feat: close ordered pairs and property codec batches

scripts/freecad-property-acceleration-roundtrip.py

@@ -0,0 +1,116 @@
+import hashlib
+import json
+import os
+import xml.etree.ElementTree as ET
+
+import FreeCAD as App
+import Robot
+
+
+FREECAD_COMMIT = "0108fd4b4850cc46e625b60e53cea7a7bbe69f8d"
+
+
+def trajectory_snapshot(obj):
+    content = obj.Trajectory.Content
+    root = ET.fromstring(content)
+    waypoints = [
+        {
+            "name": node.attrib["name"],
+            "type": node.attrib["type"],
+            "position": [round(float(node.attrib[key]), 9) for key in ("Px", "Py", "Pz")],
+            "velocity": round(float(node.attrib["vel"]), 9),
+            "acceleration": round(float(node.attrib["acc"]), 9),
+        }
+        for node in root.findall("Waypoint")
+    ]
+    return {
+        "contentSha256": hashlib.sha256(content.encode("utf-8")).hexdigest(),
+        "waypointCount": len(waypoints),
+        "length": round(float(obj.Trajectory.Length), 9),
+        "duration": round(float(obj.Trajectory.Duration), 9),
+        "waypoints": waypoints,
+    }
+
+
+def object_snapshot(document):
+    obj = document.getObject("AccelerationProbe")
+    source = document.getObject("SourceTrajectory")
+    return {
+        "objectSet": [{"name": item.Name, "typeId": item.TypeId} for item in document.Objects],
+        "object": {
+            "name": obj.Name,
+            "typeId": obj.TypeId,
+            "propertyTypeId": obj.getTypeIdOfProperty("Acceleration"),
+            "value": {"raw": str(obj.Acceleration), "numeric": round(float(obj.Acceleration.Value), 9), "unit": str(obj.Acceleration.Unit)},
+            "propertyStatus": [str(item) for item in obj.getPropertyStatus("Acceleration")],
+            "editorMode": [str(item) for item in obj.getEditorMode("Acceleration")],
+            "source": {"name": obj.Source.Name, "typeId": obj.Source.TypeId},
+            "useAcceleration": bool(obj.UseAcceleration),
+            "state": [str(item) for item in obj.State],
+            "statusString": str(obj.getStatusString()),
+            "trajectory": trajectory_snapshot(obj),
+        },
+        "sourceTrajectory": trajectory_snapshot(source),
+    }
+
+
+def create_native(path):
+    document = App.newDocument("PropertyAccelerationRoundtrip")
+    try:
+        source = document.addObject("Robot::TrajectoryObject", "SourceTrajectory")
+        trajectory = source.Trajectory
+        trajectory = trajectory.insertWaypoints(App.Placement(App.Vector(1.0, 2.0, 3.0), App.Rotation()))
+        trajectory = trajectory.insertWaypoints(App.Placement(App.Vector(4.0, 6.0, 3.0), App.Rotation()))
+        source.Trajectory = trajectory
+        obj = document.addObject("Robot::TrajectoryDressUpObject", "AccelerationProbe")
+        obj.Source = source
+        obj.UseAcceleration = True
+        obj.Acceleration = "1000 mm/s^2"
+        document.recompute()
+        document.saveAs(path)
+    finally:
+        App.closeDocument(document.Name)
+    reopened = App.openDocument(path)
+    try:
+        reopened.recompute()
+        return object_snapshot(reopened)
+    finally:
+        App.closeDocument(reopened.Name)
+
+
+def verify_native(path, resaved_path):
+    document = App.openDocument(path)
+    try:
+        document.recompute()
+        reopened = object_snapshot(document)
+        document.saveAs(resaved_path)
+    finally:
+        App.closeDocument(document.Name)
+    resaved_document = App.openDocument(resaved_path)
+    try:
+        resaved_document.recompute()
+        resaved = object_snapshot(resaved_document)
+    finally:
+        App.closeDocument(resaved_document.Name)
+    return {"reopened": reopened, "resaved": resaved}
+
+
+mode = os.environ.get("FREECAD_PROPERTY_ACCELERATION_ROUNDTRIP_MODE", "")
+path = os.environ.get("FREECAD_PROPERTY_ACCELERATION_ROUNDTRIP_PATH", "")
+resaved_path = os.environ.get("FREECAD_PROPERTY_ACCELERATION_ROUNDTRIP_RESAVED_PATH", "")
+if mode == "create":
+    result = create_native(path)
+elif mode == "verify":
+    result = verify_native(path, resaved_path)
+else:
+    raise RuntimeError("FREECAD_PROPERTY_ACCELERATION_ROUNDTRIP_MODE must be create or verify")
+
+print("FREECAD_PROPERTY_ACCELERATION_ROUNDTRIP_RESULT=" + json.dumps({
+    "schemaVersion": 1,
+    "status": "pass",
+    "baselineId": "freecad-1.1.1-property-acceleration-roundtrip",
+    "freecadVersion": ".".join(str(value) for value in App.Version()[:3]),
+    "gitCommit": FREECAD_COMMIT,
+    "mode": mode,
+    "result": result,
+}, sort_keys=True))