diff --git a/rocolib/api/Function.py b/rocolib/api/Function.py
index 8024cdb56f60588e33f29411bab2e65dc3c556c9..b0d8d076ea91266d71f6ede932157146d13be02c 100644
--- a/rocolib/api/Function.py
+++ b/rocolib/api/Function.py
@@ -21,7 +21,6 @@ class Function:
def eval(self, parameterizable):
import rocolib.utils.numsym as np
- from rocolib.utils.dimensions import getDim
function = eval("lambda x : " + self.fnstring, locals())
if isinstance(self.params, (list, tuple)):
output = function([parameterizable.getParameter(x) for x in self.params])
diff --git a/rocolib/api/Parameterized.py b/rocolib/api/Parameterized.py
index 43b8f37ef4ab8cedb273acc33beae4a8e2a1f888..18f0ad2bb69fba74d5c0a02882e030eef92621d6 100644
--- a/rocolib/api/Parameterized.py
+++ b/rocolib/api/Parameterized.py
@@ -1,6 +1,13 @@
-from rocolib.utils.dimensions import isDim
+import re
+
from rocolib.utils.numsym import Dummy
+import logging
+import yaml
+
+### XXX "." is used to separate subcomponent parameters when inherited
+### but we can't tell the difference here, so it's not invalid I guess
+VALID_ATTR = re.compile('^[a-zA-Z_][a-zA-Z0-9_.]*$')
PARAM_TYPES = {
"length": {
@@ -23,23 +30,19 @@ PARAM_TYPES = {
"valueType": "int",
"minValue": 0,
},
- "dimension": {
- "valueType": "str",
- #"isValid": isDim,
- },
}
class Parameter:
def __init__(self, name, defaultValue=None, paramType=None, **kwargs):
- ### XXX "." is used to separate subcomponent parameters when inherited
- ### but we can't tell the difference here, so it's not invalid I guess
+ if not VALID_ATTR.match(name):
+ raise ValueError("Invalid parameter name " + name)
+ if name[0] == '_' and not kwargs.get("hidden", False):
+ raise ValueError("Leading _ character reserved for hidden parameters, either set hidden flag or change name from " + name)
- #if "." in name:
- #raise ValueError("Invalid character '.' in parameter name " + name)
self.name = name
- if defaultValue is None and not kwargs.get("optional", False):
- raise ValueError(f"Must specify either defaultValue or optional=True for parameter {name}")
+ if defaultValue is None and not kwargs.get("overrides", False):
+ raise ValueError(f"Must specify either defaultValue or overrides (implies optional) for parameter {name}")
self.defaultValue = defaultValue
self.spec = {}
@@ -54,7 +57,7 @@ class Parameter:
self.assertValid(defaultValue)
vt = self.spec.get("valueType", "")
- no = not(self.spec.get("optional", False))
+ no = not(self.spec.get("overrides", False))
if no and ("int" in vt or "float" in vt):
integer=None
@@ -72,21 +75,40 @@ class Parameter:
self.symbol = None
self.value = None
- def setValue(self, value):
- self.assertValid(value)
+ def resolveValue(self, value):
+ if "values" not in self.spec:
+ return value
+ sanitize = lambda x : yaml.safe_load(yaml.safe_dump(x))
+ vtest = sanitize(value)
+ v = sanitize(self.spec["values"])
+ if isinstance(v, dict) and vtest not in list(v.keys()):
+ ks = list(v.keys())
+ vs = list(v.values())
+ if vtest in vs:
+ return ks[vs.index(vtest)]
+ return value
+
+ def setValue(self, value, validate=True):
+ value = self.resolveValue(value)
+ if validate:
+ self.assertValid(value)
self.value = value
def setDefault(self, force=False):
if force or self.value is None:
self.setValue(self.defaultValue)
+ def setSpec(self, spec, value, validate=False):
+ self.spec[spec] = value
