diff --git a/CHANGELOG.md b/CHANGELOG.md index 162513aa..9f147059 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -9,11 +9,18 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0 ### Added +* Added type hints to all public methods and functions + ### Changed +* Update Grasshopper components to build as CPython 3.x components +* Migrated documentation to Mkdocs format + ### Removed * Removed Support for IronPython 2.7 support +* Removes dependency on `compas_fab` +* Removed Rhino 7 post installation hooks ## [1.0.0] 2024-06-26 diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index d9c73ca6..dbd14c06 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -12,7 +12,7 @@ In short, this is how that works. 3. Install development dependencies: ```bash - pip install -e .[dev] + pip install -e ".[dev]" ``` 4. Make sure all tests pass: @@ -21,7 +21,7 @@ In short, this is how that works. invoke test ``` -5. Start making your changes to the **master** branch (or branch off of it). +5. Start making your changes to the **main** branch (or branch off of it). 6. Make sure all tests still pass: ```bash diff --git a/LICENSE b/LICENSE index 5519c432..0fd4cede 100644 --- a/LICENSE +++ b/LICENSE @@ -1,6 +1,6 @@ MIT License -Copyright (c) 2023-2024 ETH Zurich, Princeton University +Copyright (c) 2023-2026 ETH Zurich, Princeton University Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal diff --git a/README.md b/README.md index ed275a35..7e06057a 100644 --- a/README.md +++ b/README.md @@ -14,16 +14,16 @@ ## Installation -> It is recomended you install `compas_xr` inside a virtual environment. +It is recommended to install `compas_xr` inside a virtual environment. We suggest using [uv](https://docs.astral.sh/uv/) for faster and more reliable dependency management. ```bash -pip install compas_xr +uv pip install compas_xr ``` -To install `compas_xr` to Rhino run +To use `compas_xr` in Rhino 8, add the requirements header to your script: -```bash -python -m compas_rhino.install +```python +# r: compas_xr ``` ## First Steps diff --git a/docs/_logo/compas_logo_white_transparent.png b/docs/_logo/compas_logo_white_transparent.png new file mode 100644 index 00000000..5dd158c8 Binary files /dev/null and b/docs/_logo/compas_logo_white_transparent.png differ diff --git a/docs/_logo/favicon.ico b/docs/_logo/favicon.ico new file mode 100644 index 00000000..381bd941 Binary files /dev/null and b/docs/_logo/favicon.ico differ diff --git a/docs/api.rst b/docs/api.rst deleted file mode 100644 index 46c41ac1..00000000 --- a/docs/api.rst +++ /dev/null @@ -1,9 +0,0 @@ -******************************************************************************** -API Reference -******************************************************************************** - -.. toctree:: - :maxdepth: 1 - - api/compas_xr - api/compas_xr_unity diff --git a/docs/api/compas_xr.ghpython.md b/docs/api/compas_xr.ghpython.md new file mode 100644 index 00000000..3640b9f7 --- /dev/null +++ b/docs/api/compas_xr.ghpython.md @@ -0,0 +1 @@ +# ::: compas_xr.ghpython diff --git a/docs/api/compas_xr.ghpython.rst b/docs/api/compas_xr.ghpython.rst deleted file mode 100644 index 92457e3a..00000000 --- a/docs/api/compas_xr.ghpython.rst +++ /dev/null @@ -1,2 +0,0 @@ - -.. automodule:: compas_xr.ghpython diff --git a/docs/api/compas_xr.mqtt.md b/docs/api/compas_xr.mqtt.md new file mode 100644 index 00000000..54399073 --- /dev/null +++ b/docs/api/compas_xr.mqtt.md @@ -0,0 +1 @@ +# ::: compas_xr.mqtt diff --git a/docs/api/compas_xr.mqtt.rst b/docs/api/compas_xr.mqtt.rst deleted file mode 100644 index 2f8b2332..00000000 --- a/docs/api/compas_xr.mqtt.rst +++ /dev/null @@ -1,2 +0,0 @@ - -.. automodule:: compas_xr.mqtt diff --git a/docs/api/compas_xr.project.md b/docs/api/compas_xr.project.md new file mode 100644 index 00000000..550aa56a --- /dev/null +++ b/docs/api/compas_xr.project.md @@ -0,0 +1 @@ +# ::: compas_xr.project diff --git a/docs/api/compas_xr.project.rst b/docs/api/compas_xr.project.rst deleted file mode 100644 index 88ae67d5..00000000 --- a/docs/api/compas_xr.project.rst +++ /dev/null @@ -1,2 +0,0 @@ - -.. automodule:: compas_xr.project diff --git a/docs/api/compas_xr.realtime_database.md b/docs/api/compas_xr.realtime_database.md new file mode 100644 index 00000000..efa902f0 --- /dev/null +++ b/docs/api/compas_xr.realtime_database.md @@ -0,0 +1 @@ +# ::: compas_xr.realtime_database diff --git a/docs/api/compas_xr.realtime_database.rst b/docs/api/compas_xr.realtime_database.rst deleted file mode 100644 index 6431b3f5..00000000 --- a/docs/api/compas_xr.realtime_database.rst +++ /dev/null @@ -1,2 +0,0 @@ - -.. automodule:: compas_xr.realtime_database diff --git a/docs/api/compas_xr.rst b/docs/api/compas_xr.rst deleted file mode 100644 index 192a2695..00000000 --- a/docs/api/compas_xr.rst +++ /dev/null @@ -1,7 +0,0 @@ -^^^^^^^^^ -COMPAS XR -^^^^^^^^^ - -The ``compas_xr`` Python library allows -amongs other things- integration into CAD functionality. - -.. automodule:: compas_xr diff --git a/docs/api/compas_xr.storage.md b/docs/api/compas_xr.storage.md new file mode 100644 index 00000000..dc91a8d2 --- /dev/null +++ b/docs/api/compas_xr.storage.md @@ -0,0 +1 @@ +# ::: compas_xr.storage diff --git a/docs/api/compas_xr.storage.rst b/docs/api/compas_xr.storage.rst deleted file mode 100644 index ecccdcf7..00000000 --- a/docs/api/compas_xr.storage.rst +++ /dev/null @@ -1,2 +0,0 @@ - -.. automodule:: compas_xr.storage diff --git a/docs/api/compas_xr_unity.md b/docs/api/compas_xr_unity.md new file mode 100644 index 00000000..414cdc6e --- /dev/null +++ b/docs/api/compas_xr_unity.md @@ -0,0 +1,36 @@ +# COMPAS XR Unity + +The COMPAS XR Unity package contains an application & Unity file that work together with the `compas_xr` Python library. + +## Initialize.unity + +- `FirebaseInitializer.cs` (initializes Firebase with configured settings and manages scene transitions upon successful initialization, utilizing MqttFirebaseConfigManager for disconnecting MQTT and HelpersExtensions.ChangeScene for scene navigation.) +- `FirebaseConfigSettings.cs` (manages user input Firebase configuration settings, saving and loading them from Player Preferences, and updates a singleton instance FirebaseManager with these values.) +- `MqttFirebaseConfigManager.cs` (manages MQTT connections, handles message events, and allows subscription to custom topics for sending Firebase configuration information.) +- `LogManager.cs` (manages logging by creating a log directory, deleting old log files, and writing log messages with timestamps, scene names, log types, and stack traces to a specified log file.) + +## Login.unity + +- `UserManager.cs` (manages user records and device configurations in Firebase, allowing creation of new users and updating existing ones based on unique identifiers.) + + +## MainGame.unity + +- `AppModeControler.cs` (defines a ModeControler class within the CompasXR.AppSettings namespace that manages two enums, VisulizationMode and TouchMode, to control visualization modes and touch interaction modes in an application.) +- `ApplicationSettings.cs` (defines a ApplicationSettings class within the CompasXR.AppSettings namespace, which includes properties for managing the project name, storage folder path, and a boolean for z-to-y axis remapping configuration in an application.) +- `CheckFirebase.cs` (defines a CheckFirebase class within the CompasXR.Database.FirebaseManagement namespace, which checks and initializes Firebase on the Start method, and triggers an event to confirm successful initialization or logs an error if it fails.) +- `CoreData.cs` (defines several classes within the CompasXR.Core.Data namespace, handling data structures, data conversion, and deserialization. The classes represent parts of a building assembly, including nodes, parts, frames, attributes, building plans, steps, data, and user information.) +- `DatabaseManager.cs` (manages a Unity application's integration with Firebase Realtime Database and Storage, handling data synchronization, event-driven updates, and deserialization of complex data structures for a construction planning and tracking system.) +- `Eventmanager.cs` (orchestrates the setup, initialization, and event-driven interactions between various components and Firebase services within the CompasXR Unity application.) +- `Extentions.cs` (extends Unity engine functionality with methods for scene management, object finding, value remapping, UI interaction checks, data type printing, camera-facing behavior, and object position storage in the CompasXR.Core.Extentions namespace.) +- `FirebaseManager.cs` (implements a sealed singleton class using the Singleton Pattern to manage Firebase configuration settings such as appId, apiKey, databaseUrl, storageBucket, and projectId, with initialization based on the current operating system detected by OperatingSystemManager.GetCurrentOS().) +- `InstantiateObjects.cs` (manages the AR space instantiation and control of objects based on building plan data, handling object visualization, user indicators, and interaction with materials and textures.) +- `MQTTDataCompasXR.cs` (define classes and data structures for managing MQTT communication, service states, and custom message formats within the Compas XR system, ensuring standardized messaging and service management across robotic applications.) +- `MqttTrajectoryManager.cs` (implements an MQTT client in Unity for managing robot trajectory requests and approvals, featuring message handling, connection management, and UI interactions.) +- `ObjectTransformations.cs` ( provides static methods for converting object positions and rotations between Unity and Rhino coordinate systems, utilizing various rotation and transformation algorithms.) +- `OperatingSystemManager.cs` (identifies and logs the current operating system (Android, iOS, or Unknown) based on the Unity platform, providing a static method to retrieve this information.) +- `QRLocalization.cs` (manages the real-time localization of objects in a scene based on QR code data, updating their positions and rotations dynamically.) +- `RosConnectionManager.cs` ( handles the connection to a ROSBridge server, manages connection status, and updates UI elements based on communication toggle state in the CompasXR Application.) +- `ScrollSearchManager.cs` (manages scrollable UI functionality for searching and interacting with elements, including dynamic cell creation, scrolling control, and object coloring based on user selection in the CompasXR Application.) +- `TrajectoryVisualizer.cs` (namespace manages robot visualization and interaction in Unity, facilitating tasks such as setting up robots in the scene, instantiating trajectories, configuring robot configurations from dictionaries, and attaching elements to end effectors based on received data.) +- `UIFunctionalities.cs` (manages various UI elements and functionalities, including primary UI controls, visualizer menus, additional menu functionalities, and communication settings such as MQTT and ROS connections.) diff --git a/docs/api/compas_xr_unity.rst b/docs/api/compas_xr_unity.rst deleted file mode 100644 index 8e4dab9f..00000000 --- a/docs/api/compas_xr_unity.rst +++ /dev/null @@ -1,47 +0,0 @@ - -^^^^^^^^^^^^^^^ -COMPAS XR Unity -^^^^^^^^^^^^^^^ - -The COMPAS XR Unity package contains an application & Unity file that work together with the ``compas_xr`` Python library. - -"""""""""""""""" -Initialize.unity -"""""""""""""""" - -- ``FirebaseInitializer.cs`` (initializes Firebase with configured settings and manages scene transitions upon successful initialization, utilizing MqttFirebaseConfigManager for disconnecting MQTT and HelpersExtensions.ChangeScene for scene navigation.) -- ``FirebaseConfigSettings.cs`` (manages user input Firebase configuration settings, saving and loading them from Player Preferences, and updates a singleton instance FirebaseManager with these values.) -- ``MqttFirebaseConfigManager.cs`` (manages MQTT connections, handles message events, and allows subscription to custom topics for sending Firebase configuration information.) -- ``LogManager.cs`` (manages logging by creating a log directory, deleting old log files, and writing log messages with timestamps, scene names, log types, and stack traces to a specified log file.) - -""""""""""" -Login.unity -""""""""""" - -- ``UserManager.cs`` (manages user records and device configurations in Firebase, allowing creation of new users and updating existing ones based on unique identifiers.) - - -"""""""""""""" -MainGame.unity -"""""""""""""" - -- ``AppModeControler.cs`` (defines a ModeControler class within the CompasXR.AppSettings namespace that manages two enums, VisulizationMode and TouchMode, to control visualization modes and touch interaction modes in an application.) -- ``ApplicationSettings.cs`` (defines a ApplicationSettings class within the CompasXR.AppSettings namespace, which includes properties for managing the project name, storage folder path, and a boolean for z-to-y axis remapping configuration in an application.) -- ``CheckFirebase.cs`` (defines a CheckFirebase class within the CompasXR.Database.FirebaseManagement namespace, which checks and initializes Firebase on the Start method, and triggers an event to confirm successful initialization or logs an error if it fails.) -- ``CoreData.cs`` (defines several classes within the CompasXR.Core.Data namespace, handling data structures, data conversion, and deserialization. The classes represent parts of a building assembly, including nodes, parts, frames, attributes, building plans, steps, data, and user information.) -- ``DatabaseManager.cs`` (manages a Unity application's integration with Firebase Realtime Database and Storage, handling data synchronization, event-driven updates, and deserialization of complex data structures for a construction planning and tracking system.) -- ``Eventmanager.cs`` (orchestrates the setup, initialization, and event-driven interactions between various components and Firebase services within the CompasXR Unity application.) -- ``Extentions.cs`` (extends Unity engine functionality with methods for scene management, object finding, value remapping, UI interaction checks, data type printing, camera-facing behavior, and object position storage in the CompasXR.Core.Extentions namespace.) -- ``FirebaseManager.cs`` (implements a sealed singleton class using the Singleton Pattern to manage Firebase configuration settings such as appId, apiKey, databaseUrl, storageBucket, and projectId, with initialization based on the current operating system detected by OperatingSystemManager.GetCurrentOS().) -- ``InstantiateObjects.cs`` (manages the AR space instantiation and control of objects based on building plan data, handling object visualization, user indicators, and interaction with materials and textures.) -- ``MQTTDataCompasXR.cs`` (define classes and data structures for managing MQTT communication, service states, and custom message formats within the Compas XR system, ensuring standardized messaging and service management across robotic applications.) -- ``MqttTrajectoryManager.cs`` (implements an MQTT client in Unity for managing robot trajectory requests and approvals, featuring message handling, connection management, and UI interactions.) -- ``ObjectTransformations.cs`` ( provides static methods for converting object positions and rotations between Unity and Rhino coordinate systems, utilizing various rotation and transformation algorithms.) -- ``OperatingSystemManager.cs`` (identifies and logs the current operating system (Android, iOS, or Unknown) based on the Unity platform, providing a static method to retrieve this information.) -- ``QRLocalization.cs`` (manages the real-time localization of objects in a scene based on QR code data, updating their positions and rotations dynamically.) -- ``RosConnectionManager.cs`` ( handles the connection to a ROSBridge server, manages connection status, and updates UI elements based on communication toggle state in the CompasXR Application.) -- ``ScrollSearchManager.cs`` (manages scrollable UI functionality for searching and interacting with elements, including dynamic cell creation, scrolling control, and object coloring based on user selection in the CompasXR Application.) -- ``TrajectoryVisualizer.cs`` (namespace manages robot visualization and interaction in Unity, facilitating tasks such as setting up robots in the scene, instantiating trajectories, configuring robot configurations from dictionaries, and attaching elements to end effectors based on received data.) -- ``UIFunctionalities.cs`` (manages various UI elements and functionalities, including primary UI controls, visualizer menus, additional menu functionalities, and communication settings such as MQTT and ROS connections.) - - diff --git a/docs/assets/stylesheets/custom.css b/docs/assets/stylesheets/custom.css new file mode 100644 index 00000000..a6f31ae7 --- /dev/null +++ b/docs/assets/stylesheets/custom.css @@ -0,0 +1,5 @@ +:root > * { + --md-primary-fg-color: #0092d2; + --md-primary-fg-color--light: #0092d2; + --md-primary-fg-color--dark: #0092d2; +} \ No newline at end of file diff --git a/docs/changelog.md b/docs/changelog.md new file mode 100644 index 00000000..786b75d5 --- /dev/null +++ b/docs/changelog.md @@ -0,0 +1 @@ +--8<-- "CHANGELOG.md" diff --git a/docs/citing.md b/docs/citing.md new file mode 100644 index 00000000..ea5e65a6 --- /dev/null +++ b/docs/citing.md @@ -0,0 +1,23 @@ +# Citing + +If you use COMPAS XR for your work, please verify that you are citing us correctly: + +```bibtex +@misc{compas-xr, + title={{COMPAS~XR}: extended reality workflows for the COMPAS Framework}, + author={ + Kenny, J. and + Casas, G. and + Alexi, E. and + Moisi, A. and + Gramazio, F. and + Kohler, M. and + Mitterberger, D. + }, + howpublished={https://github.com/compas-dev/compas\_xr/}, + note={ETH Z\"{u}rich, Princeton University}, + year={2024}, + doi={10.5281/zenodo.12514526}, + url={https://doi.org/10.5281/zenodo.12514526}, +} +``` diff --git a/docs/citing.rst b/docs/citing.rst deleted file mode 100644 index e2958d86..00000000 --- a/docs/citing.rst +++ /dev/null @@ -1,27 +0,0 @@ -******************************************************************************** -Citing -******************************************************************************** - -CITING COMPAS XR - -If you are using COMPAS XR, please cite us. - -.. code-block:: none - - @misc{compas-xr, - title={{COMPAS~XR}: extended reality workflows for the COMPAS Framework}, - author={ - Kenny, J. and - Casas, G. and - Alexi, E. and - Moisi, A. and - Gramazio, F. and - Kohler, M. and - Mitterberger, D. - }, - howpublished={https://github.com/compas-dev/compas\_xr/}, - note={ETH Z\"{u}rich, Princeton University}, - year={2024}, - doi={10.5281/zenodo.12514526}, - url={https://doi.org/10.5281/zenodo.12514526}, - } diff --git a/docs/conf.py b/docs/conf.py deleted file mode 100644 index 273e6348..00000000 --- a/docs/conf.py +++ /dev/null @@ -1,167 +0,0 @@ -# flake8: noqa -# -*- coding: utf-8 -*- - -from sphinx.writers import html, html5 -import sphinx_compas2_theme - -# -- General configuration ------------------------------------------------ - -project = "COMPAS XR" -copyright = "ETH Zurich, Princeton University" -author = "Joseph Kenny" -organization = "compas-dev" -package = "compas_xr" - -master_doc = "index" -source_suffix = {".rst": "restructuredtext", ".md": "markdown"} -templates_path = sphinx_compas2_theme.get_autosummary_templates_path() -exclude_patterns = sphinx_compas2_theme.default_exclude_patterns -add_module_names = True -language = "en" - -latest_version = sphinx_compas2_theme.get_latest_version() - -if latest_version == "Unreleased": - release = "Unreleased" - version = "latest" -else: - release = latest_version - version = ".".join(release.split(".")