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oncillasim/oncilla_sim/template.py
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template.py
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# Oncilla Simulation Wizard
import os
import sys
import string
import shutil
import filecmp
import ConfigParser
from git import *
class WebotsTemplate:
verbose = True
online = True
tmpl_path = None
ow_path = None
onc_path = None
cca_path = None
data_path = None
tmp_path = None
sync_ignore = False
sync_overwrite = False
def __init__(self, path, verbose=True, online=True):
self.verbose = verbose
self.online = online
self.tmpl_path = path
self.ow_path = os.path.join(path, 'liboncilla-webots')
self.onc_path = os.path.join(path, 'liboncilla')
self.cca_path = os.path.join(path, 'cca-oncilla')
self.data_path = os.path.join(self.ow_path, 'webots-data')
config = ConfigParser.RawConfigParser()
config.read('wizard.cfg')
self.onc_remote = config.get('liboncilla', 'remote')
self.onc_revision = config.get('liboncilla', 'revision')
self.ow_remote = config.get('liboncilla-webots', 'remote')
self.ow_revision = config.get('liboncilla-webots', 'revision')
self.cca_remote = config.get('libcca-oncilla', 'remote')
self.cca_revision = config.get('libcca-oncilla', 'revision')
def prepare(self):
if not self.isEmpty():
if self.verbose:
print 'Folder is not empty, checking if template already existing at', self.tmpl_path
if self.isTemplateFolder():
if self.verbose:
print 'Template is already existing. Looking for updates.'
if self.online:
self.update()
else:
exit('''The template folder seems to contain other content. Try choosing a different template folder.''')
else:
if self.verbose:
print 'Template folder is not existing yet. Creating.'
if not self.online:
exit('Error: I need to fetch the project template, but I am in offline mode.')
self.create()
def isEmpty(self):
if os.path.exists(self.tmpl_path):
return False
else:
return True
def update(self):
if self.verbose:
print 'Updating project template at', self.tmpl_path
# Fetch updates for liboncilla-webots
if self.verbose:
print '* Updating skeleton from liboncilla-webots ...'
g = Git(self.ow_path)
g.execute(['git', 'checkout', 'master'])
g.execute(['git', 'pull', 'origin'])
g.execute(['git', 'checkout', self.ow_revision])
# Fetch updates for liboncilla for example 1
if self.verbose:
print '* Updating examples from liboncilla ...'
g = Git(self.onc_path)
g.execute(['git', 'checkout', 'master'])
g.execute(['git', 'pull', 'origin'])
g.execute(['git', 'checkout', self.onc_revision])
# Fetch updates for cca-oncilla for examples 2-4
if self.verbose:
print '* Updating examples from cca-oncilla ...'
g = Git(self.cca_path)
g.execute(['git', 'checkout', 'master'])
g.execute(['git', 'pull', 'origin'])
g.execute(['git', 'checkout', self.cca_revision])
def create(self):
if self.verbose:
print 'Creating project template'
os.makedirs(self.tmpl_path)
# Make a blank checkout of liboncilla-webots
if self.verbose:
print '* Cloning project template from liboncilla-webots ...'
if not os.path.exists(self.ow_path):
os.makedirs(self.ow_path)
g = Git(self.ow_path)
g.execute(['git', 'clone', self.ow_remote, self.ow_path])
g.execute(['git', 'checkout', self.ow_revision])
# Make a blank checkout of liboncilla for example 1
if self.verbose:
print '* Cloning examples from liboncilla ...'
if not os.path.exists(self.onc_path):
os.makedirs(self.onc_path)
g = Git(self.onc_path)
g.execute(['git', 'clone', self.onc_remote, self.onc_path])
g.execute(['git', 'checkout', self.onc_revision])
# Make a blank checkout of cca-oncilla for examples 2-4
if self.verbose:
print '* Cloning examples from cca-oncilla ...'
