diff --git a/requirements.txt b/requirements.txt
index ece88e046512ba0e6abb71c2ea6520b6e3e212bc..aeaf1bc730c7ae583f7940b1bb2a73a4d230ab94 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -12,3 +12,5 @@ kaleido
circlify
shapely
dash
+platformdirs
+importlib_metadata; python_version < '3.10'
diff --git a/rocolib/__init__.py b/rocolib/__init__.py
index 7a971c1f76035bbbc735c6da2f4a0dca1487ac70..49f4740578ac954616914f94dd1dad3e79874ed8 100644
--- a/rocolib/__init__.py
+++ b/rocolib/__init__.py
@@ -15,8 +15,3 @@ __author__ = 'UCLA LEMUR'
__credits__ = 'The Laboratory for Embedded Machines and Ubiquitous Robots'
__url__ = 'https://git.uclalemur.com/roco/rocolib'
__description__ = 'Robot Compiler'
-
-ROCOLIB_DIR = dirname(realpath(__file__))
-
-def rocopath(f):
- return relpath(f, ROCOLIB_DIR)
diff --git a/rocolib/__main__.py b/rocolib/__main__.py
index fc980a6f6d0ecd89ee182bfcf05298ad8d551d08..212d1c8f1d168d056906b7dbe659f1c1c2215b34 100644
--- a/rocolib/__main__.py
+++ b/rocolib/__main__.py
@@ -8,7 +8,7 @@ from os.path import basename
from pprint import pprint
from textwrap import shorten
from dash import Dash
-from rocolib.library import getComponent, getComponentTree
+from rocolib.library import getComponent, getComponentTree, libDirs
from rocolib.api.composables.graph.Joint import FingerJoint
@@ -58,30 +58,35 @@ def cli_argparse():
parser = argparse.ArgumentParser()
+ parser.add_argument("--list", "-l", help="List known library components (use multiple times for more detail)",
+ dest="component_list", action="append_const", const=1)
+ parser.add_argument("--plugins", "-L", help="List known plugins (use multiple times for more detail)",
+ dest="plugin_list", action="append_const", const=1)
+
+ parser.add_argument("--file", "-f", type=str, help="Load component and parameters from file")
parser.add_argument("component", nargs='?',
help="Name of the component you'd like to test")
- parser.add_argument("--file", "-f", type=str, help="Load component and parameters from file")
- parser.add_argument("--output", "-o", type=str, help="Output directory")
- parser.add_argument("--list", "-l", action='store_true',
- help="List all known library components")
parser.add_argument("--verbose", "-v", help="Increase logging level (can be used multiple times)",
dest="log_level", action="append_const", const=-1)
parser.add_argument("--quiet", "-q", help="Decrease logging level (can be used multiple times)",
dest="log_level", action="append_const", const=1)
+
parser.add_argument("-I", help="List component interfaces (use multiple times for more detail)",
dest="interface_list", action="append_const", const=1)
parser.add_argument("-P", help="List component parameters (use multiple times for more detail)",
dest="param_list", action="append_const", const=1)
- parser.add_argument("-t", type=float, help="Thickness (i.e. making with wood)")
- if not rocoview:
- parser.add_argument("-d", action='store_true', help="Display visualizations")
- parser.add_argument("-s", type=str, action='append', help="Select specific outputs to save")
parser.add_argument("-S", help="List composable outputs (use multiple times for more detail)",
dest="output_list", action="append_const", const=1)
+
parser.add_argument("-p", nargs=2, action='append',
metavar=("NAME", "VALUE"),
help="Set component parameter NAME to value VALUE")
+ parser.add_argument("-t", type=float, help="Thickness (i.e. making with wood)")
+ parser.add_argument("--output", "-o", type=str, help="Output directory")
+ parser.add_argument("-s", type=str, action='append', help="Select specific outputs to save")
+ if not rocoview:
+ parser.add_argument("-d", action='store_true', help="Display visualizations")
if len(sys.argv)==1:
parser.print_help(sys.stderr)
@@ -99,13 +104,23 @@ def cli_argparse():
log_level_name = LOG_LEVELS[log_level]
logging.basicConfig(level=getattr(logging, log_level_name))
+ def printList(arg, lsfn, f=None):
+ if not arg:
+ return False
+ ls = lsfn(f)
+ ind = min(len(arg), len(ls)) - 1
+ pprint(ls[ind])
+ return True
+
acted = False
- if args.list:
- t = getComponentTree()
- for i, cs in enumerate(t):
- chunks = [cs[x:x+4] for x in range(0, len(cs), 4)]
- print(f"{i:2}: " + "\n ".join((" ".join(x) for x in chunks)))
- acted = True
+
+ acted |= printList(args.component_list, lambda c : (
+ dict(enumerate(getComponentTree())),
+ ) )
+ acted |= printList(args.plugin_list, lambda c : (
+ list(libDirs.keys()),
+ libDirs,
+ ) )
if args.file:
with open(args.file) as f:
@@ -125,38 +140,31 @@ def cli_argparse():
outdir = not rocoview and "output" or None
if args.component:
- def printList(arg, lsfn, make=False):
- if not arg:
- return
- f = getComponent(args.component)
- if make:
- f.make()
- ls = lsfn(f)
- ind = min(len(arg), len(ls)) - 1
- pprint(ls[ind])
- if not args.p or args.t or args.d:
- exit(0)
-
- printList(args.interface_list, lambda c : (lambda info : (
+ f = getComponent(args.component)
+
+ acted |= printList(args.interface_list, lambda c : (lambda info : (
list(info.keys()),
{k: v["port"] for k, v in info.items()},
info,
- ))(c.getInterfaceInfo()))
+ ))(c.getInterfaceInfo()), f)
- printList(args.param_list, lambda c : (lambda info : (
+ acted |= printList(args.param_list, lambda c : (lambda info : (
list(info.keys()),
{k: v["defaultValue"] for k, v in info.items()},
{k: {x: v[x] for x in ('defaultValue', 'spec')} for k,v in info.items()},
info,
- ))(c.getParameterInfo()))
+ ))(c.getParameterInfo()), f)
+
+ f.make()
- printList(args.output_list, lambda c : (lambda info : (
+ acted |= printList(args.output_list, lambda c : (lambda info : (
{composable: list(outputs.keys()) for composable, outputs in info.items()},
{composable: {k: {x: v[x] for x in ('stub', 'widget')} for k, v in outputs.items()} for composable, outputs in info.items()},
info,
- ))(c.listOutputs()), make=True)
+ ))(c.listOutputs()), f)
- test(args.component, args.p, thickness=args.t, outdir=outdir, display=args.d, outputs=args.s)
+ if args.p or args.t or args.d or args.s or args.output or not acted:
+ test(args.component, args.p, thickness=args.t, outdir=outdir, display=args.d, outputs=args.s)
acted = True
if not acted:
diff --git a/rocolib/api/components/Component.py b/rocolib/api/components/Component.py
index dd253459dbec4306292b4352b7e593f29b3767c9..9776246ff74f691f781c02462fa8dba858c1e484 100644
--- a/rocolib/api/components/Component.py
+++ b/rocolib/api/components/Component.py
@@ -4,39 +4,28 @@ import sys
import yaml
import logging
import networkx as nx
+import inspect
from circlify import circlify
-from rocolib import ROCOLIB_DIR
from rocolib.api.composables.ComponentComposable import ComponentComposable
from rocolib.api.Parameterized import Parameterized
from rocolib.api.Function import YamlFunction
from rocolib.utils.utils import prefix as prefixString
from rocolib.utils.utils import tryImport
-from rocolib.utils.io import load_yaml
from rocolib.utils.nx2go import GraphVisualization as gv
+from rocolib.library import getComponent
from dash import html, dcc
log = logging.getLogger(__name__)
-# XXX circular import:
-# from rocolib.library import ROCOLIB_LIBRARY
-# instead:
-ROCOLIB_LIBRARY = os.path.join(ROCOLIB_DIR, "library")
-
-def getSubcomponentObject(component, name=None):
- try:
- obj = tryImport(component, component)
- # XXX hack to get around derived components not having name parameter in their __init__
- c = obj()
- c.name = name
- return c
- except ImportError:
- return newComponent(name, component)
-
-def newComponent(name, yamlFile=None):
- class C(Component):
+
+def newComponent(cName, name=None, yamlFile=None):
+ class _C(Component):
+ def __init__(self):
+ Component.__init__(self, name, yamlFile)
+ self.cName = cName
def define(self): pass
- return C(name, yamlFile=yamlFile)
+ return _C()
class Component(Parameterized):
@classmethod
@@ -49,29 +38,31 @@ class Component(Parameterized):
def __init__(self, name=None, yamlFile=None):
Parameterized.__init__(self, name)
- self.cName = type(self).__name__
+ self.cName = self.__class__.__name__
self.reset()
- yf = yamlFile
+
if not yamlFile:
- yf = type(self).__name__ + ".yaml"
+ filepath = inspect.getmodule(self.__class__).__file__
+ base, ext = os.path.splitext(filepath)
+ yf = base + ".yaml"
+ if os.path.isfile(yf):
+ yamlFile = yf
+ log.debug(f"Found implicit yamlFile at {yamlFile}")
else:
- self.cName = yf
- for fn in (yf,
- os.path.join(ROCOLIB_DIR, yf),
- os.path.join(ROCOLIB_LIBRARY, yf)):
- try:
- self.fromYaml(fn)
- break
- except IOError:
- pass
- if yamlFile:
- raise ValueError(f"No suitable yamlfile found for {yamlFile}")
+ self.cName, _ = os.path.splitext(os.path.basename(yamlFile))
+ log.debug(f"Creating new Component with cName {self.cName}")
+
+ if yamlFile:
+ log.debug(f"Loading details from {yamlFile}")
+ self.fromYaml(yamlFile)
+
self.composables['component'] = ComponentComposable(self)
self.predefine()
self.define()
def fromYaml(self, filename):
- definition = load_yaml(filename)
+ with open(filename, 'r') as fd:
+ definition = yaml.safe_load(fd)
# keys are (parameters, subcomponents, connections, interfaces)
if "parameters" in definition:
@@ -136,8 +127,9 @@ class Component(Parameterized):
should be python file/class or yaml name
:type classname: str or unicode
'''
