From db8efe512c04c94bb194991800c777a8c736f701 Mon Sep 17 00:00:00 2001
From: mehtank <mehtank@ucla.edu>
Date: Fri, 9 Sep 2022 05:41:54 +0000
Subject: [PATCH] Connect edge lists in reverse order to allow more universal
connectivity
---
rocolib/api/ports/EdgePort.py | 9 ++++++---
rocolib/builders/ESPSegBuilder.py | 12 ++++++------
rocolib/library/ESPSeg.yaml | 12 ++++++------
rocolib/library/SimpleRectBeam.py | 4 ++--
4 files changed, 20 insertions(+), 17 deletions(-)
diff --git a/rocolib/api/ports/EdgePort.py b/rocolib/api/ports/EdgePort.py
index 60c2c44..03a6855 100644
--- a/rocolib/api/ports/EdgePort.py
+++ b/rocolib/api/ports/EdgePort.py
@@ -37,18 +37,21 @@ class EdgePort(Port):
if isinstance(toPort, EdgePort):
label1 = self.getEdges()
label2 = toPort.getEdges()
+
+ numedges = len(label1)
+
# XXX associate ports with specific composables so this isn't necessary
- for i in range(len(label1)):
+ for i in range(numedges):
if label1[i] not in (e.name for e in graph.edges):
return
if label2[i] not in (e.name for e in graph.edges):
return
- for i in range(len(label1)):
+ for i in range(numedges):
newargs = {}
for key, value in kwargs.items():
if isinstance(value, (list, tuple)):
newargs[key] = value[i]
else:
newargs[key] = value
- graph.mergeEdge(label1[i], label2[i], **newargs)
+ graph.mergeEdge(label1[i], label2[numedges-i-1], **newargs)
diff --git a/rocolib/builders/ESPSegBuilder.py b/rocolib/builders/ESPSegBuilder.py
index d545bef..6ba94f4 100644
--- a/rocolib/builders/ESPSegBuilder.py
+++ b/rocolib/builders/ESPSegBuilder.py
@@ -43,10 +43,10 @@ c.addConstConstraint(("right","flip"), True)
# connections
c.addConnection(("brain", "topedge0"),
- ("right", "botedge0"),
+ ("right", "topedge0"),
angle=-90)
c.addConnection(("brain", "botedge0"),
- ("left", "topedge0"),
+ ("left", "botedge0"),
angle=-90)
# Sheath
@@ -65,7 +65,7 @@ c.addConstraint(("sheathsplit","botlength"), ("driveservo", "width"),
x[1] - 2*getDim(x[0],'motorheight'), \
getDim(x[0],'motorheight'))")
-c.addConnection(("left", "botedge1"),
+c.addConnection(("left", "topedge1"),
("sheathsplit", "botedge2"),
angle=180)
@@ -76,7 +76,7 @@ c.addConnection(("right", "botedge1"),
'''
c.addConnection(("sheathsplit", "topedge0"),
- ("sheath", "topedge1"))
+ ("sheath", "botedge1"))
# Tail
c.addSubcomponent("tail", "Tail", inherit=("flapwidth", "tailwidth"), prefix=None)
@@ -85,14 +85,14 @@ c.addConstraint(("tail","height"), *depthfn(["height"], "%s/2.+x[2]"))
c.addConstraint(("tail","depth"), *depthfn(["battery"], "%s+x[2]"))
c.addConnection(("tail", "topedge"),
- ("sheath", "botedge1"),
+ ("sheath", "topedge1"),
angle=90)
c.addSubcomponent("tailsplit", "SplitEdge")
c.addConstraint(("tailsplit","toplength"), "width", "(x,)")
c.addConstraint(("tailsplit","botlength"), ("width", "flapwidth"), "(x[0]*(1-x[1])/2., x[0]*x[1], x[0]*(1-x[1])/2.)")
-c.addConnection(("sheath", "botedge3"),
+c.addConnection(("sheath", "topedge3"),
("tailsplit", "topedge0"))
c.addConnection(("tail", "flapedge"),
diff --git a/rocolib/library/ESPSeg.yaml b/rocolib/library/ESPSeg.yaml
index 0c84eb9..77254a2 100644
--- a/rocolib/library/ESPSeg.yaml
+++ b/rocolib/library/ESPSeg.yaml
@@ -3,17 +3,17 @@ connections:
- - brain
- topedge0
- - right
- - botedge0
+ - topedge0
- angle: -90
connection1:
- - brain
- botedge0
- - left
- - topedge0
+ - botedge0
- angle: -90
connection2:
- - left
- - botedge1
+ - topedge1
- - sheathsplit
- botedge2
- angle: 180
@@ -21,17 +21,17 @@ connections:
- - sheathsplit
- topedge0
- - sheath
- - topedge1
+ - botedge1
- {}
connection4:
- - tail
- topedge
- - sheath
- - botedge1
+ - topedge1
- angle: 90
connection5:
- - sheath
- - botedge3
+ - topedge3
- - tailsplit
- topedge0
- {}
diff --git a/rocolib/library/SimpleRectBeam.py b/rocolib/library/SimpleRectBeam.py
index 841762a..46b14c2 100644
--- a/rocolib/library/SimpleRectBeam.py
+++ b/rocolib/library/SimpleRectBeam.py
@@ -10,8 +10,8 @@ class SimpleRectBeam(FoldedComponent):
self.addParameter("addTabs", True, valueType="bool")
for i in range(4):
- self.addEdgeInterface("topedge%d" % i, "r%d.e0" % i, ["width", "depth"][i % 2])
- self.addEdgeInterface("botedge%d" % i, "r%d.e2" % i, ["width", "depth"][i % 2])
+ self.addEdgeInterface("topedge%d" % i, "r%d.e2" % i, ["width", "depth"][i % 2])
+ self.addEdgeInterface("botedge%d" % i, "r%d.e0" % i, ["width", "depth"][i % 2])
self.addFaceInterface("face%d" % i, "r%d" % i)
self.addEdgeInterface("slotedge", "r3.e1", "length")
self.addEdgeInterface("tabedge", "r0.e3", "length")
--
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