diff --git a/requirements.txt b/requirements.txt
index aeaf1bc730c7ae583f7940b1bb2a73a4d230ab94..b910cf9c25955fb5a7fff9ae0d45db4fd9f5bd25 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -12,5 +12,6 @@ kaleido
circlify
shapely
dash
+dash-bootstrap-components
platformdirs
importlib_metadata; python_version < '3.10'
diff --git a/rocolib/__main__.py b/rocolib/__main__.py
index 212d1c8f1d168d056906b7dbe659f1c1c2215b34..279ade6a7976f0990b33429d878183d4d79bc23b 100644
--- a/rocolib/__main__.py
+++ b/rocolib/__main__.py
@@ -8,11 +8,12 @@ from os.path import basename
from pprint import pprint
from textwrap import shorten
from dash import Dash
+import dash_bootstrap_components as dbc
from rocolib.library import getComponent, getComponentTree, libDirs
from rocolib.api.composables.graph.Joint import FingerJoint
-def test(component, params, thickness, outdir=None, display=False, outputs=None):
+def test(component, params, thickness, outdir=None, display=False, outputs=None, kwargs=None):
f = getComponent(component)
if params is not None:
for p in params:
@@ -37,7 +38,13 @@ def test(component, params, thickness, outdir=None, display=False, outputs=None)
else:
filedir = None
outputs = outputs or ()
- ret = f.makeOutput(outputs = outputs, filedir=filedir, thickness=t, joint=j, remake=False)
+
+ if kwargs is None:
+ kwargs = {}
+ else:
+ kwargs = dict(kwargs)
+
+ ret = f.makeOutput(outputs = outputs, filedir=filedir, thickness=t, joint=j, remake=False, **kwargs)
for composable, outs in ret.items():
if outs:
@@ -45,8 +52,8 @@ def test(component, params, thickness, outdir=None, display=False, outputs=None)
pprint({k: shorten(str(v), 60) for k, v in outs.items()})
if display:
- app = Dash(__name__)
- html = f.visualize(outputs = True, thickness=t, joint=j, remake=False)
+ app = Dash(__name__, external_stylesheets=[dbc.themes.BOOTSTRAP])
+ html = f.visualize(outputs = True, thickness=t, joint=j, remake=False, app=app, **kwargs)
app.layout = html
app.run_server(debug=True)
@@ -87,6 +94,9 @@ def cli_argparse():
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")
+ parser.add_argument("-k", nargs=2, action='append',
+ metavar=("NAME", "VALUE"),
+ help="Set makeOutput kwarg NAME to value VALUE")
if len(sys.argv)==1:
parser.print_help(sys.stderr)
@@ -164,7 +174,7 @@ def cli_argparse():
))(c.listOutputs()), f)
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)
+ test(args.component, args.p, thickness=args.t, outdir=outdir, display=args.d, outputs=args.s, kwargs=args.k)
acted = True
if not acted:
diff --git a/rocolib/api/Parameterized.py b/rocolib/api/Parameterized.py
index 18f0ad2bb69fba74d5c0a02882e030eef92621d6..37d595b18e21c655ba5e2fa19322c35851f23bbe 100644
--- a/rocolib/api/Parameterized.py
+++ b/rocolib/api/Parameterized.py
@@ -11,18 +11,18 @@ VALID_ATTR = re.compile('^[a-zA-Z_][a-zA-Z0-9_.]*$')
PARAM_TYPES = {
"length": {
- "valueType": "(float, int)",
+ "valueType": "float",
"minValue": 0,
"units": "mm",
},
"angle": {
- "valueType": "(float, int)",
+ "valueType": "float",
"minValue": 0,
"maxValue": 360,
"units": "degrees",
},
"ratio": {
- "valueType": "(float, int)",
+ "valueType": "float",
"minValue": 0,
"maxValue": 1,
},
@@ -76,6 +76,11 @@ class Parameter:
self.value = None
def resolveValue(self, value):
+ if value is None:
+ return None
+ vt = self.spec.get("valueType")
+ if vt:
+ value = eval(vt)(value)
if "values" not in self.spec:
return value
sanitize = lambda x : yaml.safe_load(yaml.safe_dump(x))
@@ -114,7 +119,10 @@ class Parameter:
if (self.spec.get(spec, None) is not None and not test(self.spec[spec])):
raise ValueError(f"When setting parameter {self.name}: {value} {error} {self.spec[spec]}")
- check("valueType", lambda x : isinstance(value, eval(x)), "is not of type")
+ check("valueType", lambda x : eval(x)(value) is not None, "is not of type")
+ vt = self.spec.get("valueType")
+ if vt:
+ value = eval(vt)(value)
check("minValue", lambda x : value >= x, "is less than")
check("maxValue", lambda x : value <= x, "is greater than")
check("values", lambda x : value in x, "is not in")
@@ -126,7 +134,7 @@ class Parameter:
def getValue(self):
if self.value is not None:
- if "values" in self.spec:
+ if "values" in self.spec and isinstance(self.spec["values"], dict):
return self.spec["values"][self.value]
else:
return self.value
@@ -270,4 +278,4 @@ class Parameterized(object):
self._parameters.pop(name)
delattr(self.p.__class__, name)
else:
- raise KeyError("Parameter %s not does not exist on object %s" % (n, str(self)))
+ raise KeyError("Parameter %s not does not exist on object %s" % (name, str(self)))
diff --git a/rocolib/api/components/Component.py b/rocolib/api/components/Component.py
index 4b34101f310163c3c3ac7c807ecd4b3d5c74eb95..3ec4c9011142ae3a32428a93f1781e0af5cb4dc0 100644
--- a/rocolib/api/components/Component.py
+++ b/rocolib/api/components/Component.py
@@ -21,7 +21,7 @@ log = logging.getLogger(__name__)
def newComponent(cName, name=None, yamlFile=None):
class _C(Component):
- def __init__(self):
+ def __init__(self, name=name, yamlFile=yamlFile):
Component.__init__(self, name, yamlFile)
self.cName = cName
def define(self): pass
@@ -39,6 +39,7 @@ class Component(Parameterized):
def __init__(self, name=None, yamlFile=None):
Parameterized.__init__(self, name)
self.cName = self.__class__.__name__
+ self.yamlFile = yamlFile
self.reset()
if not yamlFile:
@@ -60,6 +61,13 @@ class Component(Parameterized):
self.predefine()
self.define()
+ def reload(self, params=None):
+ self.__init__(name=self.name, yamlFile=self.yamlFile)
+ if not params:
+ return
+ for k, v in params.items():
+ self.setParameter(k, v)
+
def toLibrary(self, lib=None):
save(self, lib)
@@ -402,13 +410,15 @@ class Component(Parameterized):
for (key, composable) in self.composables.items():
composable.attach(fromPort, toPort, **kwargs)
- except:
+ except Exception as e:
logstr = "Error in attach: \n"
logstr += f" from {from_interface}: "
logstr += fromPort.toString()
logstr += "\n"
logstr += f" to {to_interface}: "
logstr += toPort.toString()
+ logstr += "\n"
+ logstr += str(e)
log.error(logstr)
raise
@@ -512,6 +522,7 @@ class Component(Parameterized):
def visualize(self, outputs=True, **ka):
widgets = self.makeOutput(outputs, widgets=True, **ka)
+
elts = [ html.H1(f"RoCo component visualizer: {self.name}") ]
tabs = []
@@ -521,13 +532,15 @@ class Component(Parameterized):
widgets.append(html.Div([
html.H3(v['desc']),
html.P(f"Widget: {k}"),
- v['widget'],
+ html.Div(v['widget'], id = dict(composable=c, name=k, type='widget')),
], style={'padding': 10, 'flex': 1}))
- tabs.append(dcc.Tab(label = f"Composable: {c}",
+ #tabs.append(dcc.Tab(label = f"Composable: {c}",
+ tabs.append(html.Div(
children = html.Div(widgets, style={'display': 'flex', 'flex-direction': 'row'})
