oh9 dZddlZddlZddlZddlZddlZddlZdZdZdZ dZ dde e d d eed d g Z d Z dZ dZdZddgZgdZdZdZdZdZdZdZdZdZdZdZdZdZdZeee eegZd Z d!Z!d"d#gZ"d$d%gZ#ej$%ej$&ej$'ej$(ej)ej*Z+ej$(ej$(e+Z,ej$-e,d&d'Z.ej$-e.d(Z/d)Z0d*Z1d+Z2d,Z3d-Z4d.Z5e/e!fd/Z6dS)0z IMPORTANT: This version of binary_conversion.py is now specific to Victor, so it should NOT be used for the original Cozmo because, for example, this version strips out the Left and Right backpack light data. NBodyMotionKeyFrameRobotAudioKeyFrameBackpackLightsKeyFrameProceduralFaceKeyFrameLiftHeightKeyFrameHeadAngleKeyFrameFaceAnimationKeyFrame EventKeyFrameRecordHeadingKeyFrameTurnToRecordedHeadingKeyFrame radius_mmspeed height_mm angle_degrightEyeleftEye)rrgʡE?gRQ?r333333?rrrrrrrrrrrrrrrrrr eventGroupseventIdsvolumes probabilities audioName audioEventIdvolume probabilitydurationTime_mstriggerTime_msName keyframesclipsz.binz$type pathFromRootLeftRight resourcesconfigzcozmo_anim.fbscXt|d} tj|}n(#t$r}t d|d|d}~wwxYw |n#|wxYwt |d\}}||fS)z Given the path to a .json animation file, this function will read the contents of that file and return a 2-item tuple of (animation name, list of all keyframes) rzFailed to read z file because: Nr)openjsonload Exceptionprintcloselistitems) anim_filefhcontentse anim_clipr s I/home/metal/girl-os/anki/victor/project/buildScripts/binary_conversion.pyread_anim_filer7hs i  B9R==  yyy!!DFFF      0 011!4Iy y !!s%'A% A AA  A%%A;c i}||t<i|t<tD]}g|t|<|D] }|t}||tvrg|t|<|t |t }n2#t $r%}d|d|dt d}t |d}~wwxYwtD](} ||#t $rY%wxYw|tkr0tD](} ||#t $rY%wxYw|tkrt||}|tkr; |tn#t $rYnwxYwt||tkrBt!|t"t$s"t%|t"|t"<t&D]<} || } t)t+| } | || <-#t $rY9wxYw|t|||S)a Given the name of the animation and a list of all keyframes for that animation, this function will separate those keyframes by each track to build and return a dictionary that looks like: {'Name' : 'anim_blah', 'keyframes': {'BackpackLightsKeyFrame': [], 'BodyMotionKeyFrame': [], 'EventKeyFrame': [], 'FaceAnimationKeyFrame': [], 'HeadAngleKeyFrame': [], 'LiftHeightKeyFrame': [], 'ProceduralFaceKeyFrame': [], 'RobotAudioKeyFrame': [], 'RecordHeadingKeyFrame': [], 'TurnToRecordedHeadingKeyFrame': [], } } zAt least one 'z' in 'z' is missing ''N)ANIM_NAME_ATTRKEYFRAMES_ATTR ALL_TRACKSKEYFRAME_TYPE_ATTRpopTRIGGER_TIME_ATTRKeyErrorOLD_ANIM_TOOL_ATTRSBACKPACK_LIGHT_TRACKOLD_BACKPACK_LIGHT_ATTRSROBOT_AUDIO_TRACKprep_audio_key_frame_jsonPROCEDURAL_FACE_TRACKDURATION_TIME_ATTRfill_out_eye_parametersBODY_MOTION_TRACK isinstanceBODY_RADIUS_ATTRstr INTEGER_ATTRSintroundappend) anim_namer anim_dicttrackkeyframe trigger_timer4 error_msgold_attrint_attrorig_valint_vals r6prep_json_for_binary_conversionr[{s(I )In "In..,. .!%((=:=:+,  .1 1 1/1In %e , '((( &#$56LL & & & &GLuuiiiYjYjYjkI9%% % & ,  H  X&&&&     ( ( (5  LL****D % % %09EEH ) ) )  /0000     #H - - - % % %h'78#>> M-0:J1K-L-L)* & - -H -#H-eHoo..%,""      .!%(//9999 s`= B  B: B55B:C C*)C*D D%$D%E** E76E7 H  HHctD]W}t||}|ttkr(||t|dXdS)a< If the provided keyframe doesn't have enough attributes for each eye (because it is an old animation from a time when we had fewer attributes per eye), then use DEFAULT_EYE_SETTINGS to fill in those missing attributes for each eye (using the default values defined in DEFAULT_EYE_SETTINGS). N) EYE_ATTRSlenDEFAULT_EYE_SETTINGSextend)rTeye_attrnum_eye_settingss r6rHrHsoOOx122 c"677 7 7 X  % %&:;K;L;L&M N N NOOcZt|vr4t|vr)|tD]} |t= #t$rYwxYw|Si}|t|t<i}t |tt