+
# XXX will silently fail if subcomponent name is already taken?
- obj = getSubcomponentObject(classname, self.name + '.' + name)
+ obj = getComponent(classname, name = self.name + '.' + name)
sc = {"classname": classname, "parameters": {}, "kwargs": kwargs, "object": obj}
self.subcomponents.setdefault(name, sc)
@@ -291,16 +283,11 @@ class Component(Parameterized):
def delParameter(self, name):
'''
- def toLibrary(self):
- # XXX TODO: Check for collisions!
- # if collision:
- # flag to allow rebuilding, and fail otherwise?
- # if no flag, check if source matches and rebuild if so, fail otherwise?
- return self.toYaml(ROCOLIB_LIBRARY, self.name + ".yaml")
-
- def toYaml(self, basedir, filename):
+ def toYaml(self, basedir, filename, reldir=None):
+ if reldir is None:
+ reldir = basedir
filepath = os.path.join(basedir, filename)
- source = os.path.relpath(sys.argv[0], basedir).replace(os.sep, posixpath.sep)
+ source = os.path.relpath(sys.argv[0], reldir).replace(os.sep, posixpath.sep)
parameters = {}
for k, v in self._parameters.items():
@@ -559,12 +546,7 @@ class Component(Parameterized):
self.make(ka.pop("useDefaultParameters", True))
log.debug(f"... done making {self.name}.")
- # XXX: Is this the right way to do it?
- import os
- try:
- filedir and os.makedirs(filedir)
- except:
- pass
+ filedir and os.makedirs(filedir, exist_ok=True)
rets = {}
for (name, composable) in self.composables.items():
diff --git a/rocolib/builders/ChairBackBuilder.py b/rocolib/builders/ChairBackBuilder.py
deleted file mode 100644
index 9c6792dc195a2635b97fc5b59cb1ae93dac85aa9..0000000000000000000000000000000000000000
--- a/rocolib/builders/ChairBackBuilder.py
+++ /dev/null
@@ -1,24 +0,0 @@
-from rocolib.api.components.Component import newComponent
-
-c = newComponent("ChairBack")
-
-c.addSubcomponent("panel","ChairPanel", inherit=("width", "thickness"), prefix=None)
-
-c.addParameter("gapheight", 20, paramType="length")
-c.addParameter("backheight", 40, paramType="length")
-
-c.addConstraint(("panel","depth"), "backheight")
-
-c.addSubcomponent("sider","Rectangle")
-c.addConstraint(("sider","l"), "thickness")
-c.addConstraint(("sider","w"), "gapheight")
-c.addConnection(("panel","tr"),("sider","t"), angle=0)
-c.inheritInterface("right", ("sider", "b"))
-
-c.addSubcomponent("sidel","Rectangle")
-c.addConstraint(("sidel","l"), "thickness")
-c.addConstraint(("sidel","w"), "gapheight")
-c.addConnection(("panel","tl"),("sidel","t"), angle=0)
-c.inheritInterface("left", ("sidel", "b"))
-
-c.toLibrary()
diff --git a/rocolib/builders/ChairPanelBuilder.py b/rocolib/builders/ChairPanelBuilder.py
deleted file mode 100644
index 099b78008b1133e13b8851afd772cee723729ceb..0000000000000000000000000000000000000000
--- a/rocolib/builders/ChairPanelBuilder.py
+++ /dev/null
@@ -1,31 +0,0 @@
-from rocolib.api.components.Component import newComponent
-
-c = newComponent("ChairPanel")
-
-c.addSubcomponent("back","Rectangle", root=True)
-c.addSubcomponent("sidel","Rectangle")
-c.addSubcomponent("sider","Rectangle")
-
-c.addParameter("depth", 50, paramType="length")
-c.addParameter("width", 70, paramType="length")
-c.addParameter("thickness", 10, paramType="length")
-
-c.addConstraint(("back","l"), "width")
-c.addConstraint(("back","w"), "depth")
-
-c.addConstraint(("sidel","l"), "thickness")
-c.addConstraint(("sidel","w"), "depth")
-c.addConstraint(("sider","l"), "thickness")
-c.addConstraint(("sider","w"), "depth")
-
-c.addConnection(("sidel","r"),("back","l"), angle=90)
-c.addConnection(("back","r"),("sider","l"), angle=90)
-
-c.inheritInterface("tr", ("sider", "t"))
-c.inheritInterface("tl", ("sidel", "t"))
-c.inheritInterface("br", ("sider", "b"))
-c.inheritInterface("bl", ("sidel", "b"))
-c.inheritInterface("right", ("sider", "r"))
-c.inheritInterface("left", ("sidel", "l"))
-
-c.toLibrary()
diff --git a/rocolib/builders/ChairSeatBuilder.py b/rocolib/builders/ChairSeatBuilder.py
deleted file mode 100644
index 6cd1524d41ba0bb17df5cb15d6e8a26dd8a77c07..0000000000000000000000000000000000000000
--- a/rocolib/builders/ChairSeatBuilder.py
+++ /dev/null
@@ -1,24 +0,0 @@
-from rocolib.api.components.Component import newComponent
-
-c = newComponent("ChairSeat")
-
-c.addSubcomponent("seat","ChairPanel", inherit=True, prefix=None, root=True)
-c.addSubcomponent("back","ChairBack", inherit=True, prefix=None)
-c.addSubcomponent("kitel","Kite", inherit="thickness", prefix=None)
-c.addSubcomponent("kiter","Kite", inherit="thickness", prefix=None)
-
-c.addParameter("recline", 110, paramType="angle")
-
-c.addConstraint(("kitel","angle"), "recline", "180 - x")
-c.addConstraint(("kiter","angle"), "recline", "180 - x")
-
-c.addConnection(("back","left"),("kitel","t"), angle=0)
-c.addConnection(("seat","bl"),("kitel","b"), angle=0)
-
-c.addConnection(("back","right"),("kiter","b"), angle=0)
-c.addConnection(("seat","br"),("kiter","t"), angle=0)
-
-c.inheritInterface("right", ("seat", "right"))
-c.inheritInterface("left", ("seat", "left"))
-
-c.toLibrary()
diff --git a/rocolib/builders/ESPSegBuilder.py b/rocolib/builders/ESPSegBuilder.py
index 60207d7e41aa1a6bbca292240f29e88fe6736dd1..f7899bc49bd2dbc296b0b1c3c26c4d95b0ed6c87 100644
--- a/rocolib/builders/ESPSegBuilder.py
+++ b/rocolib/builders/ESPSegBuilder.py
@@ -1,5 +1,6 @@
from rocolib.library import getComponent
from rocolib.api.components.Component import newComponent
+from rocolib.library import save
from rocolib.api.Function import Function
c = newComponent("ESPSeg")
@@ -115,4 +116,4 @@ c.addConnection(("left", "face0"),
c.addConnection(("brain", "face1"),
("sheath", "face1"), copyDecorations=True, transform=False)
-c.toLibrary()
+save(c, True)
diff --git a/rocolib/builders/MountedBrainsBuilder.py b/rocolib/builders/MountedBrainsBuilder.py
index aa8beeb249da735a28a9a5c265746527301ac81d..5983744f121694b71a2b3e8d21bb3ec9433ae6a7 100644
--- a/rocolib/builders/MountedBrainsBuilder.py
+++ b/rocolib/builders/MountedBrainsBuilder.py
@@ -1,29 +1,30 @@
from rocolib.api.components.Component import newComponent
+from rocolib.library import save
from rocolib.api.Function import Function
-self = newComponent("MountedBrains")
+c = newComponent("MountedBrains")
-self.addSubcomponent("beam", "SimpleRectBeam")
-self.addSubcomponent("brain", "Brains", inherit="brain", prefix=None)
+c.addSubcomponent("beam", "SimpleRectBeam")
+c.addSubcomponent("brain", "Brains", inherit="brain", prefix=None)
-self.addParameter("length", 90, paramType="length")
-self.addParameter("width", 50, paramType="length")
-self.addParameter("depth", 20, paramType="length")
