Merge branch 'master' of github.com:sofa-framework/SofaPython3 into 25_04_work_on_new_prefabs

Author: bakpaul

.github/workflows/ci.yml

@@ -46,6 +46,7 @@ jobs:
           key: ccache_${{ runner.os }}
 
       - name: Build and install
+        id: build-install
         shell: bash
         run: |
           cmake_options="-GNinja \
@@ -91,6 +92,7 @@ jobs:
           echo "PYTHONPATH=$WORKSPACE_INSTALL_PATH/lib/python3/site-packages" | tee -a $GITHUB_ENV
 
       - name: Generate stubfiles
+        id: gen-stub
         shell: bash
         run: |
           
@@ -121,12 +123,14 @@ jobs:
           echo "ARTIFACT_NAME=$ARTIFACT_NAME" | tee -a $GITHUB_ENV
 
       - name: Create artifact
+        id: gen-artifact
         uses: actions/upload-artifact@v4.4.0
         with:
           name: ${{ env.ARTIFACT_NAME }}
           path: ${{ env.WORKSPACE_INSTALL_PATH }}
 
       - name: Install artifact
+        id: install-artifact
         uses: actions/download-artifact@v4.1.7
         with:
           name: ${{ env.ARTIFACT_NAME }}
@@ -170,33 +174,70 @@ jobs:
           python -c "import sys; print('sys.version = ' + str(sys.version)); print('sys.path = ' + str(sys.path))"
 
       - name: Run test Binding.Sofa.Tests
+        id: test-sofa
         if: always()
         shell: bash
         run: |
           cd $WORKSPACE_ARTIFACT_PATH
           ./bin/Bindings.Sofa.Tests${{ steps.sofa.outputs.exe }}
       
       - name: Run test Bindings.SofaRuntime.Tests
+        id: test-sofaruntime
         if: always()
         shell: bash
         run: |
           cd $WORKSPACE_ARTIFACT_PATH
           ./bin/Bindings.SofaRuntime.Tests${{ steps.sofa.outputs.exe }}
       
       - name: Run test Bindings.SofaTypes.Tests
+        id: test-sofatypes
         if: always()
         shell: bash
         run: |
           cd $WORKSPACE_ARTIFACT_PATH
           ./bin/Bindings.SofaTypes.Tests${{ steps.sofa.outputs.exe }}
       
       - name: Run test Bindings.Modules.Tests
+        id: test-sofamodules
         if: always()
         shell: bash
         run: |
           cd $WORKSPACE_ARTIFACT_PATH
           ./bin/Bindings.Modules.Tests${{ steps.sofa.outputs.exe }}
 
+      - name: Notify dashboard
+        if: always() && startsWith(github.repository, 'sofa-framework') && startsWith(github.ref, 'refs/heads/master') # we are not on a fork and on master
+        env:       
+          DASH_AUTH: ${{ secrets.PLUGIN_DASH }}
+        shell: bash
+        run: |
+          test_status=$([ '${{ steps.test-sofa.outcome }}' == 'success' ] && \
+                        [ '${{ steps.test-sofaruntime.outcome }}' == 'success' ] && \
+                        [ '${{ steps.test-sofatypes.outcome }}' == 'success' ] && \
+                        [ '${{ steps.test-sofamodules.outcome }}' == 'success' ] && \
+                        echo 'true' || echo 'false')
+
+          build_status=$([ '${{ steps.build-install.outcome }}' == 'success' ] && \
+                         [ '${{ steps.gen-stub.outcome }}' == 'success' ] && \
+                         echo 'true' || echo 'false')
+
+          binary_status=$([ '${{ steps.gen-artifact.outcome }}' == 'success' ] && \
+                         [ '${{ steps.install-artifact.outcome }}' == 'success' ] && \
+                         echo 'true' || echo 'false')
+
+          os=$(echo "${{ matrix.os }}" | awk -F- '{ print $1 }')
+                        
+
+          curl -X POST -H "X-API-KEY: $DASH_AUTH" -H "Content-Type: application/json" -d \
+          "{\"id\":\"$(echo "${{ github.repository }}" | awk -F/ '{ print $2 }')\",\
+           \"github_ref\":\"${{ github.sha }}\",\
+           \"url\":\"https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }}\",\
+           \"os\":\"$os\",\
+           \"build\":$build_status,\
+           \"tests\":$test_status,\
+           \"binary\":$binary_status}"\
+           https://sofa-framework.org:5000/api/v1/plugins
+
   deploy:
     name: Deploy artifacts
     if: always() && startsWith(github.repository, 'sofa-framework') && (startsWith(github.ref, 'refs/heads/') || startsWith(github.ref, 'refs/tags/')) # we are not on a fork and on a branch or a tag (not a PR)

