FreeCAD: Workbench Refactor

simulation/robossembler_scene_builder/main.py

@@ -0,0 +1,97 @@
+from types import LambdaType, UnionType
+from returns.pipeline import is_successful
+from typing import List, TypeVar
+from returns.result import Result, Success, Failure
+import os
+from model.robossembler_assets import (
+    MappingInstanceAtModel,
+    RobossemblerAssets,
+    Instance,
+)
+import re
+import pathlib
+from repository.file_system import FileSystemRepository
+from model.robossembler_assets import Physics
+from argparse import ArgumentParser
+
+
+T = TypeVar("T")
+
+
+class JsonReaderAndModelMapperUseCase:
+    def call(path: str, model: T) -> Result[T, str]:
+        try:
+            if not re.search("^(.+)\/([^\/]+)$", path):
+                return Failure("path not valid")
+            if model.from_dict == None:
+                return Failure("Model is not have mapping method from_dict")
+            return Success(model.from_dict(FileSystemRepository.readJSON(path=path)))
+        except:
+            return Failure("JsonReaderAndModelMapperUseCase unknown error")
+
+
+class MappingInstanceAtModelToSdfUseCase:
+    def call(instances: List[MappingInstanceAtModel]) -> Result[List[str], str]:
+        try:
+            return Success(list(map(lambda el: el.toSDF(), instances)))
+        except:
+            return Failure("MappingInstanceAtModelToSdfUseCase unknown error")
+
+
+class MappingSdfWorldToPhysicsModelUseCase:
+    def call(physicModel: Physics) -> Result[List[str], str]:
+        try:
+            return Success(Physics.toSDF(physicModel))
+        except:
+            return Failure("MappingInstanceAtModelToSdfUseCase unknown error")
+
+
+class FormationOfTheSDFUseCase:
+    def call(worldTag: str, modelsTags: List[str], path: str) -> Result[bool, str]:
+        path = str(pathlib.Path(path).parent.resolve()) + "/"
+        if modelsTags == None:
+            return Failure("FormationOfTheSDFUseCase modelsTags is None")
+        if worldTag == None:
+            return Failure("FormationOfTheSDFUseCase worldTag is None")
+
+        FileSystemRepository.writeFile(
+            data=worldTag.replace("{models}", "\n".join(modelsTags)),
+            filePath=path,
+            fileName="world.sdf",
+        )
+        return Success(True)
+
+
+def main():
+    parser = ArgumentParser()
+    parser.add_argument("--path", help="need path .json")
+    args = parser.parse_args()
+
+    if args.path == None:
+        parser.print_help()
+        return
+    path = args.path
+    jsonReaderAndModelMapperUseCase = JsonReaderAndModelMapperUseCase.call(
+        path=path, model=RobossemblerAssets
+    )
+
+    if not is_successful(jsonReaderAndModelMapperUseCase):
+        return
+    robossemblerAssets = jsonReaderAndModelMapperUseCase.value_or(None)
+
+    instanceSdfModel = MappingInstanceAtModelToSdfUseCase.call(
+        instances=robossemblerAssets.getAllAssetsInstanceAtModel()
+    )
+
+    sdfWorld = MappingSdfWorldToPhysicsModelUseCase.call(
+        physicModel=robossemblerAssets.physics
+    )
+
+    FormationOfTheSDFUseCase.call(
+        worldTag=sdfWorld.value_or(None),
+        modelsTags=instanceSdfModel.value_or(None),
+        path=path,
+    )
+
+
+main()