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