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Updated docstrings.
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@senthurayyappan
senthurayyappan committed Jan 5, 2025
1 parent a54706d commit a08c4dc
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Showing 6 changed files with 514 additions and 57 deletions.
153 changes: 142 additions & 11 deletions onshape_robotics_toolkit/connect.py
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Original file line number Diff line number Diff line change
Expand Up @@ -357,6 +357,7 @@ def get_assembly_name(
wtype: The type of workspace.
wid: The unique identifier of the workspace.
eid: The unique identifier of the assembly.
configuration: The configuration of the assembly.
Returns:
str: Assembly name
Expand Down Expand Up @@ -415,7 +416,9 @@ def get_root_assembly(
wid: The unique identifier of the workspace.
eid: The unique identifier of the element.
configuration: The configuration of the assembly.
with_mass_properties: Whether to include mass properties in the assembly data.
log_response: Log the response from the API request.
with_meta_data: Whether to include meta data in the assembly data.
Returns:
RootAssembly: RootAssembly object containing the root assembly data
Expand All @@ -425,7 +428,11 @@ def get_root_assembly(
... did="a1c1addf75444f54b504f25c",
... wtype="w",
... wid="0d17b8ebb2a4c76be9fff3c7",
... eid="a86aaf34d2f4353288df8812"
... eid="a86aaf34d2f4353288df8812",
... configuration="default",
... with_mass_properties=True,
... log_response=False,
... with_meta_data=True
... )
>>> print(root_assembly)
RootAssembly(
Expand Down Expand Up @@ -603,6 +610,7 @@ def download_assembly_stl(
wtype: The type of workspace.
wid: The unique identifier of the workspace.
eid: The unique identifier of the element.
buffer: BinaryIO object to write the STL file to.
configuration: The configuration of the assembly.
"""
Expand Down Expand Up @@ -691,11 +699,11 @@ def download_part_stl(
Args:
did: The unique identifier of the document.
wtype: The type of workspace.
wid: The unique identifier of the workspace.
eid: The unique identifier of the element.
partID: The unique identifier of the part.
buffer: BinaryIO object to write the STL file to.
wtype: The type of workspace.
Returns:
BinaryIO: BinaryIO object containing the STL file
Expand Down Expand Up @@ -757,9 +765,9 @@ def get_assembly_mass_properties(
Args:
did: The unique identifier of the document.
wtype: The type of workspace.
wid: The unique identifier of the workspace.
eid: The unique identifier of the rigid assembly.
wtype: The type of workspace.
Returns:
MassProperties object containing the mass properties of the assembly.
Expand Down Expand Up @@ -809,10 +817,10 @@ def get_mass_property(
Args:
did: The unique identifier of the document.
wtype: The type of workspace.
wid: The unique identifier of the workspace.
eid: The unique identifier of the element.
partID: The identifier of the part.
wtype: The type of workspace.
Returns:
MassProperties object containing the mass properties of the part.
Expand Down Expand Up @@ -883,7 +891,7 @@ def request(
body: Body of the request
base_url: Base URL for the request
log_response: Log the response from the API request
timeout: Timeout for the request in seconds
Returns:
requests.Response: Response from the Onshape API request
"""
Expand Down Expand Up @@ -912,9 +920,40 @@ def request(
return res

def _build_url(self, base_url, path, query):
"""
Build the URL for the request.
Args:
base_url: The base URL for the request.
path: The path for the request.
query: The query string for the request.
Returns:
The URL for the request.
"""
return base_url + path + "?" + urlencode(query)

def _send_request(self, method, url, headers, body, timeout):
def _send_request(
self,
method: HTTP,
url: str,
headers: dict[str, Any],
body: dict[str, Any],
timeout: int,
) -> requests.Response:
"""
Send the request to the Onshape API.
Args:
method: The HTTP method for the request.
url: The URL for the request.
headers: The headers for the request.
body: The body for the request.
timeout: The timeout for the request in seconds.
Returns:
The response from the Onshape API request.
"""
return requests.request(
method,
url,
Expand All @@ -925,7 +964,25 @@ def _send_request(self, method, url, headers, body, timeout):
timeout=timeout, # Specify an appropriate timeout value in seconds
)

def _handle_redirect(self, res, method, headers, log_response=True):
def _handle_redirect(
self,
res: requests.Response,
method: HTTP,
headers: dict[str, Any],
log_response: bool = True,
) -> requests.Response:
"""
Handle a redirect response from the Onshape API.
Args:
res: The response from the Onshape API request.
method: The HTTP method for the request.
headers: The headers for the request.
log_response: Whether to log the response from the API request.
Returns:
The response from the Onshape API request.
"""
location = urlparse(res.headers["Location"])
querystring = parse_qs(location.query)

