import sys
import os
import logging
import re
import shutil
def pyprint(code):
print(code)
if "-c" in sys.argv or \
"--with-colors" in sys.argv or \
"--with-reverse-color" in sys.argv:
try:
# If Pygments is installed, use it to nicely render Python code.
from pygments import highlight
from pygments.lexers import PythonLexer
from pygments.formatters import Terminal256Formatter
[docs] def pyprint(code):
print(highlight(code, PythonLexer(), Terminal256Formatter(style="monokai")))
except ImportError:
pass
from morse.core.exceptions import MorseEnvironmentError
logger = logging.getLogger('morse')
##
substr = re.compile("@(.*?)@")
DEFAULT_TEMPLATES_PATH = "share/morse/data/templates"
# no good way to know if a file is binary or not. So use a list of extensions
BINARY_FILE_EXT = [".blend"]
joinpth = os.path.join # little shortcut...
###################
## Attention! the first file of each of these lists is used to check
## if the component already exist: do not put file in "append" mode
## (like __init__.py) as first entry.
BASIC = ["default.py",
"scripts/@env@_client.py",
"src/@env@/__init__.py",
"src/@env@/builder/__init__.py"]
ROBOT = ["src/@env@/robots/@name@.py",
"src/@env@/robots/__init__.py",
"src/@env@/builder/robots/@name@.py",
"src/@env@/builder/robots/__init__.py",
"data/@env@/robots/@name@.blend"]
SENSOR = ["src/@env@/sensors/@name@.py",
"src/@env@/sensors/__init__.py",
"src/@env@/builder/sensors/@name@.py",
"src/@env@/builder/sensors/__init__.py"]
ACTUATOR = ["src/@env@/actuators/@name@.py",
"src/@env@/actuators/__init__.py",
"src/@env@/builder/actuators/@name@.py",
"src/@env@/builder/actuators/__init__.py"]
###################
NEW_ROBOT_MSG = ["""
A template for a new robot called <{name}> has been
added to the <{env}> environment.
----------------------------------------------------------
To complete the equipment of your robot, edit:
{prefix}/src/{env}/builder/robots/{name}.py
You can also modify its Blender mesh:
{prefix}/data/{env}/robots/{name}.blend
For advanced usage, you may also edit its internal
definition here:
{prefix}/src/{env}/robots/{name}.py
----------------------------------------------------------
To use the robot in your simulation script, add the following
lines:
""", ("""from {env}.builder.robots import {classname}
# add a new {name} robot in the simulation
{name} = {classname}()
#{name}.translate(...)
#{name}.add_default_interface('socket')
""", 'python'),
"""----------------------------------------------------------
Happy simulation!
"""]
NEW_ACTUATOR_MSG = ["""
A template for a new actuator called <{name}> has been
added to the <{env}> environment.
----------------------------------------------------------
Edit {prefix}/src/{env}/actuators/{name}.py to implement the
behaviour of your actuator.
----------------------------------------------------------
To use it on your robot, edit your robot description in
{prefix}/src/{env}/builder/robots/
and add these lines:
""", ("""from {env}.builder.actuators import {classname}
# create a new {name} actuator
{name} = {classname}()
robot.append({name})
""", 'python'),
"""----------------------------------------------------------
Happy simulation!
"""]
NEW_SENSOR_MSG = ["""
A template for a new sensor called <{name}> has been
added to the <{env}> environment.
----------------------------------------------------------
Edit {prefix}/src/{env}/sensors/{name}.py to implement the
behaviour of your sensor.
----------------------------------------------------------
To use it on your robot, edit your robot description in
{prefix}/src/{env}/builder/robots/
and add these lines:
""", ("""from {env}.builder.sensors import {classname}
# create a new {name} sensor
{name} = {classname}()
robot.append({name})
""", 'python'),
"""----------------------------------------------------------
Happy simulation!
"""]
#################################################################
[docs]class Environment():
def __init__(self, morse_prefix, env_name, env_path = None):
"""
:param morse_prefix" the installation
prefix of MORSE
:param env_name: the name of the environment
we want to modify.
:param env_path: the relative or absolute
path to the environment. Default to `env_name`.