.readthedocs.yml

@@ -16,4 +16,5 @@ build:
     - wget https://github.com/sofa-framework/SofaPython3/releases/download/v24.12.00-doc-generation/SofaPython3_v24.12.00_docs.zip
     - mkdir docUnzipped/
     - unzip  SofaPython3_v24.12.00_docs.zip -d docUnzipped/
-    - cp --recursive docUnzipped/* $READTHEDOCS_OUTPUT/html/
+    - cp --recursive docUnzipped/SofaPython3_v24.12.00_docs/* $READTHEDOCS_OUTPUT/html/
+    - ls $READTHEDOCS_OUTPUT/html/

bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_BaseData.cpp

@@ -112,9 +112,13 @@ std::unique_ptr<DataContainerContext> writeableArray(BaseData* self)
     return nullptr;
 }
 
-void __setattr__(py::object self, const std::string& s, py::object value)
+py::object getValue(py::object self)
+{
+    return PythonFactory::valueToPython_ro(py::cast<BaseData*>(self));
+}
+
+void setValue(py::object self, py::object value)
 {
-    SOFA_UNUSED(s);
     BaseData* selfdata = py::cast<BaseData*>(self);
 
     if(py::isinstance<DataContainer>(value))
@@ -132,14 +136,20 @@ void __setattr__(py::object self, const std::string& s, py::object value)
     BindingBase::SetAttr(py::cast(selfdata->getOwner()),selfdata->getName(),value);
 }
 
+void __setattr__(py::object self, const std::string& s, py::object value)
+{
+    SOFA_UNUSED(s);
+    setValue(self, value);
+}
+
 py::object __getattr__(py::object self, const std::string& s)
 {
     /// If this is data.value we returns the content value of the data field converted into
     /// a python object that is easy to manipulate. The conversion is done with the toPython
     /// function.
     if(s == "value")
     {
-        return PythonFactory::valueToPython_ro(py::cast<BaseData*>(self));
+        return getValue(self);
     }
 
     if(s == "linkpath")
@@ -150,6 +160,8 @@ py::object __getattr__(py::object self, const std::string& s)
     throw py::attribute_error("There is no attribute '"+s+"'");
 }
 
+
+
 void setParent(BaseData* self, BaseData* parent)
 {
     self->setParent(parent);
@@ -211,6 +223,8 @@ void moduleAddBaseData(py::module& m)
     data.def("getName", [](BaseData& b){ return b.getName(); }, sofapython3::doc::baseData::getName);
     data.def("setName", [](BaseData& b, const std::string& s){ b.setName(s); }, sofapython3::doc::baseData::setName);
     data.def("getCounter", [](BaseData& self) { return self.getCounter(); }, sofapython3::doc::baseData::getCounter);
+    data.def("setValue", setValue);
+    data.def("getValue", getValue);
     data.def("getHelp", &BaseData::getHelp, sofapython3::doc::baseData::getHelp);
     data.def("unset", [](BaseData& b){ b.unset(); }, sofapython3::doc::baseData::unset);
     data.def("getOwner", &getOwner, sofapython3::doc::baseData::getOwner);

bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_Node.cpp

@@ -22,6 +22,7 @@
 #include <pybind11/numpy.h>
 
 #include <sofa/simulation/Simulation.h>
+#include <sofa/simulation/mechanicalvisitor/MechanicalComputeEnergyVisitor.h>
 #include <sofa/core/ComponentNameHelper.h>
 