[0:2]) # type: ignore - -# -- Extension configuration ------------------------------------------------ - -extensions = sphinx_compas2_theme.default_extensions - -# numpydoc options - -numpydoc_show_class_members = False -numpydoc_class_members_toctree = False -numpydoc_attributes_as_param_list = True -numpydoc_show_inherited_class_members = False - -# bibtex options - -# autodoc options - -autodoc_type_aliases = {} -autodoc_typehints_description_target = "documented" -autodoc_mock_imports = sphinx_compas2_theme.default_mock_imports -autodoc_default_options = { - "undoc-members": True, - "show-inheritance": True, -} -autodoc_member_order = "groupwise" -autodoc_typehints = "description" -autodoc_class_signature = "separated" - -autoclass_content = "class" - - -def setup(app): - app.connect("autodoc-skip-member", sphinx_compas2_theme.skip) - - -# autosummary options - -autosummary_generate = True -autosummary_mock_imports = sphinx_compas2_theme.default_mock_imports - -# graph options - -# plot options - -plot_include_source = False -plot_html_show_source_link = False -plot_html_show_formats = False -plot_formats = ["png"] - -# intersphinx options - -intersphinx_mapping = { - "python": ("https://docs.python.org/", None), - "compas": ("https://compas.dev/compas/latest/", None), - "compas_timber": ("https://gramaziokohler.github.io/compas_timber/latest/", None), -} - -# linkcode - -linkcode_resolve = sphinx_compas2_theme.get_linkcode_resolve(organization, package) - -# extlinks - -extlinks = { - "rhino": ("https://developer.rhino3d.com/api/RhinoCommon/html/T_%s.htm", "%s"), - "blender": ("https://docs.blender.org/api/2.93/%s.html", "%s"), -} - -# from pytorch - -sphinx_compas2_theme.replace(html.HTMLTranslator) -sphinx_compas2_theme.replace(html5.HTML5Translator) - -# -- Options for HTML output ---------------------------------------------- - -html_theme = "sidebaronly" -html_title = project -html_sidebars = {"index": []} - -favicons = [ - { - "rel": "icon", - "href": "compas.ico", - } -] - -html_theme_options = { - "external_links": [ - {"name": "COMPAS Framework", "url": "https://compas.dev"}, - ], - "icon_links": [ - { - "name": "GitHub", - "url": f"https://github.com/{organization}/{package}", - "icon": "fa-brands fa-github", - "type": "fontawesome", - }, - { - "name": "Discourse", - "url": "http://forum.compas-framework.org/", - "icon": "fa-brands fa-discourse", - "type": "fontawesome", - }, - { - "name": "PyPI", - "url": f"https://pypi.org/project/{package}/", - "icon": "fa-brands fa-python", - "type": "fontawesome", - }, - ], - "switcher": { - "json_url": f"https://raw.githubusercontent.com/{organization}/{package}/gh-pages/versions.json", - "version_match": version, - }, - "logo": { - "image_light": "_static/compas_icon_white.png", - "image_dark": "_static/compas_icon_white.png", - "text": "COMPAS XR", - }, - "navigation_depth": 3, -} - -html_context = { - "github_url": "https://github.com", - "github_user": organization, - "github_repo": package, - "github_version": "main", - "doc_path": "docs", -} - -html_static_path = sphinx_compas2_theme.get_html_static_path() + ["_static"] -html_css_files = [] -html_extra_path = [] -html_last_updated_fmt = "" -html_copy_source = False -html_show_sourcelink = True -html_permalinks = False -html_permalinks_icon = "" -html_compact_lists = True diff --git a/docs/contribution.md b/docs/contribution.md new file mode 100644 index 00000000..ea38c9bf --- /dev/null +++ b/docs/contribution.md @@ -0,0 +1 @@ +--8<-- "CONTRIBUTING.md" diff --git a/docs/examples/scripts/firebase_config/compas_xr_example.json b/docs/examples/scripts/firebase_config/compas_xr_example.json index 2062279f..f73bebe3 100644 --- a/docs/examples/scripts/firebase_config/compas_xr_example.json +++ b/docs/examples/scripts/firebase_config/compas_xr_example.json @@ -1 +1,6 @@ -{"apiKey": "AIzaSyDm-KDwiar0NyfHfjTHFtF-tr2tgzKS3bM", "authDomain": "test-project-94f41.firebaseapp.com", "databaseURL": "https://test-project-94f41-default-rtdb.europe-west1.firebasedatabase.app", "storageBucket": "test-project-94f41.appspot.com"} \ No newline at end of file +{ + "apiKey": "AIzaSyDm-KDwiar0NyfHfjTHFtF-tr2tgzKS3bM", + "authDomain": "test-project-94f41.firebaseapp.com", + "databaseURL": "https://test-project-94f41-default-rtdb.europe-west1.firebasedatabase.app", + "storageBucket": "test-project-94f41.appspot.com" +} \ No newline at end of file diff --git a/docs/index.rst b/docs/index.md similarity index 76% rename from docs/index.rst rename to docs/index.md index caea927d..4fd9d33c 100644 --- a/docs/index.rst +++ b/docs/index.md @@ -1,14 +1,8 @@ -******************************************************************************** -COMPAS XR -******************************************************************************** - -.. rst-class:: lead +# COMPAS XR COMPAS XR streamlines extended reality workflows to ease the implementation of human-machine collaborative applications in architectural research and educational environments. -.. figure:: /_images/compas_xr_lead_image.png - :figclass: figure - :class: figure-img img-fluid +![COMPAS XR Lead Image](_images/compas_xr_lead_image.png) Introducing **COMPAS XR**, an open-source framework designed to streamline extended reality (XR) workflows. COMPAS XR facilitates the integration of human-machine @@ -18,9 +12,7 @@ of communication protocols for both CAD softwares and Unity Based phone applicat required for the visualization, reading, writing, and storage of COMPAS data across multiple cloud-based data storage formats. -.. figure:: /_images/software_architecture.png - :figclass: figure - :class: figure-img img-fluid +![Software Architecture](_images/software_architecture.png) **Key Features:** @@ -34,17 +26,14 @@ architectural design and research, seamlessly integrating human-machine interact cutting-edge cloud-based solutions and assembly processes. -Example Projects -================= +## Example Projects -.. figure:: /_images/example_1.jpg - :figclass: figure - :class: figure-img img-fluid +![Example 1](_images/example_1.jpg) **AR Timber Assembly** | Enabling Human-Robot Cooperation for Reconfigurable Timber Assembly -https://robarch2024.org/Collaborative-Augmented-Assembly -https://huma-labforadvancedtechnologyinarch.github.io/robarch24/ +[https://robarch2024.org/Collaborative-Augmented-Assembly](https://robarch2024.org/Collaborative-Augmented-Assembly) +[https://huma-labforadvancedtechnologyinarch.github.io/robarch24/](https://huma-labforadvancedtechnologyinarch.github.io/robarch24/) In this workshop, participants explored a cooperative human-robot design-to-assembly workflow, creating a complex timber structure that neither could achieve alone. Using @@ -58,15 +47,13 @@ instructions via a mobile AR interface, utilizing COMPAS XR features. *Princeton University: Mitterberger, Alexi, Kenny in collaboration with TU Munich: Dörfler, Atanasova, Saral* -.. figure:: /_images/example_2.jpg - :figclass: figure - :class: figure-img img-fluid +![Example 2](_images/example_2.jpg) **Cooperative Augmented Assembly** | Augmented Reality for On-Site Cooperative Robotic Fabrication -https://www.arc.ed.tum.de/df/teaching/archive/cdf-ss-2023/ -https://drive.google.com/file/d/1sUCggAQAHKByWS5JAix2g8qEch174QuH/view -https://www.masdfab.arch.ethz.ch/program/studentwork/2022-23-t3-work +[https://www.arc.ed.tum.de/df/teaching/archive/cdf-ss-2023/](https://www.arc.ed.tum.de/df/teaching/archive/cdf-ss-2023/) +[https://drive.google.com/file/d/1sUCggAQAHKByWS5JAix2g8qEch174QuH/view](https://drive.google.com/file/d/1sUCggAQAHKByWS5JAix2g8qEch174QuH/view) +[https://www.masdfab.arch.ethz.ch/program/studentwork/2022-23-t3-work](https://www.masdfab.arch.ethz.ch/program/studentwork/2022-23-t3-work) The interdisciplinary seminar "Computational Design and Digital Fabrication" aims to bridge fundamental @@ -78,12 +65,10 @@ design solutions for advanced digital construction techniques at various scales. *TU Munich: Dörfler, Atanasova in collaboration with Princeton University: Mitterberger, Alexi, Kenny* -.. figure:: /_images/example_3.jpg - :figclass: figure - :class: figure-img img-fluid +![Example 3](_images/example_3.jpg) **ARC 595** | Embodied Computation -https://huma-labforadvancedtechnologyinarch.github.io/ARC596_Embodied-Computatio +[https://huma-labforadvancedtechnologyinarch.github.io/ARC596_Embodied-Computatio](https://huma-labforadvancedtechnologyinarch.github.io/ARC596_Embodied-Computatio) The seminar Embodied Computation at Princeton University delves into the intersection of architecture and computation, focusing on augmented design and fabrication processes. The course is based on lectures and @@ -92,25 +77,3 @@ augmented reality (AR) and digital fabrication. The students learn new programmi reality applications for architects to support adaptive and interactive design and fabrication methodologies. *Princeton University: Mitterberger* - - - -Table of Contents -================= - -.. toctree:: - :maxdepth: 3 - :titlesonly: - - Introduction - installation - userguide - api - license - citing - -Indices and tables -================== - -* :ref:`genindex` -* :ref:`modindex` diff --git a/docs/installation.md b/docs/installation.md new file mode 100644 index 00000000..7030ff4a --- /dev/null +++ b/docs/installation.md @@ -0,0 +1,82 @@ +# Installation + +This chapter provides a step-by-step guide for installing `compas_xr` on your system. +We highly recommend using [uv](https://docs.astral.sh/uv/) for managing +your Python environment and dependencies, as it is significantly faster and +more reliable. Alternatively, you can simply use standard `pip`. + +## Install uv + +If you do not have `uv` installed, follow the instructions on their website or run: + +=== "Mac/Linux" + + ```bash + curl -LsSf https://astral.sh/uv/install.sh | sh + ``` + +=== "Windows" + + ```powershell + powershell -ExecutionPolicy ByPass -c "irm https://astral.sh/uv/install.ps1 | iex" + ``` + +## Create a virtual environment + +It is best practice to install `compas_xr` in a virtual environment. +Navigate to your project directory and run: + +```bash +uv venv +``` + +This creates a virtual environment in `.venv`. Activate it with: + +=== "Mac/Linux" + + ```bash + source .venv/bin/activate + ``` + +=== "Windows" + + ```powershell + .venv\Scripts\activate + ``` + +## Install compas_xr + +With your virtual environment activated, install `compas_xr`: + +```bash +uv pip install compas_xr +``` + +## Verify installation + +Verify that `compas_xr` is available: + +```bash +python -c "import compas_xr; print(compas_xr.__version__)" +``` + +If the version number is printed, the installation is complete. + +## Install for Rhino + +COMPAS XR is compatible with Rhino 8 and later versions. To use it, simply add the requirement header to the top of your script in the Rhino 8 Script Editor: + +```python +# r: compas_xr +``` + +## COMPAS XR Unity - Phone Based AR Application + +This chapter provides a step-by-step guide for installing compas_xr_unity on your device. The use and installation of +the application is supported by both Android and iOS devices. If you would like to install the application without +functionality or code modifications, the Android .apk file and iOS Xcode build can be found [here](https://nextcloud.ethz.ch/s/QyGgN84yx3LBfNs). + +However, if you would like to modify any application functionalities or access the entire code base for the application, +it can be found and cloned from our [repository](https://github.com/compas-dev/compas_xr). + +Additionally, both Android and iOS installation procedures can be found in the [Release Procedures](userguide.md#step-6-release-procedures) chapter of the documentation. diff --git a/docs/installation.rst b/docs/installation.rst deleted file mode 100644 index 14133791..00000000 --- a/docs/installation.rst +++ /dev/null @@ -1,71 +0,0 @@ -******************************************************************************** -Installation -******************************************************************************** - -This chapter provides a step-by-step guide for installing compas_xr on your system. The library can be -installed using either pip or conda, which are widely-used package managers for Python. The following -instructions will guide you through each method. Alternatively, you can clone the ``compas_xr`` library -directly from our `repository `_. - -Installation using conda -======================== - -Conda is an open-source package management system and environment management system that runs on Windows, -macOS, and Linux. It is very popular in the realm of scientific computing. - -Step 1: Create a conda environment (Optional) -============================================= - -It's often beneficial to create a new environment for your project. This can be done using the following command: -:: - conda create --name my_environment_name - -Replace my_environment_name with your desired environment name. - -Activate the new environment by running: -:: - conda activate my_environment_name - -Step 2: Update pip -================== - -It is good practice to ensure that you are using the latest version of pip. To update pip, run the following command: -:: - python -m pip install --upgrade pip - -Step 3: Install compas_xr -========================= - -To install compas_xr using pip, execute the following command: -:: - pip install compas_xr - -Verify installation -=================== - -After installation, you can verify that the compas_xr has been successfully installed by running: -:: - python -c "import compas_xr; print(compas_xr.__version__)" - - -If everything worked out correctly, the version of the installed package will be printed on the screen, and you can -start using the toolkit into your projects. - -Installing COMPAS packages for Rhino environments -================================================= - -After verification of installation you can run the command below to install all COMPAS packages within your Rhino Environment: -:: - python -m compas_rhino.install - -COMPAS XR Unity - Phone Based AR Application -============================================ - -This chapter provides a step-by-step guide for installing compas_xr_unity on your device. The use and installation of -the application is supported by both Android and ios devices. If you would like to install the application without -functionality or code modifications Android .apk file, and ios xcode build can be found `here `_. - -However, if you would like to modify any application functionalities or anything the entire code base for the application -can be found and cloned from our `repository `_. - -Additionally, both Android and device installation procedures can be found in the Release Procedures chapter of the documentation. diff --git a/docs/license.md b/docs/license.md new file mode 100644 index 00000000..0e8c6fca --- /dev/null +++ b/docs/license.md @@ -0,0 +1,3 @@ +# License + +--8<-- "LICENSE" diff --git a/docs/license.rst b/docs/license.rst deleted file mode 100644 index a99211ec..00000000 --- a/docs/license.rst +++ /dev/null @@ -1,23 +0,0 @@ -******************************************************************************** -License -******************************************************************************** -:: - - MIT License - - Copyright (c) 2023-2024 ETH Zurich, Princeton University - - - Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated - documentation files (the "Software"), to deal in the Software without restriction, including without limitation - the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and - to permit persons to whom the Software is furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in all copies or substantial portions - of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED - TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL - THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF - CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS - IN THE SOFTWARE. diff --git a/docs/userguide.rst b/docs/userguide.md similarity index 65% rename from docs/userguide.rst rename to docs/userguide.md index dd647f81..004858e8 100644 --- a/docs/userguide.rst +++ b/docs/userguide.md @@ -1,38 +1,26 @@ -******************************************************************************** -User Guide -******************************************************************************** +# User Guide + +## Introduction -============ -Introduction -============ This user guide is here to help you get started with COMPAS XR and understand what it can do. It explains the various features and functions in simple terms and provides straightforward code examples that you can use to create your own models. -======================= -Summary of the Workflow -======================= +## Summary of the Workflow For utilizing the COMPAS XR package for your project, follow these 7 steps: -1. :ref:`Assembly Definition `: Dependent on the assembly in which you would like to visualize -2. :ref:`Database Initialization `: Creating and connecting a cloud-based database at Firebase -3. :ref:`Data Creation `: Types and requirements for various assembly types + Creation of Building Plan and Localization with Frame Positions -4. :ref:`Uploading and Visualizing Data `: Uploading Data to Firebase and Visualization in Rhino -5. :ref:`Define Robotic Assembly Strategy `: Toy problem example & Robot Loading (GH & Unity) -6. :ref:`Release Procedures `: Release .apk for Android devices or ios release procedures (include individual phone builds & Testflight or just a link to how to release to testflight) -7. :ref:`User Interaction `: Overall Application Progression & UI Overview - -.. figure:: /_images/workflow.png - :figclass: figure - :class: figure-img img-fluid - +1. [Assembly Definition](#step-1-assembly-definition): Dependent on the assembly in which you would like to visualize +2. [Database Initialization](#step-2-database-initialization): Creating and connecting a cloud-based database at Firebase +3. [Data Creation](#step-3-data-creation): Types and requirements for various assembly types + Creation of Building Plan and Localization with Frame Positions +4. [Uploading and Visualizing Data](#step-4-uploading-and-visualizing-data): Uploading Data to Firebase and Visualization in Rhino +5. [Define Robotic Assembly Strategy](#step-5-define-robotic-assembly-strategy): Toy problem example & Robot Loading (GH & Unity) +6. [Release Procedures](#step-6-release-procedures): Release .apk for Android devices or ios release procedures (include individual phone builds & Testflight or just a link to how to release to testflight) +7. [User Interaction](#step-7-user-interaction): Overall Application Progression & UI Overview -.. _assembly-definition: +![Workflow](_images/workflow.png) -=========================== -Step 1: Assembly Definition -=========================== +## Step 1: Assembly Definition This section provides a quick overview of assemblies. In COMPAS, an assembly is a fundamental data structure used to represent a collection of geometric parts or elements within computational design and engineering workflows. An assembly @@ -40,129 +28,97 @@ provides a structured way to organize, manage, and interact with these parts as This section will only provide specific information about assemblies for COMPAS XR. For a more detailed instruction and implementation strategy for COMPAS Assemblies please refer to the documentation for COMPAS Assemblies -found `here `_. +found [here](https://compas.dev/compas/latest/api/generated/compas.datastructures.Assembly.html). -------------------------------- -COMPAS XR Assembly Information: -------------------------------- +### COMPAS XR Assembly Information Here are some key aspects of constructing assemblies in COMPAS for COMPAS XR Visualization. Additionally, the definition should come from each user depending on the assembly in which they would like to visualize and construct. Only Assemblies of the Geometry types listed below are acceptable for visualization and assembly: -.. code-block:: python +```python +# COMPAS Geometries that can be used to create assemblies +compas.geometry.Box +compas.geometry.Cylinder - # COMPAS Geometries that can be used to create assemblies - compas.geometry.Box - compas.geometry.Cylinder - - # COMPAS Assemblies that Require .obj export for COMPAS XR Visualization - compas_timber.assembly.TimberAssemblies - compas.datastructures.Mesh +# COMPAS Assemblies that Require .obj export for COMPAS XR Visualization +compas_timber.assembly.TimberAssemblies +compas.datastructures.Mesh +``` Only assemblies constructed with the processes below allow visualization in COMPAS XR Unity App: -.. code-block:: python - - # Import the Assembly, Part, and Mesh classes from the compas.datastructures - from compas.datastructures import Assembly, Part, Mesh +```python +# Import the Assembly, Part, and Mesh classes from the compas.datastructures +from compas.datastructures import Assembly, Part, Mesh - # Import the Box and Cylinder classes from the compas.geometry module - from compas.geometry import Box, Cylinder +# Import the Box and Cylinder classes from the compas.geometry module +from compas.geometry import Box, Cylinder - # For Geometry Assemblies acceptable add part methods - box_assembly.add_part (box) - box_assembly.add_part(box, frame=frame) - cylinder_assembly.add_part(cylinder) - cylinder_assembly.add_part(cylinder, frame=frame) +# For Geometry Assemblies acceptable add part methods +box_assembly.add_part (box) +box_assembly.add_part(box, frame=frame) +cylinder_assembly.add_part(cylinder) +cylinder_assembly.add_part(cylinder, frame=frame) - # For Custom Meshes, meshes must be added as type Part - part = Part(frame= frame, shape = mesh) - part_assembly.add_part(part) +# For Custom Meshes, meshes must be added as type Part +part = Part(frame= frame, shape = mesh) +part_assembly.add_part(part) - # For all Box, Cylinder, or Mesh Assemblies made of class type Part - part = Part(name=..., frame=..., shape= GEO) - part = Part(frame=..., shape = GEO) - part_assembly.add_part(part) +# For all Box, Cylinder, or Mesh Assemblies made of class type Part +part = Part(name=..., frame=..., shape= GEO) +part = Part(frame=..., shape = GEO) +part_assembly.add_part(part) +``` **NOTE:** COMPAS XR Unity is only designed to work with Assemblies that are defined in Meters. If the assembly is defined in any other Unit, it will result in incorrectly scaled visualization on the application side. -.. _database-initialization: +## Step 2: Database Initialization -=============================== -Step 2: Database Initialization -=============================== +### Set up Firebase ---------------- -Set up Firebase ---------------- - -.. figure:: /_images/firebase_packages.png - :figclass: figure - :class: figure-img img-fluid +![Firebase Packages](_images/firebase_packages.png) Firebase (FB) is a comprehensive mobile and web application development platform provided by Google. It offers a wide range of tools and services that help developers build high-quality apps more efficiently. -1. Login with you Google-Account on https://console.firebase.google.com/ and create a new project. +1. Login with you Google-Account on [https://console.firebase.google.com/](https://console.firebase.google.com/) and create a new project. -.. figure:: /_images/firebase_1.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 1](_images/firebase_1.png) 2. Enable Google Analytics for this project. -.. figure:: /_images/firebase_2.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 2](_images/firebase_2.png) -.. figure:: /_images/firebase_3.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 3](_images/firebase_3.png) 3. Add a Realtime Database (RTDB) and Storage to your project. -.. figure:: /_images/firebase_4.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 4](_images/firebase_4.png) 4. Set up the Realtime Database. This will allow you to store and sync data in real-time across multiple clients. -.. figure:: /_images/firebase_5.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 5](_images/firebase_5.png) -.. figure:: /_images/firebase_6.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 6](_images/firebase_6.png) 5. Once the Database is created, search for “Rules” in your Database and rewrite “false” to “true”. Do not forget to publish. -.. figure:: /_images/firebase_7.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 7](_images/firebase_7.png) 6. Set up the Storage. This will allow you to store and serve user-generated data in the cloud. -.. figure:: /_images/firebase_8.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 8](_images/firebase_8.png) -.. figure:: /_images/firebase_9.