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project.py
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Created
Tue, Aug 27, 07:01
Size
3 KB
Mime Type
text/x-python
Expires
Thu, Aug 29, 07:01 (1 d, 23 h)
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blob
Format
Raw Data
Handle
20210056
Attached To
R6625 Oncilla Simulation
project.py
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# Oncilla Simulation Wizard
import
os
import
sys
import
shutil
from
template
import
WebotsTemplate
class
WebotsProject
:
verbose
=
True
proj_path
=
None
ctrl_path
=
None
plugin_path
=
None
worlds_path
=
None
tmp_path
=
None
rciexamples
=
None
ccaexamples
=
None
def
__init__
(
self
,
path
,
verbosity
=
True
):
self
.
verbose
=
verbosity
self
.
proj_path
=
path
self
.
ctrl_path
=
os
.
path
.
join
(
path
,
'controllers'
)
self
.
worlds_path
=
os
.
path
.
join
(
path
,
'worlds'
)
self
.
plugin_path
=
os
.
path
.
join
(
path
,
'plugins/physics/liboncilla-webots-plugin'
)
self
.
tmp_path
=
os
.
path
.
join
(
self
.
proj_path
,
'.tmp'
)
def
create
(
self
,
template
):
if
self
.
verbose
:
print
'Creating project at'
,
self
.
proj_path
if
not
self
.
isEmpty
():
if
self
.
isProjectFolder
():
exit
(
'''The given folder, seems to be a simulation project already. Try updating.'''
)
else
:
exit
(
'''The given folder is not empty, but doesn`t seem to be a simulation project. Try another path.'''
)
else
:
template
.
createSkeleton
(
self
.
proj_path
)
self
.
rciexamples
=
template
.
createRCIExample
(
self
.
proj_path
)
self
.
ccaexamples
=
template
.
createCCAExamples
(
self
.
proj_path
)
self
.
compilePlugins
()
self
.
compileExamples
()
def
update
(
self
,
template
):
if
(
not
self
.
isEmpty
())
\
and
(
not
self
.
isProjectFolder
()):
exit
(
'''The given folder is not empty, but doesn`t seem to be a simulation project.'''
)
if
self
.
verbose
:
print
'Updating project at'
,
self
.
proj_path
# First we create a temporary new project
shutil
.
rmtree
(
self
.
tmp_path
)
template
.
createSkeleton
(
self
.
tmp_path
)
self
.
rciexamples
=
template
.
createRCIExample
(
self
.
tmp_path
)
self
.
ccaexamples
=
template
.
createCCAExamples
(
self
.
tmp_path
)
if
self
.
verbose
:
print
'Syncing'
,
self
.
tmp_path
,
'and'
,
self
.
proj_path
template
.
syncDir
(
self
.
tmp_path
,
self
.
tmp_path
,
self
.
proj_path
)
self
.
compilePlugins
()
self
.
compileExamples
()
shutil
.
rmtree
(
self
.
tmp_path
)
def
isEmpty
(
self
):
if
os
.
path
.
exists
(
self
.
proj_path
):
return
False
else
:
return
True
"""
Check if given project folder actually contains a project
"""
def
isProjectFolder
(
self
):
if
os
.
path
.
exists
(
os
.
path
.
join
(
self
.
proj_path
,
'controllers'
))
\
or
os
.
path
.
exists
(
os
.
path
.
join
(
self
.
proj_path
,
'worlds'
))
\
or
os
.
path
.
exists
(
os
.
path
.
join
(
self
.
proj_path
,
'plugins'
)):
return
True
return
False
"""
Compiles the physics plugin, necessary for libwebots
"""
def
compilePlugins
(
self
):
os
.
system
(
'make --directory '
+
self
.
plugin_path
)
if
self
.
verbose
:
print
'Compiled physics plugin at'
,
self
.
plugin_path
"""
Compiling all examples
"""
def
compileExamples
(
self
):
if
self
.
verbose
:
print
'Compiling Examples'
for
example
in
(
self
.
rciexamples
+
self
.
ccaexamples
):
print
'* Compiling example'
,
example
os
.
system
(
'make --directory '
+
os
.
path
.
join
(
self
.
ctrl_path
,
example
))
# Check, if controller was built
if
not
os
.
path
.
exists
(
os
.
path
.
join
(
self
.
ctrl_path
,
example
,
example
)):
exit
(
'Error: Compilation of '
+
example
+
' failed.'
)
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