обновление файлов asp
This commit is contained in:
Mark Voltov
parent
a4da4aee68
commit
8fba62e8a3
36 changed files with 2804 additions and 265 deletions
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@ -1,4 +1,4 @@
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{
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"cadFilePath": "/Users/idontsudo/Desktop/asp-example/disk_and_axis_n.FCStd",
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"outPath": "/Users/idontsudo/Desktop/asp-example/"
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"cadFilePath": "/home/markvoltov/GitProjects/framework/test_models/cubes.FCStd",
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"outPath": "/home/markvoltov/GitProjects/framework/test_models/"
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}
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@ -23,6 +23,6 @@ class FileSystemRepository:
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def writeFile(data, filePath, fileName):
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file_to_open = filePath + fileName
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f = open(file_to_open, "w", encoding="utf-8", errors="ignore")
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f = open(file_to_open, "w", encoding="utf-8")
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f.write(data)
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f.close()
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@ -1,25 +1,32 @@
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import FreeCAD as App
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from helper.file_system_repository import FileSystemRepository
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from scenarios.robossembler_freecad_export_scenari import (
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RobossemblerFreeCadExportScenari,
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RobossemblerFreeCadExportScenario,
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)
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import FreeCADGui as Gui
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# obj.Support[0][0].Label
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# 'Hex_King'
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import FreeCAD as App
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import os
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def main():
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env = FileSystemRepository.readJSON("./env.json")
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App.openDocument(env.get("cadFilePath"))
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RobossemblerFreeCadExportScenari.call(env.get("outPath"))
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App.closeDocument(App.ActiveDocument.Name)
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freecadQTWindow = Gui.getMainWindow()
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freecadQTWindow.close()
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try:
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print(os.path.join(os.path.dirname(__file__)) + "/env.json")
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env = FileSystemRepository.readJSON(
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os.path.join(os.path.dirname(__file__)) + "/env.json"
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)
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App.openDocument(env.get("cadFilePath"))
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RobossemblerFreeCadExportScenario.call(env.get("outPath"))
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App.closeDocument(App.ActiveDocument.Name)
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freecadQTWindow = Gui.getMainWindow()
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freecadQTWindow.close()
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except ValueError:
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freecadQTWindow = Gui.getMainWindow()
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freecadQTWindow.close()
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main()
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@ -1,6 +1,5 @@
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from enum import Enum
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#структура файловой системы
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class FilesGenerator(Enum):
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DETAIL = 'detail.json'
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@ -44,7 +44,7 @@ class Axis:
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result["z"] = to_float(self.z)
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return result
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#запись параметров тела в объект
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class GeometryPart:
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euler: Axis
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position: Axis
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@ -3,7 +3,7 @@ import Mesh
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import FreeCAD as App
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from model.mesh_part_model import MeshPartModel
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# соединяет меши в сборочных единицах
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class JoinMeshModel:
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id = None
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mesh = None
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@ -2,10 +2,10 @@ import FreeCAD as App
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import uuid
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import Mesh
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import Part
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import PartGui
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# import PartGui
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import MeshPart
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#импорт мешей и превращение их в part-объекты
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class MeshPartModel:
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id = None
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mesh = None
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@ -0,0 +1,141 @@
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from dataclasses import dataclass
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from typing import Any, List, TypeVar, Callable, Type, cast
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T = TypeVar("T")
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def from_str(x: Any) -> str:
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assert isinstance(x, str)
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return x
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def from_list(f: Callable[[Any], T], x: Any) -> List[T]:
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assert isinstance(x, list)
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return [f(y) for y in x]
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def to_class(c: Type[T], x: Any) -> dict:
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assert isinstance(x, c)
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return cast(Any, x).to_dict()
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@dataclass
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class Asset:
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name: str
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ixx: str
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ixy: str
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ixz: str
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iyy: str
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izz: str
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mass: str
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posX: str
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posY: str
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posZ: str
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eulerX: str
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eulerY: str
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eulerZ: str
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iyz: str
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meshPath: str
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friction: str
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centerMassX: str
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centerMassY: str
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centerMassZ: str
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@staticmethod
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def from_dict(obj: Any) -> "Asset":
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assert isinstance(obj, dict)
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name = from_str(obj.get("name"))
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ixx = from_str(obj.get("ixx"))
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ixy = from_str(obj.get("ixy"))
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ixz = from_str(obj.get("ixz"))
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iyy = from_str(obj.get("iyy"))
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izz = from_str(obj.get("izz"))
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mass = from_str(obj.get("mass"))
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posX = from_str(obj.get("posX"))
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posY = from_str(obj.get("posY"))
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posZ = from_str(obj.get("posZ"))
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eulerX = from_str(obj.get("eulerX"))
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eulerY = from_str(obj.get("eulerY"))
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eulerZ = from_str(obj.get("eulerZ"))
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iyz = from_str(obj.get("iyz"))
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meshPath = from_str(obj.get("meshPath"))
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friction = from_str(obj.get("friction"))
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centerMassX = from_str(obj.get("centerMassX"))
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centerMassY = from_str(obj.get("centerMassY"))
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centerMassZ = from_str(obj.get("centerMassZ"))
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return Asset(
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name,
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ixx,
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ixy,
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ixz,
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iyy,
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izz,
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mass,
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posX,
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posY,
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posZ,
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eulerX,
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eulerY,
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eulerZ,
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iyz,
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meshPath,
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friction,
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centerMassX,
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centerMassY,
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centerMassZ,
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)
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def to_dict(self) -> dict:
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result: dict = {}
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result["name"] = from_str(self.name)
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result["ixx"] = from_str(self.ixx)
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result["ixy"] = from_str(self.ixy)
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result["ixz"] = from_str(self.ixz)
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result["iyy"] = from_str(self.iyy)
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result["izz"] = from_str(self.izz)
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result["mass"] = from_str(self.mass)
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result["posX"] = from_str(self.posX)
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result["posY"] = from_str(self.posY)
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result["posZ"] = from_str(self.posZ)
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result["eulerX"] = from_str(self.eulerX)
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result["eulerY"] = from_str(self.eulerY)
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result["eulerZ"] = from_str(self.eulerZ)
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result["iyz"] = from_str(self.iyz)
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result["meshPath"] = from_str(self.meshPath)
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result["friction"] = from_str(self.friction)
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result["centerMassX"] = from_str(self.centerMassX)
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result["centerMassY"] = from_str(self.centerMassY)
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result["centerMassZ"] = from_str(self.centerMassZ)
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return result
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@dataclass
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class RobossemblerAssets:
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assets: List[Asset]
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instances: List[Any]
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@staticmethod
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def from_dict(obj: Any) -> "RobossemblerAssets":
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assert isinstance(obj, dict)
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assets = from_list(Asset.from_dict, obj.get("assets"))
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instances = from_list(lambda x: x, obj.get("instances"))
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return RobossemblerAssets(assets, instances)
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def to_dict(self) -> dict:
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result: dict = {}
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result["assets"] = from_list(lambda x: to_class(Asset, x), self.assets)
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result["instances"] = from_list(lambda x: x, self.instances)
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return result
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def toJson(self) -> str:
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print(self.to_dict())
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return str(self.to_dict()).replace("'", '"')
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def RobossemblerAssetsfromdict(s: Any) -> RobossemblerAssets:
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return RobossemblerAssets.from_dict(s)
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def RobossemblerAssetstodict(x: RobossemblerAssets) -> Any:
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return to_class(RobossemblerAssets, x)
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@ -24,16 +24,37 @@ def to_class(c, x):
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assert isinstance(x, c)
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return x.to_dict()
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#обработка геометрии, создание sdf
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class SdfGeometryModel:
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def __init__(self, name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz, stl, friction):
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def __init__(
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self,
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name,
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ixx,
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ixy,
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ixz,
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iyy,
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izz,
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mass,
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posX,
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posY,
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posZ,
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eulerX,
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eulerY,
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eulerZ,
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iyz,
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meshPath,
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friction,
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centerMassX,
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centerMassY,
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centerMassZ,
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):
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self.name = name
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self.ixx = ixx
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self.ixy = ixy
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self.ixz = ixz
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self.iyy = iyy
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self.izz = izz
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self.massSDF = massSDF
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self.mass = mass
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self.posX = posX
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self.posY = posY
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self.posZ = posZ
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@ -41,8 +62,11 @@ class SdfGeometryModel:
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self.eulerY = eulerY
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self.eulerZ = eulerZ
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self.iyz = iyz
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self.stl = stl
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self.meshPath = meshPath
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self.friction = friction
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self.centerMassX = centerMassX
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self.centerMassY = centerMassY
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self.centerMassZ = centerMassZ
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@staticmethod
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def from_dict(obj):
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@ -52,18 +76,41 @@ class SdfGeometryModel:
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ixy = from_union([from_str, from_none], obj.get("ixy"))
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ixz = from_union([from_str, from_none], obj.get("ixz"))
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iyy = from_union([from_str, from_none], obj.get("iyy"))
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iyz = from_union([from_str, from_none], obj.get("iyz"))
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izz = from_union([from_str, from_none], obj.get("izz"))
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massSDF = from_union([from_str, from_none], obj.get("massSDF"))
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mass = from_union([from_str, from_none], obj.get("mass"))
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posX = from_union([from_str, from_none], obj.get("posX"))
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posY = from_union([from_str, from_none], obj.get("posY"))
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posZ = from_union([from_str, from_none], obj.get("posZ"))
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eulerX = from_union([from_str, from_none], obj.get("eulerX"))
