from typing import Optional, Callable, List, Dict, Union
import webcface.field
import webcface.canvas3d_base
import webcface.geometries
import webcface.client_data
import webcface.transform
import webcface.view_base
[docs]
class Canvas3DData:
tmp_components: "List[webcface.temporal_component.TemporalComponent]"
components: "Dict[str, webcface.canvas3d_base.Canvas3DComponentBase]"
ids: List[str]
def __init__(self) -> None:
self.tmp_components = []
self.components = {}
self.ids = []
[docs]
class Canvas3DComponent(webcface.canvas3d_base.Canvas3DComponentBase):
_data: "Optional[webcface.client_data.ClientData]"
_id: str
def __init__(
self,
base: "webcface.canvas3d_base.Canvas3DComponentBase",
data: "Optional[webcface.client_data.ClientData]",
id: str,
) -> None:
super().__init__(
base._type,
base._origin_pos,
base._origin_rot,
base._color,
base._geometry_type,
base._geometry_properties,
base._field_member,
base._field_field,
base._angles,
)
self._data = data
self._id = id
def __eq__(self, other) -> bool:
"""プロパティの比較 (ver3.0〜)
:return: id以外のプロパティが全部等しければTrueになる
"""
return isinstance(
other, Canvas3DComponent
) and webcface.canvas3d_base.Canvas3DComponentBase.__eq__(self, other)
def __ne__(self, other) -> bool:
return not self == other
@property
def id(self) -> str:
"""要素のid (ver3.0〜)"""
return self._id
@property
def type(self) -> int:
"""コンポーネントの種類
Canvas3DComponentType Enumを使う
"""
return self._type
@property
def origin(self) -> "webcface.transform.Transform":
"""表示する要素の移動"""
return webcface.transform.Transform(
self._origin_pos, webcface.transform.rot_from_euler(self._origin_rot)
)
@property
def color(self) -> int:
"""色 (ViewColor)"""
return self._color
@property
def geometry(self) -> "Optional[webcface.geometries.Geometry]":
"""表示する図形"""
if self._geometry_type is None:
return None
return webcface.geometries.Geometry(
self._geometry_type, self._geometry_properties
)
# @property
# def robot_model(self) -> Optional[webcface.robot_model.RobotModel]
# pass
[docs]
class Canvas3D(webcface.field.Field):
_c3data: "Optional[Canvas3DData]"
_modified: bool
def __init__(
self,
base: "webcface.field.Field",
field: str = "",
) -> None:
"""Canvas3Dを指すクラス
このコンストラクタを直接使わず、
Member.canvas3d(), Member.canvas3d_entries(), Member.on_canvas3d_entry などを使うこと
詳細は `Canvas3Dのドキュメント <https://na-trium-144.github.io/webcface/md_20__canvas3d.html>`_ を参照
"""
super().__init__(
base._data, base._member, field if field != "" else base._field
)
self._c3data = None
self._modified = False
@property
def member(self) -> "webcface.member.Member":
"""Memberを返す"""
return webcface.member.Member(self)
@property
def name(self) -> str:
"""field名を返す"""
return self._field
[docs]
def on_change(self, func: Callable) -> Callable:
"""値が変化したときのイベント
(ver2.0〜)
コールバックの引数にはCanvas3Dオブジェクトが渡される。
まだ値をリクエストされてなければ自動でリクエストされる
"""
self.request()
data = self._data_check()
if self._member not in data.on_canvas3d_change:
data.on_canvas3d_change[self._member] = {}
data.on_canvas3d_change[self._member][self._field] = func
return func
[docs]
def child(self, field: str) -> "Canvas3D":
"""子フィールドを返す
:return: 「(thisのフィールド名).(子フィールド名)」をフィールド名とするView
"""
return Canvas3D(self, self._field + "." + field)