r|t|t<n|tg|t<d}t|vrt|t}|dkr |g|t<|Sd}t|vr_t |tt r'|t}t|}||t<n|tg|t<d}||kr/|dkrd|z}t|d|z }|g|z} | |t<d} t|vr |t} | g|z|t<|g|t<|S)a 1. Check audio key frame json format 2. Migrate old version to new format 3. Handle exporter edge cases Current Audio Key Frame format { "triggerTime_ms": uint "eventGroups": [ { "eventIds": [uint], "volumes": [float], "probabilities": [float] } ], "states": [ { stateGroupId: uint, stateId: uint } ] "switches": [ { switchGroupId: uint, stateId: uint } ] "parameters": [ { parameterId: uint, value: float, time_ms: uint, curve: byte } ] } rrzKFailed to migrate '%s' because the event and probability count do not matchg?)AUDIO_DEP_EVENT_ATTRAUDIO_EVENT_GROUPS_ATTRAUDIO_NAME_ATTRr@r?rJr/AUDIO_EVENT_IDS_ATTRr^AUDIO_DEP_PROBABILITY_ATTRAUDIO_PROBABILITIES_ATTRr-AUDIO_DEP_VOLUME_ATTRAUDIO_VOLUMES_ATTR) rTrQ eventGroup audioFrame eventCount probCountdep_probabilitymsgvalr defaultVols r6rErEsN 8 + + #h . .&'>?   "?33DJ$,->$?J !J(/0$77L+34H+I '((,45I,J+K '(Jz))$89:: Q/9l *+I!X-- h9:D A A &'ABOO,,I3BJ/ 0 05==W4X3YJ/ 0IJ >>_clmC #JJJJ * /< +,J((34 &0\J%>J!",6,J&' s , 99c t|d5}tj||ddddddS#1swxYwYdS#ttf$r"}d|d|}t |Yd}~dSd}~wwxYw)z Given the path to a .json file and a dictionary of animation data, this function will write out the animation file (overwriting any existing file at that path). w),z: )indent separatorsNzFailed to write 'z' file because: )r)r*dumpOSErrorIOErrorr-) json_filedatar2r4rVs r6write_json_filerYs  )S ! ! BR IdBq[ A A A A B B B B B B B B B B B B B B B B B B W ?Hyy!!L  is3A8 A<A<AA8A33A8ctj|}tj|d}tj|st d|z|d|d||g}t j|t jt j}| \}} |j } | dkr$td| ztd| ztj |d|z} tj| std | z| S) Nflatcz;%s is not a file so JSON data cannot be converted to binaryz-oz-b)stdoutstderrrzError encountered: %sz>Unable to successfully generate binary file (exit status = %s)z"Unable to generate binary file: %s)ospathdirnamejoinisfileEnvironmentError subprocessPopenPIPE communicate returncoder- ValueErrorsplitext) file_path flatc_dir schema_file bin_file_ext output_dirrargsprr exit_status output_files r6convert_json_to_binaryrgs++J GLLG , ,E 7>>% f\_ddeee 4T; BDjojoNNNA]]__NFF,Ka &/111Y\gghhh'""9--a0<?K 7>>+ & &M= KLLL rccZg}|D]9}t|\}}t||} || :tjd\} } t | t |it| |||} tj | tj | tj tj | |} tj| | tj | st!d| z| S)a{ Given: 1: a list of .json animation files 2: the desired name for the resulting binary file 3: the path to a directory that contains the "flatc" binary 4: the path to an .fbs FlatBuffers schema file (optional, default = "cozmo_anim.fbs") 5: the desired file extension for the resulting binary file (optional, default = ".bin") this function will use "flatc" to generate a binary animation file and return the path to that file. See https://google.github.io/flatbuffers/flatbuffers_guide_using_schema_compiler.html for additional info about the "flatc" schema compiler. z.json)suffixzBinary file missing: %s)r7r[rPtempfilemkstempr CLIPS_ATTRrrr.removerrrrenamerr) json_filesbin_namerrr anim_clipsr~r5r rRfd tmp_json_filebin_filerenamed_bin_files r6mainr}sJ%% -i88 93IyII )$$$$ (888B MJz#:;;;%mY \ZZHHRLLLImw||BGOOH$=$=xHHIh())) 7>>* + +G25EEFFF rc)7__doc__sysrrrr*inspectrIrDrBrFr<rKBODY_SPEED_ATTRLIFT_HEIGHT_ATTRHEAD_ANGLE_ATTRr]r_rfrhrlrjrgrerkrirGr?r=r:r;rMr BIN_FILE_EXTrArCrnormpathabspathrealpathrgetfile currentframeTHIS_DIR ENGINE_ROOTr CONFIG_DIR SCHEMA_FILEr7r[rHrErrrrcr6rsr   )(/0"$79N"$;_!24KMln   # <(!*% *'$"$6Zjk   /"G, 7  BGOOBG,<,