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eulerY = from_union([from_str, from_none], obj.get("eulerY"))
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eulerZ = from_union([from_str, from_none], obj.get("eulerZ"))
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iyz = from_union([from_str, from_none], obj.get("iyz"))
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stl = from_union([from_str, from_none], obj.get("stl") )
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meshPath = from_union([from_str, from_none], obj.get("meshPath"))
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friction = from_union([from_str, from_none], obj.get("friction"))
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return SdfGeometryModel(name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz,stl,friction)
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centerMassX = from_union([from_str, from_none], obj.get("centerMassX"))
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centerMassY = from_union([from_str, from_none], obj.get("centerMassY"))
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centerMassZ = from_union([from_str, from_none], obj.get("centerMassZ"))
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return SdfGeometryModel(
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name,
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ixx,
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ixy,
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ixz,
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iyy,
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izz,
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mass,
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posX,
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posY,
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posZ,
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eulerX,
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eulerY,
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eulerZ,
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iyz,
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meshPath,
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friction,
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centerMassX,
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centerMassY,
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centerMassZ,
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)
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def to_dict(self):
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result = {}
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@ -79,8 +126,8 @@ class SdfGeometryModel:
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result["iyy"] = from_union([from_str, from_none], self.iyy)
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if self.izz is not None:
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result["izz"] = from_union([from_str, from_none], self.izz)
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if self.massSDF is not None:
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result["massSDF"] = from_union([from_str, from_none], self.massSDF)
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if self.mass is not None:
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result["mass"] = from_union([from_str, from_none], self.mass)
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if self.posX is not None:
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result["posX"] = from_union([from_str, from_none], self.posX)
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if self.posY is not None:
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@ -95,13 +142,17 @@ class SdfGeometryModel:
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result["eulerZ"] = from_union([from_str, from_none], self.eulerZ)
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if self.iyz is not None:
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result["iyz"] = from_union([from_str, from_none], self.iyz)
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if self.stl is not None:
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result["stl"] = from_union([from_str, from_none], self.stl)
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if self.meshPath is not None:
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result["meshPath"] = from_union([from_str, from_none], self.meshPath)
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if self.friction is not None:
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result["friction"] = from_union([from_str, from_none], self.eulerZ)
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if self.centerMassX is not None:
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result["centerMassX"] = from_union([from_str, from_none], self.centerMassX)
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if self.centerMassY is not None:
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result["centerMassY"] = from_union([from_str, from_none], self.centerMassY)
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if self.centerMassZ is not None:
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result["centerMassZ"] = from_union([from_str, from_none], self.centerMassZ)
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return result
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def toJSON(self) -> str:
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return str(self.to_dict()).replace('\'', '"')
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return str(self.to_dict()).replace("'", '"')
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@ -16,7 +16,6 @@ class SimpleCopyPartModel:
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from random import randrange
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self.id = str(randrange(1000000))
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childObj = part
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print(part)
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__shape = Part.getShape(
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childObj, '', needSubElement=False, refine=False)
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obj = App.ActiveDocument.addObject('Part::Feature', self.id)
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@ -1,53 +1,40 @@
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from model.robosembler_assets import RobossemblerAssets
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from usecases.export_assembly_them_all_usecase import ExportAssemblyThemAllUseCase
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import FreeCAD
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from usecases.export_usecase import EXPORT_TYPES, ExportUseCase
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from usecases.get_sdf_geometry_usecase import SdfGeometryUseCase
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from usecases.get_sdf_geometry_usecase import GeometryUseCase
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from usecases.assembly_parse_usecase import AssemblyParseUseCase
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from model.files_generator import FolderGenerator
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from helper.file_system_repository import FileSystemRepository
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import os
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import json
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class RobossemblerFreeCadExportScenari:
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class RobossemblerFreeCadExportScenario:
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def call(path):
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#работа с директорией
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directory = path
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__objs__ = FreeCAD.ActiveDocument.RootObjects
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directoryExport = directory + "/"
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#создание новых папок и удаление старых при их наличии согласно структуре
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FileSystemRepository.deletingOldAndCreatingNewFolder(
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directoryExport + FolderGenerator.ASSETS.value
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)
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FileSystemRepository.deletingOldAndCreatingNewFolder(
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directoryExport + FolderGenerator.SDF.value,
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directoryExport + FolderGenerator.MESHES.value
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)
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FileSystemRepository.deletingOldAndCreatingNewFolder(
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directoryExport
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+ FolderGenerator.SDF.value
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+ "/"
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+ FolderGenerator.MESHES.value
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)
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FileSystemRepository.deletingOldAndCreatingNewFolder(
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directoryExport + FolderGenerator.ASSEMBlY.value
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)
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f = open(directory + "/step-structure.json", "w")
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f.write(AssemblyParseUseCase().toJson())
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f.close()
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RobossemblerFreeCadExportScenari.geometry(directory)
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ExportAssemblyThemAllUseCase().call(directoryExport)
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RobossemblerFreeCadExportScenario.geometry(directory)
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ExportAssemblyThemAllUseCase().call(directoryExport)
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return True
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def geometry(outPutsPath: str):
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#экспорт геометрии
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exportUseCase = ExportUseCase.call(outPutsPath, EXPORT_TYPES.OBJ)
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# for el in GeometryUseCase().call(exportUseCase):
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# FileSystemRepository.writeFile(el.toJSON(), outPutsPath + '/' + FolderGenerator.ASSETS.value + '/', el.name + '.json',)
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for el in SdfGeometryUseCase().call(exportUseCase):
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FileSystemRepository.writeFile(
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el.toJSON(),
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outPutsPath + FolderGenerator.ASSETS.value + "/",
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el.name + ".json",
|
||||
)
|
||||
assets = []
|
||||
for el in GeometryUseCase().call(exportUseCase):
|
||||
assets.append(el)
|
||||
robossemblerAssets = RobossemblerAssets(assets=assets, instances=[]).toJson()
|
||||
FileSystemRepository.writeFile(
|
||||
robossemblerAssets,
|
||||
outPutsPath,
|
||||
"robossembler_assets.json",
|
||||
)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,53 @@
|
|||
import FreeCAD as App
|
||||
|
||||
class Asm4StructureParseUseCase:
|
||||
_parts = []
|
||||
_label = []
|
||||
|
||||
def getSubPartsLabel(self, group):
|
||||
groupLabel = []
|
||||
for el in group:
|
||||
if str(el) == '<Part::PartFeature>':
|
||||
groupLabel.append(el.Label)
|
||||
return groupLabel
|
||||
|
||||
def parseLabel(self, nextGroup, label, level=2, nextGroupParse=0):
|
||||
if nextGroup.__len__() == nextGroupParse:
|
||||
return
|
||||
else:
|
||||
groupParts = []
|
||||
|
||||
for el in nextGroup:
|
||||
if str(el) == '<App::Link object>':
|
||||
groupParts.append(el)
|
||||
|
||||
for el in groupParts:
|
||||
if str(el) == '<App::Link object>':
|
||||
label.append({
|
||||
"level": level,
|
||||
"attachedTo": el.AttachedTo.split('#'),
|
||||
"label": el.Label,
|
||||
"axis": self.getSubPartsLabel(el.Group)
|
||||
})
|
||||
|
||||
def initParse(self):
|
||||
|
||||
model = App.ActiveDocument.RootObjects[1]
|
||||
self._label.append({
|
||||
"level": 1,
|
||||
"attachedTo": "Parent Assembly",
|
||||
"label": model.Label,
|
||||
"axis": self.getSubPartsLabel(model.Group)
|
||||
})
|
||||
for parent in model.Group:
|
||||
if str(parent) == '<App::Link object>':
|
||||
self._label.append({
|
||||
"level": 1,
|
||||
"attachedTo": parent.AttachedTo.split('#'),
|
||||
"label": parent.Label,
|
||||
"axis": self.getSubPartsLabel(parent.Group)
|
||||
})
|
||||
print(self._label)
|
||||
|
||||
|
||||
|
||||
|
|
@ -1,5 +1,4 @@
|
|||
import FreeCAD as App
|
||||
|
||||
def is_object_solid(obj):
|
||||
"""If obj is solid return True"""
|
||||
if not isinstance(obj, App.DocumentObject):
|
||||
|
|
@ -19,7 +18,7 @@ def is_object_solid(obj):
|
|||
|
||||
return True
|
||||
|
||||
#парсит сборку, создавая список деталей и сборочных единиц
|
||||
|
||||
class AssemblyParseUseCase:
|
||||
_parts = []
|
||||
|
||||
|
|
|
|||
|
|
@ -12,7 +12,6 @@ import os
|
|||
import json
|
||||
|
||||
|
||||
#подготавливает необходимое для работы assemble them all состояние папок
|
||||
class ExportAssemblyThemAllUseCase:
|
||||
def call(self, path):
|
||||
assembly = AssemblyParseUseCase().getAsm()
|
||||
|
|
|
|||
|
|
@ -11,39 +11,19 @@ class EXPORT_TYPES(Enum):
|
|||
DAO = "DAO"
|
||||
OBJ = "OBJ"
|
||||
|
||||
#делает Илья
|
||||
|
||||
class ExportUseCase:
|
||||
def call(path: str, type: EXPORT_TYPES):
|
||||
meshes = {}
|
||||
for el in App.ActiveDocument.Objects:
|
||||
if is_object_solid(el):
|
||||
match type.value:
|
||||
case EXPORT_TYPES.STL.value:
|
||||
Mesh.export(
|
||||
[el],
|
||||
path
|
||||
+ "/"
|
||||
+ FolderGenerator.SDF.value
|
||||
+ "/"
|
||||
+ FolderGenerator.MESHES.value
|
||||
+ "/"
|
||||
+ el.Label
|
||||
+ ".stl",
|
||||
)
|
||||
meshes[el.Label] = (
|
||||
"/" + FolderGenerator.MESHES.value + "/" + el.Label + ".stl"
|
||||
)
|
||||
|
||||
|
||||
case EXPORT_TYPES.OBJ.value:
|
||||
import importOBJ
|
||||
|
||||
importOBJ.export(
|
||||
[el],
|
||||
path
|
||||
+ "/"
|
||||
+ FolderGenerator.SDF.value
|
||||
+ "/"
|
||||
+ FolderGenerator.MESHES.value
|
||||
+ "/"
|
||||
+ el.Label
|
||||
|
|
|
|||
|
|
@ -1,24 +1,28 @@
|
|||
import FreeCAD as App
|
||||
from model.robosembler_assets import Asset
|
||||
from model.sdf_geometry_model import SdfGeometryModel
|
||||
|
||||
from helper.is_solid import is_object_solid
|
||||
|
||||
|
||||
class SdfGeometryUseCase:
|
||||
ShapePropertyCheck = ['Mass', 'MatrixOfInertia', 'Placement', ]
|
||||
PartPropertyCheck = ['Shape']
|
||||
class GeometryUseCase:
|
||||
ShapePropertyCheck = [
|
||||
"Mass",
|
||||
"MatrixOfInertia",
|
||||
"Placement",
|
||||
]
|
||||
PartPropertyCheck = ["Shape"]
|
||||
|
||||
def call(self, stlPaths: dict) -> list[SdfGeometryModel]:
|
||||
def call(self, stlPaths: dict) -> list[Asset]:
|
||||
materialSolid = {}
|
||||
for el in App.ActiveDocument.Objects:
|
||||
if str(el) == '<App::MaterialObjectPython object>':
|
||||
friction = el.Material.get('SlidingFriction')
|
||||
if str(el) == "<App::MaterialObjectPython object>":
|
||||
friction = el.Material.get("SlidingFriction")
|
||||
for i in el.References:
|
||||
materialSolid[i[0].Label] = friction
|
||||
geometry = []
|
||||
try:
|
||||
for el in App.ActiveDocument.Objects:
|
||||
|
||||
if is_object_solid(el):
|
||||
mass = el.Shape.Mass
|
||||
inertia = el.Shape.MatrixOfInertia
|
||||
|
|
@ -43,8 +47,8 @@ class SdfGeometryUseCase:
|
|||
centerMassY = str(el.Shape.CenterOfMass[1])
|
||||
centerMassZ = str(el.Shape.CenterOfMass[2])
|
||||
geometry.append(
|
||||
SdfGeometryModel(
|
||||
stl=stlPaths.get(el.Label),
|
||||
Asset(
|
||||
meshPath=stlPaths.get(el.Label),
|
||||
name=name,
|
||||
ixx=ixx,
|
||||
ixz=ixz,
|
||||
|
|
@ -52,17 +56,17 @@ class SdfGeometryUseCase:
|
|||
iyy=iyy,
|
||||
iyz=iyz,
|
||||
izz=izz,
|
||||
massSDF=massSDF,
|
||||
mass=massSDF,
|
||||
posX=posX,
|
||||
posY=posY,
|
||||
posZ=posZ,
|
||||
eulerX=eulerX,
|
||||
eulerY=eulerY,
|
||||
eulerZ=eulerZ,
|
||||
friction=materialSolid.get(el.Label) or '',
|
||||
friction=materialSolid.get(el.Label) or "",
|
||||
centerMassX=centerMassX,
|
||||
centerMassY=centerMassY,
|
||||
centerMassZ=centerMassZ
|
||||
centerMassZ=centerMassZ,
|
||||
)
|
||||
)
|
||||
except Exception as e:
|
||||
|
|
|
|||
95
freecad_workbench/freecad/robossembler/cad_stability_input/cad_stability_input/.gitignore
vendored
Normal file
95
freecad_workbench/freecad/robossembler/cad_stability_input/cad_stability_input/.gitignore
vendored
Normal file
|
|
@ -0,0 +1,95 @@
|
|||
# Byte-compiled / optimized / DLL files
|
||||
__pycache__/
|
||||
*.py[cod]
|
||||
*$py.class
|
||||
|
||||
# C extensions
|
||||
*.so
|
||||
|
||||
# Distribution / packaging
|
||||
.Python
|
||||
env/
|
||||
build/
|
||||
develop-eggs/
|
||||
dist/
|
||||
downloads/
|
||||
eggs/
|
||||
.eggs/
|
||||
lib/
|
||||
lib64/
|
||||
parts/
|
||||
sdist/
|
||||
var/
|
||||
wheels/
|
||||
*.egg-info/
|
||||
.installed.cfg
|
||||
*.egg
|
||||
|
||||
# PyInstaller
|
||||
# Usually these files are written by a python script from a template
|
||||
# before PyInstaller builds the exe, so as to inject date/other infos into it.
|
||||
*.manifest
|
||||
*.spec
|
||||
|
||||
# Installer logs
|
||||
pip-log.txt
|
||||
pip-delete-this-directory.txt
|
||||
|
||||
# Unit test / coverage reports
|
||||
htmlcov/
|
||||
.tox/
|
||||
.coverage
|
||||
.coverage.*
|
||||
.cache
|
||||
nosetests.xml
|
||||
coverage.xml
|
||||
*,cover
|
||||
.hypothesis/
|
||||
|
||||
# Translations
|
||||
*.mo
|
||||
*.pot
|
||||
|
||||
# Django stuff:
|
||||
*.log
|
||||
local_settings.py
|
||||
|
||||
# Flask stuff:
|
||||
instance/
|
||||
.webassets-cache
|
||||
|
||||
# Scrapy stuff:
|
||||
.scrapy
|
||||
|
||||
# Sphinx documentation
|
||||
docs/_build/
|
||||
|
||||
# PyBuilder
|
||||
target/
|
||||
|
||||
# Jupyter Notebook
|
||||
.ipynb_checkpoints
|
||||
|
||||
# pyenv
|
||||
.python-version
|
||||
|
||||
# celery beat schedule file
|
||||
celerybeat-schedule
|
||||
|
||||
# SageMath parsed files
|
||||
*.sage.py
|
||||
|
||||
# dotenv
|
||||
.env
|
||||
|
||||
# virtualenv
|
||||
.venv
|
||||
venv/
|
||||
ENV/
|
||||
|
||||
# Spyder project settings
|
||||
.spyderproject
|
||||
|
||||
# Rope project settings
|
||||
.ropeproject
|
||||
env.json
|
||||
|
|
@ -0,0 +1,505 @@
|
|||
GNU LESSER GENERAL PUBLIC LICENSE
|
||||
Version 2.1, February 1999
|
||||
|
||||
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
|
||||
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
Everyone is permitted to copy and distribute verbatim copies
|
||||
of this license document, but changing it is not allowed.
|
||||
|
||||
(This is the first released version of the Lesser GPL. It also counts
|
||||
as the successor of the GNU Library Public License, version 2, hence
|
||||
the version number 2.1.)
|
||||
|
||||
Preamble
|
||||
|
||||
The licenses for most software are designed to take away your
|
||||
freedom to share and change it. By contrast, the GNU General Public
|
||||
Licenses are intended to guarantee your freedom to share and change
|
||||
free software--to make sure the software is free for all its users.
|
||||
|
||||
This license, the Lesser General Public License, applies to some
|
||||
specially designated software packages--typically libraries--of the
|
||||
Free Software Foundation and other authors who decide to use it. You
|
||||
can use it too, but we suggest you first think carefully about whether
|
||||
this license or the ordinary General Public License is the better
|
||||
strategy to use in any particular case, based on the explanations below.
|
||||
|
||||
When we speak of free software, we are referring to freedom of use,
|
||||
not price. Our General Public Licenses are designed to make sure that
|
||||
you have the freedom to distribute copies of free software (and charge
|
||||
for this service if you wish); that you receive source code or can get
|
||||
it if you want it; that you can change the software and use pieces of
|
||||
it in new free programs; and that you are informed that you can do
|
||||
these things.
|
||||
|
||||
To protect your rights, we need to make restrictions that forbid
|
||||
distributors to deny you these rights or to ask you to surrender these
|
||||
rights. These restrictions translate to certain responsibilities for
|
||||
you if you distribute copies of the library or if you modify it.