[docs]
def request(self) -> None:
"""値の受信をリクエストする"""
req = self._data_check().canvas3d_store.add_req(self._member, self._field)
if req > 0:
self._data_check().queue_msg_req(
[webcface.message.Canvas3DReq.new(self._member, self._field, req)]
)
[docs]
def try_get(self) -> Optional[List[Canvas3DComponent]]:
"""CanvasをlistまたはNoneで返す、まだリクエストされてなければ自動でリクエストされる"""
self.request()
v = self._data_check().canvas3d_store.get_recv(self._member, self._field)
v2: Optional[List[Canvas3DComponent]] = None
if v is not None:
v2 = [
Canvas3DComponent(v.components[v_id], self._data, v_id)
for v_id in v.ids
]
return v2
[docs]
def get(self) -> List[Canvas3DComponent]:
"""Canvasをlistで返す、まだリクエストされてなければ自動でリクエストされる"""
v = self.try_get()
return v if v is not None else []
[docs]
def exists(self) -> bool:
"""このフィールドにデータが存在すればtrue
(ver2.0〜)
try_get() などとは違って、実際のデータを受信しない。
リクエストもしない。
"""
return self._field in self._data_check().canvas3d_store.get_entry(self._member)
def __enter__(self) -> "Canvas3D":
"""with構文の最初でinit"""
self.init()
return self
[docs]
def init(self) -> "Canvas3D":
"""このCanvas3Dオブジェクトにaddした内容を初期化する"""
self._c3data = Canvas3DData()
self._modified = True
return self
def __exit__(self, type, value, tb) -> None:
"""with構文の終わりに自動でsync()を呼ぶ"""
self.sync()
[docs]
def sync(self) -> "Canvas3D":
"""Viewの内容をclientに反映し送信可能にする"""
self._set_check()
if self._modified and self._c3data is not None:
data = self._set_check()
data_idx: Dict[int, int] = {}
for c in self._c3data.tmp_components:
idx = data_idx.get(c._canvas3d_type, 0)
data_idx[c._canvas3d_type] = idx + 1
c.lock_tmp(data, "c3", self._field, f"..{c._canvas3d_type}.{idx}")
self._c3data.components[c.id] = c.to_canvas3d()
self._c3data.ids.append(c.id)
data.canvas3d_store.set_send(self._field, self._c3data)
self._modified = False
on_change = (
self._data_check().on_canvas3d_change.get(self._member, {}).get(self._field)
)
if on_change is not None:
on_change(self)
return self
[docs]
def add(
self,
*args: Union[
"webcface.temporal_component.TemporalComponent",
"webcface.geometries.Geometry3D",
],
**kwargs,
) -> "Canvas3D":
"""要素を追加
:arg args: (ver3.0〜) 追加する要素 (複数指定した場合すべて追加される。)
:arg kwargs: (ver3.0〜) argsが初期化済みの要素でない場合、要素の初期化時に渡すオプション。
詳細は TemporalComponent のコンストラクタを参照
"""
if self._c3data is None:
self.init()
assert self._c3data is not None
assert len(args) > 0, "no components given to Canvas3D.add()"
for c in args:
if isinstance(c, webcface.temporal_component.TemporalComponent):
if len(kwargs) > 0:
raise ValueError(
f"kwargs is not allowed because {c} is already a component"
)
self._c3data.tmp_components.append(c)
elif isinstance(c, webcface.geometries.Geometry):
self._c3data.tmp_components.append(
webcface.temporal_component.TemporalComponent(
canvas3d_type=webcface.canvas3d_base.Canvas3DComponentType.GEOMETRY,
geometry=c,
**kwargs,
)
)
else:
raise ValueError(f"Invalid component {c}")
self._modified = True
return self
[docs]
def add_geometry(
self,
geometry: "webcface.geometries.Geometry3D",
origin: "Optional[webcface.transform.Transform]" = None,
color: int = webcface.view_base.ViewColor.INHERIT,
) -> "Canvas3D":
"""Geometryを追加
.. deprecated:: ver3.0
"""
return self.add(geometry, origin=origin, color=color)