Merge pull request #11 from twyleg/switch_to_jinja2

Switch to jinja2
twyleg · Aug 28, 2023 · ae1455d · ae1455d
2 parents 98aed10 + 7860bae
commit ae1455d
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Showing 11 changed files with 115 additions and 49 deletions.
diff --git a/examples/python/track_generator_example.py b/examples/python/track_generator_example.py
@@ -17,6 +17,8 @@ def get_track_file_examples() -> List[Path]:
 if __name__ == "__main__":
     output_directory = FILE_DIR / "output"
     track_files = get_track_file_examples()
-    track_output_directories = generate_track(track_files, output_directory, False, False)
+    track_output_directories = generate_track(
+        track_files, output_directory, generate_png=True, generate_gazebo_project=True, generate_ground_truth=True
+    )
     for track_output_directory in track_output_directories:
         print(track_output_directory)
diff --git a/requirements.txt b/requirements.txt
@@ -12,8 +12,8 @@ sphinx-copybutton~=0.5.2
 sphinx-autobuild~=2021.3.14
 
 pytransform3d~=3.2.0
-drawsvg~=2.2.0
+drawsvg[all]~=2.2.0
 watchdog~=3.0.0
-pyside6~=6.4.0.1
+pyside6>=6.2.4
 xmlschema~=2.3.1
-
+jinja2~=3.1.2
diff --git a/setup.py b/setup.py
@@ -25,10 +25,11 @@ def read(fname):
     long_description_content_type="text/markdown",
     install_requires=[
         "pytransform3d~=3.2.0",
-        "drawsvg~=2.2.0",
+        "drawsvg[all]~=2.2.0",
         "watchdog~=3.0.0",
-        "pyside6==6.4.0.1",
+        "pyside6>=6.2.4",
         "xmlschema~=2.3.1",
+        "jinja2~=3.1.2",
     ],
     entry_points={
         "console_scripts": [

diff --git a/track_generator/gazebo_model_generator.py b/track_generator/gazebo_model_generator.py
@@ -1,16 +1,14 @@
 # Copyright (C) 2022 twyleg
-import os
+import jinja2
 from pathlib import Path
 from track_generator.track import Track
-from string import Template
 
 
-def read(fname):
-    return open(os.path.join(os.path.dirname(__file__), fname)).read()
+FILE_DIRPATH = Path(__file__).parent
 
 
-def write(path, data):
-    return open(path, "w").write(data)
+def read(fname):
+    return open(FILE_DIRPATH / fname).read()
 
 
 class GazeboModelGenerator:
@@ -27,37 +25,56 @@ def __init__(self, track_name: str, output_directory: Path):
         self.track_materials_scripts_directory.mkdir(parents=True, exist_ok=True)
         self.track_materials_textures_directory.mkdir(parents=True, exist_ok=True)
 
+        self.environment = jinja2.Environment(loader=jinja2.FileSystemLoader(FILE_DIRPATH / "gazebo_model_templates/"))
+
     def generate_track_material(self):
         assert self.track_materials_scripts_directory
-        template = Template(read("gazebo_model_templates/track.material.template"))
-        output = template.substitute(
-            material_name=f"{self.track_name}_material", texture_file_name=f"{self.track_name}.png"
-        )
-        write(self.track_materials_scripts_directory / "track.material", output)
+        template = self.environment.get_template("track.material.jinja")
+
+        material = {"name": f"{self.track_name}_material", "texture_file_name": f"{self.track_name}.png"}
+
+        with open(self.track_materials_scripts_directory / "track.material", "w") as output_file:
+            output_file.write(template.render(material=material))
 
     def generate_track_sdf(self, track: Track):
         assert self.track_directory
-        template = Template(read("gazebo_model_templates/model.sdf.template"))
-        output = template.substitute(name=self.track_name, width=track.width, height=track.height)
-        write(self.track_directory / "model.sdf", output)
+        template = self.environment.get_template("model.sdf.jinja")
+
+        model = {"name": self.track_name, "width": track.width, "height": track.height}
+
+        with open(self.track_directory / "model.sdf", "w") as output_file:
+            output_file.write(template.render(model=model))
 
     def generate_track_config(self, track: Track):
         assert self.track_directory
-        template = Template(read("gazebo_model_templates/model.config.template"))
-        output = template.substitute(
-            name=self.track_name,
-            version=track.version,
-            desc=self.track_name,
-        )
-        write(self.track_directory / "model.config", output)
+        template = self.environment.get_template("model.config.jinja")
+
+        model = {"name": self.track_name, "version": track.version, "desc": self.track_name}
+
+        with open(self.track_directory / "model.config", "w") as output_file:
+            output_file.write(template.render(model=model))
+
+    def generate_example_world(self, track: Track):
+        assert self.track_directory
+        template = self.environment.get_template("example.world.jinja")
+
+        example = {"name": self.track_name}
+        output_filename = f"{self.track_name}.world"
+
+        with open(self.gazebo_models_directory / output_filename, "w") as output_file:
+            output_file.write(template.render(example=example))
 