|
||||
|
||||
For example, if you distribute copies of the library, whether gratis
|
||||
or for a fee, you must give the recipients all the rights that we gave
|
||||
you. You must make sure that they, too, receive or can get the source
|
||||
code. If you link other code with the library, you must provide
|
||||
complete object files to the recipients, so that they can relink them
|
||||
with the library after making changes to the library and recompiling
|
||||
it. And you must show them these terms so they know their rights.
|
||||
|
||||
We protect your rights with a two-step method: (1) we copyright the
|
||||
library, and (2) we offer you this license, which gives you legal
|
||||
permission to copy, distribute and/or modify the library.
|
||||
|
||||
To protect each distributor, we want to make it very clear that
|
||||
there is no warranty for the free library. Also, if the library is
|
||||
modified by someone else and passed on, the recipients should know
|
||||
that what they have is not the original version, so that the original
|
||||
author's reputation will not be affected by problems that might be
|
||||
introduced by others.
|
||||
|
||||
Finally, software patents pose a constant threat to the existence of
|
||||
any free program. We wish to make sure that a company cannot
|
||||
effectively restrict the users of a free program by obtaining a
|
||||
restrictive license from a patent holder. Therefore, we insist that
|
||||
any patent license obtained for a version of the library must be
|
||||
consistent with the full freedom of use specified in this license.
|
||||
|
||||
Most GNU software, including some libraries, is covered by the
|
||||
ordinary GNU General Public License. This license, the GNU Lesser
|
||||
General Public License, applies to certain designated libraries, and
|
||||
is quite different from the ordinary General Public License. We use
|
||||
this license for certain libraries in order to permit linking those
|
||||
libraries into non-free programs.
|
||||
|
||||
When a program is linked with a library, whether statically or using
|
||||
a shared library, the combination of the two is legally speaking a
|
||||
combined work, a derivative of the original library. The ordinary
|
||||
General Public License therefore permits such linking only if the
|
||||
entire combination fits its criteria of freedom. The Lesser General
|
||||
Public License permits more lax criteria for linking other code with
|
||||
the library.
|
||||
|
||||
We call this license the "Lesser" General Public License because it
|
||||
does Less to protect the user's freedom than the ordinary General
|
||||
Public License. It also provides other free software developers Less
|
||||
of an advantage over competing non-free programs. These disadvantages
|
||||
are the reason we use the ordinary General Public License for many
|
||||
libraries. However, the Lesser license provides advantages in certain
|
||||
special circumstances.
|
||||
|
||||
For example, on rare occasions, there may be a special need to
|
||||
encourage the widest possible use of a certain library, so that it becomes
|
||||
a de-facto standard. To achieve this, non-free programs must be
|
||||
allowed to use the library. A more frequent case is that a free
|
||||
library does the same job as widely used non-free libraries. In this
|
||||
case, there is little to gain by limiting the free library to free
|
||||
software only, so we use the Lesser General Public License.
|
||||
|
||||
In other cases, permission to use a particular library in non-free
|
||||
programs enables a greater number of people to use a large body of
|
||||
free software. For example, permission to use the GNU C Library in
|
||||
non-free programs enables many more people to use the whole GNU
|
||||
operating system, as well as its variant, the GNU/Linux operating
|
||||
system.
|
||||
|
||||
Although the Lesser General Public License is Less protective of the
|
||||
users' freedom, it does ensure that the user of a program that is
|
||||
linked with the Library has the freedom and the wherewithal to run
|
||||
that program using a modified version of the Library.
|
||||
|
||||
The precise terms and conditions for copying, distribution and
|
||||
modification follow. Pay close attention to the difference between a
|
||||
"work based on the library" and a "work that uses the library". The
|
||||
former contains code derived from the library, whereas the latter must
|
||||
be combined with the library in order to run.
|
||||
|
||||
GNU LESSER GENERAL PUBLIC LICENSE
|
||||
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
|
||||
|
||||
0. This License Agreement applies to any software library or other
|
||||
program which contains a notice placed by the copyright holder or
|
||||
other authorized party saying it may be distributed under the terms of
|
||||
this Lesser General Public License (also called "this License").
|
||||
Each licensee is addressed as "you".
|
||||
|
||||
A "library" means a collection of software functions and/or data
|
||||
prepared so as to be conveniently linked with application programs
|
||||
(which use some of those functions and data) to form executables.
|
||||
|
||||
The "Library", below, refers to any such software library or work
|
||||
which has been distributed under these terms. A "work based on the
|
||||
Library" means either the Library or any derivative work under
|
||||
copyright law: that is to say, a work containing the Library or a
|
||||
portion of it, either verbatim or with modifications and/or translated
|
||||
straightforwardly into another language. (Hereinafter, translation is
|
||||
included without limitation in the term "modification".)
|
||||
|
||||
"Source code" for a work means the preferred form of the work for
|
||||
making modifications to it. For a library, complete source code means
|
||||
all the source code for all modules it contains, plus any associated
|
||||
interface definition files, plus the scripts used to control compilation
|
||||
and installation of the library.
|
||||
|
||||
Activities other than copying, distribution and modification are not
|
||||
covered by this License; they are outside its scope. The act of
|
||||
running a program using the Library is not restricted, and output from
|
||||
such a program is covered only if its contents constitute a work based
|
||||
on the Library (independent of the use of the Library in a tool for
|
||||
writing it). Whether that is true depends on what the Library does
|
||||
and what the program that uses the Library does.
|
||||
|
||||
1. You may copy and distribute verbatim copies of the Library's
|
||||
complete source code as you receive it, in any medium, provided that
|
||||
you conspicuously and appropriately publish on each copy an
|
||||
appropriate copyright notice and disclaimer of warranty; keep intact
|
||||
all the notices that refer to this License and to the absence of any
|
||||
warranty; and distribute a copy of this License along with the
|
||||
Library.
|
||||
|
||||
You may charge a fee for the physical act of transferring a copy,
|
||||
and you may at your option offer warranty protection in exchange for a
|
||||
fee.
|
||||
|
||||
2. You may modify your copy or copies of the Library or any portion
|
||||
of it, thus forming a work based on the Library, and copy and
|
||||
distribute such modifications or work under the terms of Section 1
|
||||
above, provided that you also meet all of these conditions:
|
||||
|
||||
a) The modified work must itself be a software library.
|
||||
|
||||
b) You must cause the files modified to carry prominent notices
|
||||
stating that you changed the files and the date of any change.
|
||||
|
||||
c) You must cause the whole of the work to be licensed at no
|
||||
charge to all third parties under the terms of this License.
|
||||
|
||||
d) If a facility in the modified Library refers to a function or a
|
||||
table of data to be supplied by an application program that uses
|
||||
the facility, other than as an argument passed when the facility
|
||||
is invoked, then you must make a good faith effort to ensure that,
|
||||
in the event an application does not supply such function or
|
||||
table, the facility still operates, and performs whatever part of
|
||||
its purpose remains meaningful.
|
||||
|
||||
(For example, a function in a library to compute square roots has
|
||||
a purpose that is entirely well-defined independent of the
|
||||
application. Therefore, Subsection 2d requires that any
|
||||
application-supplied function or table used by this function must
|
||||
be optional: if the application does not supply it, the square
|
||||
root function must still compute square roots.)
|
||||
|
||||
These requirements apply to the modified work as a whole. If
|
||||
identifiable sections of that work are not derived from the Library,
|
||||
and can be reasonably considered independent and separate works in
|
||||
themselves, then this License, and its terms, do not apply to those
|
||||
sections when you distribute them as separate works. But when you
|
||||
distribute the same sections as part of a whole which is a work based
|
||||
on the Library, the distribution of the whole must be on the terms of
|
||||
this License, whose permissions for other licensees extend to the
|
||||
entire whole, and thus to each and every part regardless of who wrote
|
||||
it.
|
||||
|
||||
Thus, it is not the intent of this section to claim rights or contest
|
||||
your rights to work written entirely by you; rather, the intent is to
|
||||
exercise the right to control the distribution of derivative or
|
||||
collective works based on the Library.
|
||||
|
||||
In addition, mere aggregation of another work not based on the Library
|
||||
with the Library (or with a work based on the Library) on a volume of
|
||||
a storage or distribution medium does not bring the other work under
|
||||
the scope of this License.
|
||||
|
||||
3. You may opt to apply the terms of the ordinary GNU General Public
|
||||
License instead of this License to a given copy of the Library. To do
|
||||
this, you must alter all the notices that refer to this License, so
|
||||
that they refer to the ordinary GNU General Public License, version 2,
|
||||
instead of to this License. (If a newer version than version 2 of the
|
||||
ordinary GNU General Public License has appeared, then you can specify
|
||||
that version instead if you wish.) Do not make any other change in
|
||||
these notices.
|
||||
|
||||
Once this change is made in a given copy, it is irreversible for
|
||||
that copy, so the ordinary GNU General Public License applies to all
|
||||
subsequent copies and derivative works made from that copy.
|
||||
|
||||
This option is useful when you wish to copy part of the code of
|
||||
the Library into a program that is not a library.
|
||||
|
||||
4. You may copy and distribute the Library (or a portion or
|
||||
derivative of it, under Section 2) in object code or executable form
|
||||
under the terms of Sections 1 and 2 above provided that you accompany
|
||||
it with the complete corresponding machine-readable source code, which
|
||||
must be distributed under the terms of Sections 1 and 2 above on a
|
||||
medium customarily used for software interchange.
|
||||
|
||||
If distribution of object code is made by offering access to copy
|
||||
from a designated place, then offering equivalent access to copy the
|
||||
source code from the same place satisfies the requirement to
|
||||
distribute the source code, even though third parties are not
|
||||
compelled to copy the source along with the object code.
|
||||
|
||||
5. A program that contains no derivative of any portion of the
|
||||
Library, but is designed to work with the Library by being compiled or
|
||||
linked with it, is called a "work that uses the Library". Such a
|
||||
work, in isolation, is not a derivative work of the Library, and
|
||||
therefore falls outside the scope of this License.
|
||||
|
||||
However, linking a "work that uses the Library" with the Library
|
||||
creates an executable that is a derivative of the Library (because it
|
||||
contains portions of the Library), rather than a "work that uses the
|
||||
library". The executable is therefore covered by this License.
|
||||
Section 6 states terms for distribution of such executables.
|
||||
|
||||
When a "work that uses the Library" uses material from a header file
|
||||
that is part of the Library, the object code for the work may be a
|
||||
derivative work of the Library even though the source code is not.
|
||||
Whether this is true is especially significant if the work can be
|
||||
linked without the Library, or if the work is itself a library. The
|
||||
threshold for this to be true is not precisely defined by law.
|
||||
|
||||
If such an object file uses only numerical parameters, data
|
||||
structure layouts and accessors, and small macros and small inline
|
||||
functions (ten lines or less in length), then the use of the object
|
||||
file is unrestricted, regardless of whether it is legally a derivative
|
||||
work. (Executables containing this object code plus portions of the
|
||||
Library will still fall under Section 6.)
|
||||
|
||||
Otherwise, if the work is a derivative of the Library, you may
|
||||
distribute the object code for the work under the terms of Section 6.
|
||||
Any executables containing that work also fall under Section 6,
|
||||
whether or not they are linked directly with the Library itself.
|
||||
|
||||
6. As an exception to the Sections above, you may also combine or
|
||||
link a "work that uses the Library" with the Library to produce a
|
||||
work containing portions of the Library, and distribute that work
|
||||
under terms of your choice, provided that the terms permit
|
||||
modification of the work for the customer's own use and reverse
|
||||
engineering for debugging such modifications.
|
||||
|
||||
You must give prominent notice with each copy of the work that the
|
||||
Library is used in it and that the Library and its use are covered by
|
||||
this License. You must supply a copy of this License. If the work
|
||||
during execution displays copyright notices, you must include the
|
||||
copyright notice for the Library among them, as well as a reference
|
||||
directing the user to the copy of this License. Also, you must do one
|
||||
of these things:
|
||||
|
||||
a) Accompany the work with the complete corresponding
|
||||
machine-readable source code for the Library including whatever
|
||||
changes were used in the work (which must be distributed under
|
||||
Sections 1 and 2 above); and, if the work is an executable linked
|
||||
with the Library, with the complete machine-readable "work that
|
||||
uses the Library", as object code and/or source code, so that the
|
||||
user can modify the Library and then relink to produce a modified
|
||||
executable containing the modified Library. (It is understood
|
||||
that the user who changes the contents of definitions files in the
|
||||
Library will not necessarily be able to recompile the application
|
||||
to use the modified definitions.)
|
||||
|
||||
b) Use a suitable shared library mechanism for linking with the
|
||||
Library. A suitable mechanism is one that (1) uses at run time a
|
||||
copy of the library already present on the user's computer system,
|
||||
rather than copying library functions into the executable, and (2)
|
||||
will operate properly with a modified version of the library, if
|
||||
the user installs one, as long as the modified version is
|
||||
interface-compatible with the version that the work was made with.
|
||||
|
||||
c) Accompany the work with a written offer, valid for at
|
||||
least three years, to give the same user the materials
|
||||
specified in Subsection 6a, above, for a charge no more
|
||||
than the cost of performing this distribution.
|
||||
|
||||
d) If distribution of the work is made by offering access to copy
|
||||
from a designated place, offer equivalent access to copy the above
|
||||
specified materials from the same place.
|
||||
|
||||
e) Verify that the user has already received a copy of these
|
||||
materials or that you have already sent this user a copy.