+ if validate:
+ self.assertValid(self.value)
+
def assertValid(self, value):
if value is None:
- if self.spec.get("optional", False):
- self.value = value
- return
+ if self.spec.get("overrides", False):
+ return True
else:
- raise ValueError(f"Parameter {self.name} is not optional and cannot be set to None")
+ raise ValueError(f"Parameter {self.name} is not optional (via overrides) and cannot be set to None")
def check(spec, test, error):
if (self.spec.get(spec, None) is not None and not test(self.spec[spec])):
@@ -95,15 +117,48 @@ class Parameter:
check("valueType", lambda x : isinstance(value, eval(x)), "is not of type")
check("minValue", lambda x : value >= x, "is less than")
check("maxValue", lambda x : value <= x, "is greater than")
- check("isValid", lambda x : x(value), "is invalid")
+ check("values", lambda x : value in x, "is not in")
+ check("isValid", lambda x : x(self, value), "is invalid")
return True
+ def validate(self):
+ return self.assertValid(self.value)
+
def getValue(self):
if self.value is not None:
- return self.value
+ if "values" in self.spec:
+ return self.spec["values"][self.value]
+ else:
+ return self.value
else:
return self.symbol
+ def doOverrides(self, c):
+ if self.value is None:
+ return
+ overrides = self.spec.get("overrides", [])
+ if isinstance(overrides, dict):
+ for k, fn in overrides.items():
+ try:
+ import rocolib.utils.numsym as np
+ value = eval(fn, locals())
+ c.setParameter(k, value)
+ except ValueError as e:
+ raise ValueError(str(e) + f" (via setting overriding parameter {self.name} to {self.value})")
+ except KeyError as e:
+ logging.debug(str(e) + f" (via setting overriding parameter {self.name} to {self.value}) -- ignoring")
+ elif isinstance(overrides, (list, tuple)):
+ for k in overrides:
+ try:
+ c.setParameter(k, self.value)
+ except KeyError as e:
+ logging.debug(str(e) + f" (via setting overriding parameter {self.name} to {self.value}) -- ignoring")
+ else:
+ try:
+ c.setParameter(overrides, self.value)
+ except KeyError as e:
+ logging.debug(str(e) + f" (via setting overriding parameter {self.name} to {self.value}) -- ignoring")
+
def getInfo(self, keys=None):
if isinstance(keys, str):
return getattr(self, keys)
@@ -161,20 +216,33 @@ class Parameterized(object):
"""
for n, p in self._parameters.items():
p.setDefault(force)
+ for n, p in self._parameters.items():
+ p.doOverrides(self)
- def setParameter(self, n, v):
+ def setParameter(self, n, v, validate=True):
"""
Sets a k/v pair to the internal store if the key has been added previously
Raises KeyError if the key has not been added before
Passes along any ValueErrors from Parameter object
"""
+ if "#" in n:
+ n, spec = n.split("#")
+ else:
+ spec = None
if n in self._parameters:
- self._parameters[n].setValue(v)
+ if spec:
+ self._parameters[n].setSpec(spec, v, validate)
+ else:
+ self._parameters[n].setValue(v, validate)
else:
raise KeyError("Parameter %s not does not exist on object %s" % (n, str(self)))
+ def validate(self):
+ for p in self._parameters.values():
+ p.validate()
+
def getParameter(self, name):
"""
Retrieves the parameter value with the given name
@@ -183,14 +251,14 @@ class Parameterized(object):
return self._parameters[name].getValue()
- def getParameterInfo(self, name=None, keys=None):
+ def getParameterInfo(self, name=None, keys=None, hidden=False):
