From a50ad1f96ae1f62011a79c949441d3b0fd02527a Mon Sep 17 00:00:00 2001
From: mehtank <mehtank@ucla.edu>
Date: Fri, 9 Sep 2022 06:11:11 +0000
Subject: [PATCH] Fix / extend interface connections especially wrt face-face
connections also fix bug in numsym: Return the rows of an array/matrix as an
iterable, not just the number of rows
---
rocolib/api/components/Component.py | 4 ++--
rocolib/api/composables/graph/Face.py | 5 ++++-
rocolib/api/composables/graph/Graph.py | 7 ++++---
rocolib/api/ports/FacePort.py | 8 +++++++-
rocolib/utils/numsym.py | 5 +----
5 files changed, 18 insertions(+), 11 deletions(-)
diff --git a/rocolib/api/components/Component.py b/rocolib/api/components/Component.py
index 8e81033..e7c50ee 100644
--- a/rocolib/api/components/Component.py
+++ b/rocolib/api/components/Component.py
@@ -273,10 +273,10 @@ class Component(Parameterized):
fromPort = self.getInterfaces(*fromInterface)
toPort = self.getInterfaces(*toInterface)
- if fromPort.canMate(toPort):
+ if fromPort.canMate(toPort) or toPort.canMate(fromPort):
self.connections.setdefault(name, [fromInterface, toInterface, kwargs])
else:
- raise AttributeError(f"{fromInterface} cannot connect to {toInterface} according to getMate")
+ raise AttributeError(f"{fromInterface} ({fromPort} : {type(fromPort)}) cannot connect to {toInterface} ({toPort} : {type(toPort)}) according to getMate")
def delConnection(self, name):
self.connections.pop(name)
diff --git a/rocolib/api/composables/graph/Face.py b/rocolib/api/composables/graph/Face.py
index aaaad36..2f57407 100644
--- a/rocolib/api/composables/graph/Face.py
+++ b/rocolib/api/composables/graph/Face.py
@@ -220,8 +220,11 @@ class Face(object):
def addDecoration(self, pts):
self.decorations.append(pts)
- def addFace(self, face, transform):
+ def addFace(self, face, transform, copyDecorations=False):
self.joinedFaces.append((face, transform))
+ if copyDecorations:
+ for d in self.decorations:
+ face.addDecoration(d)
def preTransform(self, edge):
index = self.edges.index(edge)
diff --git a/rocolib/api/composables/graph/Graph.py b/rocolib/api/composables/graph/Graph.py
index 17f4dc4..f39c281 100644
--- a/rocolib/api/composables/graph/Graph.py
+++ b/rocolib/api/composables/graph/Graph.py
@@ -107,13 +107,14 @@ class Graph():
self.addFace(toFace, prefix)
self.mergeFace(fromFace, toFace.name, transform)
- def mergeFace(self, fromFaceName, toFaceName, transform=None):
+ def mergeFace(self, fromFaceName, toFaceName, transform=None, offset=(0,0), copyDecorations=False):
fromFace = self.getFace(fromFaceName)
toFace = self.getFace(toFaceName)
+ toFace.transform(origin=offset)
if transform is None:
transform = np.eye(4)
- fromFace.addFace(toFace, transform)
- toFace.addFace(fromFace, np.inv(transform))
+ fromFace.addFace(toFace, transform, copyDecorations)
+ toFace.addFace(fromFace, np.inv(transform), copyDecorations)
def attachEdge(self, fromEdge, newFace, newEdge, prefix=None, root=False, angle=0, edgeType=None, joints=None):
# XXX should set angle from a face, not absolute angle of the face
diff --git a/rocolib/api/ports/FacePort.py b/rocolib/api/ports/FacePort.py
index 3b3a162..9bfa32a 100644
--- a/rocolib/api/ports/FacePort.py
+++ b/rocolib/api/ports/FacePort.py
@@ -1,5 +1,7 @@
from rocolib.api.ports import Port
from rocolib.utils.utils import prefix as prefixString
+from rocolib.utils.numsym import deg2rad
+from rocolib.utils.transforms import RotateX
class FacePort(Port):
def __init__(self, parent, graph, face):
@@ -36,4 +38,8 @@ class FacePort(Port):
if isinstance(toPort, FacePort):
face1 = graph.getFace(self.getFaceName())
face2 = graph.getFace(toPort.getFaceName())
- graph.mergeFace(face1.name, face2.name)
+ if kwargs.get("flip"):
+ transform = RotateX(deg2rad(180))
+ else:
+ transform = None
+ graph.mergeFace(face1.name, face2.name, transform=transform, offset=kwargs.get("offset", (0,0)), copyDecorations=True)
diff --git a/rocolib/utils/numsym.py b/rocolib/utils/numsym.py
index 42855a4..758684c 100644
--- a/rocolib/utils/numsym.py
+++ b/rocolib/utils/numsym.py
@@ -19,7 +19,7 @@ def cumsum(iterable):
# Numpy mods
def numpy_rows(x):
- return x.shape[0]
+ return numpy.array(x)
def numpy_N(x):
return x
@@ -79,9 +79,6 @@ def sympy_difference(pts1, pts2):
def sympy_dex(pts1, pts2, tol):
return sympy_difference(pts1, pts2) > tol
-def sympy_rows(x):
- return x.rows
-
def sympy_pi():
return sympy.pi
--
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