|
||||
|
||||
For an executable, the required form of the "work that uses the
|
||||
Library" must include any data and utility programs needed for
|
||||
reproducing the executable from it. However, as a special exception,
|
||||
the materials to be distributed need not include anything that is
|
||||
normally distributed (in either source or binary form) with the major
|
||||
components (compiler, kernel, and so on) of the operating system on
|
||||
which the executable runs, unless that component itself accompanies
|
||||
the executable.
|
||||
|
||||
It may happen that this requirement contradicts the license
|
||||
restrictions of other proprietary libraries that do not normally
|
||||
accompany the operating system. Such a contradiction means you cannot
|
||||
use both them and the Library together in an executable that you
|
||||
distribute.
|
||||
|
||||
7. You may place library facilities that are a work based on the
|
||||
Library side-by-side in a single library together with other library
|
||||
facilities not covered by this License, and distribute such a combined
|
||||
library, provided that the separate distribution of the work based on
|
||||
the Library and of the other library facilities is otherwise
|
||||
permitted, and provided that you do these two things:
|
||||
|
||||
a) Accompany the combined library with a copy of the same work
|
||||
based on the Library, uncombined with any other library
|
||||
facilities. This must be distributed under the terms of the
|
||||
Sections above.
|
||||
|
||||
b) Give prominent notice with the combined library of the fact
|
||||
that part of it is a work based on the Library, and explaining
|
||||
where to find the accompanying uncombined form of the same work.
|
||||
|
||||
8. You may not copy, modify, sublicense, link with, or distribute
|
||||
the Library except as expressly provided under this License. Any
|
||||
attempt otherwise to copy, modify, sublicense, link with, or
|
||||
distribute the Library is void, and will automatically terminate your
|
||||
rights under this License. However, parties who have received copies,
|
||||
or rights, from you under this License will not have their licenses
|
||||
terminated so long as such parties remain in full compliance.
|
||||
|
||||
9. You are not required to accept this License, since you have not
|
||||
signed it. However, nothing else grants you permission to modify or
|
||||
distribute the Library or its derivative works. These actions are
|
||||
prohibited by law if you do not accept this License. Therefore, by
|
||||
modifying or distributing the Library (or any work based on the
|
||||
Library), you indicate your acceptance of this License to do so, and
|
||||
all its terms and conditions for copying, distributing or modifying
|
||||
the Library or works based on it.
|
||||
|
||||
10. Each time you redistribute the Library (or any work based on the
|
||||
Library), the recipient automatically receives a license from the
|
||||
original licensor to copy, distribute, link with or modify the Library
|
||||
subject to these terms and conditions. You may not impose any further
|
||||
restrictions on the recipients' exercise of the rights granted herein.
|
||||
You are not responsible for enforcing compliance by third parties with
|
||||
this License.
|
||||
|
||||
11. If, as a consequence of a court judgment or allegation of patent
|
||||
infringement or for any other reason (not limited to patent issues),
|
||||
conditions are imposed on you (whether by court order, agreement or
|
||||
otherwise) that contradict the conditions of this License, they do not
|
||||
excuse you from the conditions of this License. If you cannot
|
||||
distribute so as to satisfy simultaneously your obligations under this
|
||||
License and any other pertinent obligations, then as a consequence you
|
||||
may not distribute the Library at all. For example, if a patent
|
||||
license would not permit royalty-free redistribution of the Library by
|
||||
all those who receive copies directly or indirectly through you, then
|
||||
the only way you could satisfy both it and this License would be to
|
||||
refrain entirely from distribution of the Library.
|
||||
|
||||
If any portion of this section is held invalid or unenforceable under any
|
||||
particular circumstance, the balance of the section is intended to apply,
|
||||
and the section as a whole is intended to apply in other circumstances.
|
||||
|
||||
It is not the purpose of this section to induce you to infringe any
|
||||
patents or other property right claims or to contest validity of any
|
||||
such claims; this section has the sole purpose of protecting the
|
||||
integrity of the free software distribution system which is
|
||||
implemented by public license practices. Many people have made
|
||||
generous contributions to the wide range of software distributed
|
||||
through that system in reliance on consistent application of that
|
||||
system; it is up to the author/donor to decide if he or she is willing
|
||||
to distribute software through any other system and a licensee cannot
|
||||
impose that choice.
|
||||
|
||||
This section is intended to make thoroughly clear what is believed to
|
||||
be a consequence of the rest of this License.
|
||||
|
||||
12. If the distribution and/or use of the Library is restricted in
|
||||
certain countries either by patents or by copyrighted interfaces, the
|
||||
original copyright holder who places the Library under this License may add
|
||||
an explicit geographical distribution limitation excluding those countries,
|
||||
so that distribution is permitted only in or among countries not thus
|
||||
excluded. In such case, this License incorporates the limitation as if
|
||||
written in the body of this License.
|
||||
|
||||
13. The Free Software Foundation may publish revised and/or new
|
||||
versions of the Lesser General Public License from time to time.
|
||||
Such new versions will be similar in spirit to the present version,
|
||||
but may differ in detail to address new problems or concerns.
|
||||
|
||||
Each version is given a distinguishing version number. If the Library
|
||||
specifies a version number of this License which applies to it and
|
||||
"any later version", you have the option of following the terms and
|
||||
conditions either of that version or of any later version published by
|
||||
the Free Software Foundation. If the Library does not specify a
|
||||
license version number, you may choose any version ever published by
|
||||
the Free Software Foundation.
|
||||
|
||||
14. If you wish to incorporate parts of the Library into other free
|
||||
programs whose distribution conditions are incompatible with these,
|
||||
write to the author to ask for permission. For software which is
|
||||
copyrighted by the Free Software Foundation, write to the Free
|
||||
Software Foundation; we sometimes make exceptions for this. Our
|
||||
decision will be guided by the two goals of preserving the free status
|
||||
of all derivatives of our free software and of promoting the sharing
|
||||
and reuse of software generally.
|
||||
|
||||
NO WARRANTY
|
||||
|
||||
15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO
|
||||
WARRANTY FOR THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW.
|
||||
EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR
|
||||
OTHER PARTIES PROVIDE THE LIBRARY "AS IS" WITHOUT WARRANTY OF ANY
|
||||
KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE
|
||||
LIBRARY IS WITH YOU. SHOULD THE LIBRARY PROVE DEFECTIVE, YOU ASSUME
|
||||
THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
||||
|
||||
16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN
|
||||
WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY
|
||||
AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU
|
||||
FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR
|
||||
CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE
|
||||
LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING
|
||||
RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A
|
||||
FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF
|
||||
SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
|
||||
DAMAGES.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
How to Apply These Terms to Your New Libraries
|
||||
|
||||
If you develop a new library, and you want it to be of the greatest
|
||||
possible use to the public, we recommend making it free software that
|
||||
everyone can redistribute and change. You can do so by permitting
|
||||
redistribution under these terms (or, alternatively, under the terms of the
|
||||
ordinary General Public License).
|
||||
|
||||
To apply these terms, attach the following notices to the library. It is
|
||||
safest to attach them to the start of each source file to most effectively
|
||||
convey the exclusion of warranty; and each file should have at least the
|
||||
"copyright" line and a pointer to where the full notice is found.
|
||||
|
||||
{description}
|
||||
Copyright (C) {year} {fullname}
|
||||
|
||||
This library is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
|
||||
This library is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
Lesser General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public
|
||||
License along with this library; if not, write to the Free Software
|
||||
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301
|
||||
USA
|
||||
|
||||
Also add information on how to contact you by electronic and paper mail.
|
||||
|
||||
You should also get your employer (if you work as a programmer) or your
|
||||
school, if any, to sign a "copyright disclaimer" for the library, if
|
||||
necessary. Here is a sample; alter the names:
|
||||
|
||||
Yoyodyne, Inc., hereby disclaims all copyright interest in the
|
||||
library `Frob' (a library for tweaking knobs) written by James Random
|
||||
Hacker.
|
||||
|
||||
{signature of Ty Coon}, 1 April 1990
|
||||
Ty Coon, President of Vice
|
||||
|
||||
That's all there is to it!
|
||||
|
||||
|
|
@ -0,0 +1,4 @@
|
|||
import os
|
||||
from .version import __version__
|
||||
|
||||
ICONPATH = os.path.join(os.path.dirname(__file__), "resources")
|
||||
|
|
@ -0,0 +1,89 @@
|
|||
import os
|
||||
import FreeCADGui as Gui
|
||||
import FreeCAD as App
|
||||
from PySide.QtCore import QT_TRANSLATE_NOOP
|
||||
import shutil
|
||||
ICONPATH = os.path.join(os.path.dirname(__file__), "resources")
|
||||
zone = "StabilityZone"
|
||||
import requests
|
||||
import importOBJ
|
||||
|
||||
|
||||
class AddStabilityZone:
|
||||
def __init__(self):
|
||||
pass
|
||||
|
||||
def GetResources(self):
|
||||
return {'Pixmap': os.path.join(ICONPATH, "stability_zone.svg"),
|
||||
'Accel': "Ctrl+A",
|
||||
'MenuText': QT_TRANSLATE_NOOP("My_Command", "My Command"),
|
||||
'ToolTip': QT_TRANSLATE_NOOP("My_Command", "Runs my command in the active document")}
|
||||
|
||||
def Activated(self):
|
||||
App.ActiveDocument.addObject("Part::Box", "Box")
|
||||
App.ActiveDocument.ActiveObject.Label = zone
|
||||
selected_object = App.ActiveDocument.getObjectsByLabel(zone)[0]
|
||||
selected_object.ViewObject.Transparency = 50
|
||||
selected_object.ViewObject.ShapeColor = (0.15, 0.80, 0.50)
|
||||
pass
|
||||
|
||||
def IsActive(self):
|
||||
return True
|
||||
|
||||
|
||||
class SyncServer:
|
||||
|
||||
httpURL = None
|
||||
def __init__(self, httpURL):
|
||||
self.httpURL = httpURL
|
||||
|
||||