"""
Retrieves the parameter metadata info
"""
if name:
return self._parameters[name].getInfo(keys)
else:
- return {k: v.getInfo(keys) for k, v in self._parameters.items()}
+ return {k: v.getInfo(keys) for k, v in self._parameters.items() if hidden or not v.getSpec().get("hidden", False)}
def hasParameter(self, name):
diff --git a/rocolib/api/components/Component.py b/rocolib/api/components/Component.py
index 960a0db822bd5611d1b8d33ba98ef7e3ec34ea03..dd253459dbec4306292b4352b7e593f29b3767c9 100644
--- a/rocolib/api/components/Component.py
+++ b/rocolib/api/components/Component.py
@@ -145,7 +145,7 @@ class Component(Parameterized):
if prefix == "":
prefix = name
- for key, value in obj.getParameterInfo().items():
+ for key, value in obj.getParameterInfo(hidden=True).items():
# inherit = True : inherit all parameters
if inherit is True or key in inherit:
try:
@@ -339,7 +339,7 @@ class Component(Parameterized):
return self.subcomponents[name]['parameters']
def setSubParameter(self, c, n, v):
- self.getSubcomponent(c).setParameter(n, v)
+ self.getSubcomponent(c).setParameter(n, v, validate=False)
def getInterfaces(self, component, name, transient=False):
return self.getSubcomponent(component).getInterface(name, transient)
@@ -506,6 +506,7 @@ class Component(Parameterized):
if useDefaultParameters:
self.useDefaultParameters()
self.modifyParameters()
+ self.validate()
scOrder = self.traverseGraph()
for scName in scOrder:
diff --git a/rocolib/api/components/MechanicalComponent.py b/rocolib/api/components/MechanicalComponent.py
index aa07db84b001e0852a7a0a2bbb88863c140bab43..a9f73f81087146d9ecb47493179faa661ceb3b1c 100644
--- a/rocolib/api/components/MechanicalComponent.py
+++ b/rocolib/api/components/MechanicalComponent.py
@@ -14,18 +14,18 @@ def vals(x):
class MechanicalComponent(Component):
def predefine(self, **kwargs):
- self._origin = [ self.addParameter("_d"+x, 0, paramType="length", minValue=None)
+ self._origin = [ self.addParameter("_d"+x, 0, paramType="length", minValue=None, hidden=True)
for x in "xyz"
]
if kwargs.get("euler", False):
- self._euler = [ self.addParameter(x, 0, paramType="angle")
+ self._euler = [ self.addParameter(x, 0, paramType="angle", hidden=True)
for x in "_roll _pitch _yaw".split()
]
else:
self._euler = None
- self._quat = [ self.addParameter("_q_"+x, int(x == "a"),
- valueType="(int, float)", minValue=-1, maxValue=1)
+ self._quat = [ self.addParameter("_q_"+x, int(x == "a"),
+ valueType="(int, float)", minValue=-1, maxValue=1, hidden=True)
for x in "aijk"
]
#self.addSemanticConstraint(np.Eq(np.norm(self._quat), 1))
diff --git a/rocolib/builders/ESPBrainsBuilder.py b/rocolib/builders/ESPBrainsBuilder.py
deleted file mode 100644
index f8d36edfc8bd2f097e5c6b848ef01f857f306f18..0000000000000000000000000000000000000000
--- a/rocolib/builders/ESPBrainsBuilder.py
+++ /dev/null
@@ -1,47 +0,0 @@
-from rocolib.api.components.Component import newComponent
-from rocolib.api.Function import Function
-
-
-self = newComponent("ESPBrains")
-
-self.addSubcomponent("beam", "RectBeam")
-self.addSubcomponent("header", "Header")
-self.addSubcomponent("servoPins", "Cutout")
-
-self.addParameter("brain", "nodeMCU", paramType="dimension")
-self.addParameter("length", 90, paramType="length")
-self.addParameter("width", 10, paramType="length")
-self.addParameter("depth", 10, paramType="length")