))
- elts.append(html.Div(dcc.Tabs(tabs)))
+ #elts.append(html.Div(dcc.Tabs(tabs)))
+ elts += reversed(tabs)
return html.Div(elts)
def listOutputs(self):
diff --git a/rocolib/api/components/MechanicalComponent.py b/rocolib/api/components/MechanicalComponent.py
index a9f73f81087146d9ecb47493179faa661ceb3b1c..72435dfe926c0025ef11355125e500a2dd23c81b 100644
--- a/rocolib/api/components/MechanicalComponent.py
+++ b/rocolib/api/components/MechanicalComponent.py
@@ -25,7 +25,7 @@ class MechanicalComponent(Component):
else:
self._euler = None
self._quat = [ self.addParameter("_q_"+x, int(x == "a"),
- valueType="(int, float)", minValue=-1, maxValue=1, hidden=True)
+ valueType="float", minValue=-1, maxValue=1, hidden=True)
for x in "aijk"
]
#self.addSemanticConstraint(np.Eq(np.norm(self._quat), 1))
diff --git a/rocolib/api/composables/ComponentComposable.py b/rocolib/api/composables/ComponentComposable.py
index 45df43b159ba0b335ca55f88fa25972fb230b224..985318573818442a53a4c848413793e0ef944f07 100644
--- a/rocolib/api/composables/ComponentComposable.py
+++ b/rocolib/api/composables/ComponentComposable.py
@@ -1,8 +1,13 @@
from rocolib.api.composables.Composable import Composable, output, widget
import networkx as nx
+import json
from circlify import circlify
from rocolib.utils.nx2go import GraphVisualization as gv
-from dash import dcc
+from dash import dcc, html, Input, Output, ctx, ALL
+from dash.exceptions import PreventUpdate
+import dash_bootstrap_components as dbc
+import logging
+from pprint import pformat
class ComponentComposable(Composable):
@@ -72,3 +77,166 @@ class ComponentComposable(Composable):
@widget('displaymap', "component topology map")
def displayMap(self, fp, **ka):
return dcc.Graph(figure = self._drawComponentTree())
+
+ @widget('parameters', "component parameter form")
+ def paramForm(self, fp, **ka):
+ inputs = []
+
+ inputs.append(html.H4("Interfaces"))
+ inputrow = []
+ for i, (name, info) in enumerate(self.c.getInterfaceInfo().items()):
+ port=info.get("port", "")
+
+ disabled = False
+ if port=="EdgePort":
+ color = 'primary'
+ elif port=="FacePort":
+ color = 'info'
+ else:
+ disabled = True
+ color = 'secondary'
+
+ elem = dbc.Button(name, n_clicks=0,
+ id=dict(name=name, type='interface', port=port),
+ color = color,
+ disabled = disabled,
+ )
+ inputrow.append( dbc.Col ( html.Div(elem, className="d-grid gap-2") , width=2) )
+ if i % 6 == 5:
+ inputs.append(dbc.Row(inputrow))
+ inputrow = []
+ if inputrow:
+ inputs.append(dbc.Row(inputrow))
+
+ inputs.append(html.H4("Parameters"))
+ for name, info in self.c.getParameterInfo().items():
+
+ val = info.get("value", info.get("defaultValue", None))
+ if val is None:
+ val = ''
+
+ inputrow = [ dbc.Col( html.Div(name), width=3 ) , dbc.Col( html.Div(json.dumps(val)), width=1 ) ]
+
+ spec = info.get("spec", {})
+ elem = dbc.Input
+ idict = dict(
+ id = dict(name=name, type='parameter', valueType=("values" in spec and 'values' or spec.get("valueType", ''))),
+ type = 'text',
+ value = val,
+ debounce = True,
+ )
+
+ minval = maxval = None
+ if "minValue" in spec and spec["minValue"] is not None:
+ minval = idict["min"] = spec.get("minValue")
+ minval = round(minval, 2)
+ if "maxValue" in spec and spec["maxValue"] is not None:
+ maxval = idict["max"] = spec.get("maxValue")
+ minval = round(maxval, 2)
+
+ if spec.get("values"):
+ elem = dbc.Select
+ idict.pop("type")
+ idict.pop("debounce")
+ idict["options"] = [dict(label=x, value=json.dumps(x)) for x in spec.get("values")]
+ idict["value"] = json.dumps(val)
+ elif spec.get("valueType") == "int":
+ idict["type"] = 'number'
+ elif spec.get("valueType") == "float":
+ idict["type"] = 'range'
+ if "max" not in idict:
+ mx = int(max(val * 2, idict.get("min", 0) + 10))
+ idict["max"] = mx
+ maxval = f"{mx} >"
+ if "min" not in idict:
+ idict["min"] = int(min(val - 10, 0))
+ minval = f"< {idict['min']}"
+ delta = idict['max'] - idict['min']
+ idict["step"] = 0.1
+ if delta > 5:
+ idict["step"] = 1
+ elif delta > 20:
+ idict["step"] = 2
+ elif delta > 100:
+ idict["step"] = 5
+ elif spec.get("valueType") == "bool":
+ elem = dbc.Switch
+ idict.pop("type")
+ idict.pop("debounce")
+ idict["label"] = name
+ idict["value"] = val
+ else:
+ logging.info(f"Unknown valueType: {spec.get('valueType')} for parameter {name}, using default text input")
+ idict["value"] = json.dumps(val)
+
+ inputgroup = []
+
+ if minval is not None:
+ inputgroup.append( dbc.InputGroupText(minval) )
+
+ e = elem(**idict)
+ inputgroup.append( e )
+
+ if maxval is not None:
+ inputgroup.append( dbc.InputGroupText(maxval) )
+
+ inputrow.append( dbc.Col(dbc.InputGroup(inputgroup)) )
+ inputs.append(dbc.Row(inputrow))
+
+ inputs.append(html.Div("Hello world", id="output_params"))
+
+ app = ka.pop("app", None)
+ if app:
+ @app.callback(Output(dict(composable=ALL, name=ALL, type="widget"), "children"),
+ Input(dict(name=ALL, type="parameter", valueType=ALL), "value"),
+ Input(dict(name=ALL, type="interface", port=ALL), "n_clicks"))
+ def updateParams(values, btns):
+ if not ctx.triggered_id:
+ raise PreventUpdate
+ tname = ctx.triggered_id["name"]
+ ttype = ctx.triggered_id["type"]
+
+ outputs = [ d["id"]["name"] for d in ctx.outputs_list ]
+ if ttype == "parameter":
+ params = _extract(ctx.inputs_list[0])
+ self.c.reload(params)
+ ka.pop("remake", None)
+ elif ttype == "interface":
+ ka["remake"] = False
+ iface = self.c.getInterface(tname)
+ if ctx.triggered_id["port"] == "EdgePort":
+ ka["highlight"] = iface.edges
+ elif ctx.triggered_id["port"] == "FacePort":
+ ka["highlight"] = [e.name for e in iface.getFace().edges]
+ else:
+ raise PreventUpdate
+ widgets = self.c.makeOutput(outputs, widgets=True, **ka)
+ return [widgets[d["id"]["composable"]][d["id"]["name"]]['widget'] for d in ctx.outputs_list]
+
+ @app.callback(Output('output_params', 'children'),
+ Input(dict(name=ALL, type="parameter", valueType=ALL), "value"))
+ def updateParams(values):
+ if not ctx.triggered_id:
+ s = f"Current parameters set to:"
+ else:
+ s = f"Parameter changed: {ctx.triggered_id}; rebuilding with new parameters:"
+ params = _extract(ctx.inputs_list[0])
+ return html.Div([html.Div(s), html.Code(pformat(params))])
+
+ return html.Div(dbc.Container(inputs))
+
+def _extract(ctxlist):
+ params = {}
+ for i in ctxlist:
+ val = i['value']
+ if val == '':
+ val = None
+ elif i['id']['valueType'] not in ('int', 'float', 'bool'):
+ try:
+ val = json.loads(val)
+ except (TypeError, json.decoder.JSONDecodeError):
+ logging.debug(f"Error json-parsing param {i['id']['name']} = {val} ({type(val)})")
+ logging.debug(f"... leaving as string")
+ pass
+ params[i['id']['name']] = val
+ return params