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 9](_images/firebase_9.png) 7. Once the Storage is created, search for “Rules” in your Database and rewrite “false” to “true”. Do not forget to publish. -.. figure:: /_images/firebase_10.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 10](_images/firebase_10.png) ------------------------ -Create Apps on Firebase ------------------------ +### Create Apps on Firebase Apps are essential for connecting specific applications to Firebase because they facilitate real-time data synchronization and seamless cloud storage integration. The web app is used for communication between the CAD environment and Firebase, @@ -171,49 +127,33 @@ enhancing collaboration and improving the overall efficiency of data management 1. Go to your Project Overview, now we create the apps. -.. figure:: /_images/firebase_11.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 11](_images/firebase_11.png) 2. First we create a web app (). -.. figure:: /_images/firebase_12.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 12](_images/firebase_12.png) 3. We can access this data later as well. -.. figure:: /_images/firebase_13.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 13](_images/firebase_13.png) 4. Now create an Android App with package name com.ETHZ.yourappname -.. figure:: /_images/firebase_14.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 14](_images/firebase_14.png) 5. Download the .json file and store it somewhere safe. -.. figure:: /_images/firebase_15.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 15](_images/firebase_15.png) 6. Proceed with the process. -.. figure:: /_images/firebase_16.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 16](_images/firebase_16.png) 7. And continue to console. -.. figure:: /_images/firebase_17.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 17](_images/firebase_17.png) -------------------------------- -Connect Grasshopper to Firebase -------------------------------- +### Connect Grasshopper to Firebase It is imperative that we connect Grasshopper to Firebase to enable real-time reading and writing of COMPAS data to a cloud-based database. This integration ensures seamless data synchronization and accessibility, @@ -222,18 +162,14 @@ and visualization of assemblies in the CAD environment is accurate to the curren 1. Now we need to Navigate to Settings -> Project Settings -> Your apps -> “Your Web AppName” -> “firebaseConfig”. -.. figure:: /_images/firebase_18.png - :figclass: figure - :class: figure-img img-fluid +![Firebase 18](_images/firebase_18.png) 2. Insert the data into grasshopper to connect with firebase (api_key, auth_domain, database_url, storage_bucket). For filepath, create a directory in which you would like to store the firebase config information as a `.json` file type. -.. figure:: /_images/grasshopper_1.png - :figclass: figure - :class: figure-img img-fluid +![Grasshopper 1](_images/grasshopper_1.png) **filepath:** string (A directory path at which the custom firebase configuration values will be saved.) @@ -250,25 +186,16 @@ as a `.json` file type. **storage_bucket:** string - The end point for Firebase Cloud storage file uploads. -.. _data-creation: - -===================== -Step 3: Data Creation -===================== - ----------------------- -Generate Building Plan ----------------------- +## Step 3: Data Creation +### Generate Building Plan COMPAS XR utilizes the and requires data structures of both COMPAS Assembly and BuildingPlan. The primary difference in implementation and utilization of both data structures is as follows. The Assembly serves as a data representation of a collection of geometric objects in space. While the BuildingPlan sequentially reconstructs the building process as a list of Steps or actions needed to complete assembly. -.. figure:: /_images/Assembly_BuildingPlan.png - :figclass: figure - :class: figure-img img-fluid +![Assembly BuildingPlan](_images/Assembly_BuildingPlan.png) Building Plan data contains the order of steps for assembly with additional information for each step, such as: **actor, geometry (type), priority, and is_built.** The simplest method for building plan creation is to create the @@ -276,17 +203,16 @@ building plan directly from an assembly sequence provided through the COMPAS XR example below. However the **Building Plan** and **COMPAS XR Unity** provide flexibility to create building steps from assembly parts in any sequence order as long as all steps have the complete information as seen above. -.. code-block:: python - - # Import the BuildingPlanExtensions class from the compas_xr.project module - from compas_xr.project import BuildingPlanExtensions - - # Initialize an instance of the BuildingPlanExtensions class - bpe = BuildingPlanExtensions() +```python +# Import the BuildingPlanExtensions class from the compas_xr.project module +from compas_xr.project import BuildingPlanExtensions - # Generate a building plan based on an assembly sequence - building_plan = bpe.create_buildingplan_from_assembly_sequence(assembly, data_type, robot_keys, priority_lists) +# Initialize an instance of the BuildingPlanExtensions class +bpe = BuildingPlanExtensions() +# Generate a building plan based on an assembly sequence +building_plan = bpe.create_buildingplan_from_assembly_sequence(assembly, data_type, robot_keys, priority_lists) +``` **NOTE:** While this will generate a usable BuildingPlan, the sequence will be a direct result of the order of assembly will be dictated by the order in which parts were added to the assembly. Additionally, robot_keys & priority_lists inputs @@ -297,40 +223,32 @@ will be assigned HUMAN and priority will be assigned 0. - The assembly a user would like to create a building plan from. - **data_type:** int (The type of geometry from the input assembly) - 0 == Cylinder (Assembly made of cylinders) - 1 == Box (Assembly made of Boxes) - 2 == ObjFile (Used for TimberAssemblies && Mesh) - **robot_keys:** list of str - A list of assembly keys that are intended to be constructed by the robot. - **priority_lists:** list of list of str - Priority lists are used to represent parallel tasks. - The overall list represents the order in which parts need to be assembled. - The internal lists reprepresent parts that can be built in parallel within the overall list - **Assembly Data Structure Example Diagram** -.. figure:: /_images/Data_Structure_Example.png - :figclass: figure - :class: figure-img img-fluid +![Data Structure Example](_images/Data_Structure_Example.png) **NOTE:** The Assembly Data Structure is used to provide geometric, and locational information for a collection of objects in space. It is used as a data structure to provide the information of what is where. **Building Plan Data Structure Example** -.. figure:: /_images/Building_Plan_Structure_Example.png - :figclass: figure - :class: figure-img img-fluid +![Building Plan Structure Example](_images/Building_Plan_Structure_Example.png) **NOTE:** The BuildingPlan Data Structure is used to provide topological information that is used to coordinate, distribute, and coordinate the building Process. Information such as actor, is_built, and priority. Additionally @@ -338,9 +256,7 @@ it provides the opportunity to resequence elements from the Assembly model into **Building Plan Priority Illustration** -.. figure:: /_images/Building_Plan_Priority_Illustration.png - :figclass: figure - :class: figure-img img-fluid +![Building Plan Priority Illustration](_images/Building_Plan_Priority_Illustration.png) **NOTE:** Describes a hierarchical relationship of what steps are allowed to be completed in parallel. While the sequence of the assembly has a defined order the priority list establishes allowable methods for deviating sequence order during @@ -349,9 +265,7 @@ the current priority is completed. **Building Plan Multi User Interaction** -.. figure:: /_images/Building_Plan_Multi_User_Interaction.png - :figclass: figure - :class: figure-img img-fluid +![Building Plan Multi User Interaction](_images/Building_Plan_Multi_User_Interaction.png) **NOTE:** Describes a hierarchical relationship of what steps are allowed to be completed in parallel. Priority lists provide avenues for multi-user interaction, by allowing each user to complete a building “Step” within the same priority. @@ -360,23 +274,17 @@ individual tasks 14, 16, & 17 in Priority group 3, and they are prevented from w Example of a step within the building plan as it will appear in your firebase Realtime Database: -.. figure:: /_images/Building_Plan_Step.png - :figclass: figure - :class: figure-img img-fluid +![Building Plan Step](_images/Building_Plan_Step.png) --------------------------------- -Set Localization Frame Positions --------------------------------- +### Set Localization Frame Positions Localization information is required to establish the position of a virtual object in the real world based on the observed image. This is used specifically for each individual tracking image within the application. Additionally the relationship is constructed through the creation of compas.geometry.Frame objects that exist in relation to the assembly structure. -.. figure:: /_images/Frames_Wall.png - :figclass: figure - :class: figure-img img-fluid +![Frames Wall](_images/Frames_Wall.png) **NOTE:** In order to have accurate localization of the design objects in space, the frame components need to exist in exact relation in the digital space as in real world, and should be measured **EXTREMELY** accurately for proper @@ -384,20 +292,14 @@ visualization of objects in the real world space. Additionally the order of QR images is determined by the list order upon upload from user, and defines the relationship in which Images should be placed in the physical space. Also the app does not allow for more then 30 QR images within -a single project, and will only work with the particular images found at this :download:`link <_static/qr_codes/compas_xr_qrs.pdf>`. +a single project, and will only work with the particular images found at this [link](_static/qr_codes/compas_xr_qrs.pdf). -.. figure:: /_images/Frame.png - :figclass: figure - :class: figure-img img-fluid +![Frame](_images/Frame.png) **NOTE:** The size of the qr image is also required for specific accuracy in visualization, and should be printed at exactly **15 cm x 15 cm.** -.. _uploading-visualizing-data: - -====================================== -Step 4: Uploading and Visualizing Data -====================================== +## Step 4: Uploading and Visualizing Data Data Management at the project & application level requires particular attention to specific structure and organizational components required for flexible, reliable, and efficient application functionality. Additionally some of these data @@ -413,83 +315,70 @@ Firebase storage if instructed by the Application Settings data. **Application only Written Information:** UserCurrentStep **Written by Application & Rhino:** building_plan -.. figure:: /_images/Firebase_Data_Management.png - :figclass: figure - :class: figure-img img-fluid +![Firebase Data Management](_images/Firebase_Data_Management.png) -------------------------------------------------------------- -Step 4.1: Upload to the Firebase Storage (Assembly Dependent) -------------------------------------------------------------- +### Step 4.1: Upload to the Firebase Storage (Assembly Dependent) If you are using COMPAS Timber Assemblies or COMPAS Assemblies made of meshes you are required to export and upload meshes to FirebaseStorage as .obj files. This can be handled directly through the COMPAS XR python library, and can be handled at any point priority to visualization on the application side. -.. code-block:: python +```python +# Import the AssemblyExtensions class from the compas_xr.project module +from compas_xr.project import AssemblyExtensions - # Import the AssemblyExtensions class from the compas_xr.project module - from compas_xr.project import AssemblyExtensions +# Initialize an instance of the AssemblyExtensions class +ae = AssemblyExtensions() - # Initialize an instance of the AssemblyExtensions class - ae = AssemblyExtensions() +# Export mesh objects from assembly as .obj files +ae.export_mesh_assembly_objs(assembly, folder_path, new_folder_name, False) - # Export mesh objects from assembly as .obj files - ae.export_mesh_assembly_objs(assembly, folder_path, new_folder_name, False) +# Export Beam objects from TimberAssembly as .obj files +ae.export_timberassembly_objs(timber_assembly, folder_path, new_folder_name, False) +``` - # Export Beam objects from TimberAssembly as .obj files - ae.export_timberassembly_objs(timber_assembly, folder_path, new_folder_name, False) - ------------------------------------------------------- -Step 4.2: Upload Project Data to the Realtime Database ------------------------------------------------------- +### Step 4.2: Upload Project Data to the Realtime Database As previously mentioned, project information stored under a specific firebase project name that comes directly from rhino upload information consists of QRFrames, Assembly, BuildingPlan, Joints, & Parts. Additionally the library allows functionality of uploading all required COMPAS class objects. -.. code-block:: python - - # Import Project Manager class from compas_xr - from compas_xr.project import ProjectManager +```python +# Import Project Manager class from compas_xr +from compas_xr.project import ProjectManager - # Define instance of Project manager class with firebase config file path as input - pm = ProjectManager(config_filepath) +# Define instance of Project manager class with firebase config file path as input +pm = ProjectManager(config_filepath) - # Call upload project data method - pm.upload_project_data_from_compas(project_name, assembly, building_plan, qr_frames) +# Call upload project data method +pm.upload_project_data_from_compas(project_name, assembly, building_plan, qr_frames) +``` **NOTE:** It is key to clear naming conventions for the project name, as it is used to define the information that the application is reading from and provides the only specific reference for individual Firebase projects. Additionally, the project name cannot include any extension of "." this will signify a file type (ex: .json) and result in an error on upload. -------------------------------------- -Step 4.3: Upload Application Settings -------------------------------------- +### Step 4.3: Upload Application Settings The application settings writer is used as a global constant that is pulled on the user device every time that the application is started. Additionally it requires a specific structure, and should be written from `compas_xr library` as follows: -.. code-block:: python - - # Import Project Manager class from compas_xr - from compas_xr.project import ProjectManager - - # Define instance of Project manager class with firebase config file path as input - pm = ProjectManager(config_filepath) +```python +# Import Project Manager class from compas_xr +from compas_xr.project import ProjectManager - # Call upload Application settings writer class method - pm.application_settings_writer(app_settings.project_name, app_settings.storage_folder, app_settings.z_to_y_remap) +# Define instance of Project manager class with firebase config file path as input +pm = ProjectManager(config_filepath) +# Call upload Application settings writer class method +pm.application_settings_writer(app_settings.project_name, app_settings.storage_folder, app_settings.z_to_y_remap) +``` Example File Component: -.. figure:: /_images/Grasshopper_2.png - :figclass: figure - :class: figure-img img-fluid +![Grasshopper 2](_images/Grasshopper_2.png) -.. figure:: /_images/Application_Settings.png - :figclass: figure - :class: figure-img img-fluid +![Application Settings](_images/Application_Settings.png) **project_name:** str - The name in which project data is stored under @@ -504,37 +393,31 @@ Example File Component: - **NOTE:** Only required for .obj files (TimberAssemblies & Mesh) - **NOTE:** default == False ---------------------------------------------------------------------------- -Step 4.4: Uploading QR-Frames Data During Assembly Process (Only as needed) ---------------------------------------------------------------------------- +### Step 4.4: Uploading QR-Frames Data During Assembly Process (Only as needed) If frames for QR-Codes need to be added to the Realtime Database throughout the building process (Can be helpful in particular assemblies of large scale). Then it should be handled via the compas_xr library functionalities listed below, as the order and data structure of uploading localization information to the database is particular. -.. code-block:: python +```python +# Import Project Manager class from compas_xr +from compas_xr.project import ProjectManager - # Import Project Manager class from compas_xr - from compas_xr.project import ProjectManager +# Define instance of Project manager class with firebase config file path as input +pm = ProjectManager(config_filepath) - # Define instance of Project manager class with firebase config file path as input - pm = ProjectManager(config_filepath) +# Call upload QR frames to project method +pm.upload_qr_frames_to_project(project_name, qr_frames) +``` - # Call upload QR frames to project method - pm.upload_qr_frames_to_project(project_name, qr_frames) - -------------------------------------------------------------------------------------------- -Step 4.5: Reading and Visualizing Firebase Realtime Database Information on CAD (As needed) -------------------------------------------------------------------------------------------- +### Step 4.5: Reading and Visualizing Firebase Realtime Database Information on CAD (As needed) When needed, the Project Data can be read from the Realtime Database and visualized in Grasshopper. With a Custom-Preview Component, the output generated can be colored and displayed in Rhino. Outputs: last_built_index, step_locations, built_human, unbuilt_human, built_robot, unbuilt_robot. -.. figure:: /_images/Built_Human_Robot.png - :figclass: figure - :class: figure-img img-fluid +![Built Human Robot](_images/Built_Human_Robot.png) **last_built_index:** str - The index of the last constructed element from the current active users. @@ -554,26 +437,21 @@ Outputs: last_built_index, step_locations, built_human, unbuilt_human, built_rob **unbuilt_robot:** list of compas.Geometry - A list of elements in the current project data that have not been built by the robot yet. -.. code-block:: python - - # Import Project Manager class from compas_xr - from compas_xr.project import ProjectManager - - # Define instance of Project Manager class with firebase config file path as input - pm = ProjectManager(config_filepath) +```python +# Import Project Manager class from compas_xr +from compas_xr.project import ProjectManager - # Call Method from Project Manager Class to Return Firebase Current State - last_built_index, step_locations, built_human, unbuilt_human, built_robot, unbuilt_robot = pm.visualize_project_state(assembly, project_name) +# Define instance of Project Manager class with firebase config file path as input +pm = ProjectManager(config_filepath) +# Call Method from Project Manager Class to Return Firebase Current State +last_built_index, step_locations, built_human, unbuilt_human, built_robot, unbuilt_robot = pm.visualize_project_state(assembly, project_name) +``` **NOTE:** This component is not event based, and will need to be triggered to be updated with project information. Each time the component is triggered, it will result in the current state of the project data on the firebase. -.. _robotic-assembly-strategy: - -======================================== -Step 5: Define Robotic Assembly Strategy -======================================== +## Step 5: Define Robotic Assembly Strategy COMPAS XR facilitates human-robot collaboration by providing robust tools for reviewing, approving, and executing robotic trajectories in the Augmented Reality Space when utilized in combination with other tools provided by the @@ -582,17 +460,13 @@ movements of robots, ensuring precision and safety in complex operations. This c streamlines the workflow but also leverages the collective expertise of various stakeholders, leading to more efficient and reliable outcomes in robotic applications. ------------------- -Services Overview ------------------- +### Services Overview COMPAS XR provides custom message classes in both the Python and C# libraries to coordinate trajectory requests and reviews across multiple users. These message classes enable seamless communication and synchronization, ensuring that all participants can efficiently collaborate on planning and approving robotic trajectories. -.. figure:: /_images/Services_Overview.png - :figclass: figure - :class: figure-img img-fluid +![Services Overview](_images/Services_Overview.png) **Get Trajectory Request**: Message Published by each User when a trajectory for a particular building element is requested. @@ -606,32 +480,26 @@ by all users and the robotic trajectory can be sent to the Robot. **NOTE:** As the messages are uniform across both the Unity C# and Python Classes. Any modifications to the structure will require modification in both compas_xr_unity and compas_xr classes. ---------------------------------------- -Step 5.1: Application Request Overview: ---------------------------------------- +### Step 5.1: Application Request Overview There is a set routine that the application follows to successfully review, approve, and execute the trajectory. This routine involves several critical steps to ensure accuracy and collaboration between all Users. -^^^^^^^^^^^^^^^^^^^^^^^^ -Step 5.1.1: Select Robot -^^^^^^^^^^^^^^^^^^^^^^^^ +#### Step 5.1.1: Select Robot The application includes a drop down for simple robot selection and visualizatio, offering users the opportunity to evaluate different robots for completing the task at hand. Users can browse through various robotic options, each with detailed visual representations -.. code-block:: csharp - - // COMPAS XR Default Robot List - RobotURDFList = new List {"UR3", "UR5", "UR10e", "ETHZurichRFL"}; +```csharp +// COMPAS XR Default Robot List +RobotURDFList = new List {"UR3", "UR5", "UR10e", "ETHZurichRFL"}; +``` **NOTE:** COMPAS XR currently defines base robot models for the robots listed above. Additionally, it is important to note that the base models will only provide the robotic elements. It will not provide custom tool attachment for each robot model. -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Step 5.1.2: User Publishes Request -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +#### Step 5.1.2: User Publishes Request If the robotic element is of current priority and ready to be assembled, users will be prompted to request a trajectory upon selecting the object. Once a user requests a particular object, the application initiates a communication sequence. The @@ -639,59 +507,41 @@ user's device publishes a **GetTrajectoryRequest** message to the CAD system, sp be assembled. This request ensures that the CAD system has all the necessary information to generate a precise and efficient trajectory for the assembly process. -.. figure:: /_images/Application_1.png - :figclass: figure - :class: figure-img img-fluid +![Application 1](_images/Application_1.png) -.. figure:: /_images/Application_Overview_1.png - :figclass: figure - :class: figure-img img-fluid +![Application Overview 1](_images/Application_Overview_1.png) **NOTE:** There are a multitude of ways in which the application will prevent you from requesting a trajectory. For example, there is no active robot selected, the element is not ready to be assembled, or another active User is awaiting a trajectory for visualization. -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Step 5.1.3: All Active Users Review Proposed Trajectory and Provide Individual Approval -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +#### Step 5.1.3: All Active Users Review Proposed Trajectory and Provide Individual Approval Upon receiving the trajectory, all active users are prompted to review it and publish their approval or rejection in the form of an ApproveTrajectory message. This collaborative review process ensures that multiple perspectives are considered before proceeding with the trajectory. However, if the received trajectory is null, only the user who initially requested the trajectory will be notified and will be returned to the request service. -.. figure:: /_images/Application_2.png - :figclass: figure - :class: figure-img img-fluid +![Application 2](_images/Application_2.png) -.. figure:: /_images/Application_Overview_2.png - :figclass: figure - :class: figure-img img-fluid +![Application Overview 2](_images/Application_Overview_2.png) **NOTE:** The master approval of robotic selection is handled by the CAD. Therefore if the CAD replies with a trajectory for another robot other than the one currently selected by the User, the Users active robot will be updated. Additionally, if any user disapproves of the trajectory, all users will be immediately returned to the request service. -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Step 4: Upon All Users Approval Initial Request User Publishes Execution -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +#### Step 4: Upon All Users Approval Initial Request User Publishes Execution Upon receiving approval from all users, the initial user who requested the trajectory is prompted to proceed with the execution of the current selected element. Upon confirmation, the user's device sends a SendTrajectory message to the CAD system. This message signifies that all users have approved the trajectory and that the movement should be executed by the Robot. -.. figure:: /_images/Application_3.png - :figclass: figure - :class: figure-img img-fluid +![Application 3](_images/Application_3.png) -.. figure:: /_images/Services_Overview.png - :figclass: figure - :class: figure-img img-fluid +![Services Overview](_images/Services_Overview.png) -------------------------------------- -Step 5.2: CAD SetUp and Requirements: -------------------------------------- +### Step 5.2: CAD SetUp and Requirements COMPAS XR does not provide the complete planning routine; however, it offers the necessary messaging services for visualizing robotic trajectories in the Augmented Reality space. Below are the required components and steps to @@ -701,18 +551,14 @@ detailed overview of possible setups, please review the example file included wi file will guide users through various configurations and help them optimize their workflow using COMPAS XR's messaging capabilities. -^^^^^^^^^^^^^^^^^^^^^^^^ -Step 5.2.1: Select Robot -^^^^^^^^^^^^^^^^^^^^^^^^ +#### Step 5.2.1: Select Robot The options component is used to set up the other publisher and subscriber components. It handles the process of passing specific information to the subscribers, enabling them to publish and subscribe to the required information on specific topics. By configuring these options, users can ensure that each component communicates effectively, subscribing to relevant topics and publishing necessary data. -.. figure:: /_images/Grasshopper_3.png - :figclass: figure - :class: figure-img img-fluid +![Grasshopper 3](_images/Grasshopper_3.png) **host:** string - The broker intended to be used for the messaging service. @@ -727,18 +573,16 @@ in order to receive the messages. **robot_name:** string - The name of the robot intended to complete the task. -.. code-block:: python - - # COMPAS XR Default Robot List - robot_list = ["UR3", "UR5", "UR10e", "ETHZurichRFL"] +```python +# COMPAS XR Default Robot List +robot_list = ["UR3", "UR5", "UR10e", "ETHZurichRFL"] +``` **NOTE:** COMPAS XR does not include all robot models, and the currently available robot models are listed above. If an additional robot is added to the Unity file, then the robot name can be added to the list and sent with the respective messages. -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Step 5.2.2: Get Trajectory Request Subscriber -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +#### Step 5.2.2: Get Trajectory Request Subscriber The Planning Request Subscriber is used to manage GetTrajectoryRequest messages from the application to the CAD. This component updates and transmits additional information for each request, ensuring that the CAD system receives all @@ -746,9 +590,7 @@ necessary details to process and respond accurately. By handling these requests, a crucial role in facilitating effective communication and coordination between the application and the CAD system, thereby supporting the overall planning and execution workflow. -.. figure:: /_images/Grasshopper_4.png - :figclass: figure - :class: figure-img img-fluid +![Grasshopper 4](_images/Grasshopper_4.png) **options:** compasXR.options - Information passed from the COMPAS XR Options Component. @@ -765,23 +607,19 @@ If the component is not restarted in the beginning of operation no request will Additionally the components will require specific topic creation in order to ensure that the application and CAD are only receiving messages intended. The custom topic creation example can be found below -.. code-block:: python - - # COMPAS XR Get Trajectory Result Topic - topic = 'compas_xr/get_trajectory_request/project_name' +```python +# COMPAS XR Get Trajectory Result Topic +topic = 'compas_xr/get_trajectory_request/project_name' +``` -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Step 5.2.3: Get Trajectory Result Publisher -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +#### Step 5.2.3: Get Trajectory Result Publisher The Sync Result component is used to consolidate all user-defined inputs for the resulting trajectory and coordinate them into a single, unified trajectory. This ensures that all relevant information has been collected and is ready to be published to the application. By aggregating inputs from all users, the Sync Result component guarantees a comprehensive and accurate final trajectory, facilitating a cohesive and efficient execution process. -.. figure:: /_images/Grasshopper_5.png - :figclass: figure - :class: figure-img img-fluid +![Grasshopper 5](_images/Grasshopper_5.png) **element_id:** string - The number of the BuildingPlan Step that the trajectory is intended for. @@ -810,9 +648,7 @@ The Planning Result Publish component is responsible for publishing the planning users through a GetTrajectoryResult message. This component ensures that the finalized trajectory, after being processed and coordinated, is made available to the application. -.. figure:: /_images/Grasshopper_6.png - :figclass: figure - :class: figure-img img-fluid +![Grasshopper 6](_images/Grasshopper_6.png) **options:** compasXR.ghpython.options - Information passed from the COMPAS XR Options Component. @@ -826,22 +662,18 @@ processed and coordinated, is made available to the application. Additionally the components will require specific topic creation in order to ensure that the application and CAD are only receiving messages intended. The custom topic creation example can be found below -.. code-block:: python +```python +# COMPAS XR Get Trajectory Result Topic +topic = 'compas_xr/get_trajectory_result/project_name' +``` - # COMPAS XR Get Trajectory Result Topic - topic = 'compas_xr/get_trajectory_result/project_name' - -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Step 5.2.4: Send Trajectory Subscriber -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +#### Step 5.2.4: Send Trajectory Subscriber The Execution Service component is a custom subscriber for **SendTrajectory** Message sent from the Application to the CAD, and is used to send the approved trajectory from the application to the robot for execution. Upon receiving user approval, this component transmits the trajectory details, ensuring the robot receives the precise instructions needed for execution. -.. figure:: /_images/Grasshopper_7.png - :figclass: figure - :class: figure-img img-fluid +![Grasshopper 7](_images/Grasshopper_7.png) **options:** compasXR.options - Information passed from the COMPAS XR Options Component. @@ -858,104 +690,82 @@ application. If the component is not restarted in the beginning of operation no Additionally the components will require specific topic creation in order to ensure that the application and CAD are only receiving messages intended. The custom topic creation example can be found below -.. code-block:: python - - # COMPAS XR Send Trajectory Topic - topic = 'compas_xr/send_trajectory/project_name' +```python +# COMPAS XR Send Trajectory Topic +topic = 'compas_xr/send_trajectory/project_name' +``` --------------------------------------------------- -Step 5.3: Adding a Custom Robot to the Application --------------------------------------------------- +### Step 5.3: Adding a Custom Robot to the Application Although the application includes many robots that can be used for review and execution, most digital fabrication and production tasks require custom robotic setups and additional customized end effectors. The current version of the application does not support the runtime processing of custom robots or end effectors. Below are the steps to customize and import your robot into the application for visualization in AR through COMPAS XR. -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Step 5.3.1: Reading Robot Description and Unity Game Object Creation. -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +#### Step 5.3.1: Reading Robot Description and Unity Game Object Creation. 1. Start docker desktop (it doesn't have to stay open, but we just need to make sure it is running in the background at least). -.. figure:: /_images/Docker_1.png - :figclass: figure - :class: figure-img img-fluid +![Docker 1](_images/Docker_1.png) 2. Navigate to the docker compose.yml in VS Code and compose up. -.. figure:: /_images/Docker_2.png - :figclass: figure - :class: figure-img img-fluid +![Docker 2](_images/Docker_2.png) 3. Then in docker desktop you should see the containers running. -.. figure:: /_images/Docker_3.png - :figclass: figure - :class: figure-img img-fluid +![Docker 3](_images/Docker_3.png) 4. Then in Unity go to RosBridgeClient --> Transfer URDF from ROS. -.. figure:: /_images/Docker_4.png - :figclass: figure - :class: figure-img img-fluid +![Docker 4](_images/Docker_4.png) 5. This should bring up another window TransferFromRosEditorWindow. -.. figure:: /_images/Docker_5.png - :figclass: figure - :class: figure-img img-fluid +![Docker 5](_images/Docker_5.png) 6. It is very important to check the settings... and are listed below: -:: +``` +# Unity URDF GameObject Import Settings - # Unity URDF GameObject Import Settings - - Address: ws://localhost:9090 (Basically just telling it to read the container that is running on my computer. - Protocol: Web Socket Sharp - Serilizer: Microsoft - URDF Paramater: robot_description - Timeout [s]: 10 - (THE MOST IMIPORTANT ONE) Asset Path: Should be defined to the Assets folder of your unity project ex. ...\Assets\Urdf\MyCustomURDFName +Address: ws://localhost:9090 (Basically just telling it to read the container that is running on my computer. +Protocol: Web Socket Sharp +Serilizer: Microsoft +URDF Paramater: robot_description +Timeout [s]: 10 +(THE MOST IMIPORTANT ONE) Asset Path: Should be defined to the Assets folder of your unity project ex. ...\\Assets\\Urdf\\MyCustomURDFName +``` 7. Press the Read Robot Description button. 8. This should prompt a window that says "Do you want to generate a default GameObject now?" -.. figure:: /_images/Docker_6.png - :figclass: figure - :class: figure-img img-fluid +![Docker 6](_images/Docker_6.png) 9. Then it should make a game object from the URDF, in which Config Values can be assigned and can be used as in the native Unity GameObject methods. -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Step 5.3.2: Set Up of Robot Prefab in COMPAS XR Unity. -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +#### Step 5.3.2: Set Up of Robot Prefab in COMPAS XR Unity. 1. Select your robot to inspect the structure of the URDF. It is important to confirm that the **Use Gravity** setting is **Disabled** and the **Is Kinematic** setting is **Enabled**. -.. figure:: /_images/Docker_7.png - :figclass: figure - :class: figure-img img-fluid +![Docker 7](_images/Docker_7.png) 2. Place your GameObject in the MainGame scene. Additionally ensure that the robot is under the parent PrefabObjects and its child game object RobotPrefab. -.. figure:: /_images/Docker_8.png - :figclass: figure - :class: figure-img img-fluid +![Docker 8](_images/Docker_8.png) 3. Navigate to the TrajectoryVisualzier.cs file located in Assets/Scripts/TrajectoryVisualizer.cs of the COMPAS XR Unity file, and input your robot name into the RobotURDFList. -.. code-block:: csharp - - // COMPAS XR Default Robot List - RobotURDFList = new List {"UR3", "UR5", "UR10e", "ETHZurichRFL", "MyCustomURDF"}; +```csharp +// COMPAS XR Default Robot List +RobotURDFList = new List {"UR3", "UR5", "UR10e", "ETHZurichRFL", "MyCustomURDF"}; +``` 4. The URDF should be added to the Default Robots list and available for use in the application at runtime upon next build. @@ -964,44 +774,30 @@ runtime upon next build. as it is fully dependent on the structure of the URDF. It is very important to take note of any errors that arise throughout the import process. Additionally adding custom robots will require testing to ensure that everything is working properly. -.. _release-procedures: - -========================== -Step 6: Release Procedures -========================== +## Step 6: Release Procedures Once you have cloned the repo compas_xr_unity and made all desired code changes or refinements, you are ready to release the application to a device. The following procedures explain the release process for both iOS and Android devices, as well as provide installation instructions for each operating system. --------------------------------------- -Release Procedures for Android Devices --------------------------------------- +### Release Procedures for Android Devices Android devices utilize .apk files that are directly installable to the device. This section of the documentation explains the process of creating an .apk file from Unity and provides instructions on how to install the .apk file directly onto an Android device. -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Step 6.1: How to Build for Android Devices from Unity -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +#### Step 6.1: How to Build for Android Devices from Unity -""""""""""""""""""""""""""""""""""" -Step 6.1.1: Update Project Settings -""""""""""""""""""""""""""""""""""" +##### Step 6.1.1: Update Project Settings 1. Select the File > Build Settings menu option. 2. Select Android in the Platform list and click Switch Platform to set the target platform. 3. Wait for the spinner (compiling) icon to stop in the bottom right corner of the Unity status bar. 4. Select the active platform and click Player Settings. -"""""""""""""""""""""""""""""""""""""""""""""" -Step 6.1.2: Generate SHA key for App Signature -"""""""""""""""""""""""""""""""""""""""""""""" +##### Step 6.1.2: Generate SHA key for App Signature -""""""""""""""""""""""""""""""""""""""""""""" -Step 6.1.3: Update Additional Player Settings -""""""""""""""""""""""""""""""""""""""""""""" +##### Step 6.1.3: Update Additional Player Settings 1. In Player Settings, under the Android panel: scroll down to Identification / Override Default Package Name/ and update @@ -1018,49 +814,27 @@ it to Android devices. Player Setting (shown below) to ensure that your player settings match the existing compas_xr_unity build settings. -.. figure:: /_images/android_1.png - :figclass: figure - :class: figure-img img-fluid +![Android 1](_images/android_1.png) -.. figure:: /_images/android_2.png - :figclass: figure - :class: figure-img img-fluid +![Android 2](_images/android_2.png) -.. figure:: /_images/android_3.png - :figclass: figure - :class: figure-img img-fluid +![Android 3](_images/android_3.png) -.. figure:: /_images/android_4.png - :figclass: figure - :class: figure-img img-fluid +![Android 4](_images/android_4.png) -.. figure:: /_images/android_5.png - :figclass: figure - :class: figure-img img-fluid +![Android 5](_images/android_5.png) -.. figure:: /_images/android_6.png - :figclass: figure - :class: figure-img img-fluid +![Android 6](_images/android_6.png) -.. figure:: /_images/android_7.png - :figclass: figure - :class: figure-img img-fluid +![Android 7](_images/android_7.png) -.. figure:: /_images/android_8.png - :figclass: figure - :class: figure-img img-fluid +![Android 8](_images/android_8.png) -.. figure:: /_images/android_9.png - :figclass: figure - :class: figure-img img-fluid +![Android 9](_images/android_9.png) -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -STep 6.2: How to Install APK Files on your Android Device -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +#### Step 6.2: How to Install APK Files on your Android Device -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Step 6.3 How to turn an Android Device into a Developer Device -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +#### Step 6.3 How to turn an Android Device into a Developer Device In order to install and test apps that are not available on the Google Play Store to an Android Device you first need @@ -1075,30 +849,22 @@ development environment, like Unity. 4. Tap “Build number” seven times. 5. Enter your pattern, PIN or password to enable the Developer options menu. ------------------------------------ -Release Procedures for iOS Devices. ------------------------------------ +### Release Procedures for iOS Devices This guide outlines the process for building and installing an iOS app from Unity using Xcode, detailing steps to handle dependencies and configurations. It includes instructions for setting up your Unity project for iOS, resolving CocoaPods issues, configuring Xcode, and enabling developer mode on your iOS device. -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Step 6.4: How to Build for iOS from Unity -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +#### Step 6.4: How to Build for iOS from Unity -"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" -Step 6.4.1: Building and Installing iOS App in Unity and Xcode -"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" +##### Step 6.4.1: Building and Installing iOS App in Unity and Xcode 1. Select the File > Build Settings menu option. 2. Select iOS in the Platform list and click Switch Platform to set the target platform. 3. Wait for the spinner (compiling) icon to stop in the bottom right corner of the Unity status bar. 4. Once the target platform has been switched to iOS, Unity will try to install CocoaPods, an iOS resolver. -.. figure:: /_images/ios_1.png - :figclass: figure - :class: figure-img img-fluid +![iOS 1](_images/ios_1.png) Most likely it will fail and you will need to do the following fixes: @@ -1106,51 +872,38 @@ Most likely it will fail and you will need to do the following fixes: Set the export path for gems as follows: -.. code-block:: bash - - export PATH="/Users/username/.gem/ruby/2.6.0/bin:$PATH" - Install gem active support: gem install activesupport -v 6.1.7.6 --user-install +```bash +export PATH="/Users/username/.gem/ruby/2.6.0/bin:$PATH" +Install gem active support: gem install activesupport -v 6.1.7.6 --user-install +``` Install gem active support: -.. code-block:: bash - - gem install activesupport -v 6.1.7.6 --user-install +```bash +gem install activesupport -v 6.1.7.6 --user-install +``` - -.. figure:: /_images/ios_2.png - :figclass: figure - :class: figure-img img-fluid +![iOS 2](_images/ios_2.png) **Solution B:** in Xcode - Make sure you have Xcode and the Developer Tools installed on your MacBook. If you don't, go to your MacBook's AppStore and install Xcode. - Sign in with your Apple ID. -.. figure:: /_images/ios_3.png - :figclass: figure - :class: figure-img img-fluid +![iOS 3](_images/ios_3.png) -.. figure:: /_images/ios_4.png - :figclass: figure - :class: figure-img img-fluid +![iOS 4](_images/ios_4.png) **Solution C:** back in Unity - Under Assets > External Dependency Manager > iOS resolver > Install CocoaPods - Under Assets > External Dependency Manager > iOS resolver > Settings check that you have matching settings with the ones below: -.. figure:: /_images/ios_5.png - :figclass: figure - :class: figure-img img-fluid +![iOS 5](_images/ios_5.png) -.. figure:: /_images/ios_6.png - :figclass: figure - :class: figure-img img-fluid +![iOS 6](_images/ios_6.png) -.. figure:: /_images/ios_7.png - :figclass: figure - :class: figure-img img-fluid +![iOS 7](_images/ios_7.png) 5. Select the File > Build Settings, Player Settings, and select the iOS panel 6. Scroll down to Identification / Override Default Package Name/ and update Package Name to the value of the Bundle Identifier you provided when you registered your app with Firebase. @@ -1161,30 +914,20 @@ Install gem active support: **NOTE:** If an error occurs, during a build, check player settings against default player settings depicted below: -.. figure:: /_images/ios_8.png - :figclass: figure - :class: figure-img img-fluid +![iOS 8](_images/ios_8.png) -.. figure:: /_images/ios_9.png - :figclass: figure - :class: figure-img img-fluid +![iOS 9](_images/ios_9.png) -.. figure:: /_images/ios_10.png - :figclass: figure - :class: figure-img img-fluid +![iOS 10](_images/ios_10.png) **NOTE:** Ideally one would Build or Build and Run the project from a MacBook that has Xcode installed. 