-
-### Set specific relationships between parameters
-def getBrainParameter(p):
- return "brain", "getDim(x, '%s')" % p
-
-self.addConstraint(("beam", "width"), "depth")
-self.addConstraint(("beam", "depth"), "width")
-self.addConstraint(("beam", "length"), "length")
-self.addConstConstraint(("beam", "angle"), 90)
-
-self.addConstraint(("beam", "minwidth"), *getBrainParameter("height"))
-self.addConstraint(("beam", "mindepth"), *getBrainParameter("width"))
-self.addConstraint(("beam", "minlength"), *getBrainParameter("length"))
-
-self.addConstraint(("header", "nrows"), *getBrainParameter("nrows"))
-self.addConstraint(("header", "ncols"), *getBrainParameter("ncols"))
-self.addConstraint(("header", "rowsep"), *getBrainParameter("rowsep"))
-self.addConstraint(("header", "colsep"), *getBrainParameter("colsep"))
-
-self.addConstConstraint(("servoPins", "dy"), 8)
-self.addConstConstraint(("servoPins", "dx"), 27)
-
-self.addConnection(("beam", "face1"),
- ("header", "decoration"),
- mode="hole", offset=Function(params=("length", "brain"), fnstring="(7.5, -4.5 + 0.5*(x[0]-getDim(x[1], 'length')))"))
-
-self.addConnection(("beam", "face1"),
- ("servoPins", "decoration"),
- mode="hole", rotate=True, offset=Function(params=("length", "brain"), fnstring="(-17.25, (0.5 * (x[0]-getDim(x[1], 'length')))-14)"))
-
-self.inheritAllInterfaces("beam", prefix=None)
-
-self.toLibrary()
diff --git a/rocolib/builders/ESPSegBuilder.py b/rocolib/builders/ESPSegBuilder.py
index a024e01ef212725fe5a0ec25fec16e951819f94b..60207d7e41aa1a6bbca292240f29e88fe6736dd1 100644
--- a/rocolib/builders/ESPSegBuilder.py
+++ b/rocolib/builders/ESPSegBuilder.py
@@ -1,3 +1,4 @@
+from rocolib.library import getComponent
from rocolib.api.components.Component import newComponent
from rocolib.api.Function import Function
@@ -9,10 +10,9 @@ c.addParameter("height", 40, paramType="length")
c.addParameter("tire_thickness", 0, paramType="length")
-c.addParameter("controller", "nodeMCU", paramType="dimension")
-c.addParameter("driveservo", "fs90r", paramType="dimension")
+c.addParameter("driveservo", "fs90r", values=getComponent("ServoMotor").dims)
-c.addSubcomponent("brain", "ESPBrains")
+c.addSubcomponent("brain", "MountedBrains", inherit="brain", prefix=None)
c.addSubcomponent("right", "Wheel", invert=True, inherit="angle")
c.addSubcomponent("left", "Wheel", invert=True, inherit="angle")
@@ -23,18 +23,17 @@ c.addConstraint(("left", "tire_thickness"), "tire_thickness")
def depthfn(params = None, fnmod = None):
if params is None: params = []
if fnmod is None: fnmod = "%s"
- return ["controller", "driveservo"] + params, \
- fnmod % "max(getDim(x[0],'height'), getDim(x[1],'motorwidth'))"
+ return ["brain", "driveservo"] + params, \
+ fnmod % "max(x[0].get('height'), x[1].get('motorwidth'))"
# Set microcontroller
c.addConstraint(("brain", "depth"), *depthfn())
c.addConstraint(("brain", "length"), "width")
-c.addConstraint(("brain", "brain"), "controller")
for servo in ("right", "left"):
c.addConstraint((servo, "length"),
- ("length", "controller"),
- "x[0] - getDim(x[1],'width')")
+ ("length", "brain"),
+ "x[0] - x[1].get('width')")
c.addConstConstraint((servo, "center"), False)
c.addConstraint((servo, "servo"), "driveservo")
c.addConstraint((servo, "radius"), "height")
@@ -61,9 +60,9 @@ c.addConstraint(("sheath","width"), *depthfn(["battery"], "%s + x[2]"))