-self.addParameter("offset", (0,0))
+c.addParameter("length", 90, paramType="length")
+c.addParameter("width", 50, paramType="length")
+c.addParameter("depth", 20, paramType="length")
+c.addParameter("offset", (0,0))
-self.addConstraint(("beam", "width"), "depth")
-self.addConstraint(("beam", "depth"), "width")
-self.addConstraint(("beam", "length"), "length")
+c.addConstraint(("beam", "width"), "depth")
+c.addConstraint(("beam", "depth"), "width")
+c.addConstraint(("beam", "length"), "length")
-self.addConstraint(("beam", "width#minValue"), "brain", 'x.get("height")')
-self.addConstraint(("beam", "depth#minValue"), "brain", 'x.get("width")')
-self.addConstraint(("beam", "length#minValue"), "brain", 'x.get("length")')
+c.addConstraint(("beam", "width#minValue"), "brain", 'x.get("height")')
+c.addConstraint(("beam", "depth#minValue"), "brain", 'x.get("width")')
+c.addConstraint(("beam", "length#minValue"), "brain", 'x.get("length")')
-self.addConnection(("beam", "face1"),
+c.addConnection(("beam", "face1"),
("brain", "decoration"),
mode="hole", offset=Function(params=("offset")))
-self.inheritAllInterfaces("beam", prefix=None)
+c.inheritAllInterfaces("beam", prefix=None)
-self.toLibrary()
+save(c, True)
diff --git a/rocolib/builders/MountedServoBuilder.py b/rocolib/builders/MountedServoBuilder.py
index 2b667d30b5d46e65dfcba3a824d618f7ceea4d84..82e784d492ff2bbc96fba645476db2d09bf84f83 100644
--- a/rocolib/builders/MountedServoBuilder.py
+++ b/rocolib/builders/MountedServoBuilder.py
@@ -1,4 +1,5 @@
from rocolib.api.components.Component import newComponent
+from rocolib.library import save
from rocolib.api.Function import Function
c = newComponent("MountedServo")
@@ -11,4 +12,4 @@ c.inheritAllInterfaces("servo", prefix=None)
c.addConnection(("mount", "mount.decoration"),
("servo", "mount"))
-c.toLibrary()
+save(c, True)
diff --git a/rocolib/builders/PaperbotBuilder.py b/rocolib/builders/PaperbotBuilder.py
index 92e08209cbcb73ccf4c340be6e6ecbcfcd685db6..85e9f6c4b94ce3879d104fd5a5eb28bf80dfa8dc 100644
--- a/rocolib/builders/PaperbotBuilder.py
+++ b/rocolib/builders/PaperbotBuilder.py
@@ -1,4 +1,5 @@
from rocolib.api.components.Component import newComponent
+from rocolib.library import save
c = newComponent("Paperbot")
@@ -8,4 +9,4 @@ c.addParameter("height", 25, paramType="length", minValue=20)
c.addSubcomponent("paperbot", "ESPSeg", inherit="length width height battery tire_thickness".split(), prefix=None)
-c.toLibrary()
+save(c, True)
diff --git a/rocolib/builders/RockerChairBuilder.py b/rocolib/builders/RockerChairBuilder.py
deleted file mode 100644
index be7dc6302d320f6455c3b830b15804dbfa5a96fe..0000000000000000000000000000000000000000
--- a/rocolib/builders/RockerChairBuilder.py
+++ /dev/null
@@ -1,19 +0,0 @@
-from rocolib.api.components.Component import newComponent
-
-c = newComponent("RockerChair")
-
-c.addSubcomponent("seat","ChairSeat", inherit=True, prefix=None, root=True)
-c.addSubcomponent("legl","RockerLeg", inherit=True, prefix=None, mirror=True)
-c.addSubcomponent("legr","RockerLeg", inherit=True, prefix=None)
-c.addSubcomponent("crossbar","Rectangle")
-
-c.addConstraint(("crossbar","l"), "width")
-c.addConstraint(("crossbar","w"), ("height", "rocker"), "x[0] * np.sin(np.deg2rad(x[1]))")
-
-c.addConnection(("seat","left"),("legl","topedge"), angle=0)
-c.addConnection(("seat","right"),("legr","topedge"), angle=0)
-
-c.addConnection(("crossbar","l"),("legl","crossbar"), angle=90)
-c.addConnection(("crossbar","r"),("legr","crossbar"), angle=90)
-
-c.toLibrary()
diff --git a/rocolib/builders/RockerLegBuilder.py b/rocolib/builders/RockerLegBuilder.py
deleted file mode 100644
index 2e7d63b99e424a1735e300b484b57ed3614c8f24..0000000000000000000000000000000000000000
--- a/rocolib/builders/RockerLegBuilder.py
+++ /dev/null
@@ -1,54 +0,0 @@
-from numbers import Number
-
-from rocolib.api.components.Component import newComponent
-
-
-c = newComponent("RockerLeg")
-
-c.addParameter("height", 40, paramType="length")
-c.addParameter("depth", 50, paramType="length")
-c.addParameter("thickness", 10, paramType="length")
-c.addParameter("rocker", 10, paramType="angle")
-
-l = [
- ["depth"],
- ["height"],
- ["depth"],
- ["height"],
- (("height", "rocker"), "x[0] * np.sin(np.deg2rad(x[1]))"),
- (("height", "rocker"), "x[0] * np.sin(np.deg2rad(x[1]))"),
- ]
-
-a = [
- 90,
- 90,
- ["rocker", "90-(x*2)"],
- ["rocker", "90+x"],
- 0,
- ["rocker"],
- ]
-
-n = len(l)
-
-for i in range(n):
- c.addSubcomponent("beam%d" % i, "Rectangle")
- c.addSubcomponent("kite%d" % i, "Kite", inherit="thickness", prefix=None)
-
- c.addConstraint(("beam%d" % i, "w"), *l[i])
- c.addConstraint(("beam%d" % i, "l"), "thickness")
- if isinstance(a[i], Number):
- c.addConstConstraint(("kite%d" % i, "angle"), a[i])
- else:
- c.addConstraint(("kite%d" % i, "angle"), *a[i])
-
- c.addConnection(("beam%d" % i,"t"),("kite%d" % i,"b"), angle=0)
- if i:
- c.addConnection(("beam%d" % i,"b"),("kite%d" % ((i - 1) % n),"t"), angle=0)
-
-c.addConnection(("beam0","b"),("kite%d" % (n - 1),"t"), angle=0)
-
-
-c.inheritInterface("topedge", ("beam2", "r"))
-c.inheritInterface("crossbar", ("beam5", "l"))
-
-c.toLibrary()
diff --git a/rocolib/builders/ServoMountBuilder.py b/rocolib/builders/ServoMountBuilder.py
index 0640496730cd357bfb9b4e247767791120f9a22d..6bce1cc6cd61fb74376c8a8a167641a6ca61d42c 100644
--- a/rocolib/builders/ServoMountBuilder.py
+++ b/rocolib/builders/ServoMountBuilder.py
@@ -1,5 +1,6 @@
from rocolib.library import getComponent
from rocolib.api.components.Component import newComponent
+from rocolib.library import save
from rocolib.api.Function import Function
c = newComponent("ServoMount")
@@ -28,4 +29,4 @@ c.addConnection(("beam", "face0"),
("mount", "decoration"),
mode="hole", offset=Function(params="offset"))
-c.toLibrary()
+save(c, True)
diff --git a/rocolib/builders/SimpleChairBuilder.py b/rocolib/builders/SimpleChairBuilder.py
deleted file mode 100644
index 5feeff319a65a3618216bab4766a0763fd01b865..0000000000000000000000000000000000000000
--- a/rocolib/builders/SimpleChairBuilder.py
+++ /dev/null
@@ -1,15 +0,0 @@
-from rocolib.api.components.Component import newComponent
-
-c = newComponent("SimpleChair")
-
-c.addSubcomponent("seat","ChairSeat", inherit=True, prefix=None, root=True)
-c.addSubcomponent("legl","VLeg", inherit=True, prefix=None)
-c.addSubcomponent("legr","VLeg", inherit=True, prefix=None)
-
-c.addConstraint(("legl","width"), "depth")
-c.addConstraint(("legr","width"), "depth")
-
-c.addConnection(("seat","left"),("legl","topedge"), angle=0)