10. In File > Build Settings click on Build and select a folder location on your drive for the build. Ideally you should create a folder called Builds and within it you can create individual files for each build. -.. figure:: /_images/ios_11.png - :figclass: figure - :class: figure-img img-fluid +![iOS 11](_images/ios_11.png) -""""""""""""""""""""""""""""""""""""""""""""" -Step 6.4.2: How to Install on iOS from Xcode: -""""""""""""""""""""""""""""""""""""""""""""" +##### Step 6.4.2: How to Install on iOS from Xcode **NOTE:** Your iOS device will need to be turned into a developer device before the first installation @@ -1194,32 +937,24 @@ installation - Open the Builds folder and find the file with the last build on your computer, eg. 01 - Select the BuildName".xcworkspace file and open it with Xcode. Make sure you open the .xcworkspaceand not the.xcodeproj -.. figure:: /_images/ios_12.png - :figclass: figure - :class: figure-img img-fluid +![iOS 12](_images/ios_12.png) **In Xcode:** - In Xcode click the file's name on the left column to open the Settings - Under Signing and Capabilities > All, tick Automatically manage signing and confirm Enable Automatic -.. figure:: /_images/ios_13.png - :figclass: figure - :class: figure-img img-fluid +![iOS 13](_images/ios_13.png) - Under Team, open the drop-down down and select the development team/individual. - Optional: this is the last chance to adjust the Bundle Identifier and App Name before installing. - At the top, make sure the iOS device is connected and click the play triangle to start building and installing on the device. -.. figure:: /_images/ios_14.png - :figclass: figure - :class: figure-img img-fluid +![iOS 14](_images/ios_14.png) - The first time you build with Xcode, it will ask for the MacBook's password for codesign. Click on Always Allow as many times as the pop up appears. -.. figure:: /_images/ios_15.png - :figclass: figure - :class: figure-img img-fluid +![iOS 15](_images/ios_15.png) - You will be asked to unlock the device and the app will install and open automatically. @@ -1235,17 +970,11 @@ installation **Link for Installable Xcode Build:** -Download the Build folder from `this link `_, unzip and install as described above. - -.. _user-interaction: +Download the Build folder from [this link](https://nextcloud.ethz.ch/s/QyGgN84yx3LBfNs), unzip and install as described above. -=========================== -Step 7: User Interaction -=========================== +## Step 7: User Interaction ----------------------- -Game Scene Progression ----------------------- +### Game Scene Progression The application progresses through several key scenes: **Firebase Initialization, User Login,** and **Main Game**. It begins with **Firebase Initialization**, this scene is used to start an @@ -1254,21 +983,15 @@ instance of the application, and connect to the specified user inputs informatio Once logged in, users are directed to the **Main Game** scene, where they can engage with the core content, personalized with their data from Firebase. -.. figure:: /_images/app_01.png - :figclass: figure - :class: figure-img img-fluid +![App 01](_images/app_01.png) --------------------------------- -Step 7.1: Firebase Initilization --------------------------------- +### Step 7.1: Firebase Initilization This scene is used to establish the users connection to a particular firebase. This scene includes many required user inputs, and options to save, and send input values for establishing the connection. -^^^^^^^^^^^ -User Inputs -^^^^^^^^^^^ +#### User Inputs **Optional:** @@ -1288,9 +1011,7 @@ User Inputs - **project Id:** The end point for Firebase Cloud storage file uploads & Downloads. -^^^^^^^^^^^^ -User Options -^^^^^^^^^^^^ +#### User Options - **Save config:** This button will allow the user to save the current inputs of user input fields. This allows the user to only input these values once, and can be used upon restart of the application. Additionally, this is device specific and if you wish to connect to a new firebase these values must be overwritten. @@ -1302,24 +1023,18 @@ connection settings can be found in the same location as noted in the Connect Gr Firebase section. However Additionally the App ID can be found by selecting the particular app created in the Create Apps on Firebase portion of the documentation. --------------------- -Step 7.2: User Login --------------------- +### Step 7.2: User Login This scene is used to establish a user and device record with particular user names. Additionally, it will record each user's login to the firebase in the **Firebase Realtime Database.** -^^^^^^^^^^^ -User Inputs -^^^^^^^^^^^ +#### User Inputs **Required:** - **Username:** This is the username that you wish to record with your firebase entry. By inputting the same username with each instance of the application, each user will record their devices and time records. -^^^^^^^^^^^^ -User Options -^^^^^^^^^^^^ +#### User Options - **Initialize:** The initialization button is used to write user values to the firebase directly, and additionally advance to the main game. @@ -1328,19 +1043,15 @@ the firebase configuration is incorrectly set and that the application was unabl the correct application. If this is the case please return to the Initialization Scene and review User Input firebase configuration values. -------------------- -Step 7.3: Main Game -------------------- +### Step 7.3: Main Game This scene is where the core functionalities are, and will be explained in further detail in the Main Game User Interface section of the documentation. ------------------------- -Main Game User Interface ------------------------- +### Main Game User Interface -The user interface and interaction methods of ``compas_xr`` can be directly subdivided into 3 categories. +The user interface and interaction methods of `compas_xr` can be directly subdivided into 3 categories. Although these methods are directly correlated to the UI layout of the interaction process are also provided via these three properties. @@ -1355,13 +1066,9 @@ reestablishing, & comprehension of information within the application. For a more detailed description visit the diagram information below. -^^^^^^^^^^^^^^^^^^^^^^ -Primary User Interface -^^^^^^^^^^^^^^^^^^^^^^ +#### Primary User Interface -.. figure:: /_images/ui_01.png - :figclass: figure - :class: figure-img img-fluid +![UI 01](_images/ui_01.png) 1. **Menu Button:** Allows Users to toggle on and off menu options 2. **Previous Step Button:** Allows Users to iterate backwards through building order. @@ -1374,10 +1081,7 @@ Primary User Interface 9. **Preview Geometry Slider:** Allows the user to adjust the amount of visible geometry in the scene. 10. **Current Element:** Indicates at which index in the building process the user is. -^^^^^^^^^^^ -Menu Window -^^^^^^^^^^^ - +#### Menu Window 1. **Information Menu:** Toggles on legend to explain overall application information. 2. **Communication Toggle:** Allows User to view communication connection status, and adapt connection settings. @@ -1388,13 +1092,9 @@ Menu Window 7. **Builder Editor:** Allows User to mark selected element as built. 8. **Reload Button:** Clears all current information from the application & pulls all information from the Database. -^^^^^^^^^^^^^^^ -Visibility Menu -^^^^^^^^^^^^^^^ +#### Visibility Menu -.. figure:: /_images/ui_03.png - :figclass: figure - :class: figure-img img-fluid +![UI 03](_images/ui_03.png) 1. **Robot Toggle:** Allows User to toggle on and off robots, as well as sets activity for request controls. 2. **Object Measurement Toggle:** Displays information for physical measurement verification. @@ -1402,4 +1102,3 @@ Visibility Menu 4. **ID Toggle:** Displays the ID information for each step in the building plan. 5. **Actor Toggle:** Allows the user to toggle on and off actor visualization mode (Human == Yellow & Robot == Blue). 6. **Scroll Search:** Allows the user to scroll through and view each object in the assembly. - diff --git a/environment.yml b/environment.yml index e03e4170..b1c53c8a 100644 --- a/environment.yml +++ b/environment.yml @@ -9,7 +9,6 @@ dependencies: - compas=2.* - compas_timber=0.7.* - compas_eve=1.* - - compas_fab=1.* - pip: - pyrebase4>4.7.1 # dev requirements @@ -18,6 +17,7 @@ dependencies: - bump-my-version - compas_invocations2 - invoke >=0.14 + - rhino-stubs - ruff - sphinx_compas2_theme - twine diff --git a/mkdocs.yml b/mkdocs.yml new file mode 100644 index 00000000..dd854da7 --- /dev/null +++ b/mkdocs.yml @@ -0,0 +1,159 @@ +site_name: COMPAS XR +site_url: https://compas.dev/compas_xr/ +repo_name: compas-dev/compas_xr +repo_url: https://github.com/compas-dev/compas_xr + +copyright: Copyright © 2023-2026 ETH Zurich, Princeton University + +extra: + homepage: https://compas.dev/compas_xr + version: + provider: mike + +theme: + name: material + palette: + # Palette toggle for light mode + - scheme: default + primary: indigo + accent: indigo + toggle: + icon: material/brightness-7 + name: Switch to dark mode + + # Palette toggle for dark mode + - scheme: slate + primary: indigo + accent: indigo + toggle: + icon: material/brightness-4 + name: Switch to light mode + font: + text: Roboto + code: Roboto Mono + logo: _logo/compas_logo_white_transparent.png + favicon: _images/favicon.ico + features: + - content.code.copy + - content.footnote.tooltips + - navigation.expand + - navigation.footer + - navigation.indexes + - navigation.sections + - navigation.top + - search.highlight + - search.suggest + - toc.follow + +extra_css: + - assets/stylesheets/custom.css + +markdown_extensions: + - abbr + - attr_list + - admonition + - callouts: + strip_period: no + - footnotes + - md_in_html + - pymdownx.blocks.caption + - pymdownx.caret + - pymdownx.emoji: + emoji_index: !!python/name:material.extensions.emoji.twemoji + emoji_generator: !!python/name:material.extensions.emoji.to_svg + - pymdownx.keys + - pymdownx.mark + - pymdownx.tasklist: + custom_checkbox: true + - pymdownx.tilde + - pymdownx.highlight: + anchor_linenums: true + line_spans: __span + pygments_lang_class: true + - pymdownx.inlinehilite + - pymdownx.snippets: + check_paths: true + - toc: + permalink: "¤" + - pymdownx.superfences: + # make exceptions to highlighting of code: + custom_fences: + - name: mermaid + class: mermaid + format: !!python/name:mermaid2.fence_mermaid_custom + - pymdownx.tabbed: + alternate_style: true + +plugins: + - search + - mermaid2 + - mkdocstrings: + default_handler: python + handlers: + python: + paths: [src] # search packages in the src folder + inventories: + - https://docs.python.org/3/objects.inv + - https://compas.dev/compas/latest/objects.inv + - https://gramaziokohler.github.io/compas_timber/0.7.0/objects.inv + - https://compas.dev/compas_eve/latest/objects.inv + options: + allow_inspection: true + backlinks: tree + docstring_options: + ignore_init_summary: true + trim_doctest_flags: true + docstring_style: numpy + docstring_section_style: list + filters: public + group_by_category: true + heading_level: 2 + inheritance_diagram_direction: TD + inherited_members: false + line_length: 88 + merge_init_into_class: true + modernize_annotations: true + parameter_headings: false + preload_modules: [mkdocstrings, compas] + relative_crossrefs: true + scoped_crossrefs: true + separate_signature: true + show_bases: false + show_category_heading: true + show_docstring_attributes: true + show_docstring_functions: true + show_docstring_modules: false + show_if_no_docstring: false + show_inheritance_diagram: false + show_root_heading: true + show_root_full_path: true + show_signature: true + show_signature_annotations: true + show_signature_type_parameters: true + show_source: false + show_submodules: false + show_symbol_type_heading: true + show_symbol_type_toc: true + signature_crossrefs: true + summary: + modules: false + type_parameter_headings: true + unwrap_annotated: true + show_root_full_path: true + +nav: + - Home: index.md + - Installation: installation.md + - User Guide: userguide.md + - API Reference: + - compas_xr.ghpython: api/compas_xr.ghpython.md + - compas_xr.mqtt: api/compas_xr.mqtt.md + - compas_xr.project: api/compas_xr.project.md + - compas_xr.realtime_database: api/compas_xr.realtime_database.md + - compas_xr.storage: api/compas_xr.storage.md + - COMPAS XR Unity: + - C# API Reference: api/compas_xr_unity.md + - Contributing: contribution.md + - License: license.md + - Citing: citing.md + - Changelog: changelog.md diff --git a/pyproject.toml b/pyproject.toml index dd1676dd..d7dd4177 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -114,7 +114,6 @@ select = ["E", "F", "I"] [tool.ruff.lint.per-file-ignores] "__init__.py" = ["I001"] "tests/*" = ["I001"] -"tasks.py" = ["I001"] [tool.ruff.lint.isort] force-single-line = true diff --git a/requirements-dev.txt b/requirements-dev.txt index a1579931..dfc21200 100644 --- a/requirements-dev.txt +++ b/requirements-dev.txt @@ -1,9 +1,12 @@ attrs >=17.4 black >=22.12.0 bump-my-version -compas_invocations2 +compas_invocations2[mkdocs] @ git+https://github.com/compas-dev/compas_invocations2.git@mkdocs invoke >=0.14 +pytest +pythonnet +rhino-stubs ruff -sphinx_compas2_theme +tomlkit twine -wheel +wheel \ No newline at end of file diff --git a/requirements.txt b/requirements.txt index 4488117a..2a0ec42c 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,6 +1,4 @@ -numpy >= 1.15.4, < 2 compas >=2.0.4,<3 compas_timber ~=0.7.0 -compas_eve >=1,<2 -compas_fab >=1.0.2,<2 +compas_eve >=2,<3 pyrebase4 >=4.7.1 diff --git a/src/compas_xr/__init__.py b/src/compas_xr/__init__.py index 883ed7c5..fe92ebac 100644 --- a/src/compas_xr/__init__.py +++ b/src/compas_xr/__init__.py @@ -1,24 +1,3 @@ -""" -******************************************************************************** -compas_xr -******************************************************************************** - -.. currentmodule:: compas_xr - - -.. toctree:: - :maxdepth: 1 - - compas_xr.ghpython - compas_xr.mqtt - compas_xr.project - compas_xr.realtime_database - compas_xr.storage - -""" - -from __future__ import print_function - import os __author__ = ["Joseph Kenny"] @@ -31,5 +10,4 @@ HERE = os.path.dirname(__file__) DATA = os.path.abspath(os.path.join(HERE, "data")) -__all_plugins__ = ["compas_xr.rhino.install"] __all__ = ["HERE", "DATA"] diff --git a/src/compas_xr/ghpython/__init__.py b/src/compas_xr/ghpython/__init__.py index 2dede66e..0ebcfea3 100644 --- a/src/compas_xr/ghpython/__init__.py +++ b/src/compas_xr/ghpython/__init__.py @@ -1,26 +1,3 @@ -""" -******************************************************************************** -compas_xr.ghpython -******************************************************************************** - -This package contains classes to ease the usage of COMPAS XR from within Grasshopper. - -.. currentmodule:: compas_xr.ghpython - -Classes -------- - -.. autosummary:: - :toctree: generated/ - :nosignatures: - - AppSettings - FirebaseConfig - MqttMessageOptionsXR - TrajectoryResultManager - -""" - from .app_settings import AppSettings from .firebase_config import FirebaseConfig from .options import MqttMessageOptionsXR diff --git a/src/compas_xr/ghpython/app_settings.py b/src/compas_xr/ghpython/app_settings.py index e4c4666e..e7017f24 100644 --- a/src/compas_xr/ghpython/app_settings.py +++ b/src/compas_xr/ghpython/app_settings.py @@ -1,16 +1,25 @@ -class AppSettings(object): - def __init__(self, project_name, storage_folder=None, z_to_y_remap=None): +class AppSettings: + """Class representing application settings for the XR project. + + Parameters + ---------- + project_name + Name of the project. + storage_folder + Folder for storage. + z_to_y_remap + Whether to remap Z axis to Y axis. + """ + + def __init__(self, project_name: str, storage_folder: str = None, z_to_y_remap: bool = None) -> None: self.project_name = project_name self.storage_folder = storage_folder or "None" self.z_to_y_remap = z_to_y_remap or False - def ToString(self): - return str(self) - - def __str__(self): - return "AppSettings, project_name={}, storage_folder={}, z_to_y_remap={}".format(self.project_name, self.storage_folder, self.z_to_y_remap) + def __str__(self) -> str: + return f"AppSettings, project_name={self.project_name}, storage_folder={self.storage_folder}, z_to_y_remap={self.z_to_y_remap}" - def __data__(self): + def __data__(self) -> dict: return { "project_name": self.project_name, "storage_folder": self.storage_folder, diff --git a/src/compas_xr/ghpython/components/Cx_AppSettings/code.py b/src/compas_xr/ghpython/components/Cx_AppSettings/code.py index 039ae533..a8073c42 100644 --- a/src/compas_xr/ghpython/components/Cx_AppSettings/code.py +++ b/src/compas_xr/ghpython/components/Cx_AppSettings/code.py @@ -1,16 +1,17 @@ +# r: compas_xr>=2.0.0 """ Application Settings. COMPAS XR v1.0.0 """ -from ghpythonlib.componentbase import executingcomponent as component +import Grasshopper from compas_xr.ghpython.app_settings import AppSettings from compas_xr.project import ProjectManager -class ApplicationSettingsComponent(component): +class ApplicationSettingsComponent(Grasshopper.Kernel.GH_ScriptInstance): def RunScript(self, config_filepath, project_name, storage_folder, z_to_y_remap, write): if not (config_filepath): self.Message = "Missing Config" diff --git a/src/compas_xr/ghpython/components/Cx_Firebase_Config/code.py b/src/compas_xr/ghpython/components/Cx_Firebase_Config/code.py index aa30d89e..e46cde2d 100644 --- a/src/compas_xr/ghpython/components/Cx_Firebase_Config/code.py +++ b/src/compas_xr/ghpython/components/Cx_Firebase_Config/code.py @@ -1,3 +1,4 @@ +# r: compas_xr>=2.0.0 """ Settings for Firebase. @@ -7,12 +8,12 @@ import json import os -from ghpythonlib.componentbase import executingcomponent as component +import Grasshopper from compas_xr.ghpython.firebase_config import FirebaseConfig -class FirebaseConfigComponent(component): +class FirebaseConfigComponent(Grasshopper.Kernel.GH_ScriptInstance): def RunScript(self, filepath, filename, api_key, auth_domain, database_url, storage_bucket): if not (api_key and auth_domain and database_url and storage_bucket): self.Message = "You are missing some config information" diff --git a/src/compas_xr/ghpython/components/Cx_GetTrajectoryRequest/code.py b/src/compas_xr/ghpython/components/Cx_GetTrajectoryRequest/code.py index 5aa16e9c..9de57540 100644 --- a/src/compas_xr/ghpython/components/Cx_GetTrajectoryRequest/code.py +++ b/src/compas_xr/ghpython/components/Cx_GetTrajectoryRequest/code.py @@ -1,14 +1,15 @@ +# r: compas_xr>=2.0.0 """ Get Trajectory Request Component. COMPAS XR v1.0.0 """ +import Grasshopper from compas_eve import Subscriber from compas_eve import Topic from compas_eve.ghpython import BackgroundWorker from compas_eve.mqtt import MqttTransport -from ghpythonlib.componentbase import executingcomponent as component from compas_xr.mqtt import GetTrajectoryRequest @@ -36,7 +37,7 @@ def stop_server(worker): worker.display_message("Stopped") -class GetTrajectoryRequestComponent(component): +class GetTrajectoryRequestComponent(Grasshopper.Kernel.GH_ScriptInstance): def RunScript(self, options, reset, on): if not on: BackgroundWorker.stop_instance_by_component(ghenv) # noqa: F821 diff --git a/src/compas_xr/ghpython/components/Cx_MqttTrajectoryResult/code.py b/src/compas_xr/ghpython/components/Cx_MqttTrajectoryResult/code.py index 72f1ea0e..b309baa6 100644 --- a/src/compas_xr/ghpython/components/Cx_MqttTrajectoryResult/code.py +++ b/src/compas_xr/ghpython/components/Cx_MqttTrajectoryResult/code.py @@ -1,3 +1,4 @@ +# r: compas_xr>=2.0.0 """ Sync Results. @@ -6,12 +7,12 @@ COMPAS XR v1.0.0 """ -from ghpythonlib.componentbase import executingcomponent as component +import Grasshopper from compas_xr.ghpython import TrajectoryResultManager -class SyncResultComponent(component): +class SyncResultComponent(Grasshopper.Kernel.GH_ScriptInstance): def RunScript(self, element_id, trajectory, robot_base_frame, pick_and_place, pick_index, ee_link_name, options): if element_id: result = TrajectoryResultManager() diff --git a/src/compas_xr/ghpython/components/Cx_PlanningServiceResponse/code.py b/src/compas_xr/ghpython/components/Cx_PlanningServiceResponse/code.py index 3b00ee8d..7854e6ee 100644 --- a/src/compas_xr/ghpython/components/Cx_PlanningServiceResponse/code.py +++ b/src/compas_xr/ghpython/components/Cx_PlanningServiceResponse/code.py @@ -1,18 +1,19 @@ +# r: compas_xr>=2.0.0 """ Planning service response. COMPAS XR v1.0.0 """ +import Grasshopper from compas_eve import Publisher from compas_eve import Topic from compas_eve.mqtt import MqttTransport -from ghpythonlib.componentbase import executingcomponent as component from compas_xr.mqtt import GetTrajectoryResult -class PlanningServiceResponseComponent(component): +class PlanningServiceResponseComponent(Grasshopper.Kernel.GH_ScriptInstance): def RunScript(self, options, result, publish): if not result: self.Message = "Null Result, unable to publish" diff --git