diff --git a/rocolib/api/composables/GraphComposable.py b/rocolib/api/composables/GraphComposable.py
index 6dbd00b2a1a97f21b96b0cfbe4a0442278508141..50d248c614620ff518c795279f1e5307b383521e 100644
--- a/rocolib/api/composables/GraphComposable.py
+++ b/rocolib/api/composables/GraphComposable.py
@@ -78,5 +78,5 @@ class GraphComposable(Composable, BaseGraph):
@widget('display2D', "2D cut pattern")
def display2D(self, fp, **ka):
- kwargs = {k:v for k,v in ka.items() if k in "scale axes".split()}
+ kwargs = {k:v for k,v in ka.items() if k in "scale axes highlight".split()}
return dcc.Graph(figure = cutfig(self.getEdgeSet(), **kwargs))
diff --git a/rocolib/api/composables/graph/Drawing.py b/rocolib/api/composables/graph/Drawing.py
index 33e7d421700e31b52873b344e50624222d271ca7..b09a85f763d626ddeb4a21c691637563c6a28682 100644
--- a/rocolib/api/composables/graph/Drawing.py
+++ b/rocolib/api/composables/graph/Drawing.py
@@ -24,13 +24,11 @@ class Drawing:
buffer = 10
for flist in g.facelists:
- hyperedges = []
- for face in flist:
- for hyperedge in face.edges:
- if hyperedge not in hyperedges:
- hyperedges.append(hyperedge)
+ hyperedges = set((e for face in flist for e in face.edges if e.pts2D is not None and e.length > 0))
pts = [p for e in hyperedges for p in e.pts2D]
+ if not pts:
+ continue
minx = min([x[0] for x in pts])
miny = min([x[1] for x in pts])
dx = maxx - minx
@@ -63,6 +61,8 @@ class Drawing:
self.edges[e.name] = Edge(e.name, e.pts2D[0] + [dx, dy], e.pts2D[1] + [dx, dy], edge)
pts.extend(list(e.pts2D))
for face in flist:
+ if face.area == 0:
+ continue
for e in face.get2DDecorations():
self.edges[e[0]] = Edge(e[0], e[1] + [dx, dy], e[2] + [dx, dy], EdgeType(e[3], interior=True))
diff --git a/rocolib/api/composables/graph/DrawingEdge.py b/rocolib/api/composables/graph/DrawingEdge.py
index 95bf59323de5ae9a81aada6dd94c0c6c4f843967..ce415a8d9dec06c8953df0a54de29941cff5ff53 100644
--- a/rocolib/api/composables/graph/DrawingEdge.py
+++ b/rocolib/api/composables/graph/DrawingEdge.py
@@ -8,9 +8,9 @@ class EdgeType:
TYPEDATA = (
( "REGISTRATION", False, True , "#00ff00", "#00ff00" , 6 , "reg"),
- ( "BOUNDARY_CUT", False, True , "#ff0000", "#000000" , 5 , "cut"),
- ( "INTERIOR_CUT", False, True , "#ff0000", "#888888" , 5 , "cut"),
- ( "FOLD" , True , True , "#0000ff", ("#0000ff", "#ff0000"), (1, 3) , "xxx"),
+ ( "BOUNDARY_CUT", False, True , "#0000ff", "#000000" , 5 , "cut"),
+ ( "INTERIOR_CUT", False, True , "#0000ff", "#888888" , 5 , "cut"),
+ ( "FOLD" , True , True , "#ff0000", ("#0000ff", "#ff0000"), (1, 3) , "xxx"),
( "FLEX" , True , False, "#00ffff", ("#00ffff", "#ffff00"), (1, 3) , "xxx"),
( "FLAT" , False, False, "#ffff00", "#ffffff" , 3 , "nan"),
)
diff --git a/rocolib/api/composables/graph/Graph.py b/rocolib/api/composables/graph/Graph.py
index 3cf2190b965b061040086b39b11de18da05b6aa0..3bf2b327072324126288f9973018e5cf5ac4db37 100644
--- a/rocolib/api/composables/graph/Graph.py
+++ b/rocolib/api/composables/graph/Graph.py
@@ -343,10 +343,10 @@ class Graph():
buffer = 10
for flist in self.facelists:
- edges = set((e for face in flist for e in face.edges if e.pts2D is not None))
+ edges = set((e for face in flist for e in face.edges if e.pts2D is not None and e.length > 0))
if not edges:
- log.warning(f"No placed edges in flist, moving on.")
+ log.info(f"No placed edges in flist; all edges have length=0. Moving on.")
continue
pts = [p for e in edges for p in e.pts2D]
@@ -377,6 +377,10 @@ class Graph():
edgeset[e.name] = edge
for face in flist:
+ if face.area == 0:
+ if face.get2DDecorations():
+ log.info(f"Skipping decorations on face with area=0")
+ continue
for e in face.get2DDecorations():
edge = dict(p0 = e[1] + [dx, dy],
p1 = e[2] + [dx, dy],
diff --git a/rocolib/api/ports/EdgePort.py b/rocolib/api/ports/EdgePort.py
index 7d07f05d9e2a28bb77f554d06cc81bc6e0f28e43..86336a8cca9cfeac1c828f92830b2bc6bfeaaf56 100644
--- a/rocolib/api/ports/EdgePort.py
+++ b/rocolib/api/ports/EdgePort.py
@@ -3,23 +3,21 @@ from rocolib.utils.utils import prefix as prefixString
class EdgePort(Port):
- def __init__(self, parent, graph, edges, lengths):
+ def __init__(self, parent, graph, edges, params):
Port.__init__(self, parent, {})
if isinstance(edges, str) or not hasattr(edges, "__iter__"):
edges = [edges]
- if isinstance(lengths, str) or not hasattr(lengths, "__iter__"):
- lengths = [lengths]
- if len(edges) != len(lengths):
- raise ValueError("Need one-to-one mapping of edges to lengths")
+ if isinstance(params, str) or not hasattr(params, "__iter__"):
+ params = [params]
self.graph = graph
self.edges = edges
- self.lengths = lengths
+ self.params = params
def getEdges(self):
return self.edges
def getParams(self):
- return self.lengths
+ return self.params
def update(self, newparent, oldcomposable, newcomposable, prefix):
self.setParent(newparent)
diff --git a/rocolib/builders/AngleBuilder.py b/rocolib/builders/AngleBuilder.py
new file mode 100644
index 0000000000000000000000000000000000000000..885ccc1792b469419e865a719079c6213de25740
--- /dev/null
+++ b/rocolib/builders/AngleBuilder.py
@@ -0,0 +1,15 @@
+from rocolib.api.components.Component import newComponent
+from rocolib.api.Function import Function
+
+c = newComponent("Angle")
+
+c.addParameter("h", 20, paramType="length")
+c.addParameter("angle", 90, paramType="angle")
+
+c.addSubcomponent("base", "Rectangle", inherit=True, prefix=None)
+c.addSubcomponent("edge", "Rectangle")
+c.addConstraint(("edge", "w"), "h")
+
+c.join(("base", "b"), ("edge", "t"), angle=Function("angle"))
+
+c.toLibrary(True)
diff --git a/rocolib/builders/MountedBrainsBuilder.py b/rocolib/builders/MountedBrainsBuilder.py
index b6d35135f3793eecad3247f5776f4b09f3f4c91c..c7e1bc0547bbdd32159c26ff3db279becb90a2f0 100644
--- a/rocolib/builders/MountedBrainsBuilder.py
+++ b/rocolib/builders/MountedBrainsBuilder.py
@@ -4,17 +4,17 @@ from rocolib.api.Function import Function
c = newComponent("MountedBrains")
-c.addSubcomponent("beam", "SimpleRectBeam")
+c.addSubcomponent("beam", "SimpleRectBeam", inherit=True, prefix=None)
c.addSubcomponent("brain", "Brains", inherit="brain", prefix=None)
+c.delParameter("width")
+c.delParameter("depth")
-c.addParameter("length", 90, paramType="length")
c.addParameter("width", 50, paramType="length")
c.addParameter("depth", 20, paramType="length")
-c.addParameter("offset", (0,0))
+c.addParameter("offset", (0,0), valueType="list")
c.addConstraint(("beam", "width"), "depth")
c.addConstraint(("beam", "depth"), "width")
-c.addConstraint(("beam", "length"), "length")
c.addConstraint(("beam", "width#minValue"), "brain", 'x.get("height")')
c.addConstraint(("beam", "depth#minValue"), "brain", 'x.get("width")')
diff --git a/rocolib/builders/ServoMountBuilder.py b/rocolib/builders/ServoMountBuilder.py