|
||||
def GetResources(self):
|
||||
return {'Pixmap': os.path.join(ICONPATH, "server_sync.svg"),
|
||||
'Accel': "Ctrl+A",
|
||||
'MenuText': QT_TRANSLATE_NOOP("My_Command", "My Command"),
|
||||
'ToolTip': QT_TRANSLATE_NOOP("My_Command", "Runs my command in the active document")}
|
||||
|
||||
def Activated(self):
|
||||
StabilityZone = App.ActiveDocument.getObjectsByLabel(zone)
|
||||
dir_path = os.path.dirname(os.path.realpath(__file__))
|
||||
dir_out = dir_path + '/out/'
|
||||
if not os.path.exists(dir_out):
|
||||
os.makedirs(dir_out)
|
||||
importOBJ.export(StabilityZone, u"" + dir_out + 'StabilityZone.obj')
|
||||
shutil.make_archive(dir_out + '/' + 'geometry', 'zip',)
|
||||
zipArch = dir_out + 'geometry.zip'
|
||||
requests.post(url=self.httpURL, files={'zip': open(zipArch, "rb")})
|
||||
shutil.rmtree(dir_out)
|
||||
pass
|
||||
|
||||
def IsActive(self):
|
||||
return True
|
||||
|
||||
|
||||
class StabilityWorkbench(Gui.Workbench):
|
||||
|
||||
MenuText = "stability workbench"
|
||||
ToolTip = "a simple template workbench"
|
||||
Icon = os.path.join(ICONPATH, "template_resource.svg")
|
||||
toolbox = ['AddStabilityZone', 'SyncServer']
|
||||
httpURL = None
|
||||
def __init__(self,httpURL):
|
||||
self.httpURL = httpURL
|
||||
|
||||
|
||||
def GetClassName(self):
|
||||
return "Gui::PythonWorkbench"
|
||||
|
||||
def Initialize(self):
|
||||
Gui.addCommand('AddStabilityZone', AddStabilityZone())
|
||||
Gui.addCommand('SyncServer', SyncServer(
|
||||
self.httpURL))
|
||||
self.appendToolbar("Tools", self.toolbox)
|
||||
self.appendMenu("Tools", self.toolbox)
|
||||
|
||||
def Activated(self):
|
||||
pass
|
||||
|
||||
def Deactivated(self):
|
||||
pass
|
||||
|
|
@ -0,0 +1,134 @@
|
|||
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|
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|
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|
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xmlns:dc="http://purl.org/dc/elements/1.1/"
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xmlns:cc="http://creativecommons.org/ns#"
|
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xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
|
||||
xmlns:svg="http://www.w3.org/2000/svg"
|
||||
xmlns="http://www.w3.org/2000/svg"
|
||||
xmlns:xlink="http://www.w3.org/1999/xlink"
|
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xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
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xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
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inkscape:version="0.48.5 r10040"
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<linearGradient
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inkscape:collect="always"
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<text
|
||||
xml:space="preserve"
|
||||
style="font-style:normal;font-weight:normal;font-size:40px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
x="19.766714"
|
||||
y="45.637199"
|
||||
id="text4594"
|
||||
sodipodi:linespacing="125%"><tspan
|
||||
sodipodi:role="line"
|
||||
id="tspan4596"
|
||||
x="19.766714"
|
||||
y="45.637199">T</tspan></text>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 5.2 KiB |
|
|
@ -0,0 +1 @@
|
|||
__version__ = "0.8.1"
|
||||
|
|
@ -0,0 +1,47 @@
|
|||
import os
|
||||
import FreeCADGui as Gui
|
||||
import FreeCAD as App
|
||||
from gui.init_gui import StabilityWorkbench
|
||||
import json
|
||||
|
||||
|
||||
def importObjAtPath(path: str):
|
||||
import importOBJ
|
||||
importOBJ.insert(u"" + path, App.ActiveDocument.Label)
|
||||
|
||||
pass
|
||||
|
||||
|
||||
def getFullPathObj(assemblyFolder: str, name: str):
|
||||
return assemblyFolder + 'sdf/meshes/' + name + '.obj'
|
||||
|
||||
|
||||
def main():
|
||||
App.newDocument()
|
||||
env = json.loads((open('./env.json')).read())
|
||||
assemblyFolder = env.get('assemblyFolder')
|
||||
assemblyStructure = json.loads(
|
||||
(open(assemblyFolder + 'step-structure.json')).read())
|
||||
assemblyNumber = int(env.get('buildNumber')) - 1
|
||||
activeDetail = assemblyStructure[assemblyNumber]
|
||||
|
||||
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)
|
||||
Gui.SendMsgToActiveView("ViewSelection")
|
||||
|
||||
Gui.addWorkbench(StabilityWorkbench(env.get('resultURL')))
|
||||
Gui.activateWorkbench("StabilityWorkbench")
|
||||
|
||||
|
||||
main()
|
||||
|
|
@ -0,0 +1,2 @@
|
|||
/Users/idontsudo/Desktop/FreeCAD.app/Contents/MacOS/FreeCAD
|
||||
freecadcmd main.py
|
||||
|
|
@ -1,8 +1,5 @@
|
|||
{
|
||||
"cadFilePath": "/home/markvoltov/TestFolder/bottle_jack/bottle_jack.FCStd",
|
||||
"outPath": "/home/markvoltov/TestFolder/bottle_jack/",
|
||||
"solidBodyPadding": 3,
|
||||
"firstDetail": "Куб",
|
||||
"sequencesFixed": [],
|
||||
"restrictionsOnFasteners": []
|
||||
"cadFilePath": "/home/markvoltov/GitProjects/framework/test_models/cubes.FCStd",
|
||||
"outPath": "/home/markvoltov/GitProjects/framework/test_models/",
|
||||
"objectIndentation": 0
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,169 +1,774 @@
|
|||
import FreeCAD as App
|
||||
import uuid
|
||||
import os
|
||||
from extensions.list import CoreList
|
||||
from extensions.dict import CoreDict
|
||||
from helpers.freecadtest import FreeCadASPGenerationTestController
|
||||
from models.adjacency_matrix_model import (
|
||||
AdjacencyMatrixModel,
|
||||
)
|
||||
from usecases.check_object_has_touches_use_case import (
|
||||
CheckObjectHasTouchesUseCase,
|
||||
)
|
||||
from usecases.clusterisation_sequences_use_case import (
|
||||
ClusterisationSequenceUseCase,
|
||||
)
|
||||
from usecases.check_sequence_use_case import (
|
||||
CheckSequenceUsecase,
|
||||
)
|
||||
from usecases.env_reader_use_case import (
|
||||
EnvReaderUseCase,
|
||||
)
|
||||
from usecases.exit_freecad_use_case import (
|
||||
ExitFreeCadUseCase,
|
||||
)
|
||||
from usecases.intersection_geometry_use_case import (
|
||||
IntersectionGeometryUseCase,
|
||||
)
|
||||
from usecases.open_freecad_document_use_case import (
|
||||
OpenFreeCadDocumentUseCase,
|
||||
)
|
||||
import json
|
||||
from typing import List, Dict, Any, TypeVar, Callable, Type, cast
|
||||
from itertools import repeat
|
||||
|
||||
|
||||
from mocks.mock_structure import bottle_jack_mock_structure, simple_cube_mock_structure
|
||||
class CoreList(List):
|
||||
# the list contains only True
|
||||
def onlyTrue(self) -> bool:
|
||||
print(self)
|
||||
for el in self:
|
||||
if el is not True:
|
||||
return False
|
||||
return True
|
||||
|
||||
|
||||
def isInListRange(listIn, index):
|
||||
try:
|
||||
listIn[index]
|
||||
return False
|
||||
except:
|
||||
return True
|
||||
|
||||
|
||||
class AllSequences:
|
||||
all_sequences = None
|
||||
adj_matrix = None
|
||||
topologyIds = None
|
||||
adj_matrix_names = None
|
||||
|
||||
def __init__(self, adj_matrix) -> None:
|
||||
self.adj_matrix = adj_matrix
|
||||
self.all_possible_sequences(self.adj_matrix)
|
||||
self.matrix_by_name()
|
||||
pass
|
||||
|
||||
def matrix_by_name(self):
|
||||
result = self.all_sequences
|
||||
inc = 0
|
||||
for matrix in self.all_sequences:
|
||||
for index in range(len(matrix)):
|
||||
result[inc][index] = list(
|
||||
filter(
|
||||
lambda el: el.get("number") == matrix[index] + 1,
|
||||
self.topologyIds,
|
||||
)
|
||||
)[0].get("name")
|
||||
inc += 1
|
||||
self.adj_matrix_names = result
|
||||
pass
|
||||
|
||||
def find_all_sequences(self, adj_matrix):
|
||||
sequences = []
|
||||
num_vertices = len(adj_matrix)
|
||||
|
||||
def dfs(vertex, sequence):
|
||||
sequence.append(vertex)
|
||||
|
||||
if len(sequence) == num_vertices:
|
||||
sequences.append(sequence)
|
||||
return
|
||||
|
||||
for i in range(num_vertices):
|
||||
if adj_matrix[vertex][i] == 1 and i not in sequence:
|
||||
dfs(i, sequence.copy())
|
||||
|
||||
for i in range(num_vertices):
|
||||
dfs(i, [])
|
||||
|
||||
self.all_sequences = sequences
|
||||
|
||||
def findId(self, listMatrix, id):
|
||||
def filter_odd_num(in_num):
|
||||
if in_num["name"] == id:
|
||||
return True
|
||||
else:
|
||||
return False
|
||||
|
||||
return list(filter(filter_odd_num, listMatrix))[0]["number"]
|
||||
|
||||
def iter_paths(self, adj, min_length=6, path=None):
|
||||
if not path:
|
||||
for start_node in range(len(adj)):
|
||||
yield from self.iter_paths(adj, min_length, [start_node])
|
||||
else:
|
||||
if len(path) >= min_length:
|
||||
yield path
|
||||
if path[-1] in path[:-1]:
|
||||
return
|
||||
current_node = path[-1]
|
||||
for next_node in range(len(adj[current_node])):
|
||||
if adj[current_node][next_node] == 1:
|
||||
yield from self.iter_paths(adj, min_length, path + [next_node])
|
||||
|
||||
def allUnique(self, x):
|
||||
seen = set()
|
||||
return not any(i in seen or seen.add(i) for i in x)
|
||||
|
||||
def all_possible_sequences(self, matrix):
|
||||
topologyIds = []
|
||||
topologyMatrixNumber = {}
|
||||
inc = 0
|
||||
for k, v in matrix.items():
|
||||
inc += 1
|
||||
topologyIds.append({"name": k, "number": inc})
|
||||
inc = 0
|
||||
for k, v in matrix.items():
|
||||
inc += 1
|
||||
topologyMatrixNumber[inc] = list(
|
||||
map(lambda el: self.findId(topologyIds, el), v)
|
||||
)
|
||||
self.topologyIds = topologyIds
|
||||
adj = []
|
||||
matrixSize = matrix.keys().__len__()
|
||||
inc = 0
|
||||
for k, v in topologyMatrixNumber.items():
|
||||
adj.append(list(repeat(0, matrixSize)))
|
||||
for el in v:
|
||||
adj[inc][el - 1] = 1
|
||||
inc += 1
|
||||
return self.find_all_sequences(adj)
|
||||
|
||||
|
||||
class VectorModel:
|
||||
x: float
|
||||
y: float
|
||||
z: float
|
||||
|
||||
def __init__(self, cadVector) -> None:
|
||||
self.x = cadVector[0]
|
||||
self.y = cadVector[1]
|
||||
self.z = cadVector[2]
|
||||
pass
|
||||
|
||||
def toFreeCadVector(self):
|
||||
return App.Vector(self.x, self.y, self.z)
|
||||
|
||||
|
||||
class FreeCadRepository:
|
||||
_solids = []
|
||||
|
||||
def isAllObjectsSolids(self) -> List[str]:
|
||||
result = []
|
||||
for part in App.ActiveDocument.Objects:
|
||||
if self.is_object_solid(part) is False:
|
||||
result.append(part.Label)
|
||||
return result
|
||||
|
||||
def objectSetPosition(self, solid, cadVector):
|
||||
solid.Placement.Base = cadVector
|
||||
pass
|
||||
|
||||
def objectGetPosition(self, solid) -> VectorModel:
|
||||
return VectorModel(cadVector=solid.Placement.Base)
|
||||
|
||||
def isObjectIntersections(self, part) -> bool:
|
||||
for solid in self.getAllSolids():
|
||||
if solid.Label != part.Label:
|
||||
collisionResult: int = int(part.Shape.distToShape(solid.Shape)[0])
|
||||
if collisionResult == 0:
|
||||
return True
|
||||
return False
|
||||
|
||||
def objectHasTouches(self, part, objectIndentation: float) -> List[str]:
|
||||
positionVector = self.objectGetPosition(part)
|
||||
result = CoreList()
|
||||
result.append(self.isObjectIntersections(part=part))
|
||||
|
||||
if objectIndentation != 0 and objectIndentation != None:
|
||||
result.append(
|
||||
self.axis_movement_and_intersections_observer(
|
||||
positionVector=positionVector,
|
||||
alongAxis="x",
|
||||
objectIndentation=objectIndentation,
|
||||
part=part,
|
||||
)
|
||||
)
|
||||
result.append(
|
||||
self.axis_movement_and_intersections_observer(
|
||||
positionVector=positionVector,
|
||||
alongAxis="y",
|
||||
objectIndentation=objectIndentation,
|
||||
part=part,
|
||||
)
|
||||
)
|
||||
result.append(
|
||||
self.axis_movement_and_intersections_observer(
|
||||
