From cc48280e006967b1ab97ab04c74b9c181352fcf8 Mon Sep 17 00:00:00 2001
From: mehtank <mehtank>
Date: Thu, 29 Apr 2021 00:51:18 -0700
Subject: [PATCH] Generate component compositional hierarchy tree
---
rocolib/__init__.py | 2 +-
rocolib/library/__init__.py | 119 +++++++++++++-----------------------
rocolib/utils/filter.py | 39 ------------
3 files changed, 43 insertions(+), 117 deletions(-)
delete mode 100644 rocolib/utils/filter.py
diff --git a/rocolib/__init__.py b/rocolib/__init__.py
index a54d298..db495d5 100644
--- a/rocolib/__init__.py
+++ b/rocolib/__init__.py
@@ -9,7 +9,7 @@ from os.path import realpath
from os.path import relpath
-__version__ = "0.2.1"
+__version__ = "0.2.2"
__author__ = 'UCLA LEMUR'
__credits__ = 'The Laboratory for Embedded Machines and Ubiquitous Robots'
diff --git a/rocolib/library/__init__.py b/rocolib/library/__init__.py
index 5e3fbc3..73f6613 100644
--- a/rocolib/library/__init__.py
+++ b/rocolib/library/__init__.py
@@ -14,32 +14,51 @@ ROCOLIB_LIBRARY = dirname(realpath(__file__))
pyComponents = [ basename(f)[:-3] for f in glob(ROCOLIB_LIBRARY + "/[!_]*.py")]
yamlComponents = [ basename(f)[:-5] for f in glob(ROCOLIB_LIBRARY + "/*.yaml")]
-allComponents = list(set(pyComponents + yamlComponents))
+allComponents = set(pyComponents + yamlComponents)
+
+def getSubcomponents(c):
+ try:
+ return set((x['classname'] for x in load_yaml(c).get('subcomponents', dict()).values()))
+ except FileNotFoundError:
+ return set()
+
+def getComponentTree():
+ tree = []
+ ac = set(allComponents)
+ while ac:
+ leaves = []
+ for c in ac:
+ subcomponents = getSubcomponents(c)
+ if not subcomponents.intersection(ac):
+ leaves.append(c)
+ tree.append(sorted(leaves))
+ ac -= set(leaves)
+ return tree
def getComponent(c, **kwargs):
- '''
- Here we are doing Dynamic instantiation from string name of a class in dynamically imported module
- Parameter c (str): component name e.g. 'Stool'
- '''
- if c in pyComponents:
- # Load "module.submodule.MyClass"
- obj = getattr(importlib.import_module("rocolib.library." + c), c)
- # Instantiate the class (pass arguments to the constructor, if needed)
- my_obj = obj()
- elif c in yamlComponents:
- my_obj = Component(f"{ROCOLIB_LIBRARY}/{c}.yaml")
- else:
- raise ValueError(f"Component {c} not found in library")
-
- for k, v in kwargs.items():
- if k == 'name':
- my_obj.setName(v)
+ '''
+ Here we are doing Dynamic instantiation from string name of a class in dynamically imported module
+ Parameter c (str): component name e.g. 'Stool'
+ '''
+ if c in pyComponents:
+ # Load "module.submodule.MyClass"
+ obj = getattr(importlib.import_module("rocolib.library." + c), c)
+ # Instantiate the class (pass arguments to the constructor, if needed)
+ my_obj = obj()
+ elif c in yamlComponents:
+ my_obj = Component(f"{ROCOLIB_LIBRARY}/{c}.yaml")
else:
- my_obj.setParameter(k, v)
- if 'name' not in kwargs:
- my_obj.setName(c)
+ raise ValueError(f"Component {c} not found in library")
+
+ for k, v in kwargs.items():
+ if k == 'name':
+ my_obj.setName(v)
+ else:
+ my_obj.setParameter(k, v)
+ if 'name' not in kwargs:
+ my_obj.setName(c)
- return my_obj
+ return my_obj
def rebuild(built=None):
if built is None:
@@ -71,7 +90,7 @@ def rebuildComponent(c, built=None, throw=True):
for sc in subcomponents:
rebuildComponent(sc, built)
- # XXX TOOD: Test to make sure we don't call this script and then infinitely recurse!
+ # XXX TODO: Test to make sure we don't call this script and then infinitely recurse!
log.debug(f"Calling os.system: % python {ROCOLIB_LIBRARY}/{src}")
if system(f"python {ROCOLIB_LIBRARY}/{src}"):
success = False
@@ -94,57 +113,3 @@ def getComponentPaths(c):
if src:
paths["builder"] = rocopath(join(ROCOLIB_LIBRARY, src))
return paths
-
-
-# tag : [[required ports], [forbidden ports]]
-tagDefinitions = {
- 'sensor': [["DataOutputPort"],[]],
- 'actuator': [["DataInputPort"],[]],
- 'mechanical': [["EdgePort"],[]],
- 'device': [["MountPort"],[]],
- 'UI': [[],["MountPort", "EdgePort"]]
-}
-
-def tag(ports):
- tags = {}
- portset = set(ports.keys())
- for tag, (must, cant) in tagDefinitions.items():
- if set(must).issubset(portset) and not len(set(cant).intersection(portset)):
- tags[tag] = [port for ptype in must for port in ports[ptype] ]
- return tags
-
-_taggedComponents = {}
-def getTags(x):
- if x in _taggedComponents:
- return _taggedComponents[x]
-
- try:
- c = getComponent(x)
- except:
- return None
-
- if isinstance(c, Component):
- interfaces = list(c.interfaces.keys())
- ports = {}
- for iname in interfaces:
- i = c.getInterface(iname)
- iclass = i.__class__.__name__
- try:
- ports[iclass].append(iname)
- except KeyError:
- ports[iclass] = [iname]
- _taggedComponents[x] = tag(ports)
- return tag(ports)
- return None
-
-def taggedComponents(components = None):
- if components == None:
- components = allComponents
- for x in components:
- if getTags(x):
- yield x, getTags(x)
-
-def filterComponents(tagList, components = None):
- for x, tags in taggedComponents(components):
- if set(tagList).issubset(set(tags.keys())):
- yield x, [port for tag in tagList for port in tags[tag] ]
diff --git a/rocolib/utils/filter.py b/rocolib/utils/filter.py
deleted file mode 100644
index bfc90ea..0000000
--- a/rocolib/utils/filter.py
+++ /dev/null
@@ -1,39 +0,0 @@
-from rocolib.library import filterComponents
-
-print("~~~")
-print("Actuators")
-print("~~~")
-'''
-print "All:"
-for c in filterComponents(["actuator"]):
- print "-", c
-'''
-print("Mechanical actuators:")
-for c in filterComponents(["actuator", "mechanical"]):
- print("-", c)
-print("Physical interface devices:")
-for c in filterComponents(["actuator", "device"]):
- print("-", c)
-print("Virtual UI widgets:")
-for c in filterComponents(["actuator", "UI"]):
- print("-", c)
-
-print()
-
-print("~~~")
-print("Sensors")
-print("~~~")
-'''
-print "All:"
-for c in filterComponents(["sensor"]):
- print "-", c
-print "Mechanical feedback sensors:"
-for c in filterComponents(["sensor", "mechanical"]):
- print "-", c
-'''
-print("Environmental sensing devices:")
-for c in filterComponents(["sensor", "device"]):
- print("-", c)
-print("Virtual UI widgets:")
-for c in filterComponents(["sensor", "UI"]):
- print("-", c)
--
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