-c.addConnection(("seat","right"),("legr","topedge"), angle=0)
-
-c.toLibrary()
diff --git a/rocolib/builders/SimpleTableBuilder.py b/rocolib/builders/SimpleTableBuilder.py
deleted file mode 100644
index 745c988866bffb3b00c528822b1ae1e55f8934b2..0000000000000000000000000000000000000000
--- a/rocolib/builders/SimpleTableBuilder.py
+++ /dev/null
@@ -1,30 +0,0 @@
-from rocolib.api.components.Component import newComponent
-
-c = newComponent("SimpleTable")
-
-c.addSubcomponent("top","Rectangle", root=True)
-c.addSubcomponent("legl","VLeg", inherit=True, prefix=None)
-c.addSubcomponent("legr","VLeg", inherit=True, prefix=None)
-c.addSubcomponent("legt","VLeg", inherit=True, prefix=None)
-c.addSubcomponent("legb","VLeg", inherit=True, prefix=None)
-
-c.addParameter("length", 70, paramType="length")
-
-c.addConstraint(("top","l"), "length")
-c.addConstraint(("top","w"), "width")
-
-c.addConstraint(("legt","width"), "length")
-c.addConstraint(("legb","width"), "length")
-
-c.addConnection(("top","l"),("legl","topedge"), angle=90)
-c.addConnection(("top","r"),("legr","topedge"), angle=90)
-c.addConnection(("top","t"),("legt","topedge"), angle=90)
-c.addConnection(("top","b"),("legb","topedge"), angle=90)
-
-c.addConnection(("legl","rightedge"),("legb","leftedge"), angle=90)
-c.addConnection(("legb","rightedge"),("legr","leftedge"), angle=90)
-c.addConnection(("legr","rightedge"),("legt","leftedge"), angle=90)
-#c.addConnection(("legt","rightedge"),("legl","leftedge"), angle=90)
-c.addConnection(("legl","leftedge"),("legt","rightedge"), angle=90)
-
-c.toLibrary()
diff --git a/rocolib/builders/WheelBuilder.py b/rocolib/builders/WheelBuilder.py
index 01c9b9a91b80169e9dde634738d410c3cd69335f..e735fd092d0f521066f59856e56e446d2f777395 100644
--- a/rocolib/builders/WheelBuilder.py
+++ b/rocolib/builders/WheelBuilder.py
@@ -1,4 +1,5 @@
from rocolib.api.components.Component import newComponent
+from rocolib.library import save
from rocolib.api.Function import Function
c = newComponent("Wheel")
@@ -11,4 +12,4 @@ c.inheritAllInterfaces("drive", prefix=None)
c.addConnection(("drive", "horn"),
("tire", "face"), copyDecorations=True)
-c.toLibrary()
+save(c, True)
diff --git a/rocolib/library/BoatPoint.py b/rocolib/library/BoatPoint.py
deleted file mode 100644
index 788d0eb4344b48f9c1fa7a4de638ae13ce96011b..0000000000000000000000000000000000000000
--- a/rocolib/library/BoatPoint.py
+++ /dev/null
@@ -1,82 +0,0 @@
-from rocolib.api.components import FoldedComponent
-from rocolib.api.composables.graph.Face import Face, Rectangle, RightTriangle
-import rocolib.utils.numsym as math
-
-
-def pyramid(l,w,h):
- def baseangle(x, y):
- x2 = x/2.
- hx = math.sqrt(h*h+x2*x2)
- xa = math.rad2deg(math.arctan2(h,x2))
- ba = math.rad2deg(math.arctan2(hx,y/2.))
- return x2, hx, xa, ba
-
- l2, hl, la, bla = baseangle(l, w)
- w2, hw, wa, bwa = baseangle(w, l)
- diag = math.sqrt(h*h + w2*w2 + l2+l2)
- da = math.rad2deg(math.arccos(1/math.sqrt((1 + h*h/w2/w2)*(1+h*h/l2/l2))))
- return hl, la, bla, hw, wa, bwa, diag, da
-
-
-class BoatPoint(FoldedComponent):
- def define(self):
- self.addParameter("width", 50, paramType="length")
- self.addParameter("depth", 25, paramType="length")
- self.addParameter("point", 50, paramType="length", minValue=0)
-
- self.addEdgeInterface("ledge", "sl.e1", "depth")
- self.addEdgeInterface("cedge", "sc.e2", "width")
- self.addEdgeInterface("redge", "sr.e1", "depth")
-
- self.addEdgeInterface("edge", ["sl.e1", "sc.e2", "sr.e1"], ["depth", "width", "depth"])
-
- def assemble(self):
- w = self.p.width
- d = self.p.depth
- p = self.p.point
-
- hl, la, bla, hw, wa, bwa, diag, da = pyramid(d*2,w,p)
-
- # Flaps
- ba = (180 - bla - bwa)/2.
- fx = d * math.tan(math.deg2rad(ba))
-
- fll = Face("", ((fx, 0), (hw, 0), (0, d), (0,0)))
- flc = RightTriangle("", w/2., hl);
- frc = RightTriangle("", hl, w/2.);
- frr = Face("", ((d, 0), (0, hw), (0, fx), (0,0)))
-
- # Main point
- self.addFace(fll, "lt");
- self.attachEdge("lt.e2", flc, "e1", prefix="lc", angle=da)
- self.attachEdge("lc.e2", frc, "e0", prefix="rc", angle=0)
- self.attachEdge("rc.e1", frr, "e1", prefix="rt", angle=da)
-
- # Flaps
- fla = RightTriangle("", d, fx);
- flb = RightTriangle("", fx, d);
- self.attachEdge("lt.e3", fla, "e0", prefix="fla", angle=180)
- self.attachEdge("fla.e1", flb, "e1", prefix="flb", angle=-180)
-
- fra = RightTriangle("", fx, d);
- frb = RightTriangle("", d, fx);
- self.attachEdge("rt.e0", fra, "e2", prefix="fra", angle=180)
- self.attachEdge("fra.e1", frb, "e1", prefix="frb", angle=-180)
-
- self.addTab("flb.e0", "lt.e0", angle = -174, width=fx/3)
- self.addTab("frb.e2", "rt.e3", angle = -174, width=fx/3)
-
- # To allow 0 degree attachments at base
- se = Face("", ((0,0), (w/2., 0), (-w/2., 0)))
- self.attachEdge("lc.e0", se, "e0", prefix="sc", angle=90-la)
- self.mergeEdge("rc.e2", "sc.e1", angle=90-la)
-
- se = Face("", ((0,0), (d,0)))
- self.attachEdge("flb.e2", se, "e0", prefix="sl", angle=90-wa)
-
- se = Face("", ((0,0), (d,0)))
- self.attachEdge("frb.e0", se, "e0", prefix="sr", angle=90-wa)
-
-if __name__ == "__main__":
- BoatPoint.test()
-
diff --git a/rocolib/library/Brains.py b/rocolib/library/Brains.py
index dfc5b9841a6909ba3e102b02f01de438fc617480..26f7a2c9a1582a854d458e7f2a18dd7884b45609 100644
--- a/rocolib/library/Brains.py
+++ b/rocolib/library/Brains.py
@@ -36,15 +36,15 @@ class Brains(ThruHole):
def define(self):
ThruHole.define(self)
self.addParameter("brain", "nodeMCU", values=self.brains, overrides = dict(
- nrows = 'c.getParameter("brain").get("nrows")',
- ncols = 'c.getParameter("brain").get("ncols")',
- rowsep = 'c.getParameter("brain").get("rowsep")',
- colsep = 'c.getParameter("brain").get("colsep")',
+ nrows = 'c.p.brain.get("nrows")',
+ ncols = 'c.p.brain.get("ncols")',
+ rowsep = 'c.p.brain.get("rowsep")',
+ colsep = 'c.p.brain.get("colsep")',
))
def assemble(self):
ThruHole.assemble(self)
- brain = self.getParameter("brain")
+ brain = self.p.brain
self.graph.dotransform(origin = brain.get("origin"))
for n, e in brain.get("extras").items():
x, y = e.get("center", (0,0))
diff --git a/rocolib/library/ChairBack.yaml b/rocolib/library/ChairBack.yaml
deleted file mode 100644
index b14efdb46c51e598fe2518a4614591cbaa8b35da..0000000000000000000000000000000000000000
--- a/rocolib/library/ChairBack.yaml
+++ /dev/null
@@ -1,73 +0,0 @@
-connections:
- connection0:
- - - panel
- - tr
- - - sider
- - t
- - angle: 0
- connection1:
- - - panel
- - tl
- - - sidel
- - t
- - angle: 0
-interfaces:
- left:
- interface: b
- subcomponent: sidel
