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import os 

from PythonQt import QtCore, QtGui 

import director.applogic as app 

import director.objectmodel as om 

import director.ioUtils as io 

import director.visualization as vis 

from director import roboturdf 

from director import otdfmodel 

_lastDir = None 

def getDefaultDirectory(): 

    return _lastDir or os.getcwd() 

def storeDefaultDirectory(filename): 

    global _lastDir 

    if os.path.isfile(filename): 

        filename = os.path.dirname(filename) 

    if os.path.isdir(filename): 

        _lastDir = filename 

def onFileOpenDialog(): 

    mainWindow = app.getMainWindow() 

    fileFilters = "Data Files (*.obj *.pcd *.ply *.stl *.vtk *.vtp *.wrl *.urdf *.otdf)"; 

    filename = QtGui.QFileDialog.getOpenFileName(mainWindow, "Open...", getDefaultDirectory(), fileFilters) 

    if not filename: 

        return 

    storeDefaultDirectory(filename) 

    onOpenFile(filename) 

def onOpenFile(filename): 

    if filename.lower().endswith('urdf'): 

        onOpenUrdf(filename) 

    elif filename.lower().endswith('otdf'): 

        onOpenOtdf(filename) 

    else: 

        onOpenGeometry(filename) 

def onOpenGeometry(filename): 

    if filename.lower().endswith('wrl'): 

        onOpenVrml(filename) 

        return 

    polyData = io.readPolyData(filename) 

    if not polyData or not polyData.GetNumberOfPoints(): 

        app.showErrorMessage('Failed to read any data from file: %s' % filename, title='Reader error') 

        return 

    vis.showPolyData(polyData, os.path.basename(filename), parent='files') 

def onOpenVrml(filename): 

    meshes, color = io.readVrml(filename) 

    folder = om.getOrCreateContainer(os.path.basename(filename), parentObj=om.getOrCreateContainer('files')) 

    for i, pair in enumerate(zip(meshes, color)): 

        mesh, color = pair 

        vis.showPolyData(mesh, 'mesh %d' % i, color=color, parent=folder) 

def onOpenUrdf(filename): 

    model = roboturdf.openUrdf(filename, app.getCurrentRenderView()) 

    if not model: 

        app.showErrorMessage('Failed to read urdf file: %s' % filename, title='Read urdf error') 

def onOpenOtdf(filename): 

    model = otdfmodel.openOtdf(filename, app.getCurrentRenderView()) 

def onFileExportUrdf(): 

    obj = om.getActiveObject() 

    if not obj or not isinstance(obj, otdfmodel.OtdfModelItem): 

        app.showErrorMessage('Please select an OTDF object', title='OTDF object not selected') 

        return 

    mainWindow = app.getMainWindow() 

    filename = QtGui.QFileDialog.getSaveFileName(mainWindow, "Save Data...", getDefaultDirectory(), 'URDF (*.urdf)', 'URDF (*.urdf)') 

    if not os.path.splitext(filename)[1]: 

        filename += '.urdf' 

    storeDefaultDirectory(filename) 

    urdfString = obj.parser.getUrdfFromOtdf() 

    urdfFile = open(filename, 'w') 

    urdfFile.write(urdfString) 

    urdfFile.close() 

def onFileSaveData(): 

    obj = om.getActiveObject() 

    if not obj: 

        app.showErrorMessage('Please select an object', title='No object selected') 

        return 

    if isinstance(obj, otdfmodel.OtdfModelItem): 

        mainWindow = app.getMainWindow() 

        filename = QtGui.QFileDialog.getSaveFileName(mainWindow, "Save Data...", getDefaultDirectory(), 'OTDF (*.otdf)', 'OTDF (*.otdf)') 

        if not os.path.splitext(filename)[1]: 

            filename += '.otdf' 

        storeDefaultDirectory(filename) 

        otdfString = obj.parser.getUpdatedOtdf() 

        otdfFile = open(filename, 'w') 

        otdfFile.write(otdfString) 

        otdfFile.close() 

    elif hasattr(obj, 'polyData'): 

        mainWindow = app.getMainWindow() 

        fileFilters = "PLY (*.ply);;STL (*.stl);;VTP (*.vtp);;VTK (*.vtk)"; 

        defaultFilter = 'VTP (*.vtp)'; 

        filename = QtGui.QFileDialog.getSaveFileName(mainWindow, "Save Data...", getDefaultDirectory(), fileFilters, defaultFilter) 

        if not filename: 

            return 

        if not os.path.splitext(filename)[1]: 

            filename += '.vtp' 

        polyData = io.writePolyData(obj.polyData, filename) 

    else: 

        app.showErrorMessage('Please select an object that contains geometry data or an OTDF object', title='Invalid object selected') 

        return 

    storeDefaultDirectory(filename) 

def onOpenOnlineHelp(): 

    QtGui.QDesktopServices.openUrl(QtCore.QUrl('https://openhumanoids.github.io/director/')) 

def init(): 

    mainWindow = app.getMainWindow() 

    mainWindow.connect('fileOpen()', onFileOpenDialog) 

    mainWindow.connect('fileSaveData()', onFileSaveData) 

    mainWindow.connect('fileExportUrdf()', onFileExportUrdf) 

    mainWindow.connect('openOnlineHelp()', onOpenOnlineHelp)