index 0ccd12c96d51faf7e4a420169368969541360eb4..c5d1e09730c1975768187c23df78c10be76a917e 100644
--- a/rocolib/builders/ServoMountBuilder.py
+++ b/rocolib/builders/ServoMountBuilder.py
@@ -10,10 +10,12 @@ c.addParameter("center", True, valueType="bool")
c.addParameter("shift", 0, paramType="length")
# XXX TODO: Define type: tuple of two numbers
-c.addParameter("offset", 0)
+c.addParameter("offset", [], valueType="list")
-c.addSubcomponent("beam", "SimpleRectBeam", inherit=("length", "addTabs"), prefix=None)
+c.addSubcomponent("beam", "SimpleRectBeam", inherit=True, prefix=None)
c.addSubcomponent("mount", "Cutout")
+c.delParameter("width")
+c.delParameter("depth")
c.addConstraint(("mount", "dx"), "servo", 'x.get("motorwidth") * 0.99')
c.addConstraint(("mount", "dy"), "servo", 'x.get("motorlength")')
diff --git a/rocolib/library/Angle.yaml b/rocolib/library/Angle.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..fe772cc3d410437d262a5c6bc2a400b3575c3a7f
--- /dev/null
+++ b/rocolib/library/Angle.yaml
@@ -0,0 +1,117 @@
+connections:
+ connection0:
+ - - base
+ - b
+ - - edge
+ - t
+ - angle:
+ parameter: angle
+interfaces: {}
+parameters:
+ _dx:
+ defaultValue: 0
+ spec:
+ hidden: true
+ minValue: null
+ units: mm
+ valueType: float
+ _dy:
+ defaultValue: 0
+ spec:
+ hidden: true
+ minValue: null
+ units: mm
+ valueType: float
+ _dz:
+ defaultValue: 0
+ spec:
+ hidden: true
+ minValue: null
+ units: mm
+ valueType: float
+ _q_a:
+ defaultValue: 1
+ spec:
+ hidden: true
+ maxValue: 1
+ minValue: -1
+ valueType: float
+ _q_i:
+ defaultValue: 0
+ spec:
+ hidden: true
+ maxValue: 1
+ minValue: -1
+ valueType: float
+ _q_j:
+ defaultValue: 0
+ spec:
+ hidden: true
+ maxValue: 1
+ minValue: -1
+ valueType: float
+ _q_k:
+ defaultValue: 0
+ spec:
+ hidden: true
+ maxValue: 1
+ minValue: -1
+ valueType: float
+ angle:
+ defaultValue: 90
+ spec:
+ maxValue: 360
+ minValue: 0
+ units: degrees
+ valueType: float
+ h:
+ defaultValue: 20
+ spec:
+ minValue: 0
+ units: mm
+ valueType: float
+ l:
+ defaultValue: 100
+ spec:
+ minValue: 0
+ units: mm
+ valueType: float
+ w:
+ defaultValue: 400
+ spec:
+ minValue: 0
+ units: mm
+ valueType: float
+source: ../builders/AngleBuilder.py
+subcomponents:
+ base:
+ classname: Rectangle
+ 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
+ l:
+ parameter: l
+ w:
+ parameter: w
+ edge:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ parameter: l
+ subcomponent: base
+ w:
+ parameter: h
diff --git a/rocolib/library/Cutout.py b/rocolib/library/Cutout.py
index 5787e64e7a368de0f12567b87170997aa53c6ea4..c17d3a25c993045f15412125178050ada00f38ef 100644
--- a/rocolib/library/Cutout.py
+++ b/rocolib/library/Cutout.py
@@ -5,7 +5,7 @@ class Cutout(DecorationComponent):
def define(self):
self.addParameter("dx", 10, paramType="length")
self.addParameter("dy", 20, paramType="length")
- self.addParameter("d", overrides={
+ self.addParameter("d", paramType="length", overrides={
"dx": 'c.p.d',
"dy": 'c.p.d',
})
diff --git a/rocolib/library/ESPSeg.yaml b/rocolib/library/ESPSeg.yaml
index 3743f2b77ff87fe054f7561ae3dcb429b8786f26..218b6edb44d15270ca76bc492bcc9188ecfe42c4 100644
--- a/rocolib/library/ESPSeg.yaml
+++ b/rocolib/library/ESPSeg.yaml
@@ -89,7 +89,7 @@ parameters:
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
brain:
defaultValue: nodeMCU
spec:
@@ -135,10 +135,11 @@ parameters:
spec:
values:
ds2g:
- horndepth: 1
+ horndepth: 2
hornheight: 9
- hornlength: 11
+ hornlength: 10
hornoffset: 4
+ hornwidth: 3
motorheight: 11
motorlength: 17
motorwidth: 8.5
@@ -148,6 +149,7 @@ parameters:
hornheight: 11
hornlength: 10
hornoffset: 8
+ hornwidth: 5
motorheight: 19
motorlength: 23
motorwidth: 13
@@ -157,6 +159,7 @@ parameters:
hornheight: 14
hornlength: 38
hornoffset: 7
+ hornwidth: 3
motorheight: 29
motorlength: 31
motorwidth: 17
@@ -166,6 +169,7 @@ parameters:
hornheight: 10
hornlength: 7
hornoffset: 4
+ hornwidth: 3
motorheight: 14
motorlength: 20
motorwidth: 9
@@ -175,51 +179,51 @@ parameters:
spec:
maxValue: 1
minValue: 0
- valueType: (float, int)
+ valueType: float
height:
defaultValue: 40
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
left.angle:
- defaultValue: 0
+ defaultValue: 180
spec:
maxValue: null
minValue: null
units: degrees
- valueType: (float, int)
+ valueType: float
length:
defaultValue: 90
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
right.angle:
- defaultValue: 0
+ defaultValue: 180
spec:
maxValue: null
minValue: null
units: degrees
- valueType: (float, int)
+ valueType: float
tailwidth:
defaultValue: 0.3333333333333333
spec:
maxValue: 1
minValue: 0
- valueType: (float, int)
+ valueType: float
tire_thickness:
defaultValue: 0
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
width:
defaultValue: 60
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
source: ../builders/ESPSegBuilder.py
subcomponents:
brain:
diff --git a/rocolib/library/MountedBrains.yaml b/rocolib/library/MountedBrains.yaml
index 3dc99a0b7ec90dd482b3043758eb387cbea5ae5c..d80ca298f92c7c9353667bf06b3447817f364412 100644
--- a/rocolib/library/MountedBrains.yaml
+++ b/rocolib/library/MountedBrains.yaml
@@ -8,6 +8,9 @@ connections:
offset:
parameter: offset
interfaces:
+ bot:
+ interface: bot
+ subcomponent: beam
botedge0:
interface: botedge0
subcomponent: beam
@@ -38,6 +41,9 @@ interfaces:
tabedge:
interface: tabedge
subcomponent: beam
+ top:
+ interface: top
+ subcomponent: beam
topedge0:
interface: topedge0
subcomponent: beam
@@ -51,6 +57,60 @@ interfaces:
interface: topedge3
subcomponent: beam
parameters:
+ _dx:
+ defaultValue: 0
+ spec:
+ hidden: true
+ minValue: null
+ units: mm
+ valueType: float
+ _dy:
+ defaultValue: 0
+ spec:
+ hidden: true
+ minValue: null
+ units: mm
+ valueType: float
+ _dz:
+ defaultValue: 0
+ spec:
+ hidden: true
+ minValue: null
+ units: mm
+ valueType: float
+ _q_a:
+ defaultValue: 1
+ spec:
+ hidden: true
+ maxValue: 1
+ minValue: -1
+ valueType: float
+ _q_i:
+ defaultValue: 0
+ spec:
+ hidden: true
+ maxValue: 1
+ minValue: -1
+ valueType: float
+ _q_j:
+ defaultValue: 0
+ spec:
+ hidden: true
+ maxValue: 1
+ minValue: -1
+ valueType: float
+ _q_k:
+ defaultValue: 0
+ spec:
+ hidden: true
+ maxValue: 1
+ minValue: -1
+ valueType: float
+ addTabs:
+ defaultValue: true
+ spec:
+ hidden: true
+ valueType: bool
brain:
defaultValue: nodeMCU
spec:
@@ -96,40 +156,75 @@ parameters:
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
+ fullTab:
+ defaultValue: false
+ spec:
+ hidden: true
+ valueType: bool
length:
- defaultValue: 90
+ defaultValue: 100
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
offset:
defaultValue:
- 0
- 0
- spec: {}
+ spec:
+ valueType: list
+ phase:
+ defaultValue: 0
+ spec:
+ hidden: true
+ values:
+ - 0
+ - 1
+ - 2
+ - 3
width:
defaultValue: 50
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
source: ../builders/MountedBrainsBuilder.py
subcomponents:
beam:
classname: SimpleRectBeam
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
+ addTabs:
+ parameter: addTabs
depth:
parameter: width
depth#minValue:
function: x.get("width")
parameter: brain
+ fullTab:
+ parameter: fullTab
length:
parameter: length
length#minValue:
function: x.get("length")
parameter: brain
+ phase:
+ parameter: phase
width:
parameter: depth
width#minValue:
diff --git a/rocolib/library/MountedServo.yaml b/rocolib/library/MountedServo.yaml
index 8754865a8ec54baa3e1e44b4b5ded91dfdd17cde..83d75f28f432275d083b2e46c89430817ad35449 100644
--- a/rocolib/library/MountedServo.yaml
+++ b/rocolib/library/MountedServo.yaml
@@ -6,6 +6,9 @@ connections:
- mount
- {}
interfaces:
+ bot:
+ interface: bot
+ subcomponent: mount
botedge0:
interface: botedge0
subcomponent: mount
@@ -45,6 +48,9 @@ interfaces:
tabedge:
interface: tabedge
subcomponent: mount
+ top:
+ interface: top
+ subcomponent: mount
topedge0:
interface: topedge0
subcomponent: mount
@@ -64,86 +70,115 @@ parameters:
hidden: true
minValue: null
units: mm
- valueType: (float, int)
+ valueType: float
_dy:
defaultValue: 0
spec:
hidden: true
minValue: null
units: mm
- valueType: (float, int)
+ valueType: float
_dz:
defaultValue: 0
spec:
hidden: true
minValue: null
units: mm
- valueType: (float, int)
+ valueType: float
_q_a:
defaultValue: 1
spec:
hidden: true
maxValue: 1
minValue: -1
- valueType: (int, float)
+ valueType: float
_q_i:
defaultValue: 0
spec:
hidden: true
maxValue: 1
minValue: -1
- valueType: (int, float)
+ valueType: float
_q_j:
defaultValue: 0
spec:
hidden: true
maxValue: 1
minValue: -1
- valueType: (int, float)
+ valueType: float
_q_k:
defaultValue: 0
spec:
hidden: true
maxValue: 1
minValue: -1
- valueType: (int, float)
+ valueType: float
addTabs:
defaultValue: true
spec:
+ hidden: true
valueType: bool
angle:
- defaultValue: 0
+ defaultValue: 180
spec:
maxValue: null
minValue: null
units: degrees
- valueType: (float, int)
+ valueType: float
center:
defaultValue: true
spec:
valueType: bool
+ centermount:
+ defaultValue: true
+ spec:
+ valueType: bool
flip:
defaultValue: false
spec:
valueType: bool
+ fullTab:
+ defaultValue: false
+ spec:
+ hidden: true
+ valueType: bool
+ hornmount:
+ defaultValue: true
+ spec:
+ valueType: bool
+ hornslots:
+ defaultValue: true
+ spec:
+ valueType: bool
length:
defaultValue: 100
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
offset:
+ defaultValue: []
+ spec:
+ valueType: list
+ phase:
defaultValue: 0
- spec: {}
+ spec:
+ hidden: true
+ values:
+ - 0
+ - 1
+ - 2
+ - 3
servo:
defaultValue: fs90r
spec:
values:
ds2g:
- horndepth: 1
+ horndepth: 2
hornheight: 9
- hornlength: 11
+ hornlength: 10
hornoffset: 4
+ hornwidth: 3
motorheight: 11
motorlength: 17
motorwidth: 8.5
@@ -153,6 +188,7 @@ parameters:
hornheight: 11
hornlength: 10
hornoffset: 8
+ hornwidth: 5
motorheight: 19
motorlength: 23
motorwidth: 13
@@ -162,6 +198,7 @@ parameters:
hornheight: 14
hornlength: 38
hornoffset: 7
+ hornwidth: 3
motorheight: 29
motorlength: 31
motorwidth: 17
@@ -171,6 +208,7 @@ parameters:
hornheight: 10
hornlength: 7
hornoffset: 4
+ hornwidth: 3
motorheight: 14
motorlength: 20
motorwidth: 9
@@ -180,23 +218,41 @@ parameters:
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
source: ../builders/MountedServoBuilder.py
subcomponents:
mount:
classname: ServoMount
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
addTabs:
parameter: addTabs
center:
parameter: center
flip:
parameter: flip
+ fullTab:
+ parameter: fullTab
length:
parameter: length
offset:
parameter: offset
+ phase:
+ parameter: phase
servo:
parameter: servo
shift:
@@ -221,5 +277,13 @@ subcomponents:
parameter: _q_k
angle:
parameter: angle
+ centermount:
+ parameter: centermount
+ flip:
+ parameter: flip
+ hornmount:
+ parameter: hornmount
+ hornslots:
+ parameter: hornslots
servo:
parameter: servo
diff --git a/rocolib/library/Paperbot.yaml b/rocolib/library/Paperbot.yaml
index a01cac005a5dcf83d4d98bbeda8c456a491119bc..984e5e1fc71f4ee0d467bf1af1a6c65900ff27d1 100644
--- a/rocolib/library/Paperbot.yaml
+++ b/rocolib/library/Paperbot.yaml
@@ -6,31 +6,31 @@ parameters:
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
height:
defaultValue: 25
spec:
minValue: 20
units: mm
- valueType: (float, int)
+ valueType: float
length:
defaultValue: 80
spec:
minValue: 77
units: mm
- valueType: (float, int)
+ valueType: float
tire_thickness:
defaultValue: 0
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
width:
defaultValue: 60
spec:
minValue: 60
units: mm
- valueType: (float, int)
+ valueType: float
source: ../builders/PaperbotBuilder.py
subcomponents:
paperbot:
diff --git a/rocolib/library/PinchedRectBeam.py b/rocolib/library/PinchedRectBeam.py
index a58245357fa5a60abd771c42a3070136a619d7cf..1229faa03134f74b18dcffbe680ed37c098ab732 100644
--- a/rocolib/library/PinchedRectBeam.py
+++ b/rocolib/library/PinchedRectBeam.py
@@ -14,6 +14,9 @@ class PinchedRectBeam(FoldedComponent):
self.addEdgeInterface(f"topedge{i}", f"s{i}t.e2", ["topwidth", "topdepth"][i % 2])
self.addEdgeInterface(f"botedge{i}", f"s{i}b.e2", ["botwidth", "botdepth"][i % 2])
+ self.addEdgeInterface("top", [f"s{i}t.e2" for i in range(4)], ["topwidth", "topdepth"])
+ self.addEdgeInterface("bot", [f"s{3-i}b.e2" for i in range(4)], ["botdepth", "botwidth"])
+
def modifyParameters(self):
tw = self.p.topwidth
td = self.p.topdepth
diff --git a/rocolib/library/RectBeam.py b/rocolib/library/RectBeam.py
index 74ebf2375dd66e0c2cf4221770ff2cafae0b7017..f5b00597631099eba7580d43b0c725b719b3752a 100644
--- a/rocolib/library/RectBeam.py
+++ b/rocolib/library/RectBeam.py
@@ -8,9 +8,9 @@ class RectBeam(FoldedComponent):
self.addParameter("width", 20, paramType="length")
self.addParameter("depth", 50, paramType="length")
- self.addParameter("phase", 0, valueType="int")
+ self.addParameter("phase", 0, paramType="count")
- self.addParameter("angle", overrides=("tangle", "bangle"))
+ self.addParameter("angle", paramType="angle", maxValue=180, overrides=("tangle", "bangle"))
self.addParameter("tangle", 80, paramType="angle", maxValue=180)
self.addParameter("bangle", 135, paramType="angle", maxValue=180)
diff --git a/rocolib/library/RegularNGon.py b/rocolib/library/RegularNGon.py
index 6f128eaa93c1ace3fba3b3d6f450d3b9cf0de9dd..cb0217282e18501045643287d1f3085e177b23eb 100644
--- a/rocolib/library/RegularNGon.py
+++ b/rocolib/library/RegularNGon.py
@@ -1,23 +1,29 @@
from rocolib.api.components import FoldedComponent
-from rocolib.api.composables.graph.Face import RegularNGon2 as Shape
+from rocolib.api.composables.graph.Face import RegularNGon2 as NGonRadius, RegularNGon as NGonEdge
