Source code for state_space_setup_assistant.session

"""In-memory wizard state.

One WizardSession per server process (single local user). Two browser tabs
against the same server share and clobber this state -- documented limitation.
"""

import atexit
import shutil
import tempfile
from dataclasses import dataclass, field
from typing import Any, Dict, List, Optional




@dataclass
class WizardSession:
    urdf_source: Optional[str] = None   # what the user typed (kept for export)
    urdf_path: Optional[str] = None     # resolved absolute path
    urdf_xml: Optional[str] = None      # xacro-processed XML (what the viewer gets)
    robot_name: Optional[str] = None
    joints: List[Any] = field(default_factory=list)        # list[JointInfo]
    validation: List[Dict] = field(default_factory=list)
    model_cfg: Optional[Dict] = None    # last model.yaml dict (yamlgen output)
    model: Any = None                   # StateSpaceModel
    design_cfg: Optional[Dict] = None   # last design.yaml dict
    result: Any = None                  # ControllerResult
    benchmark: Optional[Dict] = None    # last benchmark response
    output_dir: Optional[str] = None    # default export dir from --output-dir
    # Cached JSON payloads of the last successful call per step, so a browser
    # reload can rehydrate the wizard via GET /api/state.
    responses: Dict[str, Dict] = field(default_factory=dict)
    workdir: str = field(default_factory=lambda: tempfile.mkdtemp(
        prefix='ss_setup_'))

    def __post_init__(self):
        atexit.register(shutil.rmtree, self.workdir, ignore_errors=True)



    def reset_robot(self):
        """Clear everything derived from a previously loaded robot."""
        self.urdf_source = None
        self.urdf_path = None
        self.urdf_xml = None
        self.robot_name = None
        self.joints = []
        self.validation = []
        self.reset_model()




    def reset_model(self):
        """Clear everything derived from a previous linearization."""
        self.model_cfg = None
        self.model = None
        self.design_cfg = None
        self.result = None
        self.benchmark = None
        for key in ('linearize', 'design', 'benchmark', 'export'):
            self.responses.pop(key, None)