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Use of importlib.resources for Python versions over 3.12. pkg_resources kept for older Python versions. #123

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Use of importlib.resources for Python versions over 3.12. pkg_resources kept for older Python versions. #123

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51 changes: 40 additions & 11 deletions client/python/projectairsim/src/projectairsim/utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,14 @@
import jsonschema
from jsonschema import validate
from pykml import parser
import pkg_resources
import sys

PYTHON_VERSION = (3, 12)
if sys.version_info < PYTHON_VERSION:
import pkg_resources
else:
from importlib.resources import files
from pathlib import Path

from projectairsim.geodetic_converter import GeodeticConverter

Expand Down Expand Up @@ -482,15 +489,27 @@ def load_scene_config_as_dict(
Tuple[Dict, List]: a tuple containing the dict and the file paths of all loaded configuration files
"""
projectairsim_log().info(f"Loading scene config: {config_name}")
total_path = os.path.join(sim_config_path, config_name)
filepaths = [total_path, [], []]

if sys.version_info < PYTHON_VERSION:
total_path = os.path.join(sim_config_path, config_name)
filepaths = [total_path, [], []]

robot_config_schema = pkg_resources.resource_string(
__name__, "schema/robot_config_schema.jsonc"
)
scene_config_schema = pkg_resources.resource_string(
__name__, "schema/scene_config_schema.jsonc"
)

robot_config_schema = pkg_resources.resource_string(
__name__, "schema/robot_config_schema.jsonc"
)
scene_config_schema = pkg_resources.resource_string(
__name__, "schema/scene_config_schema.jsonc"
)
else:
# Path handling for loading files
BASE_DIR = Path(__file__).resolve().parent.parent.parent.parent / "example_user_scripts"
config_path = os.path.join(BASE_DIR, sim_config_path, config_name)
total_path = os.path.join(sim_config_path, config_path)
filepaths = [total_path, [], []]

robot_config_schema = (files(__package__) / "schema/robot_config_schema.jsonc").read_bytes()
scene_config_schema = (files(__package__) / "schema/scene_config_schema.jsonc").read_bytes()

with open(total_path) as f:
data = commentjson.load(f) # read and write the JSON as a dict
Expand All @@ -505,7 +524,12 @@ def load_scene_config_as_dict(
for actor in data["actors"]:
if actor["type"] == "robot":
actor_path = actor["robot-config"]
total_actor_path = os.path.join(sim_config_path, actor_path)

if sys.version_info < PYTHON_VERSION:
total_actor_path = os.path.join(sim_config_path, actor_path)
else:
total_actor_path = os.path.join(BASE_DIR, sim_config_path, actor_path)

filepaths[1].append(total_actor_path)
with open(total_actor_path) as e:
temp = commentjson.load(e)
Expand All @@ -517,7 +541,12 @@ def load_scene_config_as_dict(
for env_actor in data["environment-actors"]:
if env_actor["type"] == "env_actor":
env_actor_path = env_actor["env-actor-config"]
total_env_actor_path = os.path.join(sim_config_path, env_actor_path)

if sys.version_info < PYTHON_VERSION:
total_env_actor_path = os.path.join(sim_config_path, env_actor_path)
else:
total_env_actor_path = os.path.join(BASE_DIR, sim_config_path, env_actor_path)

filepaths[2].append(env_actor_path)
with open(total_env_actor_path) as e:
temp = commentjson.load(e)
Expand Down