a/src/compas_xr/ghpython/components/Cx_SendTrajectory/code.py b/src/compas_xr/ghpython/components/Cx_SendTrajectory/code.py index d70346f2..b2f0e91b 100644 --- a/src/compas_xr/ghpython/components/Cx_SendTrajectory/code.py +++ b/src/compas_xr/ghpython/components/Cx_SendTrajectory/code.py @@ -1,3 +1,4 @@ +# r: compas_xr>=2.0.0 """ Component to handle execution of trajectory. @@ -6,11 +7,11 @@ COMPAS XR v1.0.0 """ +import Grasshopper from compas_eve import Subscriber from compas_eve import Topic from compas_eve.ghpython import BackgroundWorker from compas_eve.mqtt import MqttTransport -from ghpythonlib.componentbase import executingcomponent as component from compas_xr.mqtt import SendTrajectory @@ -38,7 +39,7 @@ def stop_server(worker): worker.display_message("Stopped") -class ExecuteTrajectoryServiceComponent(component): +class ExecuteTrajectoryServiceComponent(Grasshopper.Kernel.GH_ScriptInstance): def RunScript(self, options, reset, on): if not on: BackgroundWorker.stop_instance_by_component(ghenv) # noqa: F821 diff --git a/src/compas_xr/ghpython/components/Cx_XrOptions/code.py b/src/compas_xr/ghpython/components/Cx_XrOptions/code.py index 1f67770c..afb27835 100644 --- a/src/compas_xr/ghpython/components/Cx_XrOptions/code.py +++ b/src/compas_xr/ghpython/components/Cx_XrOptions/code.py @@ -1,14 +1,15 @@ +# r: compas_xr>=2.0.0 """ Component to define COMPAS XR options. COMPAS XR v1.0.0 """ -from ghpythonlib.componentbase import executingcomponent as component +import Grasshopper from compas_xr.ghpython import MqttMessageOptionsXR -class XrOptionsComponent(component): +class XrOptionsComponent(Grasshopper.Kernel.GH_ScriptInstance): def RunScript(self, host, project_name, robot_name): return MqttMessageOptionsXR(host, project_name, robot_name) diff --git a/src/compas_xr/ghpython/components/ghuser/Cx_AppSettings.ghuser b/src/compas_xr/ghpython/components/ghuser/Cx_AppSettings.ghuser new file mode 100644 index 00000000..47c943c9 Binary files /dev/null and b/src/compas_xr/ghpython/components/ghuser/Cx_AppSettings.ghuser differ diff --git a/src/compas_xr/ghpython/components/ghuser/Cx_Firebase_Config.ghuser b/src/compas_xr/ghpython/components/ghuser/Cx_Firebase_Config.ghuser new file mode 100644 index 00000000..0c276289 Binary files /dev/null and b/src/compas_xr/ghpython/components/ghuser/Cx_Firebase_Config.ghuser differ diff --git a/src/compas_xr/ghpython/components/ghuser/Cx_GetTrajectoryRequest.ghuser b/src/compas_xr/ghpython/components/ghuser/Cx_GetTrajectoryRequest.ghuser new file mode 100644 index 00000000..059c4c28 Binary files /dev/null and b/src/compas_xr/ghpython/components/ghuser/Cx_GetTrajectoryRequest.ghuser differ diff --git a/src/compas_xr/ghpython/components/ghuser/Cx_MqttTrajectoryResult.ghuser b/src/compas_xr/ghpython/components/ghuser/Cx_MqttTrajectoryResult.ghuser new file mode 100644 index 00000000..bbf24acc Binary files /dev/null and b/src/compas_xr/ghpython/components/ghuser/Cx_MqttTrajectoryResult.ghuser differ diff --git a/src/compas_xr/ghpython/components/ghuser/Cx_PlanningServiceResponse.ghuser b/src/compas_xr/ghpython/components/ghuser/Cx_PlanningServiceResponse.ghuser new file mode 100644 index 00000000..536ca5da Binary files /dev/null and b/src/compas_xr/ghpython/components/ghuser/Cx_PlanningServiceResponse.ghuser differ diff --git a/src/compas_xr/ghpython/components/ghuser/Cx_SendTrajectory.ghuser b/src/compas_xr/ghpython/components/ghuser/Cx_SendTrajectory.ghuser new file mode 100644 index 00000000..ba35f58c Binary files /dev/null and b/src/compas_xr/ghpython/components/ghuser/Cx_SendTrajectory.ghuser differ diff --git a/src/compas_xr/ghpython/components/ghuser/Cx_XrOptions.ghuser b/src/compas_xr/ghpython/components/ghuser/Cx_XrOptions.ghuser new file mode 100644 index 00000000..329655ff Binary files /dev/null and b/src/compas_xr/ghpython/components/ghuser/Cx_XrOptions.ghuser differ diff --git a/src/compas_xr/ghpython/firebase_config.py b/src/compas_xr/ghpython/firebase_config.py index 92b69c64..5f88a5aa 100644 --- a/src/compas_xr/ghpython/firebase_config.py +++ b/src/compas_xr/ghpython/firebase_config.py @@ -1,17 +1,28 @@ -class FirebaseConfig(object): - def __init__(self, api_key, auth_domain, database_url, storage_bucket): +class FirebaseConfig: + """Configuration for Firebase connection. + + Parameters + ---------- + api_key + API key for Firebase. + auth_domain + Auth domain for Firebase. + database_url + URL of the Firebase database. + storage_bucket + Storage bucket for Firebase. + """ + + def __init__(self, api_key: str, auth_domain: str, database_url: str, storage_bucket: str): self.api_key = api_key self.auth_domain = auth_domain self.database_url = database_url self.storage_bucket = storage_bucket - def ToString(self): - return str(self) - - def __str__(self): - return "FirebaseConfig, api_key={}, auth_domain={}, database_url={}, storage_bucket={}".format(self.api_key, self.auth_domain, self.database_url, self.storage_bucket) + def __str__(self) -> str: + return f"FirebaseConfig, api_key={self.api_key}, auth_domain={self.auth_domain}, database_url={self.database_url}, storage_bucket={self.storage_bucket}" - def __data__(self): + def __data__(self) -> dict: return { "apiKey": self.api_key, "authDomain": self.auth_domain, diff --git a/src/compas_xr/ghpython/options.py b/src/compas_xr/ghpython/options.py index 0f4cf67a..88c6323b 100644 --- a/src/compas_xr/ghpython/options.py +++ b/src/compas_xr/ghpython/options.py @@ -1,11 +1,20 @@ -class MqttMessageOptionsXR(object): - def __init__(self, host, project_name, robot_name): +class MqttMessageOptionsXR: + """Options for MQTT messaging in XR context. + + Parameters + ---------- + host + MQTT broker host. + project_name + Name of the project. + robot_name + Name of the robot. + """ + + def __init__(self, host: str, project_name: str, robot_name: str): self.host = host self.project_name = project_name self.robot_name = robot_name - def ToString(self): - return str(self) - - def __str__(self): - return "Options, host={}, project_name={}, robot_name={}".format(self.host, self.project_name, self.robot_name) + def __str__(self) -> str: + return f"Options, host={self.host}, project_name={self.project_name}, robot_name={self.robot_name}" diff --git a/src/compas_xr/ghpython/trajectory_manager.py b/src/compas_xr/ghpython/trajectory_manager.py index bf5d5d06..0e84ef89 100644 --- a/src/compas_xr/ghpython/trajectory_manager.py +++ b/src/compas_xr/ghpython/trajectory_manager.py @@ -1,4 +1,9 @@ -class TrajectoryResultManager(object): +from typing import Any + + +class TrajectoryResultManager: + """Manager for trajectory results.""" + trajectory = None requested_element_id = None robot_base_fame = None @@ -6,13 +11,11 @@ class TrajectoryResultManager(object): pick_index = None end_effector_link_name = None - def ToString(self): - return str(self) - - def __str__(self): + def __str__(self) -> str: return "Planning result for element {} with {} points".format(self.requested_element_id, len(self.trajectory.points)) - def format_trajectory(self, trajectory): + def format_trajectory(self, trajectory: Any) -> list[dict]: + """Formats a trajectory and returns it as a list of dictionary of joint values.""" configs_dicts = [] if trajectory: for point in trajectory.points: diff --git a/src/compas_xr/mqtt/__init__.py b/src/compas_xr/mqtt/__init__.py index 6baad5a4..8c3af7fd 100644 --- a/src/compas_xr/mqtt/__init__.py +++ b/src/compas_xr/mqtt/__init__.py @@ -1,26 +1,3 @@ -""" -******************************************************************************** -compas_xr.mqtt -******************************************************************************** - -This package contains classes for interfacing with MQTT protocol. - -.. currentmodule:: compas_xr.mqtt - -MQTT Messages -------------- - -.. autosummary:: - :toctree: generated/ - :nosignatures: - - GetTrajectoryRequest - GetTrajectoryResult - ApproveTrajectory - SendTrajectory - -""" - from .messages import ApproveTrajectory, GetTrajectoryRequest, GetTrajectoryResult, SendTrajectory __all__ = ["GetTrajectoryRequest", "GetTrajectoryResult", "ApproveTrajectory", "SendTrajectory"] diff --git a/src/compas_xr/mqtt/messages.py b/src/compas_xr/mqtt/messages.py index ea29c18e..f43e6a4a 100644 --- a/src/compas_xr/mqtt/messages.py +++ b/src/compas_xr/mqtt/messages.py @@ -2,12 +2,14 @@ import threading import uuid from datetime import datetime +from typing import Any +from typing import Union from compas.geometry import Frame from compas_eve import Message -class SequenceCounter(object): +class SequenceCounter: """An atomic, thread-safe sequence increament counter that increments with each message.""" ROLLOVER_THRESHOLD = sys.maxsize @@ -17,7 +19,7 @@ def __init__(self, start=0): self._lock = threading.Lock() self._value = start - def increment(self, num=1): + def increment(self, num: int = 1): """Atomically increment the counter by ``num`` and return the new value. """ @@ -36,7 +38,7 @@ def update_from_msg(self, value): self._value = value -class ResponseID(object): +class ResponseID: """An atomic, thread-safe counter that increments with each service routine.""" ROLLOVER_THRESHOLD = sys.maxsize @@ -74,15 +76,15 @@ class Header(Message): Parameters ---------- - increment_response_ID : bool, optional + increment_response_ID Whether to increment the response ID when creating a new instance of Header. - sequence_id : int, optional + sequence_id The sequence ID of the message. Optional for parsing. - response_id : int, optional + response_id The response ID of the message. Optional for parsing. - device_id : str, optional + device_id The device ID of the message. Optional for parsing. - time_stamp : str, optional + time_stamp The timestamp of the message. Optional for parsing. Attributes @@ -103,7 +105,14 @@ class Header(Message): _shared_response_id_counter = None _device_id = None - def __init__(self, increment_response_ID=False, sequence_id=None, response_id=None, device_id=None, time_stamp=None): + def __init__( + self, + increment_response_ID: bool = False, + sequence_id: int = None, + response_id: int = None, + device_id: str = None, + time_stamp: str = None, + ): super(Header, self).__init__() self["sequence_id"] = sequence_id or self._ensure_sequence_id() self["response_id"] = response_id or self._ensure_response_id(increment_response_ID) @@ -195,11 +204,11 @@ class GetTrajectoryRequest(Message): Parameters ---------- - element_id : str + element_id The ID of the element associated with the trajectory. - robot_name : str + robot_name The name of the robot associated with the trajectory. - header : Header, optional + header : Header The header object containing additional message information. Attributes @@ -214,7 +223,7 @@ class GetTrajectoryRequest(Message): The ID of the trajectory. Default is ``"trajectory_id_" + str(element_id)``. """ - def __init__(self, element_id, robot_name, header=None, *args, **kwargs): + def __init__(self, element_id: str, robot_name: str, header: Header = None, *args, **kwargs): super(GetTrajectoryRequest, self).__init__(*args, **kwargs) self["header"] = header or Header(increment_response_ID=True) self["element_id"] = element_id @@ -236,15 +245,15 @@ class GetTrajectoryResult(Message): Parameters ---------- - element_id : str + element_id The ID of the element associated with the trajectory. - robot_name : str + robot_name The name of the robot associated with the trajectory. - robot_base_frame : compas.geometry.Frame + robot_base_frame The base frame of the robot. - trajectory : dict of joint names and joint values + trajectory The retrieved trajectory. - header : Header, optional + header The header object containing additional message information. Attributes @@ -263,7 +272,17 @@ class GetTrajectoryResult(Message): The trajectory information computed for the request. """ - def __init__(self, element_id, robot_name, robot_base_frame, trajectory, pick_and_place=False, pick_index=None, end_effector_link_name=None, header=None): + def __init__( + self, + element_id: str, + robot_name: str, + robot_base_frame: Frame, + trajectory: Union[dict, Any], + pick_and_place: bool = False, + pick_index: int = None, + end_effector_link_name: str = None, + header: Header = None, + ): super(GetTrajectoryResult, self).__init__() self["header"] = header or Header() self["element_id"] = element_id @@ -299,15 +318,15 @@ class ApproveTrajectory(Message): Parameters ---------- - element_id : str + element_id The ID of the element associated with the trajectory. - robot_name : str + robot_name The name of the robot associated with the trajectory. - trajectory : dict of joint names and joint values + trajectory The approved trajectory. - approval_status : int + approval_status The approval status of the trajectory. - header : Header, optional + header The header object containing additional message information. Attributes @@ -327,7 +346,14 @@ class ApproveTrajectory(Message): 0: Not Approved, 1: Approved, 2: Consensus Approval, 3: Cancelation. """ - def __init__(self, element_id, robot_name, trajectory, approval_status, header=None): + def __init__( + self, + element_id: str, + robot_name: str, + trajectory: dict, + approval_status: int, + header: Header = None, + ): super(ApproveTrajectory, self).__init__() self["header"] = header or Header() self["element_id"] = element_id @@ -357,9 +383,9 @@ class ApprovalCounterRequest(Message): Parameters ---------- - element_id : str + element_id The ID of the element associated with the approval counter. - header : Header, optional + header The header object containing additional message information. Attributes @@ -372,7 +398,7 @@ class ApprovalCounterRequest(Message): The ID of the trajectory. Default is ``"trajectory_id_" + str(element_id)``. """ - def __init__(self, element_id, header=None): + def __init__(self, element_id: str, header: Header = None): super(ApprovalCounterRequest, self).__init__() self["header"] = header or Header() self["element_id"] = element_id @@ -401,9 +427,9 @@ class ApprovalCounterResult(Message): Parameters ---------- - element_id : str + element_id The ID of the element associated with the approval counter. - header : Header, optional + header The header object containing additional message information. Attributes @@ -416,7 +442,7 @@ class ApprovalCounterResult(Message): The ID of the trajectory. Default is ``"trajectory_id_" + str(element_id)``. """ - def __init__(self, element_id, header=None): + def __init__(self, element_id: str, header: Header = None): super(ApprovalCounterResult, self).__init__() self["header"] = header or Header() self["element_id"] = element_id @@ -437,13 +463,13 @@ class SendTrajectory(Message): Parameters ---------- - element_id : str + element_id The ID of the element associated with the trajectory. - robot_name : str + robot_name The name of the robot associated with the trajectory. - trajectory : dict of joint names and joint values + trajectory The trajectory to be sent. - header : Header, optional + header The header object containing additional message information. Attributes @@ -460,7 +486,13 @@ class SendTrajectory(Message): The trajectory to be sent. """ - def __init__(self, element_id, robot_name, trajectory, header=None): + def __init__( + self, + element_id: str, + robot_name: str, + trajectory: dict, + header: Header = None, + ): super(SendTrajectory, self).__init__() self["header"] = header or Header() self["element_id"] = element_id diff --git a/src/compas_xr/project/__init__.py b/src/compas_xr/project/__init__.py index e8810f27..f3048db0 100644 --- a/src/compas_xr/project/__init__.py +++ b/src/compas_xr/project/__init__.py @@ -1,26 +1,3 @@ -""" -******************************************************************************** -compas_xr.project -******************************************************************************** - -This package contains classes to manage the XR project including the assembly -and building plan. - -.. currentmodule:: compas_xr.project - -Classes -------- - -.. autosummary:: - :toctree: generated/ - :nosignatures: - - ProjectManager - AssemblyExtensions - BuildingPlanExtensions - -""" - from compas_xr.project.assembly_extensions import AssemblyExtensions from compas_xr.project.buildingplan_extensions import BuildingPlanExtensions from compas_xr.project.project_manager import ProjectManager diff --git a/src/compas_xr/project/assembly_extensions.py b/src/compas_xr/project/assembly_extensions.py index 093ddfab..49f9c0e6 100644 --- a/src/compas_xr/project/assembly_extensions.py +++ b/src/compas_xr/project/assembly_extensions.py @@ -7,38 +7,33 @@ from compas.geometry import Point from compas.geometry import Transformation from compas.geometry import Vector +from compas_timber.assembly import TimberAssembly from compas_timber.consumers import BrepGeometryConsumer -class AssemblyExtensions(object): +class AssemblyExtensions: """ - AssemblyExtensions is a class for extending the functionality of the :class:`~compas.datastructures.Assembly` class. + AssemblyExtensions is a class for extending the functionality of the [Assembly][] class. The AssemblyExtensions class provides additional functionalities such as exporting parts as .obj files - and creating a frame assembly from a list of :class:`~compas.geometry.Frame` with a specific data structure + and creating a frame assembly from a list of [Frame][] with a specific data structure for localization information. - """ - def export_timberassembly_objs(self, assembly, folder_path, new_folder_name, z_to_y_remap=False): + def export_timberassembly_objs(self, assembly: TimberAssembly, folder_path: str, new_folder_name: str, z_to_y_remap: bool = False) -> None: """ - Export timber assembly beams as .obj files to a folder path. + Export timber assembly beams as `.obj` files to a folder path. Parameters ---------- - assembly : :class:`~compas_timber.assembly.TimberAssembly` + assembly The assembly that you want to export beams from. - folder_path : str + folder_path The path in which you would like to create a storage folder. - new_folder_name : str + new_folder_name The name of the folder you would like to create. - z_to_y_remap : bool, optional - A boolean that determines if the z-axis should be remapped to the y-axis for .obj export. Default is False. - - Returns - ------- - None - + z_to_y_remap + A boolean that determines if the z-axis should be remapped to the y-axis for `.obj` export. """ target_folder_path = os.path.join(folder_path, new_folder_name) if not os.path.exists(target_folder_path): @@ -63,25 +58,20 @@ def export_timberassembly_objs(self, assembly, folder_path, new_folder_name, z_t filename = "{}.obj".format(str(key)) mesh_transformed.to_obj(os.path.join(target_folder_path, filename)) - def export_mesh_assembly_objs(self, assembly, folder_path, new_folder_name, z_to_y_remap=False): + def export_mesh_assembly_objs(self, assembly: Assembly, folder_path: str, new_folder_name: str, z_to_y_remap: bool = False) -> None: """ - Export Mesh assembly parts as .obj files to a folder path. + Export Mesh assembly parts as `.obj` files to a folder path. Parameters ---------- - assembly : :class:`~compas.datastructures.Assembly` + assembly The Mesh assembly that you want to export parts from. - folder_path : str + folder_path The path in which you would like to create a storage folder. - new_folder_name : str + new_folder_name The name of the folder you would like to create. - z_to_y_remap : bool, optional - A boolean that determines if the z-axis should be remapped to the y-axis for .obj export. Default is False. - - Returns - ------- - None - + z_to_y_remap + A boolean that determines if the z-axis should be remapped to the y-axis for `.obj` export. """ target_folder_path = os.path.join(folder_path, new_folder_name) if not os.path.exists(target_folder_path): @@ -109,18 +99,18 @@ def export_mesh_assembly_objs(self, assembly, folder_path, new_folder_name, z_to filename = "{}.obj".format(str(part.key)) part_transformed.to_obj(os.path.join(target_folder_path, filename)) - def create_qr_assembly(self, qr_frames): + def create_qr_assembly(self, qr_frames: list[Frame]) -> Assembly: """ - Create a frame assembly from a list of :class:`~compas.geometry.Frame` with a specific data structure for localization. + Create a frame assembly from a list of [Frame][] with a specific data structure for localization. Parameters ---------- - qr_frames : list of :class:`~compas.geometry.Frame` + qr_frames A list of frames at specific locations for localization data. Returns ------- - :class:`~compas.datastructures.Assembly` + Assembly The constructed database reference. """ diff --git a/src/compas_xr/project/buildingplan_extensions.py b/src/compas_xr/project/buildingplan_extensions.py index 02e76bb8..b7036425 100644 --- a/src/compas_xr/project/buildingplan_extensions.py +++ b/src/compas_xr/project/buildingplan_extensions.py @@ -1,36 +1,45 @@ +from typing import Union + +from compas.datastructures import Assembly +from compas_timber.assembly import TimberAssembly from compas_timber.planning import BuildingPlan from compas_timber.planning import SimpleSequenceGenerator from compas_timber.planning import Step -class BuildingPlanExtensions(object): +class BuildingPlanExtensions: """ - BuildingPlanExtensions is a class for extending the functionality of the :class:`~compas_timber.planning.BuildingPlan` class. + Extensions for the [BuildingPlan][] class. - The BuildingPlanExtensions class provides additional functionalities to the :class:`~compas_timber.planning.BuildingPlan` - by providing a way to create a buildling plan from an established assembly sequence. + This class provides functionalities to create a building plan from an established assembly sequence. """ # TODO: This makes the building plan in a very manual way # TODO: but this needs to be resolved in tandem with building plan revisions. - def create_buildingplan_from_assembly_sequence(self, assembly, data_type, robot_keys, priority_keys_lists): + def create_buildingplan_from_assembly_sequence( + self, + assembly: Union[TimberAssembly, Assembly], + data_type: int, + robot_keys: list[str] = None, + priority_keys_lists: list[list[str]] = None, + ) -> BuildingPlan: """ - Create a compas_timber.planning.BuildingPlan based on the sequence of the assembly parts. + Create a [BuildingPlan][] based on the sequence of