class RegularNGon(FoldedComponent):
def define(self):
self.addParameter("n", 5, valueType="int", minValue=3)
- self.addParameter("radius", 25, paramType="length")
+ self.addParameter("l", 25, paramType="length")
+ self.addParameter("ltype", "radius", values=("radius", "edge"))
- self.addEdgeInterface("e0", "e0", "radius")
+ for i in range(10):
+ self.addEdgeInterface(f"e{i}", f"e{i}", "l")
self.addFaceInterface("face", "r")
def assemble(self):
- self.addFace(Shape("r", self.p.n, self.p.radius))
+ if self.p.ltype == "radius":
+ Shape = NGonRadius
+ else:
+ Shape = NGonEdge
+ self.addFace(Shape("r", self.p.n, self.p.l))
for i in range(self.p.n):
try:
- self.setEdgeInterface("e%d" % i, "e%d" % i, "radius")
+ self.setEdgeInterface("e%d" % i, "e%d" % i, "l")
except KeyError:
- self.addEdgeInterface("e%d"%i, "e%d" % i, "radius")
+ self.addEdgeInterface("e%d"%i, "e%d" % i, "l")
if __name__ == "__main__":
RegularNGon.test()
diff --git a/rocolib/library/ServoMotor.py b/rocolib/library/ServoMotor.py
index 47fbbbbf9f177e2dbd4f36de96b70a4ae5e63b07..3980b2303dd26273a57df6b7f221bb4806351439 100644
--- a/rocolib/library/ServoMotor.py
+++ b/rocolib/library/ServoMotor.py
@@ -1,5 +1,5 @@
from rocolib.api.components import FoldedComponent
-from rocolib.api.composables.graph.Face import Rectangle as Shape
+from rocolib.api.composables.graph.Face import Rectangle, Face
from rocolib.api.ports import AnchorPort
from rocolib.utils.utils import decorateGraph
from rocolib.utils.transforms import Translate, RotateZ
@@ -8,7 +8,12 @@ from rocolib.utils.numsym import dot, deg2rad
class ServoMotor(FoldedComponent):
def define(self):
- self.addParameter("angle", 0, paramType="angle", minValue=None, maxValue=None)
+ self.addParameter("angle", 180, paramType="angle", minValue=None, maxValue=None)
+ self.addParameter("centermount", True, valueType="bool")
+ self.addParameter("hornmount", True, valueType="bool")
+ self.addParameter("hornslots", True, valueType="bool")
+ self.addParameter("flip", False, valueType="bool")
+
self.addParameter("servo", "fs90r", values=ServoMotor.dims)
self.addInterface("mount", AnchorPort(self, self.getGraph(), "horn", Translate([0,0,0])))
self.addFaceInterface("horn", "horn")
@@ -18,18 +23,31 @@ class ServoMotor(FoldedComponent):
dz = s.get("hornheight")
dy = s.get("motorlength") / 2 - s.get("hornoffset")
+ if self.p.flip:
+ dy = -dy
- f = Shape("horn", 0, 0)
- decorateGraph(f, Shape("hole", 1, 1))
+ f = Rectangle("horn", 0, 0)
+ if self.p.centermount:
+ decorateGraph(f, Rectangle("centerhole", 1, 1))
+ if self.p.hornmount:
+ decorateGraph(f, Face("hornhole", [(ds*dd, s.get("hornlength")+dd) for dd in (-0.1, 0.1) for ds in (-1, 1)], recenter=False))
+ if self.p.hornslots:
+ x = s.get("hornwidth") + s.get("horndepth")
+ dx = s.get("horndepth")*1.5 / 2
+ dy = ((s.get("hornwidth") + s.get("horndepth")*.5) / 2) / dx
+ while x < s.get("hornlength"):
+ decorateGraph(f, Face(f"hornslotp{x}", [(ds*dd, x+dd) for dd in (-dx, dx) for ds in (-dy, dy)], recenter=False))
+ decorateGraph(f, Face(f"hornslotn{x}", [(ds*dd, -x+dd) for dd in (-dx, dx) for ds in (-dy, dy)], recenter=False))
+ x += s.get("horndepth") * 3
self.addFace(f)
- self.setInterface("mount", AnchorPort(self, self.getGraph(), "horn", dot(RotateZ(deg2rad(self.p.angle)), Translate([0,-dy,dz]))))
+ self.setInterface("mount", AnchorPort(self, self.getGraph(), "horn", dot(Translate([0,-dy,dz]), RotateZ(deg2rad(self.p.angle)))))
'''
Servo dimension parameters:
|<-G->|
- ^ =====v===== { H
+ ^ =o======v======o= { H (X)J
E _I_
v ________| | |_____
^ | |<-F->|<> D
@@ -48,6 +66,7 @@ class ServoMotor(FoldedComponent):
G : hornlength
H : horndepth
+ J : hornwidth
'''
@@ -57,10 +76,11 @@ class ServoMotor(FoldedComponent):
motorwidth = 8.5,
motorheight = 11,
shoulderlength= 3.5,
- hornlength = 11,
+ hornlength = 10,
hornheight = 9,
hornoffset = 4,
- horndepth = 1,
+ horndepth = 2,
+ hornwidth = 3,
),
s4303r = dict(
motorlength = 31,
@@ -71,6 +91,7 @@ class ServoMotor(FoldedComponent):
hornheight = 14,
hornoffset = 7,
horndepth = 2,
+ hornwidth = 3,
),
tgy1370a = dict(
motorlength = 20,
@@ -81,6 +102,7 @@ class ServoMotor(FoldedComponent):
hornheight = 10,
hornoffset = 4,
horndepth = 2,
+ hornwidth = 3,
),
fs90r = dict(
motorlength = 23,
@@ -91,6 +113,7 @@ class ServoMotor(FoldedComponent):
hornheight = 11,
hornoffset = 8,
horndepth = 2,
+ hornwidth = 5,
),
)
diff --git a/rocolib/library/ServoMount.yaml b/rocolib/library/ServoMount.yaml
index c60f15883cd8960c3eb62fd3eb64c409ef962655..cf71c411879ecec09baee76015b6e8c44ea9eb3f 100644
--- a/rocolib/library/ServoMount.yaml
+++ b/rocolib/library/ServoMount.yaml
@@ -8,6 +8,9 @@ connections:
offset:
parameter: offset
interfaces:
+ bot:
+ interface: bot
+ subcomponent: beam
botedge0:
interface: botedge0
subcomponent: beam
@@ -41,6 +44,9 @@ interfaces:
tabedge:
interface: tabedge
subcomponent: beam
+ top:
+ interface: top
+ subcomponent: beam
topedge0:
interface: topedge0
subcomponent: beam
@@ -54,9 +60,59 @@ interfaces:
interface: topedge3
subcomponent: beam
parameters:
+ _dx:
+ defaultValue: 0
+ spec:
+ hidden: true
+ minValue: null
+ units: mm
+ valueType: float
+ _dy:
+ defaultValue: 0
+ spec:
+ hidden: true
+ minValue: null
+ units: mm
+ valueType: float
+ _dz:
+ defaultValue: 0
+ spec:
+ hidden: true
+ minValue: null
+ units: mm
+ valueType: float
+ _q_a:
+ defaultValue: 1
+ spec:
+ hidden: true
+ maxValue: 1
+ minValue: -1
+ valueType: float
+ _q_i:
+ defaultValue: 0
+ spec:
+ hidden: true
+ maxValue: 1
+ minValue: -1
+ valueType: float
+ _q_j:
+ defaultValue: 0
+ spec:
+ hidden: true
+ maxValue: 1
+ minValue: -1
+ valueType: float
+ _q_k:
+ defaultValue: 0
+ spec:
+ hidden: true
+ maxValue: 1
+ minValue: -1
+ valueType: float
addTabs:
defaultValue: true
spec:
+ hidden: true
valueType: bool
center:
defaultValue: true
@@ -66,24 +122,40 @@ parameters:
defaultValue: false
spec:
valueType: bool
+ fullTab:
+ defaultValue: false
+ spec:
+ hidden: true
+ valueType: bool
length:
defaultValue: 100
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
offset:
+ defaultValue: []
+ spec:
+ valueType: list
+ phase:
defaultValue: 0
- spec: {}
+ spec:
+ hidden: true
+ values:
+ - 0
+ - 1
+ - 2
+ - 3
servo:
defaultValue: fs90r
spec:
values:
ds2g:
- horndepth: 1
+ horndepth: 2
hornheight: 9
- hornlength: 11
+ hornlength: 10
hornoffset: 4
+ hornwidth: 3
motorheight: 11
motorlength: 17
motorwidth: 8.5
@@ -93,6 +165,7 @@ parameters:
hornheight: 11
hornlength: 10
hornoffset: 8
+ hornwidth: 5
motorheight: 19
motorlength: 23
motorwidth: 13
@@ -102,6 +175,7 @@ parameters:
hornheight: 14
hornlength: 38
hornoffset: 7
+ hornwidth: 3
motorheight: 29
motorlength: 31
motorwidth: 17
@@ -111,6 +185,7 @@ parameters:
hornheight: 10
hornlength: 7
