Merge branch 'master' of github.com:/dfki-ric/phobos

phobos/blender/io/blender2phobos.py

@@ -528,6 +528,62 @@ def deriveInterface(obj):
  **annotations
  )
 
+def deriveAnnotationHelper(value, name, parent, obj):
+ """
+ Resolves macros
+ """
+ if "GA_macros" in obj:
+ if [parent, name] in obj["GA_macros"]: # This is a macro
+ effParent = sUtils.getEffectiveParent(obj)
+ # $parent
+ if obj["$include_parent"] and effParent:
+ while "$parent" in value:
+ index = value.index("$parent")
+ propertyIndex = index+len("$parent")
+ # $parent.{prop}, print property value or null
+ if propertyIndex+2 < len(value) and value[propertyIndex:propertyIndex+2] == ".{":
+ propertyEndIndex = value.index("}", propertyIndex)
+ prop = value[propertyIndex+2:propertyEndIndex].strip()
+ endReplace = propertyEndIndex
+ if prop in effParent:
+ replace = str(effParent[prop])
+ else:
+ replace = "null"
+ else: # $parent without property, print name
+ endReplace = propertyIndex-1
+ replace = effParent.name
+ value = value[:index]+replace+value[endReplace+1:]
+ # $transform
+ if obj["$include_transform"] and effParent:
+ while "$transform" in value:
+ index = value.index("$transform")
+ indexTail = index+len("$transform")
+ split = value[indexTail:].split(maxsplit=1)
+ tail = split[0]
+ pose = deriveObjectPose(obj, effParent)
+ if tail[0] != ".":
+ tail = ".xyz"
+ replaceEnd = indexTail
+ else:
+ replaceEnd = indexTail+len(tail)
+ try:
+ replace = getattr(pose, tail[1:])
+ if type(replace) == tuple:
+ string = ""
+ for i in range(len(replace)):
+ v = replace[i]
+ v = str(v)
+ if i > 0:
+ string += ", "
+ string += v
+ replace = "(" + string + ")"
+ except AttributeError as e:
+ print(f"Unknown tail {tail} for $transform")
+ replace = f"transform{tail} (unknown)"
+
+ value = value[:index] + str(replace) + value[replaceEnd:]
+
+ return value
 
 def deriveAnnotation(obj):
  """Derives the annotation info of an annotation object.
@@ -540,17 +596,16 @@ def deriveAnnotation(obj):
  if hasattr(v, "to_list"):
  v = v.to_list()
  elif "PropertyGroup" in repr(type(v)):
- v = {_k: _v for _k, _v in v.items()}
+ v = {_k: deriveAnnotationHelper(_v, _k, k, obj) for _k, _v in v.items()}
+ else:
+ v = deriveAnnotationHelper(v, k, "", obj)
  props[k] = v
 
  props = misc.deepen_dict(props)
 
- name = obj.split(":")[1]
  return representation.GenericAnnotation(
- GA_category=obj.split(":")[0],
- GA_name=name if not name.startswith("unnamed") else None,
- GA_parent=obj.parent.get("link/name", obj.parent.name),
- GA_parent_type=obj.parent.phobostype,
+ GA_parent=obj.parent.get("link/name", obj.parent.name) if obj.parent else None,
+ GA_parent_type=obj.parent.phobostype if obj.parent else None,
  GA_transform=deriveObjectPose(obj),
  **props
  )
@@ -842,7 +897,7 @@ def deriveRobot(root, name='', objectlist=None):
  # [TODO v2.1.0] Re-add lights and SRDF support
 
  for named_annotation in [deriveAnnotation(obj) for obj in objectlist if obj.phobostype == 'annotation']:
- robot.add_categorized_annotation(named_annotation["$name"], {k: v for k, v in named_annotation.items() if k.startswith("$")})
+ robot.categorized_annotations.append(named_annotation)
 
  robot.assert_validity()
  return robot

phobos/blender/io/phobos2blender.py

@@ -494,9 +494,9 @@ def createAnnotation(ga: representation.GenericAnnotation, parent=None, size=0.1
  annot_obj = bUtils.createPrimitive(
  f"{ga.GA_category}:{ga.GA_name if ga.GA_name is not None else 'unnamed'}",
  'box',
- [1, 1, 1],
+ (1, 1, 1),
  player=defs.layerTypes['annotation'],
- plocation=None if parent is None else parent.matrix_world.to_translation(),
+ #plocation=None if parent is None else parent.matrix_world.to_translation(), #TODO
  phobostype='annotation'
  )
  annot_obj.scale = (size,) * 3
@@ -522,11 +522,14 @@ def createAnnotation(ga: representation.GenericAnnotation, parent=None, size=0.1
  else:
  annot_obj["$include_parent"] = False
 