the assembly parts. Parameters ---------- - assembly : :class:`~compas_timber.assembly.TimberAssembly` or :class:`~compas.datastructures.Assembly` + assembly The assembly that you want to generate the buiding plan for. - data_type : int + data_type List index of which data type will be loaded on the application side [0: 'Cylinder', 1: 'Box', 2: 'ObjFile'] - robot_keys : list of str + robot_keys List of keys that are intended to be built by the robot. - priority_keys_lists : list of list of str + priority_keys_lists List in assembly order of lists of assembly keys that can be built in parallel. Returns ------- - building_plan : :class:`~compas_timber.planning.BuildingPlan` + [BuildingPlan][] The building plan generated from the assembly sequence. """ @@ -58,26 +67,33 @@ def create_buildingplan_from_assembly_sequence(self, assembly, data_type, robot_ return building_plan - def create_buildingplan_from_with_custom_sequence(self, assembly, sequenced_keys, data_type, robot_keys, priority_keys_lists): + def create_buildingplan_from_with_custom_sequence( + self, + assembly: Union[TimberAssembly, Assembly], + sequenced_keys: list[str], + data_type: int, + robot_keys: list[str], + priority_keys_lists: list[list[str]], + ) -> BuildingPlan: """ - Create a compas_timber.planning.BuildingPlan based on the sequence of the assembly parts. + Create a [BuildingPlan][] based on the sequence of the assembly parts. Parameters ---------- - assembly : compas_timber.assembly.TimberAssembly or compas.datastructures.Assembly + assembly The assembly that you want to generate the buiding plan for. - sequenced_keys : list of str + sequenced_keys List of keys that are intended to be built in the order provided. - data_type : int + data_type List index of which data type will be loaded on the application side [0: 'Cylinder', 1: 'Box', 2: 'ObjFile'] - robot_keys : list of str + robot_keys List of keys that are intended to be built by the robot. - priority_keys_lists : list of list of str + priority_keys_lists List in assembly order of lists of assembly keys that can be built in parallel. Returns ------- - building_plan : compas_timber.planning.BuildingPlan + [BuildingPlan][] The building plan generated from the assembly sequence. """ diff --git a/src/compas_xr/project/project_manager.py b/src/compas_xr/project/project_manager.py index 5c8918bd..3bda7632 100644 --- a/src/compas_xr/project/project_manager.py +++ b/src/compas_xr/project/project_manager.py @@ -1,5 +1,9 @@ import os +from typing import Any +from typing import Union +from compas.datastructures import Assembly +from compas.geometry import Box from compas.geometry import Frame from compas_timber.assembly import TimberAssembly from compas_timber.planning import BuildingPlan @@ -10,14 +14,14 @@ from compas_xr.storage import Storage -class ProjectManager(object): +class ProjectManager: """ The ProjectManager class is responsible for managing project specific data and operations that involve Firebase Storage and Realtime Database configuration. Parameters ---------- - config_path : str + config_path The path to the configuration file for the project. Attributes @@ -28,50 +32,46 @@ class ProjectManager(object): The realtime database instance for the project. """ - def __init__(self, config_path): + def __init__(self, config_path: str): if not os.path.exists(config_path): raise Exception("Could not create Storage or Database with path {}!".format(config_path)) self.storage = Storage(config_path) self.database = RealtimeDatabase(config_path) - def application_settings_writer(self, project_name, storage_folder="None", z_to_y_remap=False): + def application_settings_writer(self, project_name: str, storage_folder: str = "None", z_to_y_remap: bool = False) -> None: """ Uploads required application settings to the Firebase RealtimeDatabase. Parameters ---------- - project_name : str + project_name The name of the project where the app will look for information. - storage_folder : str, optional - The name of the storage folder, by default "None" - z_to_y_remap : bool, optional - The orientation of the object, if the obj was exported with z to y remap, by default False - - Returns - ------- - None - + storage_folder + The name of the storage folder. + z_to_y_remap + The orientation of the object, if the obj was exported with z to y remap. """ data = {"project_name": project_name, "storage_folder": storage_folder, "z_to_y_remap": z_to_y_remap} self.database.upload_data(data, "ApplicationSettings") - def create_project_data_from_compas(self, assembly, building_plan, qr_frames_list): + def create_project_data_from_compas( + self, + assembly: Union[TimberAssembly, Assembly], + building_plan: BuildingPlan, + qr_frames_list: list[Frame], + ) -> dict: """ Formats data structure from COMPAS Class Objects. Parameters ---------- - assembly : :class:`compas.datastructures.Assembly` or :class:`compas_timber.assembly.TimberAssembly` + assembly The assembly in which data will be extracted from. - building_plan : :class:`compas_timber.planning.BuildingPlan` + building_plan The BuildingPlan in which data will be extracted from. - qr_frames_list : list of :class:`compas.geometry.Frame` + qr_frames_list List of frames at specific locations for application localization data. - Returns - ------- - None - """ qr_assembly = AssemblyExtensions().create_qr_assembly(qr_frames_list) if isinstance(assembly, TimberAssembly): @@ -91,182 +91,162 @@ def create_project_data_from_compas(self, assembly, building_plan, qr_frames_lis } return data - def upload_data_to_project(self, data, project_name, data_name): + def upload_data_to_project(self, data: Any, project_name: str, data_name: str) -> None: """ Uploads data to the Firebase RealtimeDatabase under the specified project name. Parameters ---------- - data : Any should be json serializable + data The data to be uploaded. - project_name : str + project_name The name of the project under which the data will be stored. - data_name : str + data_name The name of the child in which data will be stored. - - Returns - ------- - None - """ self.database.upload_data_to_reference_as_child(data, project_name, data_name) - def upload_project_data_from_compas(self, project_name, assembly, building_plan, qr_frames_list): + def upload_project_data_from_compas( + self, + project_name: str, + assembly: Union[TimberAssembly, Assembly], + building_plan: BuildingPlan, + qr_frames_list: list[Frame], + ) -> None: """ Formats data structure from COMPAS Class Objects and uploads them to the RealtimeDatabase under project name. Parameters ---------- - assembly : :class:`compas.datastructures.Assembly` or :class:`compas_timber.assembly.TimberAssembly` + project_name + The name of the project under which the data will be stored. + assembly The assembly in which data will be extracted from. - building_plan : :class:`compas_timber.planning.BuildingPlan` + building_plan The BuildingPlan in which data will be extracted from. - qr_frames_list : list of :class:`compas.geometry.Frame` + qr_frames_list List of frames at specific locations for application localization data. - project_name : str - The name of the project under which the data will be stored. - - Returns - ------- - None - """ data = self.create_project_data_from_compas(assembly, building_plan, qr_frames_list) self.database.upload_data(data, project_name) - def upload_qr_frames_to_project(self, project_name, qr_frames_list): + def upload_qr_frames_to_project(self, project_name: str, qr_frames_list: list[Frame]) -> None: """ Uploads QR Frames to the Firebase RealtimeDatabase under the specified project name. Parameters ---------- - qr_frames_list : list of :class:`compas.geometry.Frame` - List of frames at specific locations for application localization data. project_name : str The name of the project under which the data will be stored. - - Returns - ------- - None - + qr_frames_list : list[Frame] + List of frames at specific locations for application localization data. """ qr_assembly = AssemblyExtensions().create_qr_assembly(qr_frames_list) data = qr_assembly.__data__ self.database.upload_data_to_reference_as_child(data, project_name, "QRFrames") - def upload_obj_to_storage(self, path_local, storage_folder_name): + def upload_obj_to_storage(self, path_local: str, storage_folder_name: str) -> None: """ Upload an .obj file to the Firebase Storage under the specified storage folder name. Parameters ---------- - file_path : str + path_local The path at which the obj file is stored. - storage_folder_name : str + storage_folder_name The name of the storage folder where the .obj file will be uploaded. - - Returns - ------- - None - """ storage_folder_list = ["obj_storage", storage_folder_name] self.storage.upload_file_as_bytes_to_deep_reference(path_local, storage_folder_list) - def upload_objs_from_directory_to_storage(self, local_directory, storage_folder_name): + def upload_objs_from_directory_to_storage(self, local_directory: str, storage_folder_name: str) -> None: """ Uploads all .obj files from a directory to the Firebase Storage under the specified storage folder name. Parameters ---------- - directory_path : str + local_directory The path to the directory where the projects .obj files are stored. - storage_folder_name : str + storage_folder_name The name of the storage folder where the .obj files will be uploaded. - - Returns - ------- - None - """ storage_folder_list = ["obj_storage", storage_folder_name] self.storage.upload_files_as_bytes_from_directory_to_deep_reference(local_directory, storage_folder_list) - def get_project_data(self, project_name): + def get_project_data(self, project_name: str) -> dict: """ Retrieves data from the Firebase RealtimeDatabase under the specified project name. Parameters ---------- - project_name : str + project_name The name of the project under which the data will be stored. Returns ------- - data : dict + dict The data retrieved from the database at the point of fetching. - """ return self.database.get_data(project_name) - def upload_compas_object_to_storage(self, compas_object, cloud_file_name, pretty=True): + def upload_compas_object_to_storage(self, compas_object: Any, cloud_file_name: str, pretty: bool = True) -> None: """ Uploads an assembly to the Firebase Storage. Parameters ---------- - compas_object : Any + compas_object Any compas class instance that is serializable. - cloud_file_name : str + cloud_file_name The name of the cloud file. Saved in JSON format, and needs to have a .json extension. - Returns - ------- - None - """ self.storage.upload_data(compas_object, cloud_file_name, pretty=pretty) - def get_assembly_from_storage(self, cloud_file_name): + def get_assembly_from_storage(self, cloud_file_name: str) -> Union[TimberAssembly, Assembly]: """ Retrieves an assembly from the Firebase Storage. Parameters ---------- - cloud_file_name : str + cloud_file_name The name of the cloud file. Returns ------- - assembly : :class:`compas.datastructures.Assembly` or :class:`compas_timber.assembly.TimberAssembly` + Union[TimberAssembly, Assembly] The assembly retrieved from the storage. """ return self.storage.get_data(cloud_file_name) - def edit_step_on_database(self, project_name, key, actor, is_built, is_planned, priority): + def edit_step_on_database( + self, + project_name: str, + key: str, + actor: str, + is_built: bool, + is_planned: bool, + priority: int, + ) -> None: """ Edits a building plan step in the Firebase RealtimeDatabase under the specified project name. Parameters ---------- - project_name : str + project_name The name of the project under which the data will be stored. - key : str + key The key of the building plan step to be edited. - actor : str + actor The actor who will be performing the step. - is_built : bool + is_built A boolean that determines if the step is built. - is_planned : bool + is_planned A boolean that determines if the step is planned. - priority : int + priority The priority of the step. - Returns - ------- - None - """ database_reference_list = [project_name, "building_plan", "data", "steps", key, "data"] current_data = self.database.get_data_from_deep_reference(database_reference_list) @@ -276,30 +256,34 @@ def edit_step_on_database(self, project_name, key, actor, is_built, is_planned, current_data["priority"] = priority self.database.upload_data_to_deep_reference(current_data, database_reference_list) - def visualize_project_state_timbers(self, timber_assembly, project_name): + def visualize_project_state_timbers( + self, + timber_assembly: TimberAssembly, + project_name: str, + ) -> (int, list[Frame], list[Box], list[Box], list[Box], list[Box]): """ Retrieves and visualizes data from the Firebase RealtimeDatabase under the specified project name. Parameters ---------- - timber_assembly : :class:`compas_timbers.assembly.TimberAssembly` + timber_assembly The assembly in which the project is based off of: Used for part visulization. - project_name : str + project_name The name of the project under which the data will be stored. Returns ------- last_built_index : int The index of the last built part in the project. - step_locations : list of :class:`compas.geometry.Frame` + step_locations : list[Frame] The locations of the building plan steps. - built_human : list of :class:`compas_timber.beam.Blank` + built_human : list[Box] The parts that have been built by a human. - unbuilt_human : list of :class:`compas_timber.beam.Blank` + unbuilt_human : list[Box] The parts that have not been built by a human. - built_robot : list of :class:`compas_timber.beam.Blank` + built_robot : list[Box] The parts that have been built by a robot. - unbuilt_robot : list of :class:`compas_timber.beam.Blank` + unbuilt_robot : list[Box] The parts that have not been built by a robot. """ @@ -353,13 +337,13 @@ def visualize_project_state_timbers(self, timber_assembly, project_name): unbuilt_robot.append(part.blank) return last_built_index, step_locations, built_human, unbuilt_human, built_robot, unbuilt_robot - def visualize_project_state(self, assembly, project_name): + def visualize_project_state(self, assembly: Assembly, project_name: str): """ Retrieves and visualizes data from the Firebase RealtimeDatabase under the specified project name. Parameters ---------- - assembly : :class:`compas.datastructure.Assembly` + assembly The assembly in which the project is based off of: Used for part visulization. project_name : str The name of the project under which the data is stored. @@ -368,15 +352,15 @@ def visualize_project_state(self, assembly, project_name): ------- last_built_index : int The index of the last built part in the project. - step_locations : list of :class:`compas.geometry.Frame` + step_locations : list[Frame] The locations of the building plan steps. - built_human : list of :class:`compas.datastructures.Part` + built_human : list[Part] The parts that have been built by a human. - unbuilt_human : list of :class:`compas.datastructures.Part` + unbuilt_human : list[Part] The parts that have not been built by a human. - built_robot : list of :class:`compas.datastructures.Part` + built_robot : list[Part] The parts that have been built by a robot. - unbuilt_robot : list of :class:`compas.datastructures.Part` + unbuilt_robot : list[Part] The parts that have not been built by a robot. """ diff --git a/src/compas_xr/realtime_database/__init__.py b/src/compas_xr/realtime_database/__init__.py index c82bc825..d2d984a5 100644 --- a/src/compas_xr/realtime_database/__init__.py +++ b/src/compas_xr/realtime_database/__init__.py @@ -1,23 +1,3 @@ -""" -******************************************************************************** -compas_xr.realtime_database -******************************************************************************** - -This package contains classes for using Firebase realtime database. - -.. currentmodule:: compas_xr.realtime_database - -Classes -------- - -.. autosummary:: - :toctree: generated/ - :nosignatures: - - RealtimeDatabase - -""" - from compas_xr.realtime_database.realtime_database import RealtimeDatabase __all__ = ["RealtimeDatabase"] diff --git a/src/compas_xr/realtime_database/realtime_database.py b/src/compas_xr/realtime_database/realtime_database.py index 818bd3c6..0e9a35ca 100644 --- a/src/compas_xr/realtime_database/realtime_database.py +++ b/src/compas_xr/realtime_database/realtime_database.py @@ -1,9 +1,7 @@ -from __future__ import absolute_import -from __future__ import division -from __future__ import print_function - import json import os +from typing import Any +from typing import List import pyrebase from compas.data import json_dumps @@ -18,7 +16,7 @@ class RealtimeDatabase: Parameters ---------- - config_path : str + config_path The path to the Firebase configuration JSON file. Attributes @@ -33,7 +31,7 @@ class RealtimeDatabase: _shared_database = None - def __init__(self, config_path): + def __init__(self, config_path: str): self.config_path = config_path self._ensure_database() @@ -57,75 +55,75 @@ def _ensure_database(self): if not RealtimeDatabase._shared_database: raise Exception("Could not initialize database!") - def construct_reference(self, parentname): + def construct_reference(self, parentname: str) -> Any: """ Constructs a database reference under the specified parent name. Parameters ---------- - parentname : str + parentname The name of the parent under which the reference will be constructed. Returns ------- - :class: 'pyrebase.pyrebase.Database' + pyrebase.pyrebase.Database The constructed database reference. """ return RealtimeDatabase._shared_database.child(parentname) - def construct_child_refrence(self, parentname, childname): + def construct_child_refrence(self, parentname: str, childname: str) -> Any: """ Constructs a database reference under the specified parent name & child name. Parameters ---------- - parentname : str + parentname The name of the parent under which the reference will be constructed. - childname : str + childname The name of the child under which the reference will be constructed. Returns ------- - :class: 'pyrebase.pyrebase.Database' + pyrebase.pyrebase.Database The constructed database reference. """ return RealtimeDatabase._shared_database.child(parentname).child(childname) - def construct_grandchild_refrence(self, parentname, childname, grandchildname): + def construct_grandchild_refrence(self, parentname: str, childname: str, grandchildname: str) -> Any: """ Constructs a database reference under the specified parent name, child name, & grandchild name. Parameters ---------- - parentname : str + parentname The name of the parent under which the reference will be constructed. - childname : str + childname The name of the child under which the reference will be constructed. - grandchildname : str + grandchildname The name of the grandchild under which the reference will be constructed. Returns ------- - :class: 'pyrebase.pyrebase.Database' + pyrebase.pyrebase.Database The constructed database reference. """ return RealtimeDatabase._shared_database.child(parentname).child(childname).child(grandchildname) - def construct_reference_from_list(self, reference_list): + def construct_reference_from_list(self, reference_list: List[str]) -> Any: """ Constructs a database reference under the specified refrences in list order. Parameters ---------- - reference_list : list of str + reference_list The name of the parent under which the reference will be constructed. Returns ------- - :class: 'pyrebase.pyrebase.Database' + pyrebase.pyrebase.Database The constructed database reference. """ @@ -134,29 +132,26 @@ def construct_reference_from_list(self, reference_list): reference = reference.child(ref) return reference - def delete_data_from_reference(self, database_reference): + def delete_data_from_reference(self, database_reference: pyrebase.pyrebase.Database) -> None: """ Method for deleting data from a constructed database reference. Parameters ---------- - database_reference: 'pyrebase.pyrebase.Database' + database_reference Reference to the database location where the data will be deleted from. - Returns - ------- - None """ self._ensure_database() database_reference.remove() - def get_data_from_reference(self, database_reference): + def get_data_from_reference(self, database_reference: pyrebase.pyrebase.Database) -> dict: """ Method for retrieving data from a constructed database reference. Parameters ---------- - database_reference: 'pyrebase.pyrebase.Database' + database_reference Reference to the database location where the data will be retreived from. Returns @@ -174,214 +169,180 @@ def get_data_from_reference(self, database_reference): def stream_data_from_reference(self, callback, database_reference): raise NotImplementedError("Function Under Developement") - def upload_data_to_reference(self, data, database_reference): + def upload_data_to_reference(self, data: Any, database_reference: pyrebase.pyrebase.Database): """ Method for uploading data to a constructed database reference. Parameters ---------- - data : Any + data The data to be uploaded. Data should be JSON serializable. - database_reference: 'pyrebase.pyrebase.Database' + database_reference Reference to the database location where the data will be uploaded. - Returns - ------- - None """ self._ensure_database() # TODO: Check if this is stupid... it provides the functionality of making it work with compas objects and consistency across both child classes json_string = json_dumps(data) database_reference.set(json.loads(json_string)) - def upload_data(self, data, reference_name): + def upload_data(self, data: Any, reference_name: str) -> None: """ Uploads data to the Firebase Realtime Database under specified reference name. Parameters ---------- - data : Any + data The data to be uploaded, needs to be JSON serializable. - reference_name : str + reference_name The name of the reference under which the data will be stored. - Returns - ------- - None - """ database_reference = self.construct_reference(reference_name) self.upload_data_to_reference(data, database_reference) - def upload_data_to_reference_as_child(self, data, reference_name, child_name): + def upload_data_to_reference_as_child( + self, + data: Any, + reference_name: str, + child_name: str, + ) -> None: """ Uploads data to the Firebase Realtime Database under specified