c.addSubcomponent("sheathsplit", "SplitEdge")
c.addConstraint(("sheathsplit","toplength"), "width", "(x,)")
c.addConstraint(("sheathsplit","botlength"), ("driveservo", "width"),
- "(getDim(x[0],'motorheight'), \
- x[1] - 2*getDim(x[0],'motorheight'), \
- getDim(x[0],'motorheight'))")
+ "(x[0].get('motorheight'), \
+ x[1] - 2*x[0].get('motorheight'), \
+ x[0].get('motorheight'))")
c.addConnection(("left", "topedge1"),
("sheathsplit", "botedge2"),
diff --git a/rocolib/builders/MountedBrainsBuilder.py b/rocolib/builders/MountedBrainsBuilder.py
new file mode 100644
index 0000000000000000000000000000000000000000..aa8beeb249da735a28a9a5c265746527301ac81d
--- /dev/null
+++ b/rocolib/builders/MountedBrainsBuilder.py
@@ -0,0 +1,29 @@
+from rocolib.api.components.Component import newComponent
+from rocolib.api.Function import Function
+
+
+self = newComponent("MountedBrains")
+
+self.addSubcomponent("beam", "SimpleRectBeam")
+self.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))
+
+self.addConstraint(("beam", "width"), "depth")
+self.addConstraint(("beam", "depth"), "width")
+self.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")')
+
+self.addConnection(("beam", "face1"),
+ ("brain", "decoration"),
+ mode="hole", offset=Function(params=("offset")))
+
+self.inheritAllInterfaces("beam", prefix=None)
+
+self.toLibrary()
diff --git a/rocolib/builders/ServoMountBuilder.py b/rocolib/builders/ServoMountBuilder.py
index 84e2c05d210d022217f2da245966e37a5d731ef8..0640496730cd357bfb9b4e247767791120f9a22d 100644
--- a/rocolib/builders/ServoMountBuilder.py
+++ b/rocolib/builders/ServoMountBuilder.py
@@ -1,23 +1,26 @@
+from rocolib.library import getComponent
from rocolib.api.components.Component import newComponent
from rocolib.api.Function import Function
c = newComponent("ServoMount")
-c.addParameter("servo", "fs90r", paramType="dimension")
+c.addParameter("servo", "fs90r", values=getComponent("ServoMotor").dims)
c.addParameter("flip", False, valueType="bool")
c.addParameter("center", True, valueType="bool")
c.addParameter("shift", 0, paramType="length")
+
# XXX TODO: Define type: tuple of two numbers
-c.addParameter("offset", optional=True, overrides=("flip", "center", "shift"))
+c.addParameter("offset", 0)
c.addSubcomponent("beam", "SimpleRectBeam", inherit=("length", "addTabs"), prefix=None)
c.addSubcomponent("mount", "Cutout")
-c.addConstraint(("mount", "dx"), "servo", 'getDim(x, "motorwidth") * 0.99')
-c.addConstraint(("mount", "dy"), "servo", 'getDim(x, "motorlength")')
+c.addConstraint(("mount", "dx"), "servo", 'x.get("motorwidth") * 0.99')
+c.addConstraint(("mount", "dy"), "servo", 'x.get("motorlength")')
-c.addConstraint(("beam", "width"), "servo", 'getDim(x, "motorwidth")')
-c.addConstraint(("beam", "depth"), "servo", 'getDim(x, "motorheight")')
+c.addConstraint(("beam", "width"), "servo", 'x.get("motorwidth")')
+c.addConstraint(("beam", "depth"), "servo", 'x.get("motorheight")')
+c.addConstraint(("beam", "length#minValue"), "servo", 'x.get("motorlength") + 2 * x.get("shoulderlength")')
c.inheritAllInterfaces("beam", prefix=None)
c.inheritAllInterfaces("mount")
diff --git a/rocolib/library/Brains.py b/rocolib/library/Brains.py
new file mode 100644
index 0000000000000000000000000000000000000000..dfc5b9841a6909ba3e102b02f01de438fc617480