 #include <sofa/core/objectmodel/BaseData.h>
@@ -234,9 +235,47 @@ void setFieldsFromPythonValues(Base* self, const py::kwargs& dict)
     }
 }
 
+class NumpyReprFixerRAII
+{
+public:
+    NumpyReprFixerRAII()
+    {
+        using namespace pybind11::literals;
+
+        m_numpy = py::module_::import("numpy");
+        const std::string version = py::cast<std::string>(m_numpy.attr("__version__"));
+        m_majorVersion = std::stoi(version.substr(0,1));
+        if ( m_majorVersion > 1)
+        {
+            m_setPO =  m_numpy.attr("set_printoptions");
+            m_initialState = m_numpy.attr("get_printoptions")();
+            m_setPO("legacy"_a = true);
+        }
+    }
+
+    ~NumpyReprFixerRAII()
+    {
+        if ( m_majorVersion > 1)
+        {
+            m_setPO(**m_initialState);
+        }
+    }
+
+private:
+    py::module_ m_numpy;
+    int m_majorVersion;
+    py::object m_setPO;
+    py::dict m_initialState;
+
+};
+
+
 /// Implement the addObject function.
 py::object addObjectKwargs(Node* self, const std::string& type, const py::kwargs& kwargs)
 {
+    //Instantiating this object will make sure the numpy representation is fixed during the call of this function, and comes back to its previous state after
+    [[maybe_unused]] const NumpyReprFixerRAII numpyReprFixer;
+
     std::string name {};
     if (kwargs.contains("name"))
     {
@@ -291,6 +330,8 @@ py::object addObjectKwargs(Node* self, const std::string& type, const py::kwargs
         if(d)
             d->setPersistent(true);
     }
+
+
     return PythonFactory::toPython(object.get());
 }
 
@@ -360,6 +401,9 @@ py::object createObject(Node* self, const std::string& type, const py::kwargs& k
 
 py::object addChildKwargs(Node* self, const std::string& name, const py::kwargs& kwargs)
 {
+    //Instantiating this object will make sure the numpy representation is fixed during the call of this function, and comes back to its previous state after
+    [[maybe_unused]] const NumpyReprFixerRAII numpyReprFixer;
+
     if (sofapython3::isProtectedKeyword(name))
         throw py::value_error("addChild: Cannot call addChild with name " + name + ": Protected keyword");
     BaseObjectDescription desc (name.c_str());
@@ -378,6 +422,7 @@ py::object addChildKwargs(Node* self, const std::string& name, const py::kwargs&
             d->setPersistent(true);
     }
 
+
     return py::cast(node);
 }
 
@@ -606,6 +651,15 @@ void sendEvent(Node* self, py::object pyUserData, char* eventName)
     self->propagateEvent(sofa::core::execparams::defaultInstance(), &event);
 }
 
+py::object computeEnergy(Node* self)
+{
+    sofa::simulation::mechanicalvisitor::MechanicalComputeEnergyVisitor energyVisitor(sofa::core::mechanicalparams::defaultInstance());
+    energyVisitor.execute(self->getContext());
+    const SReal kineticEnergy = energyVisitor.getKineticEnergy();
+    const SReal potentialEnergy = energyVisitor.getPotentialEnergy();
+    return py::cast(std::make_tuple(kineticEnergy, potentialEnergy));
+}
+
 }
 
 void moduleAddNode(py::module &m) {
@@ -660,6 +714,7 @@ void moduleAddNode(py::module &m) {
     p.def("getMechanicalState", &getMechanicalState, sofapython3::doc::sofa::core::Node::getMechanicalState);
     p.def("getMechanicalMapping", &getMechanicalMapping, sofapython3::doc::sofa::core::Node::getMechanicalMapping);
     p.def("sendEvent", &sendEvent, sofapython3::doc::sofa::core::Node::sendEvent);
+    p.def("computeEnergy", &computeEnergy, sofapython3::doc::sofa::core::Node::computeEnergy);
 