- right:
- interface: b
- subcomponent: sider
-parameters:
- backheight:
- defaultValue: 40
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- gapheight:
- defaultValue: 20
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- thickness:
- defaultValue: 10
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- width:
- defaultValue: 70
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
-source: ../builders/ChairBackBuilder.py
-subcomponents:
- panel:
- classname: ChairPanel
- kwargs: {}
- parameters:
- depth:
- parameter: backheight
- thickness:
- parameter: thickness
- width:
- parameter: width
- sidel:
- classname: Rectangle
- kwargs: {}
- parameters:
- l:
- parameter: thickness
- w:
- parameter: gapheight
- sider:
- classname: Rectangle
- kwargs: {}
- parameters:
- l:
- parameter: thickness
- w:
- parameter: gapheight
diff --git a/rocolib/library/ChairPanel.yaml b/rocolib/library/ChairPanel.yaml
deleted file mode 100644
index 58fb8d8a3bcf094aaf758eb024cae05f14afe9af..0000000000000000000000000000000000000000
--- a/rocolib/library/ChairPanel.yaml
+++ /dev/null
@@ -1,78 +0,0 @@
-connections:
- connection0:
- - - sidel
- - r
- - - back
- - l
- - angle: 90
- connection1:
- - - back
- - r
- - - sider
- - l
- - angle: 90
-interfaces:
- bl:
- interface: b
- subcomponent: sidel
- br:
- interface: b
- subcomponent: sider
- left:
- interface: l
- subcomponent: sidel
- right:
- interface: r
- subcomponent: sider
- tl:
- interface: t
- subcomponent: sidel
- tr:
- interface: t
- subcomponent: sider
-parameters:
- depth:
- defaultValue: 50
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- thickness:
- defaultValue: 10
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- width:
- defaultValue: 70
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
-source: ../builders/ChairPanelBuilder.py
-subcomponents:
- back:
- classname: Rectangle
- kwargs:
- root: true
- parameters:
- l:
- parameter: width
- w:
- parameter: depth
- sidel:
- classname: Rectangle
- kwargs: {}
- parameters:
- l:
- parameter: thickness
- w:
- parameter: depth
- sider:
- classname: Rectangle
- kwargs: {}
- parameters:
- l:
- parameter: thickness
- w:
- parameter: depth
diff --git a/rocolib/library/ChairSeat.yaml b/rocolib/library/ChairSeat.yaml
deleted file mode 100644
index 78bc361d75da67f4e4523d0ef760a3410e2f6193..0000000000000000000000000000000000000000
--- a/rocolib/library/ChairSeat.yaml
+++ /dev/null
@@ -1,113 +0,0 @@
-connections:
- connection0:
- - - back
- - left
- - - kitel
- - t
- - angle: 0
- connection1:
- - - seat
- - bl
- - - kitel
- - b
- - angle: 0
- connection2:
- - - back
- - right
- - - kiter
- - b
- - angle: 0
- connection3:
- - - seat
- - br
- - - kiter
- - t
- - angle: 0
-interfaces:
- left:
- interface: left
- subcomponent: seat
- right:
- interface: right
- subcomponent: seat
-parameters:
- backheight:
- defaultValue: 40
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- depth:
- defaultValue: 50
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- gapheight:
- defaultValue: 20
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- recline:
- defaultValue: 110
- spec:
- maxValue: 360
- minValue: 0
- units: degrees
- valueType: (float, int)
- thickness:
- defaultValue: 10
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- width:
- defaultValue: 70
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
-source: ../builders/ChairSeatBuilder.py
-subcomponents:
- back:
- classname: ChairBack
- kwargs: {}
- parameters:
- backheight:
- parameter: backheight
- gapheight:
- parameter: gapheight
- thickness:
- parameter: thickness
- width:
- parameter: width
- kitel:
- classname: Kite
- kwargs: {}
- parameters:
- angle:
- function: 180 - x
- parameter: recline
- thickness:
- parameter: thickness
- kiter:
- classname: Kite
- kwargs: {}
- parameters:
- angle:
- function: 180 - x
- parameter: recline
- thickness:
- parameter: thickness
- seat:
- classname: ChairPanel
- kwargs:
- root: true
- parameters:
- depth:
- parameter: depth
- thickness:
- parameter: thickness
- width:
- parameter: width
diff --git a/rocolib/library/Cutout.py b/rocolib/library/Cutout.py
index 06e6df69065e62f3a95e1dd138a4de800c1a57ca..5787e64e7a368de0f12567b87170997aa53c6ea4 100644
--- a/rocolib/library/Cutout.py
+++ b/rocolib/library/Cutout.py
@@ -6,8 +6,8 @@ class Cutout(DecorationComponent):
self.addParameter("dx", 10, paramType="length")
self.addParameter("dy", 20, paramType="length")
self.addParameter("d", overrides={
- "dx": 'c.getParameter("d")',
- "dy": 'c.getParameter("d")',
+ "dx": 'c.p.d',
+ "dy": 'c.p.d',
})
def assemble(self):
diff --git a/rocolib/library/ESPSeg.yaml b/rocolib/library/ESPSeg.yaml
index 7de2c228fb1aaf9a34c2dc9021f3a9d6f39def98..28215c3a9ff7f4d99b4fa496b30d506572f7d62f 100644
--- a/rocolib/library/ESPSeg.yaml
+++ b/rocolib/library/ESPSeg.yaml
@@ -94,10 +94,10 @@ parameters:
defaultValue: nodeMCU
spec:
overrides:
- colsep: c.getParameter("brain").get("colsep")
- ncols: c.getParameter("brain").get("ncols")
- nrows: c.getParameter("brain").get("nrows")
- rowsep: c.getParameter("brain").get("rowsep")
+ colsep: c.p.brain.get("colsep")
+ ncols: c.p.brain.get("ncols")
+ nrows: c.p.brain.get("nrows")
+ rowsep: c.p.brain.get("rowsep")
values:
nodeMCU:
colsep: 22.86
diff --git a/rocolib/library/MountedBrains.yaml b/rocolib/library/MountedBrains.yaml
index aff7f4571405a33c673fc786fd3de74012fa9a7b..3dc99a0b7ec90dd482b3043758eb387cbea5ae5c 100644
--- a/rocolib/library/MountedBrains.yaml
+++ b/rocolib/library/MountedBrains.yaml
@@ -55,10 +55,10 @@ parameters:
defaultValue: nodeMCU
spec:
overrides:
- colsep: c.getParameter("brain").get("colsep")
- ncols: c.getParameter("brain").get("ncols")
- nrows: c.getParameter("brain").get("nrows")
- rowsep: c.getParameter("brain").get("rowsep")
+ colsep: c.p.brain.get("colsep")
+ ncols: c.p.brain.get("ncols")
+ nrows: c.p.brain.get("nrows")
+ rowsep: c.p.brain.get("rowsep")
values:
nodeMCU:
colsep: 22.86
diff --git a/rocolib/library/RockerChair.yaml b/rocolib/library/RockerChair.yaml
deleted file mode 100644
index 76795a885103f495986a5090e8d32f8401a9ba44..0000000000000000000000000000000000000000
--- a/rocolib/library/RockerChair.yaml
+++ /dev/null
@@ -1,132 +0,0 @@
-connections:
- connection0:
- - - seat
- - left
- - - legl
- - topedge
- - angle: 0
- connection1:
- - - seat
- - right
- - - legr
- - topedge
- - angle: 0
- connection2:
- - - crossbar
- - l
- - - legl
- - crossbar
- - angle: 90
- connection3:
- - - crossbar
- - r
- - - legr
- - crossbar
- - angle: 90
-interfaces: {}
-parameters:
- backheight:
- defaultValue: 40
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- depth:
- defaultValue: 50
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- gapheight:
- defaultValue: 20
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- height:
- defaultValue: 40
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- recline:
- defaultValue: 110
- spec:
- maxValue: 360
- minValue: 0
- units: degrees
- valueType: (float, int)
- rocker:
- defaultValue: 10
- spec:
- maxValue: 360
- minValue: 0
- units: degrees
- valueType: (float, int)
- thickness:
- defaultValue: 10
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- width:
- defaultValue: 70
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
-source: ../builders/RockerChairBuilder.py
-subcomponents:
- crossbar:
- classname: Rectangle
- kwargs: {}
- parameters:
- l:
- parameter: width
- w:
- function: x[0] * np.sin(np.deg2rad(x[1]))
- parameter:
- - height
- - rocker
- legl:
- classname: RockerLeg
- kwargs:
- mirror: true
- parameters:
- depth:
- parameter: depth
- height:
- parameter: height
- rocker:
- parameter: rocker
- thickness:
- parameter: thickness
- legr:
- classname: RockerLeg
- kwargs: {}
- parameters:
- depth:
- parameter: depth
- height:
- parameter: height
- rocker:
- parameter: rocker
- thickness:
- parameter: thickness
- seat:
- classname: ChairSeat
- kwargs:
- root: true
- parameters:
- backheight:
- parameter: backheight
- depth:
- parameter: depth
- gapheight:
- parameter: gapheight
- recline:
- parameter: recline
- thickness:
- parameter: thickness
- width:
- parameter: width
diff --git a/rocolib/library/RockerLeg.yaml b/rocolib/library/RockerLeg.yaml
deleted file mode 100644
index 59c4027f4f3d1ce064f26393fd8e54989cd30ddf..0000000000000000000000000000000000000000
--- a/rocolib/library/RockerLeg.yaml
+++ /dev/null
@@ -1,207 +0,0 @@
-connections:
- connection0:
- - - beam0
- - t
- - - kite0
- - b
- - angle: 0
- connection1:
- - - beam1
- - t
- - - kite1
- - b
- - angle: 0
- connection10:
- - - beam5
- - b
- - - kite4
- - t
- - angle: 0
- connection11:
- - - beam0
- - b
- - - kite5
- - t
- - angle: 0
- connection2:
- - - beam1
- - b
- - - kite0
- - t
- - angle: 0
- connection3:
- - - beam2
- - t
- - - kite2
- - b
- - angle: 0
- connection4:
- - - beam2
- - b
- - - kite1
- - t
- - angle: 0
- connection5:
- - - beam3
- - t
- - - kite3
- - b
- - angle: 0
- connection6:
- - - beam3
- - b
- - - kite2
- - t
- - angle: 0
- connection7:
- - - beam4
- - t
- - - kite4
- - b
- - angle: 0
- connection8:
- - - beam4
- - b
- - - kite3
- - t
- - angle: 0
- connection9:
- - - beam5
- - t
- - - kite5
- - b
- - angle: 0
-interfaces:
- crossbar:
- interface: l
- subcomponent: beam5
- topedge:
- interface: r
- subcomponent: beam2
-parameters:
- depth:
- defaultValue: 50
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- height:
- defaultValue: 40
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- rocker:
- defaultValue: 10
- spec:
- maxValue: 360
- minValue: 0
- units: degrees
- valueType: (float, int)
- thickness:
- defaultValue: 10
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
-source: ../builders/RockerLegBuilder.py
-subcomponents:
- beam0:
- classname: Rectangle
- kwargs: {}
- parameters:
- l:
- parameter: thickness
- w:
- parameter: depth
- beam1:
- classname: Rectangle
- kwargs: {}
- parameters:
- l:
- parameter: thickness
- w:
- parameter: height
- beam2:
- classname: Rectangle
- kwargs: {}
- parameters:
- l:
- parameter: thickness
- w:
- parameter: depth
- beam3:
- classname: Rectangle
- kwargs: {}
- parameters:
- l:
- parameter: thickness
- w:
- parameter: height
- beam4:
- classname: Rectangle
- kwargs: {}
- parameters:
- l:
- parameter: thickness
- w:
- function: x[0] * np.sin(np.deg2rad(x[1]))
- parameter: &id001
- - height
- - rocker
- beam5:
- classname: Rectangle
- kwargs: {}
- parameters:
- l:
- parameter: thickness
- w:
- function: x[0] * np.sin(np.deg2rad(x[1]))
- parameter: *id001
- kite0:
- classname: Kite
- kwargs: {}
- parameters:
- angle: 90
- thickness:
- parameter: thickness
- kite1:
- classname: Kite
- kwargs: {}
- parameters:
- angle: 90
- thickness:
- parameter: thickness
- kite2:
- classname: Kite
- kwargs: {}
- parameters:
- angle:
- function: 90-(x*2)
- parameter: rocker
- thickness:
- parameter: thickness
- kite3:
- classname: Kite
- kwargs: {}
- parameters:
- angle:
- function: 90+x
- parameter: rocker
- thickness:
- parameter: thickness
- kite4:
- classname: Kite
- kwargs: {}
- parameters:
- angle: 0
- thickness:
- parameter: thickness
- kite5:
- classname: Kite
- kwargs: {}
- parameters:
- angle:
- parameter: rocker
- thickness:
- parameter: thickness
diff --git a/rocolib/library/SimpleChair.yaml b/rocolib/library/SimpleChair.yaml
deleted file mode 100644
index 672e7b286a2f4e553a2ff625350097c66e182dcd..0000000000000000000000000000000000000000
--- a/rocolib/library/SimpleChair.yaml
+++ /dev/null
@@ -1,184 +0,0 @@
-connections:
- connection0:
- - - seat
- - left
- - - legl
- - topedge
- - angle: 0
- connection1:
- - - seat
- - right
- - - legr
- - topedge
- - angle: 0
-interfaces: {}
-parameters:
- _dx:
- defaultValue: 0
- spec:
- hidden: true
- minValue: null
- units: mm
- valueType: (float, int)
- _dy:
- defaultValue: 0
- spec:
- hidden: true
- minValue: null
- units: mm
- valueType: (float, int)
- _dz:
- defaultValue: 0
- spec:
- hidden: true
- minValue: null
- units: mm
- valueType: (float, int)
- _q_a:
- defaultValue: 1
- spec:
- hidden: true
- maxValue: 1
- minValue: -1
- valueType: (int, float)
- _q_i:
- defaultValue: 0
- spec:
- hidden: true
- maxValue: 1
- minValue: -1
- valueType: (int, float)
- _q_j:
- defaultValue: 0
- spec:
- hidden: true
- maxValue: 1
- minValue: -1
- valueType: (int, float)
- _q_k:
- defaultValue: 0
- spec:
- hidden: true
- maxValue: 1
- minValue: -1
- valueType: (int, float)
- backheight:
- defaultValue: 40
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- depth:
- defaultValue: 50
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- gapheight:
- defaultValue: 20
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- height:
- defaultValue: 40
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- recline:
- defaultValue: 110
- spec:
- maxValue: 360
- minValue: 0
- units: degrees
- valueType: (float, int)
- taper:
- defaultValue: 0.5
- spec:
- maxValue: 1
- minValue: 0
- valueType: (float, int)
- thickness:
- defaultValue: 10
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- width:
- defaultValue: 70
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