positionVector=positionVector,
|
||||
alongAxis="z",
|
||||
objectIndentation=objectIndentation,
|
||||
part=part,
|
||||
)
|
||||
)
|
||||
|
||||
return result.onlyTrue()
|
||||
|
||||
def axis_movement_and_intersections_observer(
|
||||
self,
|
||||
positionVector: VectorModel,
|
||||
alongAxis: str,
|
||||
objectIndentation: float,
|
||||
part,
|
||||
) -> bool:
|
||||
# UP
|
||||
positionVector.__setattr__(
|
||||
alongAxis, positionVector.__getattribute__(alongAxis) + objectIndentation
|
||||
)
|
||||
self.objectSetPosition(part, positionVector.toFreeCadVector())
|
||||
result = self.isObjectIntersections(part=part)
|
||||
if result:
|
||||
return True
|
||||
# DOWN
|
||||
positionVector.__setattr__(
|
||||
alongAxis, positionVector.__getattribute__(alongAxis) - objectIndentation
|
||||
)
|
||||
positionVector.__setattr__(
|
||||
alongAxis, positionVector.__getattribute__(alongAxis) - objectIndentation
|
||||
)
|
||||
result = self.isObjectIntersections(part=part)
|
||||
if result:
|
||||
return True
|
||||
self.isObjectIntersections(part=part)
|
||||
# ROLLBACK
|
||||
positionVector.__setattr__(
|
||||
alongAxis, positionVector.__getattribute__(alongAxis) + objectIndentation
|
||||
)
|
||||
self.objectSetPosition(part, positionVector.toFreeCadVector())
|
||||
return False
|
||||
|
||||
def getAllSolids(self):
|
||||
if self._solids.__len__() == 0:
|
||||
for part in App.ActiveDocument.Objects:
|
||||
if self.is_object_solid(part):
|
||||
self._solids.append(part)
|
||||
|
||||
return self._solids
|
||||
|
||||
def is_object_solid(self, obj):
|
||||
if not isinstance(obj, App.DocumentObject):
|
||||
return False
|
||||
if hasattr(obj, "Group"):
|
||||
return False
|
||||
|
||||
if not hasattr(obj, "Shape"):
|
||||
return False
|
||||
if not hasattr(obj.Shape, "Solids"):
|
||||
return False
|
||||
|
||||
if len(obj.Shape.Solids) == 0:
|
||||
return False
|
||||
|
||||
return True
|
||||
|
||||
|
||||
T = TypeVar("T")
|
||||
|
||||
|
||||
def from_list(f: Callable[[Any], T], x: Any) -> List[T]:
|
||||
assert isinstance(x, list)
|
||||
return [f(y) for y in x]
|
||||
|
||||
|
||||
def from_str(x: Any) -> str:
|
||||
assert isinstance(x, str)
|
||||
return x
|
||||
|
||||
|
||||
def from_dict(f: Callable[[Any], T], x: Any) -> Dict[str, T]:
|
||||
assert isinstance(x, dict)
|
||||
return {k: f(v) for (k, v) in x.items()}
|
||||
|
||||
|
||||
def to_class(c: Type[T], x: Any) -> dict:
|
||||
assert isinstance(x, c)
|
||||
return cast(Any, x).to_dict()
|
||||
|
||||
|
||||
# Вспомогательный класс который делает генрацию JSON на основе пайтон обьектов
|
||||
|
||||
|
||||
class AdjacencyMatrix:
|
||||
matrixError: Dict[str, str] = {}
|
||||
all_parts: List[str]
|
||||
first_detail: str
|
||||
matrix: Dict[str, List[str]]
|
||||
|
||||
def __init__(
|
||||
self, all_parts: List[str], first_detail: str, matrix: Dict[str, List[str]]
|
||||
) -> None:
|
||||
self.all_parts = all_parts
|
||||
self.first_detail = first_detail
|
||||
self.matrix = matrix
|
||||
self.validateMatrix()
|
||||
|
||||
def whatPlaceLeadingPartIndex(self):
|
||||
i = 0
|
||||
for el in self.matrix:
|
||||
if el == self.first_detail:
|
||||
return i
|
||||
i = +1
|
||||
|
||||
def validateMatrix(self):
|
||||
for el in self.all_parts:
|
||||
if self.matrix.get(el) == None:
|
||||
self.matrixError[el] = "Not found adjacency " + el
|
||||
|
||||
@staticmethod
|
||||
def from_dict(obj: Any) -> "AdjacencyMatrix":
|
||||
assert isinstance(obj, dict)
|
||||
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"))
|
||||
|
||||
return AdjacencyMatrix(all_pars, first_detail, matrix)
|
||||
|
||||
def to_dict(self) -> dict:
|
||||
result: dict = {}
|
||||
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)
|
||||
if self.matrixError.values().__len__() == 0:
|
||||
result["matrixError"] = None
|
||||
else:
|
||||
result["matrixError"] = self.matrixError
|
||||
return result
|
||||
|
||||
def getDictMatrix(self) -> dict:
|
||||
result = {}
|
||||
|
||||
for k, v in self.matrix.items():
|
||||
result[k] = {}
|
||||
for el in v:
|
||||
result[k][el] = el
|
||||
|
||||
return result
|
||||
|
||||
|
||||
def adjacency_matrix_from_dict(s: Any) -> AdjacencyMatrix:
|
||||
return AdjacencyMatrix.from_dict(s)
|
||||
|
||||
|
||||
def adjacency_matrix_to_dict(x: AdjacencyMatrix) -> Any:
|
||||
return to_class(AdjacencyMatrix, x)
|
||||
|
||||
|
||||
# Вспомогательный класс для работы с Freecad
|
||||
|
||||
|
||||
class FreeCadMetaModel(object):
|
||||
def __init__(self, label, vertex) -> None:
|
||||
self.label = label
|
||||
self.vertex = vertex
|
||||
|
||||
|
||||
collision_squares_labels = []
|
||||
|
||||
|
||||
class MeshGeometryCoordinateModel(object):
|
||||
# Получение геометрии мешей
|
||||
def __init__(
|
||||
self,
|
||||
x,
|
||||
y,
|
||||
z,
|
||||
label,
|
||||
):
|
||||
self.x = x
|
||||
self.y = y
|
||||
self.z = z
|
||||
self.label = label
|
||||
self.cadLabel = ""
|
||||
|
||||
def initializePrimitivesByCoordinate(self, detailSquares):
|
||||
uuidDoc = str(uuid.uuid1())
|
||||
App.ActiveDocument.addObject("Part::Box", "Box")
|
||||
App.ActiveDocument.ActiveObject.Label = uuidDoc
|
||||
App.ActiveDocument.recompute()
|
||||
part = App.ActiveDocument.getObjectsByLabel(uuidDoc)[0]
|
||||
collision_squares_labels.append(uuidDoc)
|
||||
part.Width = 2
|
||||
part.Height = 2
|
||||
part.Length = 2
|
||||
part.Placement = App.Placement(
|
||||
App.Vector(self.x - 1, self.y - 1, self.z - 1),
|
||||
App.Rotation(App.Vector(0.00, 0.00, 1.00), 0.00),
|
||||
)
|
||||
if detailSquares.get(self.label) is None:
|
||||
detailSquares[self.label] = []
|
||||
detailSquares[self.label].append(self)
|
||||
self.cadLabel = uuidDoc
|
||||
App.ActiveDocument.recompute()
|
||||
|
||||
|
||||
class FS:
|
||||
def readJSON(path: str):
|
||||
return json.loads((open(path)).read())
|
||||
|
||||
def writeFile(data, filePath, fileName):
|
||||
file_to_open = filePath + fileName
|
||||
|
||||
f = open(file_to_open, "w", encoding="utf8")
|
||||
|
||||
f.write(data)
|
||||
|
||||
def readFile(path: str):
|
||||
return open(path).read()
|
||||
|
||||
def readFilesTypeFolder(pathFolder: str, fileType=".json"):
|
||||
filesJson = list(
|
||||
filter(
|
||||
lambda x: x[-fileType.__len__() :] == fileType, os.listdir(pathFolder)
|
||||
)
|
||||
)
|
||||
return filesJson
|
||||
|
||||
|
||||
class GetAllPartsLabelsUseCase:
|
||||
# Получение всех названий деталей
|
||||
def call(self):
|
||||
parts = []
|
||||
for part in FreeCadRepository().getAllSolids():
|
||||
parts.append(part.Label)
|
||||
return parts
|
||||
|
||||
|
||||
def isUnique(array, element):
|
||||
for i in array:
|
||||
if i == element:
|
||||
return False
|
||||
|
||||
return True
|
||||
|
||||
|
||||
class GetCollisionAtPrimitiveUseCase(object):
|
||||
# Получение колизий примитивов
|
||||
def call(self, freeCadMetaModels, detailSquares) -> Dict[str, List[str]]:
|
||||
matrix: Dict[str, List[str]] = {}
|
||||
for model in freeCadMetaModels:
|
||||
activePart = App.ActiveDocument.getObjectsByLabel(model.label)[0]
|
||||
for key in detailSquares:
|
||||
if model.label != key:
|
||||
for renderPrimitive in detailSquares[key]:
|
||||
primitivePart = App.ActiveDocument.getObjectsByLabel(
|
||||
renderPrimitive.cadLabel
|
||||
)[0]
|
||||
collisionResult: int = int(
|
||||
activePart.Shape.distToShape(primitivePart.Shape)[0]
|
||||
)
|
||||
if collisionResult == 0:
|
||||
if matrix.get(model.label) == None:
|
||||
matrix[model.label] = [renderPrimitive.label]
|
||||
else:
|
||||
if isUnique(matrix[model.label], renderPrimitive.label):
|
||||
matrix[model.label].append(renderPrimitive.label)
|
||||
return matrix
|
||||
|
||||
|
||||
class GetFirstDetailUseCase:
|
||||
# Получение первой детали
|
||||
def call(self):
|
||||
return FreeCadRepository().getAllSolids()[0].Label
|
||||
|
||||
|
||||
class GetPartPrimitiveCoordinatesUseCase(object):
|
||||
# Получение координат примитивов
|
||||
def call(self, freeCadMetaModels):
|
||||
meshCoordinates: list[MeshGeometryCoordinateModel] = []
|
||||
for model in freeCadMetaModels:
|
||||
vertexesDetail = model.vertex
|
||||
labelDetail = model.label
|
||||
for coords in vertexesDetail:
|
||||
detailVertex = MeshGeometryCoordinateModel(
|
||||
coords.X,
|
||||
coords.Y,
|
||||
coords.Z,
|
||||
labelDetail,
|
||||
)
|
||||
meshCoordinates.append(detailVertex)
|
||||
|
||||
return meshCoordinates
|
||||
|
||||
|
||||
class InitPartsParseUseCase:
|
||||
# Инициализация парсинга
|
||||
def call(self):
|
||||
product_details = []
|
||||
for part in FreeCadRepository().getAllSolids():
|
||||
if part is not None:
|
||||
model = FreeCadMetaModel(part.Label, part.Shape.Vertexes)
|
||||
if model is not None:
|
||||
product_details.append(model)
|
||||
return product_details
|
||||
|
||||
|
||||
class RenderPrimitiveUseCase(object):
|
||||
# Рендеринг премитивов
|
||||
def call(
|
||||
self, meshModels: list[MeshGeometryCoordinateModel], detailSquares
|
||||
) -> None:
|
||||
for mesh in meshModels:
|
||||
mesh.initializePrimitivesByCoordinate(detailSquares)
|
||||
|
||||
|
||||
class ClearWorkSpaceDocumentUseCase(object):
|
||||
# Очистка рабочего простарнства
|
||||
def call(self, detailSquares):
|
||||
for key in detailSquares:
|
||||
for renderPrimitive in detailSquares[key]:
|
||||
primitivePart = App.ActiveDocument.getObjectsByLabel(
|
||||
renderPrimitive.cadLabel
|
||||
)[0]
|
||||
App.ActiveDocument.removeObject(primitivePart.Name)
|
||||
|
||||
|
||||
class RenderPrimitivesScenario(object):
|
||||
def __init__(
|
||||
self,
|
||||
initPartsParseUseCase: InitPartsParseUseCase,
|
||||
getPartPrimitiveCoordinatesUseCase: GetPartPrimitiveCoordinatesUseCase,
|
||||
renderPrimitiveUseCase: RenderPrimitiveUseCase,
|
||||
getCollisionAtPrimitives: GetCollisionAtPrimitiveUseCase,
|
||||
clearWorkSpaceDocument: ClearWorkSpaceDocumentUseCase,
|
||||
) -> None:
|
||||
self.initPartsParseUseCase = initPartsParseUseCase
|
||||
self.getPartPrimitiveCoordinatesUseCase = getPartPrimitiveCoordinatesUseCase
|
||||
self.renderPrimitiveUseCase = renderPrimitiveUseCase
|
||||
self.getCollisionAtPrimitives = getCollisionAtPrimitives
|
||||
self.clearWorkSpaceDocument = clearWorkSpaceDocument
|
||||
|
||||
def call(self) -> None:
|
||||
meshCoordinates = []
|
||||
detailSquares = {}
|
||||
parts = self.initPartsParseUseCase.call()
|
||||
meshCoordinates = self.getPartPrimitiveCoordinatesUseCase.call(parts)
|
||||
self.renderPrimitiveUseCase.call(meshCoordinates, detailSquares)
|
||||
matrix = self.getCollisionAtPrimitives.call(parts, detailSquares)
|
||||
self.clearWorkSpaceDocument.call(detailSquares)
|
||||
return matrix
|
||||
|
||||
|
||||
class ClearWorkSpaceDocumentUseCase(object):
|
||||
# Очистака рабочего пространства
|
||||
def call(self, detailSquares):
|
||||
for key in detailSquares:
|
||||
for renderPrimitive in detailSquares[key]:
|
||||
primitivePart = App.ActiveDocument.getObjectsByLabel(
|
||||
renderPrimitive.cadLabel
|
||||
)[0]
|
||||
App.ActiveDocument.removeObject(primitivePart.Name)
|
||||
|
||||
|
||||
class CadAdjacencyMatrix:
|
||||
# Матрица основанная на соприкосновении примитива с обьектами
|
||||
def primitiveMatrix(self):
|
||||
# Получение матрицы
|
||||
matrix = RenderPrimitivesScenario(
|
||||
InitPartsParseUseCase(),
|
||||
GetPartPrimitiveCoordinatesUseCase(),
|
||||
RenderPrimitiveUseCase(),
|
||||
GetCollisionAtPrimitiveUseCase(),
|
||||
ClearWorkSpaceDocumentUseCase(),
|
||||
).call()
|
||||
return AdjacencyMatrix(
|
||||
all_parts=GetAllPartsLabelsUseCase().call(),