Expand All @@ -939,6 +996,12 @@ def _handle_redirect(self, res, method, headers, log_response=True):
)

def _log_response(self, res):
"""
Log the response from the Onshape API request.
Args:
res: The response from the Onshape API request.
"""
try:
if not 200 <= res.status_code <= 206:
LOGGER.debug(f"Request failed, details: {res.text}")
Expand All @@ -947,7 +1010,29 @@ def _log_response(self, res):
except UnicodeEncodeError as e:
LOGGER.error(f"UnicodeEncodeError: {e}")

def _make_auth(self, method, date, nonce, path, query=None, ctype="application/json"):
def _make_auth(
self,
method: HTTP,
date: str,
nonce: str,
path: str,
query: Optional[dict[str, Any]] = None,
ctype: str = "application/json",
) -> str:
"""
Make the authentication header for the Onshape API request.
Args:
method: The HTTP method for the request.
date: The date for the request.
nonce: The nonce for the request.
path: The path for the request.
query: The query string for the request.
ctype: The content type for the request.
Returns:
The authentication header for the Onshape API request.
"""
if query is None:
query = {}
query = urlencode(query)
Expand All @@ -967,7 +1052,25 @@ def _make_auth(self, method, date, nonce, path, query=None, ctype="application/j

return auth

def _make_headers(self, method, path, query=None, headers=None):
def _make_headers(
self,
method: HTTP,
path: str,
query: Optional[dict[str, Any]] = None,
headers: Optional[dict[str, Any]] = None,
) -> dict[str, Any]:
"""
Make the headers for the Onshape API request.
Args:
method: The HTTP method for the request.
path: The path for the request.
query: The query string for the request.
headers: The headers for the request.
Returns:
The headers for the Onshape API request.
"""
if headers is None:
headers = {}
if query is None:
Expand All @@ -994,7 +1097,13 @@ def _make_headers(self, method, path, query=None, headers=None):
return req_headers

@property
def base_url(self):
def base_url(self) -> str:
"""
Get the base URL for the Onshape API request.
Returns:
The base URL for the Onshape API request.
"""
return self._url


Expand Down Expand Up @@ -1029,6 +1138,7 @@ def __init__(
file_name: Name of the mesh file.
is_rigid_assembly: Whether the element is a rigid assembly.
partID: The unique identifier of the part.
is_from_file: Whether the asset is from a file.
"""
self.did = did
self.wtype = wtype
Expand All @@ -1047,6 +1157,9 @@ def __init__(
def absolute_path(self) -> str:
"""
Returns the file path of the mesh file.
Returns:
The file path of the mesh file.
"""
if self.is_from_file:
return self._file_path
Expand All @@ -1061,12 +1174,28 @@ def absolute_path(self) -> str:
def relative_path(self) -> str:
"""
Returns the relative path of the mesh file.
Returns:
The relative path of the mesh file.
"""
return os.path.relpath(self.absolute_path, CURRENT_DIR)

async def download(self) -> None:
"""
Asynchronously download the mesh file from Onshape, transform it, and save it to a file.
Examples:
>>> asset = Asset(
... did="a1c1addf75444f54b504f25c",
... wtype="w",
... wid="0d17b8ebb2a4c76be9fff3c7",
... eid="a86aaf34d2f4353288df8812",
... client=client,
... transform=np.eye(4),
... file_name="mesh.stl",
... is_rigid_assembly=True
... )
>>> await asset.download()
"""
LOGGER.info(f"Starting download for {self.file_name}")
try:
Expand Down Expand Up @@ -1105,6 +1234,9 @@ def to_mjcf(self, root: ET.Element) -> None:
"""
Returns the XML representation of the asset, which is a mesh file.
Args:
root: The root element of the XML tree.
Examples:
>>> asset = Asset(
... did="a1c1addf75444f54b504f25c",
Expand All @@ -1130,7 +1262,6 @@ def from_file(cls, file_path: str) -> "Asset":
Args:
file_path: Path to the mesh file.
client: Onshape API client object.
Returns:
Asset: Asset object representing the mesh file.
Expand Down
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