 }
 } /// namespace sofapython3

bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_Node_doc.h

@@ -397,6 +397,10 @@ static auto sendEvent =
         :type pyUserData: py::object
         :type eventName: string
         )";
+static auto computeEnergy =
+        R"(
+        Returns the tuple (kineticEnergy, potentialEnergy)
+        )";
 
 }
 

bindings/Sofa/src/SofaPython3/Sofa/Helper/Binding_Utils.cpp

@@ -0,0 +1,50 @@
+/******************************************************************************
+*                              SofaPython3 plugin                             *
+*                  (c) 2021 CNRS, University of Lille, INRIA                  *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+
+#include <pybind11/pybind11.h>
+
+#include <SofaPython3/Sofa/Helper/Binding_Utils.h>
+#include <SofaPython3/PythonFactory.h>
+
+#include <sofa/helper/Utils.h>
+
+/// Makes an alias for the pybind11 namespace to increase readability.
+namespace py { using namespace pybind11; }
+
+namespace sofapython3
+{
+    
+void moduleAddUtils(py::module &m) {
+    py::class_<sofa::helper::Utils> utils(m, "Utils");
+    utils.doc() = "Utility class with convenient functions.";
+
+    const auto GetSofaUserLocalDirectoryDoc = R"doc(
+        Get the directory where is stored the sofa configuration.
+    )doc";
+    utils.def_static("GetSofaUserLocalDirectory", &sofa::helper::Utils::getSofaUserLocalDirectory, GetSofaUserLocalDirectoryDoc);
+    
+    const auto GetSofaDataDirectoryDoc = R"doc(
+        Get the directory where is stored the sofa output data such as screenshots.
+    )doc";
+    utils.def_static("GetSofaDataDirectory", &sofa::helper::Utils::getSofaDataDirectory, GetSofaDataDirectoryDoc);
+}
+
+
+}

bindings/Sofa/src/SofaPython3/Sofa/Helper/Binding_Utils.h

@@ -0,0 +1,30 @@
+/******************************************************************************
+*                              SofaPython3 plugin                             *
+*                  (c) 2021 CNRS, University of Lille, INRIA                  *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+
+#pragma once
+
+#include <pybind11/pybind11.h>
+
+namespace sofapython3
+{
+
+    void moduleAddUtils(pybind11::module &m);
+
+}

bindings/Sofa/src/SofaPython3/Sofa/Helper/CMakeLists.txt

@@ -1,6 +1,7 @@
 project(Bindings.Sofa.Helper)
 
 set(HEADER_FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Utils.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Vector.h
     ${CMAKE_CURRENT_SOURCE_DIR}/System/Submodule_System.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_MessageHandler.h
@@ -10,6 +11,7 @@ set(HEADER_FILES
 set(SOURCE_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/Submodule_Helper.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_MessageHandler.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Utils.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Vector.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/System/Submodule_System.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/System/Binding_FileRepository.cpp

bindings/Sofa/src/SofaPython3/Sofa/Helper/Submodule_Helper.cpp

@@ -25,6 +25,7 @@
 #include <SofaPython3/Sofa/Helper/System/Submodule_System.h>
 #include <SofaPython3/Sofa/Helper/Binding_MessageHandler.h>
 #include <SofaPython3/Sofa/Helper/Binding_Vector.h>
+#include <SofaPython3/Sofa/Helper/Binding_Utils.h>
 
 /// Makes an alias for the pybind11 namespace to increase readability.
 namespace py { using namespace pybind11; }
@@ -151,6 +152,7 @@ PYBIND11_MODULE(Helper, helper)
     moduleAddMessageHandler(helper);
     moduleAddVector(helper);
     moduleAddSystem(helper);
+    moduleAddUtils(helper);
 
     auto atexit = py::module_::import("atexit");
     atexit.attr("register")(py::cpp_function([]() {