feat: 实现api调用
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zpff
parent
afe64406e5
commit
b65b94643c
148
http_server.py
148
http_server.py
@ -12,6 +12,7 @@ from flask import jsonify, request
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import gazebo_ctrl
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from heartbeat import HeartbeatServer
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from model_mgr.manager import ModelManager
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from model_mgr.model_types import Model
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from scene_mgr.manager import SceneManager
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@ -86,8 +87,12 @@ class GazeboSimHttpServer(HttpRPCServer):
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# 模块与数据
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self.rlock = threading.RLock()
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self.scene_mgr = SceneManager()
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self.model_mgr = ModelManager()
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self.heartbeat_server = HeartbeatServer()
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self.model_mgr = None
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def llost():
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self.shut_scene()
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self.heartbeat_server = HeartbeatServer(close_func=llost)
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self.heartbeat_server.start()
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# 启动roscore
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self.roscore_proc = subprocess.Popen(
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['roscore'], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
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@ -95,47 +100,160 @@ class GazeboSimHttpServer(HttpRPCServer):
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rospy.init_node('gazebo_world_manager', anonymous=True)
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# 添加接口
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self._app.add_url_rule('/api/v1/scenes', view_func=self.query_scenes, methods=['GET'])
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self._app.add_url_rule('/api/v1/scene/load', view_func=self.load_scene, methods=['GET'])
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self._app.add_url_rule('/api/v1/scene/objects', view_func=self.get_scene_objects, methods=['GET'])
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self._app.add_url_rule('/api/v1/scene/object', view_func=self.modify_scene_object, methods=['POST'])
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self._app.add_url_rule('/api/v1/scene/object', view_func=self.add_scene_object, methods=['PUT'])
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self._app.add_url_rule('/api/v1/scene/object', view_func=self.remove_scene_object, methods=['DELETE'])
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self._app.add_url_rule(
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'/api/v1/scenes', view_func=self.query_scenes, methods=['GET'])
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self._app.add_url_rule('/api/v1/scene/load',
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view_func=self.start_scene, methods=['GET'])
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self._app.add_url_rule('/api/v1/scene/objects',
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view_func=self.get_all_models, methods=['GET'])
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self._app.add_url_rule(
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'/api/v1/scene/object', view_func=self.modify_model, methods=['POST'])
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self._app.add_url_rule('/api/v1/scene/object',
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view_func=self.add_model, methods=['PUT'])
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self._app.add_url_rule(
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'/api/v1/scene/object', view_func=self.remove_model, methods=['DELETE'])
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print('Sever init done.')
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def query_scenes(self):
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# 查询场景
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with self.rlock:
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pass
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ret = {'code': 200, 'message': ''}
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try:
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scs = self.scene_mgr.get_scenes()
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data = [sc.to_dict for sc in scs]
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ret['data'] = data
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except Exception as e:
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ret['code'] = 400
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ret['message'] = str(e)
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print('Server query scenes done.')
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return jsonify(ret)
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def start_scene(self):
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# 启动场景
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with self.rlock:
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pass
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ret = {'code': 200, 'message': ''}
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try:
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# 检查参数
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id = request.args.get('id', type=int, default=None)
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if not id:
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raise ValueError('Scene ID is required')
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# 关闭现有场景
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if self.scene_mgr.running_scene:
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self.shut_scene()
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time.sleep(25)
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# 启动场景
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self.scene_mgr.start_scene(id)
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self.model_mgr = ModelManager()
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time.sleep(30)
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self.model_mgr.load_models(
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self.scene_mgr.scene_id_dict[id].preload_models)
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except Exception as e:
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ret['code'] = 400
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ret['message'] = str(e)
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print('Server start scene done.')
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return jsonify(ret)
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def shut_scene(self):
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# 关闭场景，仅供start_scene、心跳线程使用
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with self.rlock:
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pass
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try:
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if not self.scene_mgr.running_scene:
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raise RuntimeError('No scene is running')
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def shutt():
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self.scene_mgr.shut_scene_truly()
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threading.Thread(target=shutt, daemon=True).start()
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self.model_mgr = None
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except Exception as e:
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print(str(e))
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print('Server shut scene done.')
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def get_all_models(self):
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# 获取所有模型
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with self.rlock:
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pass
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ret = {'code': 200, 'message': ''}
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try:
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mods = self.model_mgr.get_all_models()
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cnt = len(mods)
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data = {}
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data['total_count'] = cnt
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data['list'] = [m.to_dict() for m in mods]
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except Exception as e:
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ret['code'] = 400
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ret['message'] = str(e)
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print('Server get all models done.')
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return jsonify(ret)
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def modify_model(self):
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# 修改模型
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with self.rlock:
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pass
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ret = {'code': 200, 'message': ''}
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try:
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# 解析参数
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info = request.get_json()
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scene_id = info.get('scene_id', type=int, default=None)
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if not scene_id or scene_id != self.scene_mgr.running_scene:
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raise ValueError(
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f'Scene {scene_id} does not match the running scene {self.scene_mgr.running_scene}')
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object_id = info.get('object_id', type=int, default=None)
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if not object_id:
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raise ValueError('Object ID is required')
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# 制作Model
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info['id'] = object_id
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model = self.model_mgr.get_model(object_id)
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model.overwrite_from_dict(info)
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# 添加模型
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self.model_mgr.modify_model(model)
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except Exception as e:
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ret['code'] = 400
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ret['message'] = str(e)
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print('Server modify model done.')