"""
self.morse_prefix = morse_prefix
self.env = env_name
self.path = env_path or env_name
self.abspath = os.path.abspath(self.path)
self.tpls = joinpth(os.path.normpath(self.morse_prefix),
os.path.normpath(DEFAULT_TEMPLATES_PATH))
def _make_safe_name(self, name):
tmp = "".join(c for c in name if c.isalnum() or c==' ').rstrip()
tmp.replace(" ", "_")
if tmp[0].isdigit():
tmp = "_" + tmp
return tmp
def _substitute_str(self, instr, **kwargs):
res = instr
for kw in substr.findall(instr):
if kw in kwargs:
res = res.replace("@%s@" % kw, kwargs[kw])
return res
def _configure(self, origin, target, **kwargs):
""" Create a temporary file which is the configured version of
``origin``: every @keyword@ present in ``origin`` is replaced by
the value passed as named argument.
The configured file is saved as ``target``
For instance:
test.tpl:
print("@text@")
-> invokation:
_configure("test.tpl", "test.py", text = "Hello World")
"""
# do not configure binary files
if os.path.splitext(target)[1] in BINARY_FILE_EXT:
shutil.copy(origin, target)
return
with open(origin, 'r') as infile:
content = infile.readlines()
if content and "#APPEND" in content[0]:
with open(target, 'a') as outfile:
for l in content[1:]:
outfile.write(self._substitute_str(l, **kwargs))
else:
with open(target, 'w') as outfile:
for l in content:
outfile.write(self._substitute_str(l, **kwargs))
[docs] def check_writable(self, path):
if not os.access(path, os.W_OK):
raise MorseEnvironmentError("You do not have write permission "
"in <%s>!" % self.path)
[docs] def check_env_exists(self):
if not os.access(self.path, os.F_OK):
raise MorseEnvironmentError("<%s> (expected in \"%s\") does not "
"exist! You may want to create first "
"the environment with 'morse create "
"<env>'." % (self.env, self.path))
self.check_writable(self.path)
def _install_files(self, files, force = False, **kwargs):
firstfile = True
for f in files:
path, name = os.path.split(f)
newpath = self._substitute_str(path, **kwargs)
newname = self._substitute_str(name, **kwargs)
try:
os.makedirs(joinpth(self.path, newpath))
except OSError: # path already exists
pass
if firstfile and \
not force and \
os.path.exists(joinpth(self.path, newpath, newname)):
raise MorseEnvironmentError("A component called <%s> already "
"exist. Use 'morse add -f ...' to overwrite." % newname)
firstfile = False
self._configure(joinpth(self.tpls, path, name + ".tpl"),
joinpth(self.path, newpath, newname),
**kwargs)
def _print_info_msg(self, msg, **kwargs):
for part in msg:
if isinstance(part, tuple) and part[1] == 'python':
part = part[0].format(**kwargs)
pyprint(part)
else:
part = part.format(**kwargs)
print(part)
[docs] def create(self, force = False):
""" Initializes a new environment content.
"""
self.check_writable(".")
if os.access(self.path, os.F_OK):
if force:
shutil.rmtree(self.path)
else:
logger.error("A directory called \"%s\" already "
"exists!" % self.path)
sys.exit()
self._install_files(BASIC, env = self.env)
[docs] def add_component(self, cmpttype, name, force = False):
self.check_env_exists()
safename = self._make_safe_name(name)
if safename != name:
logger.warning("Replaced name <%s> by suitable identifier: "
"<%s>" % (name, safename))
try:
if cmpttype == "robot":
ok = self._install_files(ROBOT,
force = force,
name = safename,
classname = safename.capitalize(),
env = self.env)
self._print_info_msg(NEW_ROBOT_MSG,
prefix= self.abspath,
name = safename,
classname = safename.capitalize(),
env = self.env)
elif cmpttype == "sensor":
desc = input("Enter a short description for sensor <%s>: " % safename)
self._install_files(SENSOR,
force = force,
name = safename,
classname = safename.capitalize(),
env = self.env,
shortdesc = desc)
self._print_info_msg(NEW_SENSOR_MSG,
prefix= self.abspath,
name = safename,
classname = safename.capitalize(),
env = self.env)
elif cmpttype == "actuator":
desc = input("Enter a short description for actuator <%s>: " % safename)
self._install_files(ACTUATOR,
force = force,
name = safename,
classname = safename.capitalize(),
env = self.env,
shortdesc = desc)
self._print_info_msg(NEW_ACTUATOR_MSG,
prefix= self.abspath,
name = safename,
classname = safename.capitalize(),
env = self.env)
else:
raise MorseEnvironmentError("Unknown component type %s" % cmpttype)
except MorseEnvironmentError as mee:
logger.error(mee.value)