     def generate_setup_script(self):
         assert self.gazebo_models_directory
-        output = read("gazebo_model_templates/setup.bash.template")
-        write(self.gazebo_models_directory / "setup.bash", output)
+
+        template = self.environment.get_template("setup.bash.jinja")
+
+        with open(self.gazebo_models_directory / "setup.bash", "w") as output_file:
+            output_file.write(template.render())
 
     def generate_gazebo_model(self, track: Track):
         self.generate_track_material()
         self.generate_track_sdf(track)
         self.generate_track_config(track)
+        self.generate_example_world(track)
         self.generate_setup_script()
diff --git a/track_generator/gazebo_model_templates/example.world.jinja b/track_generator/gazebo_model_templates/example.world.jinja
@@ -0,0 +1,46 @@
+<?xml version="1.0"?>
+<sdf version="1.4">
+    <world name="default">
+        <light name='sun' type='directional'>
+            <cast_shadows>1</cast_shadows>
+            <pose>0 0 10 0 -0 0</pose>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.2 0.2 0.2 1</specular>
+            <attenuation>
+                <range>1000</range>
+                <constant>0.9</constant>
+                <linear>0.01</linear>
+                <quadratic>0.001</quadratic>
+            </attenuation>
+            <direction>-0.5 0.1 -0.9</direction>
+            <spot>
+                <inner_angle>0</inner_angle>
+                <outer_angle>0</outer_angle>
+                <falloff>0</falloff>
+            </spot>
+        </light>
+        <gravity>0 0 -9.8</gravity>
+        <physics type='ode'>
+            <max_step_size>0.001</max_step_size>
+            <real_time_factor>1</real_time_factor>
+            <real_time_update_rate>1000</real_time_update_rate>
+        </physics>
+        <scene>
+            <ambient>0.4 0.4 0.4 1</ambient>
+            <background>0.0 0.0 0.0 1</background>
+            <shadows>1</shadows>
+        </scene>
+        <audio>
+            <device>default</device>
+        </audio>
+        <wind/>
+
+        <model name='ground_plane'>
+            <include>
+                <uri>model://{{ example.name }}</uri>
+                <pose>0 0 0 0 0 0</pose>
+            </include>
+        </model>
+
+    </world>
+</sdf>
diff --git a/track_generator/gazebo_model_templates/model.config.jinja b/track_generator/gazebo_model_templates/model.config.jinja
@@ -0,0 +1,10 @@
+<model>
+	<name>{{ model.name }}</name>
+	<version>{{ model.version }}</version>
+	<sdf version="1.4">model.sdf</sdf>
+
+	<description>
+		{{ model.desc }}
+	</description>
+
+</model>
diff --git a/track_generator/gazebo_model_templates/model.config.template b/track_generator/gazebo_model_templates/model.config.template
diff --git a/...gazebo_model_templates/model.sdf.template → ...or/gazebo_model_templates/model.sdf.jinja b/...gazebo_model_templates/model.sdf.template → ...or/gazebo_model_templates/model.sdf.jinja
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <sdf version="1.4">
-<model name="${name}">
+<model name="{{ model.name }}">
   <static>true</static>
     <link name="link">
       <collision name="collision">
         <geometry>
           <plane>
             <normal>0 0 1</normal>
-            <size>${width} ${height}</size>
+            <size>{{ model.width }} {{ model.height }}</size>
           </plane>
         </geometry>
         <surface>
@@ -24,14 +24,14 @@
         <geometry>
           <plane>
             <normal>0 0 1</normal>
-            <size>${width} ${height}</size>
+            <size>{{ model.width }} {{ model.height }}</size>
         </plane>
         </geometry>
         <material>
           <script>
-            <uri>model://${name}/materials/scripts</uri>
-            <uri>model://${name}/materials/textures/</uri>
-            <name>${name}_material</name>
+            <uri>model://{{ model.name }}/materials/scripts</uri>
+            <uri>model://{{ model.name }}/materials/textures/</uri>
+            <name>{{ model.name }}_material</name>
           </script>
         </material>
       </visual>

diff --git a/...azebo_model_templates/setup.bash.template → ...r/gazebo_model_templates/setup.bash.jinja b/...azebo_model_templates/setup.bash.template → ...r/gazebo_model_templates/setup.bash.jinja
diff --git a/...o_model_templates/track.material.template → ...zebo_model_templates/track.material.jinja b/...o_model_templates/track.material.template → ...zebo_model_templates/track.material.jinja
@@ -1,4 +1,4 @@
-material ${material_name}
+material {{ material.name }}
 {
     technique
     {
@@ -10,7 +10,7 @@ material ${material_name}
 
             texture_unit
             {
-                texture ${texture_file_name}
+                texture {{ material.texture_file_name }}
                 filtering trilinear
             }
         }

diff --git a/track_generator/ground_truth_generator.py b/track_generator/ground_truth_generator.py
@@ -1,6 +1,6 @@
+# Copyright (C) 2023 Lukas Lange
 from pathlib import Path
-from xml.etree import cElementTree as ET, ElementTree
-from xml.etree import ElementTree
+from xml.etree import cElementTree as ET
 from xml.dom import minidom
 
 from track_generator.track import (