-source: ../builders/SimpleChairBuilder.py
-subcomponents:
- legl:
- classname: VLeg
- kwargs: {}
- parameters:
- _dx:
- parameter: _dx
- _dy:
- parameter: _dy
- _dz:
- parameter: _dz
- _q_a:
- parameter: _q_a
- _q_i:
- parameter: _q_i
- _q_j:
- parameter: _q_j
- _q_k:
- parameter: _q_k
- height:
- parameter: height
- taper:
- parameter: taper
- thickness:
- parameter: thickness
- width:
- parameter: depth
- legr:
- classname: VLeg
- kwargs: {}
- parameters:
- _dx:
- parameter: _dx
- _dy:
- parameter: _dy
- _dz:
- parameter: _dz
- _q_a:
- parameter: _q_a
- _q_i:
- parameter: _q_i
- _q_j:
- parameter: _q_j
- _q_k:
- parameter: _q_k
- height:
- parameter: height
- taper:
- parameter: taper
- thickness:
- parameter: thickness
- width:
- parameter: depth
- seat:
- classname: ChairSeat
- kwargs:
- root: true
- parameters:
- backheight:
- parameter: backheight
- depth:
- parameter: depth
- gapheight:
- parameter: gapheight
- recline:
- parameter: recline
- thickness:
- parameter: thickness
- width:
- parameter: width
diff --git a/rocolib/library/SimpleTable.yaml b/rocolib/library/SimpleTable.yaml
deleted file mode 100644
index 5a77e45e77f45fded0bcd175645f67567f650d48..0000000000000000000000000000000000000000
--- a/rocolib/library/SimpleTable.yaml
+++ /dev/null
@@ -1,245 +0,0 @@
-connections:
- connection0:
- - - top
- - l
- - - legl
- - topedge
- - angle: 90
- connection1:
- - - top
- - r
- - - legr
- - topedge
- - angle: 90
- connection2:
- - - top
- - t
- - - legt
- - topedge
- - angle: 90
- connection3:
- - - top
- - b
- - - legb
- - topedge
- - angle: 90
- connection4:
- - - legl
- - rightedge
- - - legb
- - leftedge
- - angle: 90
- connection5:
- - - legb
- - rightedge
- - - legr
- - leftedge
- - angle: 90
- connection6:
- - - legr
- - rightedge
- - - legt
- - leftedge
- - angle: 90
- connection7:
- - - legl
- - leftedge
- - - legt
- - rightedge
- - angle: 90
-interfaces: {}
-parameters:
- _dx:
- defaultValue: 0
- spec:
- hidden: true
- minValue: null
- units: mm
- valueType: (float, int)
- _dy:
- defaultValue: 0
- spec:
- hidden: true
- minValue: null
- units: mm
- valueType: (float, int)
- _dz:
- defaultValue: 0
- spec:
- hidden: true
- minValue: null
- units: mm
- valueType: (float, int)
- _q_a:
- defaultValue: 1
- spec:
- hidden: true
- maxValue: 1
- minValue: -1
- valueType: (int, float)
- _q_i:
- defaultValue: 0
- spec:
- hidden: true
- maxValue: 1
- minValue: -1
- valueType: (int, float)
- _q_j:
- defaultValue: 0
- spec:
- hidden: true
- maxValue: 1
- minValue: -1
- valueType: (int, float)
- _q_k:
- defaultValue: 0
- spec:
- hidden: true
- maxValue: 1
- minValue: -1
- valueType: (int, float)
- height:
- defaultValue: 40
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- length:
- defaultValue: 70
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- taper:
- defaultValue: 0.5
- spec:
- maxValue: 1
- minValue: 0
- valueType: (float, int)
- thickness:
- defaultValue: 10
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
- width:
- defaultValue: 50
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
-source: ../builders/SimpleTableBuilder.py
-subcomponents:
- legb:
- classname: VLeg
- kwargs: {}
- parameters:
- _dx:
- parameter: _dx
- _dy:
- parameter: _dy
- _dz:
- parameter: _dz
- _q_a:
- parameter: _q_a
- _q_i:
- parameter: _q_i
- _q_j:
- parameter: _q_j
- _q_k:
- parameter: _q_k
- height:
- parameter: height
- taper:
- parameter: taper
- thickness:
- parameter: thickness
- width:
- parameter: length
- legl:
- classname: VLeg
- kwargs: {}
- parameters:
- _dx:
- parameter: _dx
- _dy:
- parameter: _dy
- _dz:
- parameter: _dz
- _q_a:
- parameter: _q_a
- _q_i:
- parameter: _q_i
- _q_j:
- parameter: _q_j
- _q_k:
- parameter: _q_k
- height:
- parameter: height
- taper:
- parameter: taper
- thickness:
- parameter: thickness
- width:
- parameter: width
- legr:
- classname: VLeg
- kwargs: {}
- parameters:
- _dx:
- parameter: _dx
- _dy:
- parameter: _dy
- _dz:
- parameter: _dz
- _q_a:
- parameter: _q_a
- _q_i:
- parameter: _q_i
- _q_j:
- parameter: _q_j
- _q_k:
- parameter: _q_k
- height:
- parameter: height
- taper:
- parameter: taper
- thickness:
- parameter: thickness
- width:
- parameter: width
- legt:
- classname: VLeg
- kwargs: {}
- parameters:
- _dx:
- parameter: _dx
- _dy:
- parameter: _dy
- _dz:
- parameter: _dz
- _q_a:
- parameter: _q_a
- _q_i:
- parameter: _q_i
- _q_j:
- parameter: _q_j
- _q_k:
- parameter: _q_k
- height:
- parameter: height
- taper:
- parameter: taper
- thickness:
- parameter: thickness
- width:
- parameter: length
- top:
- classname: Rectangle
- kwargs:
- root: true
- parameters:
- l:
- parameter: length
- w:
- parameter: width
diff --git a/rocolib/library/Stool.py b/rocolib/library/Stool.py
deleted file mode 100644
index 8c36db6363edd2fdd15ee654141bedeeca35c399..0000000000000000000000000000000000000000
--- a/rocolib/library/Stool.py
+++ /dev/null
@@ -1,33 +0,0 @@
-from rocolib.api.components import FoldedComponent
-from rocolib.api.composables.graph.Face import Face, Rectangle, RegularNGon
-from rocolib.api.composables.graph.Face import RegularNGon2 as r2l
-from rocolib.utils.numsym import sin, deg2rad
-
-
-class Stool(FoldedComponent):
- def define(self):
- self.addParameter("height", 60, paramType="length", minValue=10)
- self.addParameter("legs", 3, paramType="count", minValue=1)
- self.addParameter("radius", minValue=10, overrides={
- "legwidth": 'c.getParameter("radius") * 2 * np.sin( np.pi() / c.getParameter("legs") / 2)',
- })
- self.addParameter("legwidth", 20, paramType="length", minValue=9)
- self.addParameter("angle", 80, paramType="angle")
-
- def assemble(self):
- h = self.p.height
- lp = self.p.legs
- e = self.p.legwidth
- ap = self.p.angle
-
- n = lp * 2
- self.addFace(RegularNGon("", n, e), "seat")
-
- for i in range(0, int(n/2)):
- s = Rectangle("", e, h)
- self.attachEdge("seat.e%d" % (2*i), s, "e0", "leg%d" % i, angle=ap)
-
-if __name__ == "__main__":
- from rocolib.api.composables.graph.Joint import FingerJoint
- Stool.test(thickness=4, joint=FingerJoint(thickness=4))
-
diff --git a/rocolib/library/ThruHole.py b/rocolib/library/ThruHole.py
index b61671480639d9731fe14a335c8ff7e73eee81e2..faccc436606f0a1fd463ceb2d89d44fe95aa4033 100644
--- a/rocolib/library/ThruHole.py
+++ b/rocolib/library/ThruHole.py
@@ -12,13 +12,13 @@ class ThruHole(DecorationComponent):
self.addParameter("diameter", 1, paramType="length")
def assemble(self):
- diam = self.getParameter("diameter")/2.
- nr = self.getParameter("nrows")
- nc = self.getParameter("ncols")
+ diam = self.p.diameter/2.