reference name & child name. Parameters ---------- - data : Any + data The data to be uploaded, needs to be JSON serializable. - reference_name : str + reference_name The name of the reference under which the child should exist. - child_name : str + child_name The name of the reference under which the data will be stored. - - Returns - ------- - None - """ database_reference = self.construct_child_refrence(reference_name, child_name) self.upload_data_to_reference(data, database_reference) - def upload_data_to_deep_reference(self, data, reference_list): + def upload_data_to_deep_reference(self, data: Any, reference_list: list[str]) -> None: """ Uploads data to the Firebase Realtime Database under specified reference names in list order. Parameters ---------- - data : Any + data The data to be uploaded, needs to be JSON serializable. - reference_list : list of str + reference_list The names in sequence order in which the data should be nested for upload. - - Returns - ------- - None - """ database_reference = self.construct_reference_from_list(reference_list) self.upload_data_to_reference(data, database_reference) - def upload_data_from_file(self, path_local, refernce_name): + def upload_data_from_file(self, path_local: str, reference_name: str) -> None: """ Uploads data to the Firebase Realtime Database under specified reference name from a file. Parameters ---------- - path_local : str + path_local The local path in which the data is stored as a json file. - reference_name : str + reference_name The name of the reference under which the data will be stored. - - Returns - ------- - None - """ if not os.path.exists(path_local): raise Exception("path does not exist {}".format(path_local)) with open(path_local) as config_file: data = json.load(config_file) - database_reference = self.construct_reference(refernce_name) + database_reference = self.construct_reference(reference_name) self.upload_data_to_reference(data, database_reference) - def get_data(self, reference_name): + def get_data(self, reference_name: str) -> dict: """ Retrieves data from the Firebase Realtime Database under the specified reference name. Parameters ---------- - reference_name : str + reference_name The name of the reference under which the data is stored. Returns ------- - data : dict + dict The retrieved data in dictionary format. """ database_reference = self.construct_reference(reference_name) return self.get_data_from_reference(database_reference) - def get_data_from_child_reference(self, reference_name, child_name): + def get_data_from_child_reference(self, reference_name: str, child_name: str) -> dict: """ Retreives data from the Firebase Realtime Database under specified reference name & child name. Parameters ---------- - reference_name : str + reference_name The name of the reference under which the child exists. - child_name : str + child_name The name of the reference under which the data is stored. Returns ------- - data : dict + dict The retrieved data in dictionary format. """ database_reference = self.construct_child_refrence(reference_name, child_name) return self.get_data_from_reference(database_reference) - def get_data_from_deep_reference(self, reference_list): + def get_data_from_deep_reference(self, reference_list: list[str]) -> dict: """ Retreives data from the Firebase Realtime Database under specified reference names in list order. Parameters ---------- - data : Any - The data to be uploaded, needs to be JSON serializable. - reference_list : list of str + reference_list The names in sequence order in which the is nested. Returns ------- - data : dict + dict The retrieved data in dictionary format. """ database_reference = self.construct_reference_from_list(reference_list) return self.get_data_from_reference(database_reference) - def delete_data(self, reference_name): + def delete_data(self, reference_name: str) -> None: """ Deletes data from the Firebase Realtime Database under specified reference name. Parameters ---------- - reference_name : str + reference_name The name of the reference under which the child should exist. - - Returns - ------- - None - """ database_reference = self.construct_reference(reference_name) self.delete_data_from_reference(database_reference) - def delete_data_from_child_reference(self, reference_name, child_name): + def delete_data_from_child_reference(self, reference_name: str, child_name: str) -> None: """ Deletes data from the Firebase Realtime Database under specified reference name & child name. Parameters ---------- - reference_name : str + reference_name The name of the reference under which the child should exist. - child_name : str + child_name The name of the reference under which the data will be stored. - - Returns - ------- - None - """ database_reference = self.construct_child_refrence(reference_name, child_name) self.delete_data_from_reference(database_reference) - def delete_data_from_deep_reference(self, reference_list): + def delete_data_from_deep_reference(self, reference_list: list[str]): """ Deletes data from the Firebase Realtime Database under specified reference names in list order. Parameters ---------- - reference_list : list of str + reference_list The names in sequence order in which the data should be nested for upload. - - Returns - ------- - None - """ database_reference = self.construct_reference_from_list(reference_list) self.delete_data_from_reference(database_reference) diff --git a/src/compas_xr/rhino/__init__.py b/src/compas_xr/rhino/__init__.py deleted file mode 100644 index e69de29b..00000000 diff --git a/src/compas_xr/rhino/install.py b/src/compas_xr/rhino/install.py deleted file mode 100644 index c1cb93a3..00000000 --- a/src/compas_xr/rhino/install.py +++ /dev/null @@ -1,46 +0,0 @@ -from __future__ import absolute_import -from __future__ import division -from __future__ import print_function - -import glob -import os - -import compas -import compas.plugins -from compas_ghpython.components import install_userobjects -from compas_ghpython.components import uninstall_userobjects - - -@compas.plugins.plugin(category="install") -def installable_rhino_packages(): - return ["compas_xr"] - - -@compas.plugins.plugin(category="install") -def after_rhino_install(installed_packages): - project = "compas_xr" - if project not in installed_packages: - return [] - - srcdir = os.path.join(os.path.dirname(__file__), "..", "ghpython", "components", "ghuser") - installed_objects = install_userobjects(srcdir) - msg = "Installed {} GH User Objects".format(len(installed_objects)) - - return [(project, msg, True)] - - -@compas.plugins.plugin(category="install") -def after_rhino_uninstall(uninstalled_packages): - project = "compas_xr" - if project not in uninstalled_packages: - return [] - - srcdir = os.path.join(os.path.dirname(__file__), "..", "ghpython", "components", "ghuser") - userobjects = [os.path.basename(ghuser) for ghuser in glob.glob(os.path.join(srcdir, "*.ghuser"))] - uninstalled_objects = uninstall_userobjects(userobjects) - - uninstall_errors = [uo[0] for uo in uninstalled_objects if not uo[1]] - error_msg = "" if not uninstall_errors else "and {} failed to uninstall".format(len(uninstall_errors)) - msg = "Uninstalled {} GH User Objects {}".format(len(uninstalled_objects), error_msg) - - return [(project, msg, True)] diff --git a/src/compas_xr/storage/__init__.py b/src/compas_xr/storage/__init__.py index 668c4443..dd727f7d 100644 --- a/src/compas_xr/storage/__init__.py +++ b/src/compas_xr/storage/__init__.py @@ -1,23 +1,3 @@ -""" -******************************************************************************** -compas_xr.storage -******************************************************************************** - -This package contains classes for data storage using Firebase. - -.. currentmodule:: compas_xr.storage - -Classes -------- - -.. autosummary:: - :toctree: generated/ - :nosignatures: - - Storage - -""" - from compas_xr.storage.storage import Storage __all__ = ["Storage"] diff --git a/src/compas_xr/storage/storage.py b/src/compas_xr/storage/storage.py index 8af646ad..74034a80 100644 --- a/src/compas_xr/storage/storage.py +++ b/src/compas_xr/storage/storage.py @@ -1,13 +1,15 @@ import io import json import os +from typing import Any +from typing import Union import pyrebase +from compas.data import Data from compas.data import json_dumps from compas.data import json_loads try: - # from urllib.request import urlopen from urllib.request import urlopen except ImportError: from urllib import urlopen @@ -22,20 +24,18 @@ class Storage: Parameters ---------- - config_path : str + config_path The path to the Firebase configuration JSON file. Attributes ---------- config_path : str The path to the Firebase configuration JSON file. - _shared_storage : pyrebase.Storage, class attribute - The shared pyrebase.Storage instance representing the connection to the Firebase Storage. """ _shared_storage = None - def __init__(self, config_path): + def __init__(self, config_path: str): self.config_path = config_path self._ensure_storage() @@ -74,54 +74,54 @@ def _get_file_from_remote(self, url): else: raise Exception("unable to get file from url {}".format(url)) - def construct_reference(self, cloud_file_name): + def construct_reference(self, cloud_file_name: str) -> pyrebase.pyrebase.Storage: """ Constructs a storage reference for the specified cloud file name. Parameters ---------- - cloud_file_name : str + cloud_file_name The name of the cloud file. Returns ------- - :class: 'pyrebase.pyrebase.Storage' + pyrebase.pyrebase.Storage The constructed storage reference. """ return Storage._shared_storage.child(cloud_file_name) - def construct_reference_with_folder(self, cloud_folder_name, cloud_file_name): + def construct_reference_with_folder(self, cloud_folder_name: str, cloud_file_name: str) -> pyrebase.pyrebase.Storage: """ Constructs a storage reference for the specified cloud folder name and file name. Parameters ---------- - cloud_folder_name : str + cloud_folder_name The name of the cloud folder. - cloud_file_name : str + cloud_file_name The name of the cloud file. Returns ------- - :class: 'pyrebase.pyrebase.Storage' + pyrebase.pyrebase.Storage The constructed storage reference. """ return Storage._shared_storage.child(cloud_folder_name).child(cloud_file_name) - def construct_reference_from_list(self, cloud_path_list): + def construct_reference_from_list(self, cloud_path_list: list[str]) -> pyrebase.pyrebase.Storage: """ Constructs a storage reference for consecutive cloud folders in list order. Parameters ---------- - cloud_path_list : list of str + cloud_path_list The list of cloud path names. Returns ------- - :class: 'pyrebase.pyrebase.Storage' + pyrebase.pyrebase.Storage The constructed storage reference. """ @@ -130,18 +130,18 @@ def construct_reference_from_list(self, cloud_path_list): storage_reference = storage_reference.child(path) return storage_reference - def get_data_from_reference(self, storage_reference): + def get_data_from_reference(self, storage_reference: pyrebase.pyrebase.Storage) -> Union[dict, Data]: """ Retrieves data from the specified storage reference. Parameters ---------- - storage_reference : pyrebase.pyrebase.Storage + storage_reference The storage reference pointing to the desired data. Returns ------- - data : dict or Compas Class Object + Union[dict, Data] The deserialized data retrieved from the storage reference. """ @@ -150,21 +150,16 @@ def get_data_from_reference(self, storage_reference): deserialized_data = json_loads(data) return deserialized_data - def upload_bytes_to_reference_from_local_file(self, file_path, storage_reference): + def upload_bytes_to_reference_from_local_file(self, file_path: str, storage_reference: pyrebase.pyrebase.Storage) -> None: """ Uploads data from bytes to the specified storage reference from a local file. Parameters ---------- - file_path : str + file_path The path to the local file. - storage_reference : pyrebase.pyrebase.Storage + storage_reference The storage reference to upload the byte data to. - - Returns - ------ - None - """ if not os.path.exists(file_path): raise FileNotFoundError("File not found: {}".format(file_path)) @@ -172,17 +167,17 @@ def upload_bytes_to_reference_from_local_file(self, file_path, storage_reference byte_data = file.read() storage_reference.put(byte_data) - def upload_data_to_reference(self, data, storage_reference, pretty=True): + def upload_data_to_reference(self, data: Any, storage_reference: Any, pretty: bool = True) -> None: """ Uploads data to the specified storage reference. Parameters ---------- - data : Any should be json serializable + data The data to be uploaded. - storage_reference : pyrebase.pyrebase.Storage + storage_reference The storage reference to upload the data to. - pretty : bool, optional + pretty Whether to format the JSON data with indentation and line breaks (default is True). Returns @@ -194,41 +189,32 @@ def upload_data_to_reference(self, data, storage_reference, pretty=True): file_object = io.BytesIO(serialized_data.encode()) storage_reference.put(file_object) - def upload_data(self, data, cloud_file_name, pretty=True): + def upload_data(self, data: Any, cloud_file_name: str, pretty: bool = True) -> None: """ Uploads data to the Firebase Storage under specified cloud file name. Parameters ---------- - data : Any + data The data to be uploaded, needs to be JSON serializable. - cloud_file_name : str + cloud_file_name The name of the reference under which the data will be stored file type should be specified.(ex: .json) - pretty : bool, optional - A boolean that determines if the data should be formatted for readability. Default is True. - - Returns - ------- - None - + pretty + A boolean that determines if the data should be formatted for readability. """ storage_reference = self.construct_reference(cloud_file_name) self.upload_data_to_reference(data, storage_reference, pretty) - def upload_data_from_json(self, path_local, pretty=True): + def upload_data_from_json(self, path_local: str, pretty: bool = True): """ Uploads data to the Firebase Storage from JSON file. Parameters ---------- - path_local : str (path) + path_local The local path at which the JSON file is stored. - pretty : bool, optional - A boolean that determines if the data should be formatted for readability. Default is True. - - Returns - ------- - None + pretty + A boolean that determines if the data should be formatted for readability. """ if not os.path.exists(path_local): @@ -239,63 +225,48 @@ def upload_data_from_json(self, path_local, pretty=True): storage_reference = self.construct_reference(cloud_file_name) self.upload_data_to_reference(data, storage_reference, pretty) - def upload_data_to_folder(self, data, cloud_folder_name, cloud_file_name, pretty=True): + def upload_data_to_folder(self, data: Any, cloud_folder_name: str, cloud_file_name: str, pretty: bool = True): """ Uploads data to the Firebase Storage under specified cloud folder name in cloud file name. Parameters ---------- - data : Any + data The data to be uploaded, needs to be JSON serializable. - cloud_folder_name : str + cloud_folder_name The name of the folder under which the data will be stored. - cloud_file_name : str + cloud_file_name The name of the reference under which the data will be stored file type should be specified.(ex: .json) - pretty : bool, optional - A boolean that determines if the data should be formatted for readability. Default is True. - - Returns - ------- - None - + pretty + A boolean that determines if the data should be formatted for readability. """ storage_reference = self.construct_reference_with_folder(cloud_folder_name, cloud_file_name) self.upload_data_to_reference(data, storage_reference, pretty) - def upload_data_to_deep_reference(self, data, cloud_path_list, pretty=True): + def upload_data_to_deep_reference(self, data: Any, cloud_path_list: list[str], pretty: bool = True): """ Uploads data to the Firebase Storage under specified reference names in list order. Parameters ---------- - data : Any + data The data to be uploaded, needs to be JSON serializable. - cloud_path_list : list of str + cloud_path_list The list of reference names under which the data will be stored file type should be specified.(ex: .json) - pretty : bool, optional - A boolean that determines if the data should be formatted for readability. Default is True. - - Returns - ------- - None - + pretty + A boolean that determines if the data should be formatted for readability. """ storage_reference = self.construct_reference_from_list(cloud_path_list) self.upload_data_to_reference(data, storage_reference, pretty) - def upload_file_as_bytes(self, file_path): + def upload_file_as_bytes(self, file_path: str) -> None: """ Uploads a file as bytes to the Firebase Storage. Parameters ---------- - file_path : str + file_path The local path of the file to be uploaded. - - Returns - ------- - None - """ if not os.path.exists(file_path): raise FileNotFoundError("File not found: {}".format(file_path)) @@ -303,15 +274,15 @@ def upload_file_as_bytes(self, file_path): storage_reference = self.construct_reference(file_name) self.upload_bytes_to_reference_from_local_file(file_path, storage_reference) - def upload_file_as_bytes_to_deep_reference(self, file_path, cloud_path_list): + def upload_file_as_bytes_to_deep_reference(self, file_path: str, cloud_path_list: list[str]): """ Uploads a file as bytes to the Firebase Storage to specified cloud path. Parameters ---------- - file_path : str + file_path The local path of the file to be uploaded. - cloud_path_list : list of str + cloud_path_list The list of reference names under which the file will be stored. Returns @@ -328,15 +299,15 @@ def upload_file_as_bytes_to_deep_reference(self, file_path, cloud_path_list): storage_reference = self.construct_reference_from_list(new_path_list) self.upload_bytes_to_reference_from_local_file(file_path, storage_reference) - def upload_files_as_bytes_from_directory_to_deep_reference(self, directory_path, cloud_path_list): + def upload_files_as_bytes_from_directory_to_deep_reference(self, directory_path: str, cloud_path_list: list[str]): """ Uploads all files in specified directory as bytes to the Firebase Storage at specified cloud path in list order. Parameters ---------- - directory_path : str + directory_path The local path of the directory in which files are stored. - cloud_path_list : list of str + cloud_path_list The list of reference names under which the file will be stored. Returns @@ -350,13 +321,13 @@ def upload_files_as_bytes_from_directory_to_deep_reference(self, directory_path, file_path = os.path.join(directory_path, file_name) self.upload_file_as_bytes_to_deep_reference(file_path, cloud_path_list) - def get_data(self, cloud_file_name): + def get_data(self, cloud_file_name: str): """ Retrieves data from the Firebase Storage for specified cloud file name. Parameters ---------- - cloud_file_name : str + cloud_file_name The name of the cloud file. Returns @@ -368,58 +339,56 @@ def get_data(self, cloud_file_name): storage_reference = self.construct_reference(cloud_file_name) return self.get_data_from_reference(storage_reference) - def get_data_from_folder(self, cloud_folder_name, cloud_file_name): + def get_data_from_folder(self, cloud_folder_name: str, cloud_file_name: str) -> Union[dict, Data]: """ Retrieves data from the Firebase Storage for specified cloud folder name and cloud file name. Parameters ---------- - cloud_folder_name : str + cloud_folder_name The name of the cloud folder. - cloud_file_name : str + cloud_file_name The name of the cloud file. Returns ------- - data : dict or Compas Class Object + Union[dict, Data] The retrieved data in dictionary format or as Compas Class Object. """ storage_reference = self.construct_reference_with_folder(cloud_folder_name, cloud_file_name) return self.get_data_from_reference(storage_reference) - def get_data_from_deep_reference(self, cloud_path_list): + def get_data_from_deep_reference(self, cloud_path_list: str) -> Union[dict, Data]: """ Retrieves data from the Firebase Storage for specified cloud folder name and cloud file name. Parameters ---------- - cloud_folder_name : str - The name of the cloud folder. - cloud_file_name : str - The name of the cloud file. + cloud_path_list + The list of reference names under which the file is stored. Returns ------- - data : dict or Compas Class Object + Union[dict, Data] The retrieved data in dictionary format or as Compas Class Object. """ storage_reference = self.construct_reference_from_list(cloud_path_list) return self.get_data_from_reference(storage_reference) - def download_data_to_json(self, cloud_file_name, path_local, pretty=True): + def download_data_to_json(self, cloud_file_name: str, path_local: str, pretty: bool = True): """ Downloads data from the Firebase Storage for specified cloud file name. Parameters ---------- - cloud_file_name : str + cloud_file_name The name of the cloud file. - path_local : str (path) + path_local The local path at which the JSON file will be stored. - pretty : bool, optional - A boolean that determines if the data should be formatted for readability. Default is True. + pretty + A boolean that determines if the data should be formatted for readability. Returns ------- diff --git a/tasks.py b/tasks.py index 7c1071fd..c76a1041 100644 --- a/tasks.py +++ b/tasks.py @@ -1,31 +1,38 @@ -from __future__ import print_function - import os +import sys + +# On macOS/Linux, pythonnet defaults to Mono, but we want to use .NET Core (dotnet) +# if available, especially for Rhino 8+ development. +if sys.platform != "win32": + os.environ["PYTHONNET_RUNTIME"] = "coreclr" from compas_invocations2 import build from compas_invocations2 import docs +from compas_invocations2 import grasshopper +from compas_invocations2 import mkdocs from compas_invocations2 import style from compas_invocations2 import tests from invoke import Collection ns = Collection( docs.help, + mkdocs.docs, style.check, style.lint, style.format, - docs.docs, - docs.linkcheck, tests.test, tests.testdocs, - build.build_ghuser_components, build.prepare_changelog, build.clean, build.release, + build.build_cpython_ghuser_components, + grasshopper.yakerize, + grasshopper.publish_yak, ) 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