From cd15ce7f849735e4be05eac5fae6842fb86d9c7b Mon Sep 17 00:00:00 2001 From: jinchengli2022 Date: Thu, 7 Nov 2024 19:06:03 +0800 Subject: [PATCH] 'update' --- URDF_Exporter/utils/utils.py | 123 +++++++++++++++++++++++++---------- 1 file changed, 88 insertions(+), 35 deletions(-) diff --git a/URDF_Exporter/utils/utils.py b/URDF_Exporter/utils/utils.py index 10f6b1a..5e828e8 100644 --- a/URDF_Exporter/utils/utils.py +++ b/URDF_Exporter/utils/utils.py @@ -4,29 +4,54 @@ @author: syuntoku """ - +import sys import adsk, adsk.core, adsk.fusion import os.path, re from xml.etree import ElementTree from xml.dom import minidom -from distutils.dir_util import copy_tree +# from distutils.dir_util import copy_tree +# from shutil import copytree as copy_tree import fileinput -import sys -def copy_occs(root): - """ +import shutil +import os + + +def copy_tree(src, dst): + # 如果目标目录不存在，创建目标目录 + if not os.path.exists(dst): + os.makedirs(dst) + + # 遍历源目录中的文件和文件夹 + for item in os.listdir(src): + s = os.path.join(src, item) + d = os.path.join(dst, item) + if os.path.isdir(s): + # 递归复制子目录 + copy_tree(s, d) + else: + # 复制文件 + shutil.copy2(s, d) + + +# 使用示例 +# copy_tree('source_folder', 'destination_folder') + + +def copy_occs(root): + """ duplicate all the components - """ + """ def copy_body(allOccs, occs): - """ + """ copy the old occs to new component """ - + bodies = occs.bRepBodies transform = adsk.core.Matrix3D.create() - + # Create new components from occs - # This support even when a component has some occses. + # This support even when a component has some occses. new_occs = allOccs.addNewComponent(transform) # this create new occs if occs.component.name == 'base_link': @@ -38,7 +63,7 @@ def copy_body(allOccs, occs): for i in range(bodies.count): body = bodies.item(i) body.copyToComponent(new_occs) - + allOccs = root.occurrences oldOccs = [] coppy_list = [occs for occs in allOccs] @@ -51,11 +76,11 @@ def copy_body(allOccs, occs): occs.component.name = 'old_component' -def export_stl(design, save_dir, components): +def export_stl(design, save_dir, components): """ export stl files into "sace_dir/" - - + + Parameters ---------- design: adsk.fusion.Design.cast(product) @@ -63,13 +88,13 @@ def export_stl(design, save_dir, components): directory path to save components: design.allComponents """ - + # create a single exportManager instance exportMgr = design.exportManager # get the script location try: os.mkdir(save_dir + '/meshes') except: pass - scriptDir = save_dir + '/meshes' + scriptDir = save_dir + '/meshes' # export the occurrence one by one in the component to a specified file for component in components: allOccus = component.allOccurrences @@ -77,7 +102,7 @@ def export_stl(design, save_dir, components): if 'old_component' not in occ.component.name: try: print(occ.component.name) - fileName = scriptDir + "/" + occ.component.name + fileName = scriptDir + "/" + occ.component.name # create stl exportOptions stlExportOptions = exportMgr.createSTLExportOptions(occ, fileName) stlExportOptions.sendToPrintUtility = False @@ -87,16 +112,16 @@ def export_stl(design, save_dir, components): exportMgr.execute(stlExportOptions) except: print('Component ' + occ.component.name + 'has something wrong.') - -def file_dialog(ui): + +def file_dialog(ui): """ display the dialog to save the file """ # Set styles of folder dialog. folderDlg = ui.createFolderDialog() - folderDlg.title = 'Fusion Folder Dialog' - + folderDlg.title = 'Fusion Folder Dialog' + # Show folder dialog dlgResult = folderDlg.showDialog() if dlgResult == adsk.core.DialogResults.DialogOK: @@ -106,7 +131,7 @@ def file_dialog(ui): def origin2center_of_mass(inertia, center_of_mass, mass): """ - convert the moment of the inertia about the world coordinate into + convert the moment of the inertia about the world coordinate into that about center of mass coordinate @@ -114,8 +139,8 @@ def origin2center_of_mass(inertia, center_of_mass, mass): ---------- moment of inertia about the world coordinate: [xx, yy, zz, xy, yz, xz] center_of_mass: [x, y, z] - - + + Returns ---------- moment of inertia about center of mass : [xx, yy, zz, xy, yz, xz] @@ -134,8 +159,8 @@ def prettify(elem): Parameters ---------- elem : xml.etree.ElementTree.Element - - + + Returns ---------- pretified xml : str @@ -144,19 +169,48 @@ def prettify(elem): reparsed = minidom.parseString(rough_string) return reparsed.toprettyxml(indent=" ") -def copy_package(save_dir, package_dir): +def create_package(package_name, save_dir, package_dir): try: os.mkdir(save_dir + '/launch') - except: pass + except: pass + try: os.mkdir(save_dir + '/urdf') - except: pass + except: pass + + try: os.mkdir(save_dir + '/config') + except: pass + + try: os.mkdir(save_dir + '/' +package_name) + except: pass + with open(os.path.join(save_dir, package_name, '__init__.py'), 'w'): + pass + + try: os.mkdir(save_dir + '/resource') + except: pass + with open(os.path.join(save_dir, 'resource', package_name), 'w'): + pass + + try: os.mkdir(save_dir + '/test') + except: pass + copy_tree(package_dir, save_dir) -def update_cmakelists(save_dir, package_name): - file_name = save_dir + '/CMakeLists.txt' +def update_setup_py(save_dir, package_name): + file_name = save_dir + '/setup.py' + + for line in fileinput.input(file_name, inplace=True): + if "package_name = 'fusion2urdf_ros2'" in line: + sys.stdout.write("package_name = '" + package_name + "'\n") + else: + sys.stdout.write(line) + +def update_setup_cfg(save_dir, package_name): + file_name = save_dir + '/setup.cfg' for line in fileinput.input(file_name, inplace=True): - if 'project(fusion2urdf)' in line: - sys.stdout.write("project(" + package_name + ")\n") + if "script-dir" in line: + sys.stdout.write("script-dir=$base/lib/" + package_name + "\n") + elif "install-scripts" in line: + sys.stdout.write("install-scripts=$base/lib/" + package_name + "\n") else: sys.stdout.write(line) @@ -165,9 +219,8 @@ def update_package_xml(save_dir, package_name): for line in fileinput.input(file_name, inplace=True): if '' in line: - sys.stdout.write(" " + package_name + "\n") + sys.stdout.write("" + package_name + "\n") elif '' in line: sys.stdout.write("The " + package_name + " package\n") else: sys.stdout.write(line) -