+ nr = self.p.nrows
+ nc = self.p.ncols
def hole(i, j, d):
- dx = (j - (nc-1)/2.)*self.getParameter("colsep")
- dy = (i - (nr-1)/2.)*self.getParameter("rowsep")
+ dx = (j - (nc-1)/2.)*self.p.colsep
+ dy = (i - (nr-1)/2.)*self.p.rowsep
return Face("r-%d-%d" % (i,j),
((dx-d, dy-d), (dx+d, dy-d), (dx+d, dy+d), (dx-d, dy+d)),
recenter=False)
diff --git a/rocolib/library/VLeg.py b/rocolib/library/VLeg.py
deleted file mode 100644
index ff37fdd2d37d7e7d5dc6fbfc4d7e9639ebfd0b06..0000000000000000000000000000000000000000
--- a/rocolib/library/VLeg.py
+++ /dev/null
@@ -1,27 +0,0 @@
-from rocolib.api.components import FoldedComponent
-from rocolib.api.composables.graph.Face import Face
-
-
-class VLeg(FoldedComponent):
- def define(self):
- self.addParameter("height", 40, paramType="length")
- self.addParameter("width", 50, paramType="length")
- self.addParameter("thickness", 10, paramType="length")
- self.addParameter("taper", 0.5, paramType="ratio")
-
- self.addEdgeInterface("leftedge", "leg.e0", "height")
- self.addEdgeInterface("topedge", "leg.e1", "width")
- self.addEdgeInterface("rightedge", "leg.e2", "height")
-
- def assemble(self):
- h = self.p.height
- w = self.p.width
- t = self.p.thickness
- r = self.p.taper * t
-
- s = Face("", ((h, 0), (h, w), (0, w), (0, w-r), (h-t, w-t), (h-t, t), (0, r), (0,0)))
- self.addFace(s, "leg")
-
-if __name__ == "__main__":
- VLeg.test()
-
diff --git a/rocolib/library/__init__.py b/rocolib/library/__init__.py
index 309c68313d001fa8619d78b8339232902b93ae36..273604e13175eeb81d31fd6f7e1512ea4ff236dc 100644
--- a/rocolib/library/__init__.py
+++ b/rocolib/library/__init__.py
@@ -1,51 +1,116 @@
import networkx as nx
-from os import system
+import os
from os.path import dirname, realpath, basename, join
from glob import glob
import importlib
import logging
-
-from rocolib import rocopath
-from rocolib.utils.io import load_yaml
-from rocolib.api.components import newComponent
+from yaml import safe_load
+import sys
+if sys.version_info[:2] >= (3, 10):
+ # pylint: disable=no-name-in-module
+ from importlib.metadata import entry_points
+else:
+ from importlib_metadata import entry_points
+from platformdirs import user_data_dir
+from collections import OrderedDict
log = logging.getLogger(__name__)
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 = set(pyComponents + yamlComponents)
-
-def getSubcomponents(c):
+USER_LIBRARY = user_data_dir("rocolib", "rocolib")
+
+def _makeLibDirs():
+ dirs = OrderedDict(user = USER_LIBRARY)
+ mods = OrderedDict()
+ libs = entry_points(group="rocolib.libraries")
+ for lib in libs.names:
+ libmodule = libs[lib]
+ dirs[lib] = libmodule.load().ROCOLIB_LIBRARY
+ mods[lib] = libmodule.value
+ dirs["rocolib"] = ROCOLIB_LIBRARY
+ mods["rocolib"] = "rocolib.library"
+ return dirs, mods
+
+libDirs, libModules = _makeLibDirs()
+
+def _makeLibItems(ext):
+ data = {}
+ for k, d in libDirs.items():
+ files = [ basename(f)[:-len(ext)-1] for f in glob(d + f"/[!_]*.{ext}")]
+ for f in files:
+ fullname = f"{k}:{f}"
+ # XXX TODO: what if a pyComponent in one library is a yamlComponent in another or vice versa?
+ if f not in data:
+ data[f] = fullname
+ else:
+ data[fullname] = fullname
+ return data
+
+yamlComponents = _makeLibItems("yaml")
+pyComponents = _makeLibItems("py")
+
+allComponents = {**pyComponents, **yamlComponents}
+
+def _load_yaml(c):
+ with open(getYamlFile(c), 'r') as fd:
+ return safe_load(fd)
+
+def _getSubcomponents(c):
try:
- return set((x['classname'] for x in load_yaml(c).get('subcomponents', dict()).values()))
- except FileNotFoundError:
+ return set((x['classname'] for x in _load_yaml(c).get('subcomponents', dict()).values()))
+ except (ValueError, FileNotFoundError):
return set()
-def getComponentNx():
+def _getComponentNx():
net = nx.DiGraph()
- net.add_nodes_from(allComponents)
+ net.add_nodes_from(allComponents.keys())
for c in allComponents:
- for sc in getSubcomponents(c):
- net.add_edge(sc, c)
+ for sc in _getSubcomponents(c):
+ if sc in allComponents:
+ net.add_edge(sc, c)
+ else:
+ for k, v in allComponents.items():
+ if sc == v:
+ net.add_edge(k, c)
+ break
+ else:
+ log.warning(f"Subcomponent {sc} of component {c} not found, ignoring")
return net
def getComponentTree():
- return nx.topological_generations(getComponentNx())
+ return nx.topological_generations(_getComponentNx())
+
+def getYamlFile(c):
+ if c in yamlComponents:
+ c = yamlComponents[c]
+ elif ":" not in c:
+ raise ValueError(f"Cannot find appropriate yaml file for {c}")
+ d, c = c.split(":")
+ return f"{libDirs[d]}/{c}.yaml"
+
+def getPyComponent(c):
+ if c in pyComponents:
+ c = pyComponents[c]
+ elif ":" not in c:
+ raise ValueError(f"Cannot find appropriate python file / plugin library for {c}")
+ d, c = c.split(":")
+
+ obj = getattr(importlib.import_module(f"{libModules[d]}.{c}"), c)
+ return obj()
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'
+ kwargs: component parameter / value pairs (possibly including name)
'''
- 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 = newComponent(c, f"{ROCOLIB_LIBRARY}/{c}.yaml")
+ from rocolib.api.components import newComponent
+ if c in pyComponents.keys() or c in pyComponents.values():
+ log.debug("Found python component in library, instantiating and returning object")
+ my_obj = getPyComponent(c)
+ elif c in yamlComponents.keys() or c in yamlComponents.values():
+ log.debug("Found yaml component in library, creating newComponent from yamlFile")
+ my_obj = newComponent(c, yamlFile=getYamlFile(c))
else:
raise ValueError(f"Component {c} not found in library")
@@ -59,6 +124,21 @@ def getComponent(c, **kwargs):
return my_obj
+def save(c, lib=None):
+ if lib is True:
+ d = ROCOLIB_LIBRARY
+ elif lib:
+ d = libDirs[lib]
+ else:
+ d = USER_LIBRARY
+ os.makedirs(d, exist_ok=True)
+
+ # XXX TODO: Check for collisions?
+ # if collision:
+ # flag to allow rebuilding, and fail otherwise?
+ # if no flag, check if source matches and rebuild if so, fail otherwise?
+ return c.toYaml(d, c.cName + ".yaml", reldir=ROCOLIB_LIBRARY)
+
def rebuild(built=None):
if built is None:
built = set()
@@ -77,7 +157,7 @@ def rebuildComponent(c, built=None, throw=True):
log.debug(f"{c} has been rebuilt, skipping")
return True
- definition = load_yaml(c)
+ definition = _load_yaml(c)
src = definition.get("source", None)
success = True
if src:
@@ -91,7 +171,7 @@ def rebuildComponent(c, built=None, throw=True):
# 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}"):
+ if os.system(f"python {ROCOLIB_LIBRARY}/{src}"):
success = False
built.add(c)
@@ -100,15 +180,3 @@ def rebuildComponent(c, built=None, throw=True):
if throw:
assert success, f"Error rebuilding {c}, check stdout/stderr for details"
return success
-
-def getComponentPaths(c):
- paths = {}
- if c in pyComponents:
- paths["python"] = rocopath(join(ROCOLIB_LIBRARY, f"{c}.py"))
- if c in yamlComponents:
- paths["yaml"] = rocopath(join(ROCOLIB_LIBRARY, f"{c}.yaml"))
- definition = load_yaml(c)
- src = definition.get("source", None)
- if src:
- paths["builder"] = rocopath(join(ROCOLIB_LIBRARY, src))
- return paths
diff --git a/rocolib/test/test_library.py b/rocolib/test/test_library.py
index 61b6379da60768fd5ff1237d8247e932566c08f0..7ef66f0430550e653a331f8caaa012c19d467028 100644
--- a/rocolib/test/test_library.py
+++ b/rocolib/test/test_library.py
@@ -1,6 +1,6 @@
import pytest
import logging
-from rocolib.library import getComponent, pyComponents, yamlComponents, allComponents, rebuild, rebuildComponent
+from rocolib.library import getComponent, pyComponents, yamlComponents, rebuild, rebuildComponent
def test_rebuild(c = None):
@@ -9,13 +9,13 @@ def test_rebuild(c = None):
else:
rebuild()
-@pytest.mark.parametrize("component",pyComponents)
+@pytest.mark.parametrize("component",pyComponents.keys())
def test_component_python(component):
getComponent(component).test()
-@pytest.mark.parametrize("component",yamlComponents)
+@pytest.mark.parametrize("component",yamlComponents.keys())
def test_component_yaml(component):
- getComponent(component).makeOutput()
+ getComponent(component).test()
if __name__ == "__main__":
logging.basicConfig(level=logging.INFO)
diff --git a/rocolib/utils/io.py b/rocolib/utils/io.py
deleted file mode 100644
index 1290898f51993670fb77e567c7c434b7516762a9..0000000000000000000000000000000000000000
--- a/rocolib/utils/io.py
+++ /dev/null
@@ -1,14 +0,0 @@
-from os.path import join
-
-from yaml import safe_load
-
-from rocolib import ROCOLIB_DIR
-
-def load_yaml(file_name):
- if file_name[-5:] != '.yaml':
- file_name += '.yaml'
-
- fqn = join(ROCOLIB_DIR, 'library', file_name)
- with open(fqn, 'r') as fd:
- return safe_load(fd)
-