hornoffset: 4
+ hornwidth: 3
motorheight: 14
motorlength: 20
motorwidth: 9
@@ -120,23 +195,41 @@ parameters:
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
source: ../builders/ServoMountBuilder.py
subcomponents:
beam:
classname: SimpleRectBeam
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
addTabs:
parameter: addTabs
depth:
function: x.get("motorheight")
parameter: servo
+ fullTab:
+ parameter: fullTab
length:
parameter: length
length#minValue:
function: x.get("motorlength") + 2 * x.get("shoulderlength")
parameter: servo
+ phase:
+ parameter: phase
width:
function: x.get("motorwidth")
parameter: servo
diff --git a/rocolib/library/SimpleRectBeam.py b/rocolib/library/SimpleRectBeam.py
index dfcca369e64b87fff0ab6b6906c58449af8ece7b..64e344c36960901d0ee3301a2bc142dd477c771e 100644
--- a/rocolib/library/SimpleRectBeam.py
+++ b/rocolib/library/SimpleRectBeam.py
@@ -1,5 +1,6 @@
from rocolib.api.components import FoldedComponent
from rocolib.api.composables.graph.Face import Rectangle
+from rocolib.utils.tabs import BeamTabDecoration, BeamSlotDecoration
class SimpleRectBeam(FoldedComponent):
def define(self):
@@ -7,7 +8,9 @@ class SimpleRectBeam(FoldedComponent):
self.addParameter("width", 20, paramType="length")
self.addParameter("depth", 50, paramType="length")
- self.addParameter("addTabs", True, valueType="bool")
+ self.addParameter("addTabs", True, valueType="bool", hidden=True)
+ self.addParameter("phase", 0, values=[0,1,2,3], hidden=True)
+ self.addParameter("fullTab", False, valueType="bool", hidden=True)
for i in range(4):
self.addEdgeInterface("topedge%d" % i, "r%d.e2" % i, ["width", "depth"][i % 2])
@@ -16,23 +19,38 @@ class SimpleRectBeam(FoldedComponent):
self.addEdgeInterface("slotedge", "r3.e1", "length")
self.addEdgeInterface("tabedge", "r0.e3", "length")
- def assemble(self):
- rs = []
- rs.append(Rectangle("", self.p.width, self.p.length))
- rs.append(Rectangle("", self.p.depth, self.p.length))
- rs.append(Rectangle("", self.p.width, self.p.length))
- rs.append(Rectangle("", self.p.depth, self.p.length))
+ self.addEdgeInterface("top", ["r%d.e2" % i for i in range(4)], ["width", "depth"])
+ self.addEdgeInterface("bot", ["r%d.e0" % (3-i) for i in range(4)], ["depth", "width"])
+ def assemble(self):
+ nf = 4
+ def wfn(i):
+ if i % 2:
+ return self.p.depth
+ else:
+ return self.p.width
+ rs = [Rectangle("", wfn(i), self.p.length) for i in range(nf)]
+
+ p = self.p.phase
fromEdge = None
- for i in range(4):
+ for j in range(nf):
+ i = (j + p) % nf
self.attachEdge(fromEdge, rs[i], "e3", prefix="r%d"%i, angle=90)
fromEdge = 'r%d.e1' % i
self.setFaceInterface("face%d" % i, "r%d" % i)
- tabEdge, slotEdge = "r0.e3", "r3.e1"
+ tabEdge, slotEdge = f"r{p}.e3", f"r{(p-1)%nf}.e1"
if self.p.addTabs:
- self.addTab(tabEdge, slotEdge, angle= 90, width=min(10, self.p.depth))
+ mw = min(10, wfn(p-1))
+ tab = Rectangle("", self.p.fullTab and wfn(p-1) or mw, self.p.length)
+ self.attachEdge(tabEdge, tab, "e1", prefix="tab", angle=90)
+ BeamTabDecoration(tab, "tab.e1", mw)
+ BeamSlotDecoration(rs[(p-1)%nf], slotEdge, mw)
+ tabEdge = "tab.e3"
+
+ self.setEdgeInterface("slotedge", slotEdge, "length")
+ self.setEdgeInterface("tabedge", tabEdge, "length")
if __name__ == "__main__":
SimpleRectBeam.test()
diff --git a/rocolib/library/SimpleUChannel.py b/rocolib/library/SimpleUChannel.py
index bd9abc23584b2c89a0dada86138cb4620d89a5e2..660f116aafb95f5c513a87ff5e6652eb8b322122 100644
--- a/rocolib/library/SimpleUChannel.py
+++ b/rocolib/library/SimpleUChannel.py
@@ -17,8 +17,8 @@ class SimpleUChannel(FoldedComponent):
self.addEdgeInterface("ledge", "r0.e3", "length")
self.addEdgeInterface("redge", "r2.e1", "length")
- self.addEdgeInterface("top", ["r%d.e0" % i for i in range(3)], ["depth", "width", "depth"])
- self.addEdgeInterface("bot", ["r%d.e2" % (2-i) for i in range(3)], ["depth", "width", "depth"])
+ self.addEdgeInterface("top", ["r%d.e0" % i for i in range(3)], ["depth", "width"])
+ self.addEdgeInterface("bot", ["r%d.e2" % (2-i) for i in range(3)], ["depth", "width"])
def assemble(self):
rs = []
diff --git a/rocolib/library/SplitEdge.py b/rocolib/library/SplitEdge.py
index 0c1cabda6f2f2328e8ba5fc92e47955b45f47f15..35c901c82db4ed816ce3b6e4da6a80dd8f4fffc4 100644
--- a/rocolib/library/SplitEdge.py
+++ b/rocolib/library/SplitEdge.py
@@ -8,8 +8,8 @@ def isclose(a, b, rel_tol=1e-09, abs_tol=0.0):
class SplitEdge(FoldedComponent):
def define(self):
- self.addParameter("toplength", (50, 50), valueType="(tuple, list)")
- self.addParameter("botlength", (100,), valueType="(tuple, list)")
+ self.addParameter("toplength", (50, 50), valueType="list")
+ self.addParameter("botlength", (100,), valueType="list")
self.addParameter("width", 0)
for i in range(100):
diff --git a/rocolib/library/TwoDOF.py b/rocolib/library/TwoDOF.py
index b7edc10f6331e71c5a3b7c8c8048d3c3b9f2383a..bb16d5a16a80a97fc9bd150fc152c23061b6e914 100644
--- a/rocolib/library/TwoDOF.py
+++ b/rocolib/library/TwoDOF.py
@@ -7,8 +7,8 @@ class TwoDOF(FoldedComponent):
self.addParameter("handlelength", 15, paramType="length")
self.addParameter("hingelength", 10, paramType="length")
self.addParameter("thickness", 10, paramType="length")
- self.addParameter("pitch", 135, paramType="angle")
- self.addParameter("yaw", 60, paramType="angle")
+ self.addParameter("pitch", 15, paramType="angle", minValue=-90, maxValue=90)
+ self.addParameter("yaw", 10, paramType="angle", minValue=-90, maxValue=90)
self.addEdgeInterface("mountedge", "mount.e0", "mountlength")
self.addEdgeInterface("outedge", "r2.e2", "handlelength")
@@ -28,9 +28,9 @@ class TwoDOF(FoldedComponent):
r2 = Rectangle("", h, t)
self.addFace(b, "base")
- self.attachEdge("base.e2", r1, "e0", prefix="r1", angle=-180)
- self.attachEdge("r1.e3", r2, "e1", prefix="r2", angle=y)
- self.attachEdge("base.e0", b0, "e2", prefix="mount", angle=p)
+ self.attachEdge("base.e2", r1, "e0", prefix="r1", angle=p > 0 and p-180 or -180)
+ self.attachEdge("r1.e3", r2, "e1", prefix="r2", angle=90+y)
+ self.attachEdge("base.e0", b0, "e2", prefix="mount", angle=p < 0 and 180+p or 180)
if __name__ == "__main__":
TwoDOF.test()
diff --git a/rocolib/library/UChannel.py b/rocolib/library/UChannel.py
index f1e46835d38c5d1b7321744bcc39079c2a571836..40156a93df31170388f6ff3f8cbf5a41737a872a 100644
--- a/rocolib/library/UChannel.py
+++ b/rocolib/library/UChannel.py
@@ -17,8 +17,8 @@ class UChannel(FoldedComponent):
self.addEdgeInterface("topedge%d" % i, "r%d.e0" % i, ["depth", "width"][i % 2])
self.addEdgeInterface("botedge%d" % i, "r%d.e2" % i, ["depth", "width"][i % 2])
self.addFaceInterface("face%d" % i, "r%d" % i)
- self.addEdgeInterface("top", ["r%d.e0" % i for i in range(3)], ["depth", "width", "depth"])