|
||||
first_detail=GetFirstDetailUseCase().call(),
|
||||
matrix=matrix,
|
||||
)
|
||||
|
||||
# Матрица основанная на соприкосновении обьектов
|
||||
|
||||
def matrixBySurfaces(self):
|
||||
matrix = {}
|
||||
for part in FreeCadRepository().getAllSolids():
|
||||
matrix[part.Label] = []
|
||||
for nextPart in FreeCadRepository().getAllSolids():
|
||||
if part.Label != nextPart.Label:
|
||||
# Вычисление соприконсоновения площади деталей
|
||||
collisionResult: int = int(
|
||||
part.Shape.distToShape(nextPart.Shape)[0]
|
||||
)
|
||||
print(collisionResult)
|
||||
print("collisionResult")
|
||||
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
|
||||
|
||||
|
||||
class IntersectionComputedUseCase:
|
||||
def call(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
|
||||
|
||||
|
||||
class ErrorStringModel:
|
||||
def __init__(self, error: str) -> None:
|
||||
self.error = error
|
||||
pass
|
||||
|
||||
error: str
|
||||
|
||||
def toString(self) -> str:
|
||||
return json.dumps(
|
||||
{
|
||||
"error": self.error,
|
||||
},
|
||||
ensure_ascii=False,
|
||||
indent=4,
|
||||
)
|
||||
|
||||
|
||||
class IsAllObjectSolidsCheckUseCase:
|
||||
def call() -> ErrorStringModel:
|
||||
result = FreeCadRepository().isAllObjectsSolids()
|
||||
if result.__len__() == 0:
|
||||
return None
|
||||
|
||||
return ErrorStringModel(error="Is not solid objects: " + ",".join(result))
|
||||
|
||||
|
||||
class CheckObjectHasTouchesUseCase:
|
||||
def call(objectIndentation: float) -> ErrorStringModel:
|
||||
result = []
|
||||
for part in FreeCadRepository().getAllSolids():
|
||||
if (
|
||||
FreeCadRepository().objectHasTouches(
|
||||
part=part, objectIndentation=objectIndentation
|
||||
)
|
||||
is False
|
||||
):
|
||||
result.append(part.Label)
|
||||
if result.__len__() == 0:
|
||||
return None
|
||||
return ErrorStringModel(
|
||||
error="Solids bodies have no recounts: " + ",".join(result)
|
||||
)
|
||||
|
||||
|
||||
class CheckCadIntersectionObjects:
|
||||
report = []
|
||||
|
||||
def call() -> bool:
|
||||
FreeCadRepository().getAllSolids()
|
||||
return False
|
||||
|
||||
|
||||
class ExitFreeCadUseCase:
|
||||
def call():
|
||||
import FreeCADGui as Gui
|
||||
|
||||
freecadQTWindow = Gui.getMainWindow()
|
||||
freecadQTWindow.close()
|
||||
|
||||
|
||||
# class CheckValidIntersectionUseCase:
|
||||
# def call() -> ErrorStringModel:
|
||||
# for part in FreeCadRepository().getAllSolids():
|
||||
# print(part)
|
||||
# FreeCadRepository().obj
|
||||
# pass
|
||||
|
||||
|
||||
def main():
|
||||
try:
|
||||
EnvReaderUseCase.call().either(
|
||||
leftF=lambda environment: (
|
||||
OpenFreeCadDocumentUseCase.call(environment.cadFilePath).either(
|
||||
leftF=lambda _: (
|
||||
(
|
||||
CheckObjectHasTouchesUseCase()
|
||||
.call(environment.solidBodyPadding)
|
||||
.either(
|
||||
leftF=lambda adjaxedMatrix: (
|
||||
adjaxedMatrix.sequencesToFileSystem(
|
||||
environment.outPath,
|
||||
environment.sequencesFixed,
|
||||
),
|
||||
IntersectionGeometryUseCase.call(
|
||||
adjaxedMatrix.matrixGetUniqueContact(),
|
||||
environment.outPath,
|
||||
),
|
||||
adjaxedMatrix.matrixToFileSystem(
|
||||
environment.outPath,
|
||||
),
|
||||
ClusterisationSequenceUseCase(environment.outPath),
|
||||
ExitFreeCadUseCase.call(),
|
||||
),
|
||||
rightF=lambda error: error.toFileSystem(
|
||||
environment.outPath
|
||||
),
|
||||
),
|
||||
)
|
||||
),
|
||||
rightF=lambda error: print(error),
|
||||
),
|
||||
),
|
||||
rightF=lambda error: print(error),
|
||||
)
|
||||
env = FS.readJSON("env.json")
|
||||
cadFilePath = str(env["cadFilePath"])
|
||||
outPath = str(env["outPath"])
|
||||
objectIndentation = float(env["objectIndentation"])
|
||||
|
||||
except Exception as error:
|
||||
print(error)
|
||||
ExitFreeCadUseCase.call()
|
||||
if cadFilePath == None:
|
||||
return TypeError("CadFile not found env.json")
|
||||
App.open("" + cadFilePath)
|
||||
|
||||
# isAllObjectSolidsCheckUseCase = IsAllObjectSolidsCheckUseCase.call()
|
||||
|
||||
# if isAllObjectSolidsCheckUseCase != None:
|
||||
# FS.writeFile(isAllObjectSolidsCheckUseCase.toString(), outPath, 'error.json')
|
||||
# ExitFreeCadUseCase.call()
|
||||
# return
|
||||
|
||||
# checkObjectHasTouchesUseCase = CheckObjectHasTouchesUseCase.call(objectIndentation)
|
||||
|
||||
# if checkObjectHasTouchesUseCase != None:
|
||||
# FS.writeFile(checkObjectHasTouchesUseCase.toString(), outPath, 'error.json')
|
||||
# ExitFreeCadUseCase.call()
|
||||
# return
|
||||
|
||||
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 = IntersectionComputedUseCase.call([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",
|
||||
)
|
||||
ExitFreeCadUseCase.call()
|
||||
|
||||
|
||||
# main()
|
||||
|
||||
|
||||
def test():
|
||||
try:
|
||||
mocksFolder = os.path.dirname(__file__) + "/mocks/"
|
||||
|
||||
outFolder = os.path.dirname(__file__) + "/out/"
|
||||
|
||||
FreeCadASPGenerationTestController("test adjaxed matrix simple cube").test(
|
||||
assertFn=lambda model: CoreList(model.all_parts).equal(
|
||||
simple_cube_mock_structure
|
||||
),
|
||||
execComposition=lambda _: (
|
||||
CheckObjectHasTouchesUseCase()
|
||||
.call(0)
|
||||
.either(
|
||||
leftF=lambda matrix: matrix.matrixToFileSystem(outFolder),
|
||||
rightF=lambda error: print(error),
|
||||
)
|
||||
),
|
||||
documentPath=mocksFolder + "simple_assembly_with_two_cubes.FCStd",
|
||||
modelName=AdjacencyMatrixModel.fileName,
|
||||
model=AdjacencyMatrixModel,
|
||||
)
|
||||
|
||||
FreeCadASPGenerationTestController(
|
||||
"test adjaxed matrix vs structure of document"
|
||||
).test(
|
||||
assertFn=lambda model: CoreDict(model.matrix).isEquivalentByKeys(
|
||||
bottle_jack_mock_structure
|
||||
),
|
||||
execComposition=lambda _: (
|
||||
CheckObjectHasTouchesUseCase()
|
||||
.call(0)
|
||||
.either(
|
||||
leftF=lambda matrix: matrix.matrixToFileSystem(outFolder),
|
||||
rightF=lambda error: print(error),
|
||||
)
|
||||
),
|
||||
documentPath=mocksFolder + "bottle_jack.FCStd",
|
||||
modelName=AdjacencyMatrixModel.fileName,
|
||||
model=AdjacencyMatrixModel,
|
||||
)
|
||||
|
||||
FreeCadASPGenerationTestController(
|
||||
"test adjacency matrix keys vs allparts"
|
||||
).test(
|
||||
assertFn=lambda model: CoreDict(model.matrix).isMatchByKeys(
|
||||
model.all_parts
|
||||
),
|
||||
execComposition=lambda _: (
|
||||
CheckObjectHasTouchesUseCase()
|
||||
.call(0)
|
||||
.either(
|
||||
leftF=lambda matrix: (matrix.matrixToFileSystem(outFolder)),
|
||||
rightF=lambda error: print(error),
|
||||
)
|
||||
),
|
||||
documentPath=mocksFolder + "bottle_jack.FCStd",
|
||||
modelName=AdjacencyMatrixModel.fileName,
|
||||
model=AdjacencyMatrixModel,
|
||||
)
|
||||
|
||||
FreeCadASPGenerationTestController("test all parts vs assembly sequence").test(
|
||||
assertFn=lambda model: CheckSequenceUsecase(
|
||||
ClusterisationSequenceUseCase(outFolder)
|
||||
).isCorrectByParts(model.all_parts),
|
||||
execComposition=lambda _: (
|
||||
CheckObjectHasTouchesUseCase()
|
||||
.call(0)
|
||||
.either(
|
||||
leftF=lambda matrix: (
|
||||
matrix.matrixToFileSystem(outFolder),
|
||||
ClusterisationSequenceUseCase(outFolder),
|
||||
),
|
||||
rightF=lambda error: print(error),
|
||||
)
|
||||
),
|
||||
documentPath=mocksFolder + "bottle_jack.FCStd",
|
||||
modelName=AdjacencyMatrixModel.fileName,
|
||||
model=AdjacencyMatrixModel,
|
||||
)
|
||||
|
||||
ExitFreeCadUseCase.call()
|
||||
except Exception as e:
|
||||
print(e)
|
||||
print("test error")
|
||||
ExitFreeCadUseCase.call()
|
||||
pass
|
||||
|
||||
|
||||
test()
|
||||
main()
|
||||
|
|
|
|||
116
freecad_workbench/freecad/robossembler/pddl/insertion_vector_predicate/.gitignore
vendored
Normal file
116
freecad_workbench/freecad/robossembler/pddl/insertion_vector_predicate/.gitignore
vendored
Normal file
|
|
@ -0,0 +1,116 @@
|
|||
# Byte-compiled / optimized / DLL files
|
||||
__pycache__/
|
||||
*.py[cod]
|
||||
*$py.class
|
||||
|
||||
# C extensions
|
||||
*.so
|
||||
|
||||
# Distribution / packaging
|
||||
.Python
|
||||
env/
|
||||
build/
|
||||
develop-eggs/
|
||||
dist/
|
||||
downloads/
|
||||
eggs/
|
||||
.eggs/
|
||||
lib/
|
||||
lib64/
|
||||
parts/
|
||||
sdist/
|
||||
var/
|
||||
wheels/
|
||||
*.egg-info/
|
||||
.installed.cfg
|
||||
*.egg
|
||||
|
||||
# PyInstaller
|
||||
# Usually these files are written by a python script from a template
|
||||
# before PyInstaller builds the exe, so as to inject date/other infos into it.
|
||||
*.manifest
|
||||
*.spec
|
||||
|
||||
# Installer logs
|
||||
pip-log.txt
|
||||
pip-delete-this-directory.txt
|
||||
|
||||
# Unit test / coverage reports
|
||||
htmlcov/
|
||||
.tox/
|
||||
.coverage
|
||||
.coverage.*
|
||||
.cache
|
||||
nosetests.xml
|
||||
coverage.xml
|
||||
*.cover
|
||||
.hypothesis/
|
||||
|
||||
# Translations
|
||||
*.mo
|
||||
*.pot
|
||||
|
||||
# Django stuff:
|
||||
*.log
|
||||
local_settings.py
|
||||
|
||||
# Flask stuff:
|
||||
instance/
|
||||
.webassets-cache
|
||||
|
||||
# Scrapy stuff:
|
||||
.scrapy
|
||||
|
||||
# Sphinx documentation
|
||||
docs/_build/
|
||||
|
||||
# PyBuilder
|
||||
target/
|
||||
|
||||
# Jupyter Notebook
|
||||
.ipynb_checkpoints
|
||||
|
||||
# pyenv
|
||||
.python-version
|
||||
|
||||
# celery beat schedule file
|
||||
celerybeat-schedule
|
||||
|
||||
# SageMath parsed files
|
||||
*.sage.py
|
||||
|
||||
# dotenv
|
||||
.env
|
||||
|
||||
# virtualenv
|
||||
.venv
|
||||
venv/
|
||||
ENV/
|
||||
|
||||
# Spyder project settings
|
||||
.spyderproject
|
||||
.spyproject
|
||||
|
||||
# Rope project settings
|
||||
.ropeproject
|
||||
|
||||
# mkdocs documentation
|
||||
/site
|
||||
|
||||
# mypy
|
||||
.mypy_cache/
|
||||
|
||||
# blender backup files
|
||||
*.blend1
|
||||
install_plugin_cad.sh
|
||||
.vscode
|
||||
.DS_Store
|
||||
|
||||
# emacs backup files
|
||||
~*
|
||||
*~
|
||||
*#
|
||||
.#*
|
||||
\#*\#
|
||||
out/
|
||||
/env.json
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
# Start dev
|
||||
create env.json
|
||||
|
||||
```json
|
||||
{
|
||||
"cadDoc":"CAD_DOC_PATH_REPLACE",
|
||||
"sequences":"SEQUENCES_PATH_REPLACE",
|
||||
"aspDir":"ASP_DIR_REPLACE"
|
||||
}
|
||||
```
|
||||
# Command generation assets
|
||||
freecad generate.py
|
||||
|
||||
# Command generation insertion vectors
|
||||
|
||||
git submodule update --init
|
||||
conda env create -f assembly/environment.yml
|
||||
conda activate assembly
|
||||
python assembly/simulation/setup.py install
|
||||
sudo apt-get install libgl1-mesa-dev xorg-dev
|
||||
python3 main.py
|
||||
|
||||
|
||||
|
||||
# Последовательность действий
|
||||
|
||||
1. cad_generation main.py
|
||||
1. в env json прописываем пути
|
||||
2. geometric_feasibility_predicate main.py
|
||||
1. в env json прописываем пути
|
||||
|
||||
3. insertion vector predicate main.py #исправить пути к моделям в main.py
|
||||
4. результат : траектории вставки
|
||||
|
|
@ -0,0 +1 @@
|
|||
Subproject commit 395ee5b638ccaa0cbe5b48101655560e49365195
|
||||
|
|
@ -0,0 +1,205 @@
|
|||
|
||||
|
||||
from typing import List
|
||||
import FreeCAD as App
|
||||
import Part
|
||||
import Mesh
|
||||
import Part
|
||||
import MeshPart
|
||||
import os
|
||||
import json
|
||||
import FreeCADGui as Gui
|
||||
|
||||
class FS:
|
||||
def readJSON(path: str):
|
||||
return json.loads((open(path)).read())
|
||||
|
||||
def writeFile(data, filePath, fileName):
|
||||
file_to_open = filePath + fileName
|
||||
|
||||
f = open(file_to_open, 'w', encoding='utf-8',
|
||||
errors='ignore')