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return jsonify(ret)
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def add_model(self):
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# 添加模型
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with self.rlock:
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pass
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ret = {'code': 200, 'message': ''}
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try:
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# 解析参数
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info = request.get_json()
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scene_id = info.get('scene_id', type=int, default=None)
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if not scene_id or scene_id != self.scene_mgr.running_scene:
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raise ValueError(
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f'Scene {scene_id} does not match the running scene {self.scene_mgr.running_scene}')
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# 制作Model，和modify的区别在于没有id
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info['id'] = -1
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model = Model.from_dict(info)
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# 添加模型
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self.model_mgr.add_model(model)
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except Exception as e:
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ret['code'] = 400
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ret['message'] = str(e)
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print('Server add model done.')
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return jsonify(ret)
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def remove_model(self):
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# 删除模型
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with self.rlock:
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pass
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ret = {'code': 200, 'message': ''}
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try:
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# 解析参数
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info = request.get_json()
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scene_id = info.get('scene_id', type=int, default=None)
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if not scene_id or scene_id != self.scene_mgr.running_scene:
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raise ValueError(
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f'Scene {scene_id} does not match the running scene {self.scene_mgr.running_scene}')
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object_id = info.get('object_id', type=int, default=None)
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# 删除模型
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self.model_mgr.remove_model(object_id)
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except Exception as e:
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ret['code'] = 400
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ret['message'] = str(e)
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print('Server remove model done.')
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return jsonify(ret)
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if __name__ == '__main__':
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server = GazeboSimHttpServer()
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@ -13,6 +13,11 @@ class Position:
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def to_dict(self):
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return {"x": self.x, "y": self.y, "z": self.z}
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def overwrite_from_dict(self, data):
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self.x = data.get("x", self.x)
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self.y = data.get("y", self.y)
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self.z = data.get("z", self.z)
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@classmethod
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def from_dict(cls, data):
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@ -32,6 +37,11 @@ class Orientation:
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def to_dict(self):
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return {"roll": self.roll, "pitch": self.pitch, "yaw": self.yaw}
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def overwrite_from_dict(self, data):
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self.roll = data.get("roll", self.roll)
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self.pitch = data.get("pitch", self.pitch)
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self.yaw = data.get("yaw", self.yaw)
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@classmethod
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def from_dict(cls, data):
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return cls(
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@ -52,6 +62,10 @@ class Pose:
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position: Position = dataclasses.field(default_factory=Position)
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orientation: Orientation = dataclasses.field(default_factory=Orientation)
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def overwrite_from_dict(self, data):
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self.position.overwrite_from_dict(data.get("position", {}))
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self.orientation.overwrite_from_dict(data.get("orientation", {}))
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def to_dict(self):
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return {
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"position": self.position.to_dict(),
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@ -79,6 +93,11 @@ class Size:
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"height": self.height,
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}
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def overwrite_from_dict(self, data):
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self.length = data.get("length", self.length)
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self.width = data.get("width", self.width)
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self.height = data.get("height", self.height)
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@classmethod
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def from_dict(cls, data):
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return cls(
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@ -113,12 +132,17 @@ class Model:
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mass: int = 1
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size: Size = dataclasses.field(default_factory=Size)
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def __post_init__(self):
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@classmethod
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def gen_id(cls):
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global _nr_model_id
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global _nr_model_id_lock
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with _nr_model_id_lock:
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_nr_model_id += 1
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return _nr_model_id
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def __post_init__(self):
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if self.id == -1:
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with _nr_model_id_lock:
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self.id = _nr_model_id
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_nr_model_id += 1
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self.id = self.gen_id()
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def to_dict(self):
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return {
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@ -133,12 +157,23 @@ class Model:
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"size": self.size.to_dict(),
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}
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def overwrite_from_dict(self, data):
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self.name = data.get("name", self.name)
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self.obj_type = ModelType(data.get("obj_type", self.obj_type))
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self.id = data.get("id", self.id)
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self.pose.overwrite_from_dict(data.get("pose", {}))
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self.description = data.get("description", self.description)
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self.ability_code = data.get("ability_code", self.ability_code)
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self.tag_id = data.get("tag_id", self.tag_id)
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self.mass = data.get("mass", self.mass)
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self.size.overwrite_from_dict(data.get("size", {}))
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@classmethod
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def from_dict(cls, data):
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return cls(
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name=data.get("name", ""),
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obj_type=ModelType(data.get("obj_type", 0)),
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id=data.get("id", -1),
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id=data.get("id", cls.gen_id()), # 添加模型用
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pose=Pose.from_dict(data.get("pose", {})),
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description=data.get("description", ""),
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ability_code=data.get("ability_code", []),
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@ -52,7 +52,7 @@ class SceneManager:
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self.scene_name_dict[name] = scene
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self.scene_id_dict[scene.id] = scene
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def get_scene(self):
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def get_scenes(self):
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return list(self.scene_name_dict.values())
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def get_scripts(self, name):
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