- self.addEdgeInterface("bot", ["r%d.e2" % (2-i) for i in range(3)], ["depth", "width", "depth"])
+ self.addEdgeInterface("top", ["r%d.e0" % i for i in range(3)], ["depth", "width"])
+ self.addEdgeInterface("bot", ["r%d.e2" % (2-i) for i in range(3)], ["depth", "width"])
self.addEdgeInterface("ledge", "r0.e3", "length")
self.addEdgeInterface("redge", "r2.e1", "length")
diff --git a/rocolib/library/Wheel.yaml b/rocolib/library/Wheel.yaml
index 00d9c75833ca03fc4009d8018b5da9b2355d0161..ab68af642f621c6de9920df30bf16481cf81f921 100644
--- a/rocolib/library/Wheel.yaml
+++ b/rocolib/library/Wheel.yaml
@@ -6,6 +6,9 @@ connections:
- face
- copyDecorations: true
interfaces:
+ bot:
+ interface: bot
+ subcomponent: drive
botedge0:
interface: botedge0
subcomponent: drive
@@ -45,6 +48,9 @@ interfaces:
tabedge:
interface: tabedge
subcomponent: drive
+ top:
+ interface: top
+ subcomponent: drive
topedge0:
interface: topedge0
subcomponent: drive
@@ -64,92 +70,121 @@ parameters:
hidden: true
minValue: null
units: mm
- valueType: (float, int)
+ valueType: float
_dy:
defaultValue: 0
spec:
hidden: true
minValue: null
units: mm
- valueType: (float, int)
+ valueType: float
_dz:
defaultValue: 0
spec:
hidden: true
minValue: null
units: mm
- valueType: (float, int)
+ valueType: float
_q_a:
defaultValue: 1
spec:
hidden: true
maxValue: 1
minValue: -1
- valueType: (int, float)
+ valueType: float
_q_i:
defaultValue: 0
spec:
hidden: true
maxValue: 1
minValue: -1
- valueType: (int, float)
+ valueType: float
_q_j:
defaultValue: 0
spec:
hidden: true
maxValue: 1
minValue: -1
- valueType: (int, float)
+ valueType: float
_q_k:
defaultValue: 0
spec:
hidden: true
maxValue: 1
minValue: -1
- valueType: (int, float)
+ valueType: float
addTabs:
defaultValue: true
spec:
+ hidden: true
valueType: bool
angle:
- defaultValue: 0
+ defaultValue: 180
spec:
maxValue: null
minValue: null
units: degrees
- valueType: (float, int)
+ valueType: float
center:
defaultValue: true
spec:
valueType: bool
+ centermount:
+ defaultValue: true
+ spec:
+ valueType: bool
flip:
defaultValue: false
spec:
valueType: bool
+ fullTab:
+ defaultValue: false
+ spec:
+ hidden: true
+ valueType: bool
+ hornmount:
+ defaultValue: true
+ spec:
+ valueType: bool
+ hornslots:
+ defaultValue: true
+ spec:
+ valueType: bool
length:
defaultValue: 100
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
offset:
+ defaultValue: []
+ spec:
+ valueType: list
+ phase:
defaultValue: 0
- spec: {}
+ spec:
+ hidden: true
+ values:
+ - 0
+ - 1
+ - 2
+ - 3
radius:
defaultValue: 25
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
servo:
defaultValue: fs90r
spec:
values:
ds2g:
- horndepth: 1
+ horndepth: 2
hornheight: 9
- hornlength: 11
+ hornlength: 10
hornoffset: 4
+ hornwidth: 3
motorheight: 11
motorlength: 17
motorwidth: 8.5
@@ -159,6 +194,7 @@ parameters:
hornheight: 11
hornlength: 10
hornoffset: 8
+ hornwidth: 5
motorheight: 19
motorlength: 23
motorwidth: 13
@@ -168,6 +204,7 @@ parameters:
hornheight: 14
hornlength: 38
hornoffset: 7
+ hornwidth: 3
motorheight: 29
motorlength: 31
motorwidth: 17
@@ -177,6 +214,7 @@ parameters:
hornheight: 10
hornlength: 7
hornoffset: 4
+ hornwidth: 3
motorheight: 14
motorlength: 20
motorwidth: 9
@@ -186,13 +224,13 @@ parameters:
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
tire_thickness:
defaultValue: 0
spec:
minValue: 0
units: mm
- valueType: (float, int)
+ valueType: float
source: ../builders/WheelBuilder.py
subcomponents:
drive:
@@ -219,12 +257,22 @@ subcomponents:
parameter: angle
center:
parameter: center
+ centermount:
+ parameter: centermount
flip:
parameter: flip
+ fullTab:
+ parameter: fullTab
+ hornmount:
+ parameter: hornmount
+ hornslots:
+ parameter: hornslots
length:
parameter: length
offset:
parameter: offset
+ phase:
+ parameter: phase
servo:
parameter: servo
shift:
diff --git a/rocolib/library/__init__.py b/rocolib/library/__init__.py
index 513e33d0b75e82255890f986f22ea65eecdd580b..b78421523abcacbbf24bb1ea6a12b9295f5062dc 100644
--- a/rocolib/library/__init__.py
+++ b/rocolib/library/__init__.py
@@ -53,6 +53,8 @@ allComponents = {**pyComponents, **yamlComponents}
def _load_yaml(c):
yamld, yamlc = _getLib(c, yamlComponents)
+ if not yamld or not yamlc:
+ raise ValueError("No suitable yaml file found")
yamlFile = f"{libDirs[yamld]}/{yamlc}.yaml"
with open(yamlFile, 'r') as fd:
return safe_load(fd)
diff --git a/rocolib/utils/display.py b/rocolib/utils/display.py
index 355af0ef87342d15eb263472b6ae8403d03837e8..bf295cf90e5345bbdd38f92b4e404338200cf276 100644
--- a/rocolib/utils/display.py
+++ b/rocolib/utils/display.py
@@ -61,14 +61,16 @@ def linestyle(e, **kwargs):
width = 3
angle = e["angle"]
+ dash = None
if e["interior"]: # Interior decorations
width = 1
if e["edgeType"] in ( EdgeType.BOUNDARY_CUT, EdgeType.INTERIOR_CUT ):
- color = 'red'
+ color = 'blue'
zorder = 30
elif e["edgeType"] in ( EdgeType.FOLD, EdgeType.FLEX ):
- color = 'blue'
+ color = 'red'
+ dash = 'dash'
zorder = 20
elif e["edgeType"] in ( EdgeType.FLAT ):
color = 'white'
@@ -77,15 +79,17 @@ def linestyle(e, **kwargs):
color = 'gray'
zorder = 100
elif e["faces"] == 1: # CUT
- color = 'red'
+ color = 'blue'
zorder = 30
elif e["faces"] == 2: # FOLD or FLEX or BEND
if angle: # FOLD
if angle > 0: # mountain fold
- color = 'blue'
+ color = 'red'
+ dash = 'dash'
zorder = 20
else: # valley fold
color = 'green'
+ dash = 'dot'
zorder = 20
else: # FLEX or BEND or FLAT
color = 'white'
@@ -94,11 +98,11 @@ def linestyle(e, **kwargs):
color = 'grey'
zorder = 100
- ret = dict(color = color, width = width, zorder = zorder)
+ ret = dict(color = color, width = width, zorder = zorder, dash = dash)
ret.update(kwargs)
return ret
-def cutfig(edgeset, scale=1000, axes=True):
+def cutfig(edgeset, scale=1000, axes=True, highlight=[]):
layout = go.Layout(
showlegend=False,
dragmode='pan',
@@ -146,6 +150,22 @@ def cutfig(edgeset, scale=1000, axes=True):
)
))
+ if n in highlight:
+ zorder -= 1
+ style['color'] = 'yellow'
+ style['width'] = 10
+ style.pop('dash', None)
+
+ traces.append((zorder,
+ go.Scatter(
+ x = [x0, x1],
+ y = [y0, y1],
+ mode='lines',
+ name=n,
+ line=style,
+ )
+ ))
+
style["width"] = 0
traces.append((zorder,
go.Scatter(
diff --git a/rocolib/utils/tabs.py b/rocolib/utils/tabs.py
index 1f94ddbbc58a919b54c272d3615734024ebd0a4b..30efe29242f55099893f23542cfee5ef823c3201 100644
--- a/rocolib/utils/tabs.py
+++ b/rocolib/utils/tabs.py
@@ -81,7 +81,7 @@ def BeamTabSlotHelper(face, faceEdge, thick, widget, **kwargs):
for (name, edge) in t.edges.items():
e = edge.copy()
e.transform(angle = theta, origin = globalOrigin)
- face.addDecoration((((e.x1, e.y1), (e.x2, e.y2)), e.edgetype.edgetype))
+ face.addDecoration(([(e.x1, e.y1), (e.x2, e.y2)], e.edgetype.edgetype))
try:
if kwargs["alternating"]:
t.mirrorY()