|
||||
f.write(data)
|
||||
f.close()
|
||||
def createFolder(path: str):
|
||||
if (not os.path.exists(path)):
|
||||
return os.mkdir(path)
|
||||
|
||||
|
||||
|
||||
class SimpleCopyPartModel:
|
||||
id = None
|
||||
copyLink = None
|
||||
label = None
|
||||
part = None
|
||||
|
||||
def getPart(self):
|
||||
return self.part
|
||||
|
||||
def __init__(self, part) -> None:
|
||||
try:
|
||||
from random import randrange
|
||||
self.id = str(randrange(1000000))
|
||||
childObj = part
|
||||
print(part)
|
||||
__shape = Part.getShape(
|
||||
childObj, '', needSubElement=False, refine=False)
|
||||
obj = App.ActiveDocument.addObject('Part::Feature', self.id)
|
||||
obj.Shape = __shape
|
||||
self.part = obj
|
||||
self.label = obj.Label
|
||||
App.ActiveDocument.recompute()
|
||||
except Exception as e:
|
||||
print(e)
|
||||
|
||||
def remove(self):
|
||||
App.ActiveDocument.removeObject(self.label)
|
||||
|
||||
class MeshPartModel:
|
||||
id = None
|
||||
mesh = None
|
||||
|
||||
def __init__(self, part) -> None:
|
||||
try:
|
||||
from random import randrange
|
||||
self.id = 'mesh' + str(randrange(1000000))
|
||||
document = App.ActiveDocument
|
||||
mesh = document.addObject("Mesh::Feature", self.id)
|
||||
shape = Part.getShape(part, "")
|
||||
mesh.Mesh = MeshPart.meshFromShape(
|
||||
Shape=shape, LinearDeflection=20, AngularDeflection=0.1, Relative=False)
|
||||
mesh.Label = self.id
|
||||
self.mesh = mesh
|
||||
except Exception as e:
|
||||
print(e)
|
||||
pass
|
||||
|
||||
def remove(self):
|
||||
try:
|
||||
App.ActiveDocument.removeObject(self.mesh.Label)
|
||||
except Exception as e:
|
||||
print(e)
|
||||
|
||||
|
||||
|
||||
class JoinMeshModel:
|
||||
id = None
|
||||
mesh = None
|
||||
|
||||
def __init__(self, meshesPartModels: list['MeshPartModel']) -> None:
|
||||
meshes = []
|
||||
from random import randrange
|
||||
for el in meshesPartModels:
|
||||
meshes.append(el.mesh.Mesh)
|
||||
|
||||
self.id = 'MergedMesh' + str(randrange(1000000))
|
||||
doc = App.ActiveDocument
|
||||
merged_mesh = Mesh.Mesh()
|
||||
for el in meshes:
|
||||
merged_mesh.addMesh(el)
|
||||
|
||||
new_obj = doc.addObject("Mesh::Feature", self.id)
|
||||
new_obj.Mesh = merged_mesh
|
||||
new_obj.ViewObject.DisplayMode = "Flat Lines"
|
||||
self.mesh = new_obj
|
||||
|
||||
def remove(self):
|
||||
try:
|
||||
App.ActiveDocument.removeObject(self.id)
|
||||
except Exception as e:
|
||||
print(e)
|
||||
|
||||
|
||||
class ExportAssemblyThemAllUseCase:
|
||||
|
||||
def call(self, path:str, assemblys:list[str]):
|
||||
assembly = assemblys
|
||||
asmStructure = {}
|
||||
inc = 0
|
||||
for el in assembly:
|
||||
if (inc != 0):
|
||||
asmStructure[inc] = {
|
||||
"child": el,
|
||||
"parents": assembly[0:inc]
|
||||
}
|
||||
inc += 1
|
||||
objectsFreeCad = App.ActiveDocument.Objects
|
||||
asmSolids = {}
|
||||
for k, v in asmStructure.items():
|
||||
assemblyParentList = v['parents']
|
||||
assemblyChild = v['child']
|
||||
for el in assemblyParentList:
|
||||
for solid in objectsFreeCad:
|
||||
if (el == solid.Label):
|
||||
if (asmSolids.get(k) is None):
|
||||
|
||||
asmSolids[k] = {'parents': [], 'child': list(
|
||||
filter(lambda x: x.Label == assemblyChild, objectsFreeCad))[0]}
|
||||
|
||||
asmSolids[k]['parents'].append(solid)
|
||||
|
||||
inc = 0
|
||||
for k, v in asmSolids.items():
|
||||
geometry = {"0": [], "1": []}
|
||||
if (k != 0):
|
||||
App.activeDocument().addObject("Part::Compound", "Compound")
|
||||
|
||||
copyLinks = list(
|
||||
map(lambda el: SimpleCopyPartModel(el), v['parents']))
|
||||
|
||||
if copyLinks != None:
|
||||
App.activeDocument().Compound.Links = list(
|
||||
map(lambda el: el.getPart(), copyLinks))
|
||||
|
||||
object = App.activeDocument().getObject('Compound')
|
||||
boundBox = object.Shape.BoundBox
|
||||
geometry['0'].append(boundBox.XMax)
|
||||
geometry['0'].append(boundBox.YMax)
|
||||
geometry['0'].append(boundBox.ZMax)
|
||||
|
||||
boundBoxChild = v['child'].Shape.BoundBox
|
||||
geometry['1'].append(boundBoxChild.XMax)
|
||||
geometry['1'].append(boundBoxChild.YMax)
|
||||
geometry['1'].append(boundBoxChild.ZMax)
|
||||
meshParents = []
|
||||
|
||||
for el in v['parents']:
|
||||
meshParents.append(MeshPartModel(el))
|
||||
joinMesh = JoinMeshModel(meshParents)
|
||||
for el in meshParents:
|
||||
el.remove()
|
||||
import importOBJ
|
||||
importOBJ.export(joinMesh.mesh, path + str(1) + '.obj')
|
||||
joinMesh.remove()
|
||||
importOBJ.export(v['child'], path + str(0) + '.obj')
|
||||
FS.writeFile(json.dumps(geometry), path, 'translation.json')
|
||||
|
||||
App.ActiveDocument.removeObject("Compound")
|
||||
for el in copyLinks:
|
||||
el.remove()
|
||||
App.activeDocument().recompute()
|
||||
inc += 1
|
||||
|
||||
def main():
|
||||
|
||||
env = FS.readJSON('./env.json')
|
||||
env.get('cadDoc')
|
||||
aspDir = env.get('aspDir')
|
||||
sequences = FS.readJSON(env.get('sequences')).get('sequences')
|
||||
App.openDocument(env.get('cadDoc'))
|
||||
for sequencyNumber in range(len(sequences)):
|
||||
FS.createFolder(aspDir + 'assemblys/')
|
||||
mainFolder = aspDir + 'assemblys/' + str(sequencyNumber) + '/'
|
||||
FS.createFolder(mainFolder)
|
||||
for subSequenceNumber in range(len(sequences[sequencyNumber])):
|
||||
if(subSequenceNumber != 0):
|
||||
subFolder = aspDir + 'assemblys/' + \
|
||||
str(sequencyNumber) + '/' + str(subSequenceNumber) + '/'
|
||||
|
||||
FS.createFolder(subFolder)
|
||||
ExportAssemblyThemAllUseCase().call(path=subFolder,assemblys=sequences[sequencyNumber][0:subSequenceNumber+1])
|
||||
|
||||
App.closeDocument(App.ActiveDocument.Name)
|
||||
freecadQTWindow = Gui.getMainWindow()
|
||||
freecadQTWindow.close()
|
||||
main()
|
||||
|
|
@ -0,0 +1,174 @@
|
|||
import os
|
||||
import sys
|
||||
|
||||
project_base_dir = os.path.abspath(os.path.join(
|
||||
os.path.dirname(os.path.abspath(__file__)), './')) + '/assembly/'
|
||||
|
||||
|
||||
sys.path.append(project_base_dir)
|
||||
sys.path.append(project_base_dir + '/baselines/')
|
||||
sys.path.append(project_base_dir + '/assets/')
|
||||
|
||||
from scipy.spatial.transform import Rotation
|
||||
import shutil
|
||||
from spatialmath import *
|
||||
from spatialmath.base import *
|
||||
from assembly.assets.process_mesh import process_mesh
|
||||
from assembly.examples.run_joint_plan import get_planner
|
||||
from assembly.baselines.run_joint_plan import PyPlanner
|
||||
from assembly.assets.subdivide import subdivide_to_size
|
||||
import numpy as np
|
||||
import json
|
||||
import trimesh
|
||||
|
||||
import re
|
||||
def merge_meshes(meshes):
|
||||
# Создание пустого меша
|
||||
merged_mesh = trimesh.Trimesh()
|
||||
|
||||
# Объединение каждого меша в один
|
||||
for mesh in meshes:
|
||||
merged_mesh = trimesh.util.concatenate(
|
||||
[merged_mesh, trimesh.load(mesh)])
|
||||
i = True
|
||||
while i:
|
||||
if merged_mesh.fill_holes():
|
||||
i = False
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
return merged_mesh
|
||||
|
||||
|
||||
os.environ['OMP_NUM_THREADS'] = '1'
|
||||
|
||||
|
||||
|
||||
class FS:
|
||||
def readJSON(path: str):
|
||||
return json.loads((open(path)).read())
|
||||
|
||||
def writeFile(data, filePath, fileName):
|
||||
|
||||
file_to_open = filePath + fileName
|
||||
|
||||
f = open(file_to_open, 'w', )
|
||||
|
||||
f.write(data)
|
||||
|
||||
def readFile(path: str):
|
||||
return open(path).read()
|
||||
|
||||
def readFilesTypeFolder(pathFolder: str, fileType='.json'):
|
||||
return os.listdir(pathFolder)
|
||||
|
||||
def readFolder(pathFolder: str):
|
||||
return list(map(lambda el: pathFolder + '/' + el, os.listdir(pathFolder)))
|
||||
|
||||
def createFolder(path: str):
|
||||
if (not os.path.exists(path)):
|
||||
return os.mkdir(path)
|
||||
|
||||
|
||||
def listGetFirstValue(iterable, default=False, pred=None):
|
||||
return next(filter(pred, iterable), default)
|
||||
|
||||
|
||||
def filterModels(filterModels, filterModelsDescription):
|
||||
models = []
|
||||
for el in filterModelsDescription:
|
||||
models.append(listGetFirstValue(
|
||||
filterModels, None, lambda x: x.name == el))
|
||||
return models
|
||||
|
||||
|
||||
# mesh1 = trimesh.load('/Users/idontsudo/framework/asp/out/sdf-generation/meshes/Cube.obj')
|
||||
# mesh2 = trimesh.load('/Users/idontsudo/framework/asp/out/sdf-generation/meshes/Cube001.obj')
|
||||
|
||||
|
||||
# # Объединение мешей
|
||||
# merged_mesh = merge_meshes([mesh1, mesh2])
|
||||
|
||||
# # Сохранение объединенного меша в файл
|
||||
# merged_mesh.export('merged.obj')
|
||||
def main():
|
||||
# from argparse import ArgumentParser
|
||||
# parser = ArgumentParser()
|
||||
# parser.add_argument('--asp-path', type=str, required=True)
|
||||
# args = parser.parse_args()
|
||||
# aspDir = args.asp_dir
|
||||
|
||||
# # Коректировка пути до папки с генерацией ASP
|
||||
# if (aspDir == None):
|
||||
# args.print_helper()
|
||||
# if (aspDir[aspDir.__len__() - 1] != '/'):
|
||||
# aspDir += '/'
|
||||
aspDir = "/home/markvoltov/GitProjects/framework/test_models/"
|
||||
sequences = FS.readJSON(aspDir + 'sequences.json').get('sequences')
|
||||
|
||||
assemblyDirNormalize = []
|
||||
for el in FS.readFolder(aspDir + 'assemblys'):
|
||||
for e in FS.readFolder(el):
|
||||
try:
|
||||
# Пост обработка .obj обьектов
|
||||
process_mesh(source_dir=e, target_dir=e +
|
||||
'/process/', subdivide=e, verbose=True)
|
||||
assemblyDirNormalize.append(e + '/process/')
|
||||
except Exception as e:
|
||||
print('ERRROR:')
|
||||
print(e)
|
||||
|
||||
|
||||
print(assemblyDirNormalize)
|
||||
for el in assemblyDirNormalize:
|
||||
asset_folder = os.path.join(project_base_dir, aspDir)
|
||||
assembly_dir = os.path.join(asset_folder, el)
|
||||
planner = get_planner('bfs')(assembly_dir, assembly_dir, 0, [
|
||||
1], False, 'sdf', 0.05, 0.01, 100, 100, True)
|
||||
|
||||
# Планирование пути
|
||||
status, t_plan, path = planner.plan(
|
||||
120, seed=1, return_path=True, render=False, record_path=None
|
||||
)
|
||||
coords = []
|
||||
|
||||
for k in path:
|
||||
seMatrix = SE3(k)
|
||||
euler = seMatrix.eul()
|
||||
coord = seMatrix.A[0:3, 3]
|
||||
rot = Rotation.from_euler('xyz', euler, degrees=True).as_quat()
|
||||
coords.append({'quadrelion': [rot[0], rot[1], rot[2], rot[3]], 'xyz': [
|
||||
coord[0], coord[1], coord[2]], 'euler': [euler[0], euler[1], euler[2]]})
|
||||
# Запись пути в кортеж
|
||||
planingObject = {
|
||||
"time": t_plan,
|
||||
"insertion_path": coords,
|
||||
"status": status,
|
||||
}
|
||||
# Запись результата планирования
|
||||
FS.writeFile(json.dumps(planingObject),
|
||||
el[0:el.__len__() - 8], 'insertion_path.json')
|
||||
|
||||
try:
|
||||
planner = PyPlanner(assembly_dir, 'process', still_ids=[1],)
|
||||
status, t_plan, path = planner.plan(
|
||||
planner_name='rrt',
|
||||
step_size=None,
|
||||
max_time=None,
|
||||
seed=1,
|
||||
return_path=True,
|
||||
simplify=False,
|
||||
render=False
|
||||
)
|
||||
|
||||
print(f'Status: {status}, planning time: {t_plan}')
|
||||
|
||||
if args.save_dir is not None:
|
||||
planner.save_path(path, args.save_dir, args.n_save_state)
|
||||
except Exception as e:
|
||||
print(e)
|
||||
|
||||
|
||||
main()
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
spatialmath-python
|
||||
scipy
|
||||
uuid
|
||||
1
insertion_vector_predicate/assembly
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Subproject commit 395ee5b638ccaa0cbe5b48101655560e49365195
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