#crepo = Repo.init() >3.2
#crepo.clone_from("https://anordman@redmine.amarsi-project.eu/git/oncilla-cca.git",
# self.cca_path) >3.2
if not os.path.exists(self.cca_path):
os.makedirs(self.cca_path)
g = Git(self.cca_path)
remote = "https://redmine.amarsi-project.eu/git/oncilla-cca.git"
g.execute(['git', 'clone', remote, self.cca_path])
def isTemplateFolder(self):
for path in [self.ow_path, self.onc_path, self.cca_path, self.data_path]:
if not os.path.exists(path):
return False
return True
def createSkeleton(self, target):
if self.verbose:
print '* Creating Project Skeleton'
shutil.copytree(self.data_path,
target,
symlinks=False,
ignore=shutil.ignore_patterns('.git*'))
def updateSkeleton(self, target):
if self.verbose:
print '* Updating Project Skeleton'
self.syncDir(self.data_path, self.data_path, target)
def createRCIExample(self, target):
examples = ['Example1']
for folder in examples:
if not os.path.exists(target + '/controllers/' + folder):
os.makedirs(target + '/controllers/' + folder)
# Example source
shutil.copy(self.onc_path + "/examples/SimpleSineMovement.cpp",
target + '/controllers/' + examples[0] + '/' + examples[0] + '.cpp')
# Makefile
shutil.copy(self.data_path + '/controllers/with-rci/Makefile',
target + '/controllers/' + examples[0] + '/')
# World files - we have to replace the controller in the world files
for controller in examples:
fn = open(os.path.join(target + "/worlds", controller + ".wbt"), "w+")
fn.write(self.get_world_file_for(controller))
if self.verbose:
print '* Created RCI Example:', target + "/worlds" + '/' + controller + ".wbt"
return examples
def createCCAExamples(self, target):
examples = ['Example2', 'Example3']
for folder in examples:
if not os.path.exists(target + '/controllers/' + folder):
os.makedirs(target + '/controllers/' + folder)
# Local Example source
shutil.copy(self.cca_path + "/cca-oncilla/examples/Local-SimpleSineMovement.cpp",
target + '/controllers/' + examples[0] + '/' + examples[0] + '.cpp')
# Makefile
shutil.copy(self.data_path + '/controllers/with-cca/Makefile',
target + '/controllers/' + examples[0] + '/')
# Remote Example sources
shutil.copy(self.cca_path + "/cca-oncilla/examples/Remote-Oncilla.cpp",
target + '/controllers/' + examples[1] + '/' + examples[1] + '.cpp')
# Makefile
shutil.copy(self.data_path + '/controllers/with-cca/Makefile',
target + '/controllers/' + examples[1] + '/')
# World files - we have to replace the controller in the world files
for controller in examples:
fn = open(os.path.join(target + "/worlds", controller + ".wbt"), "w+")
fn.write(self.get_world_file_for(controller))
if self.verbose:
print '* Created CCA Example:', target + "/worlds" + '/' + controller + ".wbt"
return examples
def get_world_file_for(self, controller):
fo = open(self.data_path + "/worlds/Oncilla.wbt.in", "r+")
world_orig = fo.read()
old = '@CONTROLLER@'
return string.replace(world_orig, old, controller)
def syncDir(self, syncdir, src, dest):
# If folder doesn't exist, create it
for root, dirs, files in os.walk(syncdir, topdown=False):
for name in dirs:
required_folder = os.path.join(dest, os.path.relpath(os.path.join(root, name), syncdir))
if not os.path.exists(required_folder):
os.makedirs(required_folder)
if self.verbose:
print '** Created', required_folder
# If file doesn exist, copy it
# If file is the same, ignore it
# If file is different, ask for solution
for root, dirs, files in os.walk(syncdir, topdown=False):
for name in files:
# Ignore hidden and .in files
if name.startswith(".") or name.endswith(".in"):
continue
required_file = os.path.join(dest, os.path.relpath(os.path.join(root, name), syncdir))
# File is new, copy it
srcfile = os.path.join(root, name)
destfile = required_file
self.syncFile(srcfile, destfile)
def syncFile(self, srcfile, destfile):
if not os.path.exists(destfile):
shutil.copyfile(srcfile, destfile)
if self.verbose:
print '** Copied', srcfile, ' to ', destfile
else:
# File exists, compare
if filecmp.cmp(srcfile, destfile):
# Files are the same, ignore
return
else:
# Files not the same, handle that
if self.sync_ignore:
return
elif self.sync_overwrite:
shutil.copyfile(destfile, destfile+'.backup') # Backup
shutil.copyfile(srcfile, destfile) # Overwrite file
if self.verbose:
print '** Copied', srcfile, ' to ', destfile
else:
if self.askForOverwriting(destfile):
shutil.copyfile(srcfile, destfile) # Overwrite file
if self.verbose:
print '** Copied', srcfile, ' to ', destfile
else:
return
def askForOverwriting(self, filename):
question = "Local file '" + filename + "' differs from template file,"+\
" should we overwrite it?\n" + \
"[y] yes - [o] overwrite all - [n] ignore - [i] ignore all\n"
prompt = '[y/o/N/i]'
valid = {"y":True, "o":True, "n":False, "i":False}
while True:
sys.stdout.write(str(question) + prompt)
choice = raw_input().lower()
if choice == 'i':
self.sync_ignore = True
elif choice == 'o':
self.sync_overwrite = True
if choice == '' or choice == 'n' or choice == 'i':
return False
elif choice == 'y' or choice == 'o':
return True
else:
sys.stdout.write("Please respond with one of [y/o/N/i]")
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