- annot_obj["$include_transform"] = ga.GA_transform is None
+ annot_obj["$include_transform"] = ga._GA_transform is None
 
  props = ga.to_yaml()
 
- for k, v in misc.flatten_dict(props).items():
+ # TODO: Check if type has to be stored
+ props.pop("GA_parent_type", None)
+
+ for k, v in props.items():
  annot_obj[k] = v
 
  return annot_obj
@@ -580,6 +583,10 @@ def createRobot(robot: core.Robot):
  for interface in robot.interfaces:
  newobjects.append(createInterface(interface, newlinks[interface.parent]))
 
+ log("Creating annotations...", 'INFO')
+ for anno in robot.generic_annotations:
+ newobjects.append(createAnnotation(anno))
+
  # [TODO v2.1.0] Re-Add SRDF support
  # log("Creating groups...", 'INFO')
  # if 'groups' in model and model['groups']:

phobos/blender/operators/editing.py

@@ -43,7 +43,8 @@
 from ..model import links as modellinks
 from ..phobosgui import prev_collections
 from ..phoboslog import log, ErrorMessageWithBox, WarnMessageWithBox
-from ..operators.generic import addObjectFromYaml, DynamicProperty
+from ..operators.generic import addObjectFromYaml, DynamicProperty, AddAnnotationsOperator, \
+ EditAnnotationsOperator, AnnotationsOperator
 from ..utils import blender as bUtils
 from ..utils import editing as eUtils
 from ..utils import general as gUtils
@@ -1625,8 +1626,9 @@ def execute(self, context):
  if validInput:
  for joint in (obj for obj in context.selected_objects if obj.phobostype == 'link'):
  context.view_layer.objects.active = joint
- assert joint.parent is not None and joint.parent.phobostype == "link", \
- f"You need to have a link parented to {joint.name} before you can create a joint"
+ if joint.parent is None or joint.parent.phobostype != "link":
+ ErrorMessageWithBox(f"Link {joint.name} has to be parented to another link before you can define a joint")
+ return {'CANCELLED'}
  if len(self.name) > 0:
  joint["joint/name"] = self.name.replace(" ", "_")
  jUtils.setJointConstraints(
@@ -2091,13 +2093,7 @@ def draw(self, context):
 class AddSensorOperator(Operator):
  """Add a sensor at the position of the selected object.
  It is possible to create a new link for the sensor on the fly. Otherwise,
- the next link in the hierarchy will be used to parent the sensor to.
-
- Args:
-
- Returns:
-
- """
+ the next link in the hierarchy will be used to parent the sensor to"""
 
  bl_idname = "phobos.add_sensor"
  bl_label = "Add Sensor"
@@ -2199,10 +2195,9 @@ def draw(self, context):
  for i in range(len(self.sensorProperties)):
  name = self.sensorProperties[i].name.replace('_', ' ')
 
- # use the dynamic props name in the GUI, but without the type id
- self.sensorProperties[i].draw(layout, name)
+ self.sensorProperties[i].draw(layout, self.sensorProperties)
  layout.label(text="You can add custom properties under")
- layout.label(text="Object Properties > Custom Properties")
+ layout.label(text="Object Properties > Custom Properties", icon="OBJECT_DATA")
 
  def invoke(self, context, event):
  """
@@ -3563,6 +3558,9 @@ def poll(self, context):
 
 classes = (
  DynamicProperty,
+ AnnotationsOperator,
+ AddAnnotationsOperator,
+ EditAnnotationsOperator,
  SafelyRemoveObjectsFromSceneOperator,
  MoveToSceneOperator,
  SortObjectsToLayersOperator,