]):
+
         urdfs = []
+        for assemblyCount in range(len(assembly)):
 
-        for el in assemblyUrdf:
-            inc += 1
-            file_to_open = outPath + str(inc) + '.urdf'
-
+            urdf = urdfGeneration.get(assembly[assemblyCount])
+            file_to_open = outPath + '/sdf-generation/' + \
+                str(assemblyCount) + '.urdf'
             f = open(file_to_open, 'w', encoding='utf-8',
                      errors='ignore')
-            f.write(el)
-            urdfs.append(os.path.abspath(f.name))
+            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']:
 
         p.connect(p.DIRECT)
-
         p.setGravity(0, 0, -10)
         p.setAdditionalSearchPath(pybullet_data.getDataPath())
-        bulletIds = []
-        for el in urdfs:
-            bulletIds.append(p.loadURDF(el))
         p.loadURDF("plane.urdf")
         resultCoords = []
-        for i in range(DURATION):
-            if (i + 200 == DURATION):
-                inc = 0
-                for el in bulletIds:
-                    inc += 1
-                    # Получение расположения деталей
-                    pos, rot = p.getBasePositionAndOrientation(el)
-                    resultCoords.append({
-                        'id': inc,
-                        "quaternion": rot,
-                        "position": pos
-                    })
-            p.stepSimulation()
-            time.sleep(1./240.)
 
-        file_to_open = outPath + buildNumber + "_" + 'stability_coords.json'
-
-        f = open(file_to_open, 'w', encoding='utf-8',errors='ignore')
-        # Запись результатов тестирования
-        f.write(json.dumps(resultCoords))
+        urdfs = self.urdfLoader(assembly=assembly,
+                                urdfGeneration=urdfGeneration, outPath=outPath)
+        bulletIds = []
         for el in urdfs:
-            os.remove(el)
-        f.close()
-        p.disconnect()
+            id = p.loadURDF(el)
+            bulletIds.append(id)
+
+        for i in range(duration):
+            if (i + 200 == duration):
+                inc = 0
+                for bulletUUID in bulletIds:
+                    pos, rot = p.getBasePositionAndOrientation(bulletUUID)
+                    resultCoords.append(SimulatorStabilityResultModel(id=assembly[inc], quaternion=Coords(
+                        x=rot[0], y=rot[1], z=rot[2]), position=Coords(x=pos[0], y=pos[1], z=pos[2])))
+                    p.removeBody(bulletUUID)
+                    inc += 1
+
+            p.stepSimulation()
+
+            time.sleep(1./240.)
+        return resultCoords
+
+    def call(self, aspPath: str):
+        try:
+            assemblyFolder = aspPath
+            assemblesStructures = json.loads(
+                (open(assemblyFolder + 'sequences.json')).read()).get('sequences')
+            tasks = len(assemblesStructures) * len(assemblesStructures[0])
+            taskCounter = 0
+            urdfGeneration = json.loads(
+                (open(assemblyFolder + 'sdf-generation/urdf-generation.json')).read())
+            for activeAssemblyNumber in range(len(assemblesStructures)):
+                pathSaveResultAssemblyFolder = aspPath + 'stability' + \
+                    '/' + str(activeAssemblyNumber + 1) + '/'
+                if not os.path.exists(pathSaveResultAssemblyFolder):
+                    os.makedirs(pathSaveResultAssemblyFolder)
+
+                for subAssemblyNumber in range(len(assemblesStructures[activeAssemblyNumber])):
+                    taskCounter += 1
+                    subAssembly = assemblesStructures[activeAssemblyNumber][0:subAssemblyNumber+1]
+                    asm = []
+                    for el in subAssembly:
+                        asm.append(el)
+
+                    resultSimulationStates = self.executeSimulation(
+                        assembly=asm, outPath=aspPath, urdfGeneration=urdfGeneration, duration=1000)
+
+                    pathSaveResultSubAssemblyFolder = aspPath + 'stability' + '/' + \
+                        str(activeAssemblyNumber + 1) + \
+                        '/' + str(subAssemblyNumber) + '/'
+                    if not os.path.exists(pathSaveResultSubAssemblyFolder):
+                        os.makedirs(pathSaveResultSubAssemblyFolder)
+                    results = {}
+                    for state in resultSimulationStates:
+                        results[state.id] = state.to_dict()
+                    f = open(pathSaveResultSubAssemblyFolder + '/' +
+                             'motion_result.json', 'w', encoding='utf-8', errors='ignore')
+                    f.write(json.dumps(results,
+                                       ensure_ascii=False, indent=4))
+                    f.close()
+                    percentageOfCompletion = taskCounter / tasks * 100
+                    print('process complete: ' +
+                          str(percentageOfCompletion) + '%')
+        except Exception as e:
+            print(e)