Import upstream snapshot 80e710700aac9573a2230f74f7ce9e094833a0bc

Upstream: https://github.com/Rhoban/onshape-to-robot Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc Upstream-Branch: master
2026-08-28 15:42:31 +08:00
commit bb87928bce
107 changed files with 16958 additions and 0 deletions
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+import numpy as np
+import ast
+import operator as op
+
+
+class ExpressionParser:
+    """
+    Evaluate Onshape expression
+    See https://cad.onshape.com/help/Content/numeric-fields.htm
+
+    This parser is based on ast module.
+    """
+
+    def __init__(self):
+        self.variables_lazy_loading = None
+        self.variables = {
+            "pi": np.pi, "Pi": np.pi, "PI": np.pi
+        }
+
+    # Supported operators
+    operators = {
+        ast.Add: op.add,
+        ast.Sub: op.sub,
+        ast.Mult: op.mul,
+        ast.Div: op.truediv,
+        ast.Pow: op.pow,
+        ast.BitXor: op.xor,
+        ast.USub: op.neg,
+        ast.Mod: op.mod,
+    }
+
+    # Supporter functions
+    functions = {
+        "cos": np.cos,
+        "sin": np.sin,
+        "tan": np.tan,
+        "acos": np.arccos,
+        "asin": np.arcsin,
+        "atan": np.arctan,
+        "atan2": np.arctan2,
+        "cosh": np.cosh,
+        "sinh": np.sinh,
+        "tanh": np.tanh,
+        "asinh": np.arcsinh,
+        "acosh": np.arccosh,
+        "atanh": np.arctanh,
+        "ceil": np.ceil,
+        "floor": np.floor,
+        "round": np.round,
+        "exp": np.exp,
+        "sqrt": np.sqrt,
+        "abs": np.abs,
+        "max": np.max,
+        "min": np.min,
+        "log": np.log,
+        "log10": np.log10,
+    }
+
+    def eval_expr(self, expr):
+        # Length units. Converting everything to meter / radian
+        units = {
+            "millimeter": 1e-3,
+            "mm": 1e-3,
+            "centimeter": 1e-2,
+            "cm": 1e-2,
+            "meter": 1.0,
+            "inch": 0.0254,
+            "in": 0.0254,
+            "foot": 0.3048,
+            "ft": 0.3048,
+            "yard": 0.9144,
+            "yd": 0.9144,
+            "radian": 1.0,
+            "rad": 1.0,
+            "degree": np.pi / 180,
+            "deg": np.pi / 180,
+            "m": 1.0
+        }
+        for unit, factor in units.items():
+            expr = expr.replace(f" {unit}", f"*{factor}")
+
+        expr = expr.replace("#", "")
+        expr = expr.replace("^", "**")
+
+        return self.eval_(ast.parse(expr, mode="eval").body)
+
+    def eval_(self, node):
+        if isinstance(node, ast.Constant):
+            return float(node.value)
+        elif isinstance(node, ast.BinOp):
+            return self.operators[type(node.op)](
+                self.eval_(node.left), self.eval_(node.right)
+            )
+        elif isinstance(node, ast.UnaryOp):  # e.g., -1
+            return self.operators[type(node.op)](self.eval_(node.operand))
+        elif isinstance(node, ast.Name):
+            if (
+                node.id not in self.variables
+                and self.variables_lazy_loading is not None
+            ):
+                self.variables_lazy_loading()
+                self.variables_lazy_loading = None
+            if node.id not in self.variables:
+                raise ValueError(f"Unknown variable in expression: {node.id}")
+            return self.variables[node.id]
+        elif isinstance(node, ast.Call):
+            if node.func.id not in self.functions:
+                raise ValueError(f"Unknown function in expression: {node.func.id}")
+            return self.functions[node.func.id](*[self.eval_(arg) for arg in node.args])
+        else:
+            raise TypeError(node)
+
+
+if __name__ == "__main__":
+    ep = ExpressionParser()
+    ep.variables["x"] = 5
+
+    print(ep.eval_expr("(cos(5 deg)) mm + #x inch"))
+    print(ep.eval_expr("-sin(3/(2^2) deg)"))