--- /dev/null
+++ b/rocolib/library/Brains.py
@@ -0,0 +1,58 @@
+from rocolib.library import getComponent
+from rocolib.api.composables.graph.Face import Face
+
+
+ThruHole = getComponent("ThruHole").__class__
+
+class Brains(ThruHole):
+
+ brains = dict(
+ proMini = dict(
+ length = 39,
+ width = 19,
+ height = 9,
+ nrows = 12,
+ ncols = 2,
+ rowsep = 0.1 * 25.4,
+ colsep = 0.6 * 25.4,
+ origin = (0,0),
+ extras = (),
+ ),
+ nodeMCU = dict(
+ length = 59.5,
+ width = 44,
+ height = 13,
+ nrows = 15,
+ ncols = 2,
+ rowsep = 0.1 * 25.4,
+ colsep = 0.9 * 25.4,
+ origin = (7.5, -4.5),
+ extras = dict(
+ servoPins = dict(center = (-17.25, -14), size = (8, 27)),
+ ),
+ ),
+ )
+
+ 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")',
+ ))
+
+ def assemble(self):
+ ThruHole.assemble(self)
+ brain = self.getParameter("brain")
+ self.graph.dotransform(origin = brain.get("origin"))
+ for n, e in brain.get("extras").items():
+ x, y = e.get("center", (0,0))
+ dx, dy = e.get("size", (1,1))
+ self.addFace(Face(n,
+ ((x-dx/2, y-dy/2), (x+dx/2, y-dy/2), (x+dx/2, y+dy/2), (x-dx/2, y+dy/2)),
+ recenter=False
+ ))
+
+if __name__ == "__main__":
+ Brains.test()
diff --git a/rocolib/library/Cutout.py b/rocolib/library/Cutout.py
index cf2f49e9a4bbab332bb3681578933361c9a95242..06e6df69065e62f3a95e1dd138a4de800c1a57ca 100644
--- a/rocolib/library/Cutout.py
+++ b/rocolib/library/Cutout.py
@@ -2,18 +2,16 @@ from rocolib.api.components import DecorationComponent
from rocolib.api.composables.graph.Face import Rectangle
class Cutout(DecorationComponent):
- def define(self):
- self.addParameter("dx", 10, paramType="length")
- self.addParameter("dy", 20, paramType="length")
- self.addParameter("d", optional=True, overrides=("dx", "dy"))
+ def define(self):
+ self.addParameter("dx", 10, paramType="length")
+ self.addParameter("dy", 20, paramType="length")
+ self.addParameter("d", overrides={
+ "dx": 'c.getParameter("d")',
+ "dy": 'c.getParameter("d")',
+ })
- def modifyParameters(self):
- if self.p.d is not None:
- self.p.dx = self.p.d
- self.p.dy = self.p.d
-
- def assemble(self):
- self.addFace(Rectangle("r0", self.p.dx, self.p.dy), prefix="r0")
+ def assemble(self):
+ self.addFace(Rectangle("r0", self.p.dx, self.p.dy), prefix="r0")
if __name__ == "__main__":
Cutout.test()
diff --git a/rocolib/library/ESPSeg.yaml b/rocolib/library/ESPSeg.yaml
index 8c941477d9bbc53a4d2aff93979cafe1e5086d10..7de2c228fb1aaf9a34c2dc9021f3a9d6f39def98 100644
--- a/rocolib/library/ESPSeg.yaml
+++ b/rocolib/library/ESPSeg.yaml
@@ -50,9 +50,9 @@ connections:
- botedge1
- angle: 90
tabWidth:
- function: max(getDim(x[0],'height'), getDim(x[1],'motorwidth'))+x[2]
+ function: max(x[0].get('height'), x[1].get('motorwidth'))+x[2]
parameter:
- - controller
+ - brain
- driveservo
- battery
connection7:
@@ -61,10 +61,10 @@ connections:
- decoration
- mode: hole
offset:
- function: (4-(max(getDim(x[0],'height'), getDim(x[1],'motorwidth'))+x[3])/2,
- 0.5 * x[2] - 15)
+ function: (4-(max(x[0].get('height'), x[1].get('motorwidth'))+x[3])/2, 0.5 *
+ x[2] - 15)
parameter:
- - controller
+ - brain
- driveservo
- length
- battery
@@ -90,14 +90,86 @@ parameters:
minValue: 0
units: mm
valueType: (float, int)
- controller:
+ brain:
defaultValue: nodeMCU
spec:
- valueType: str
+ 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")
+ values:
+ nodeMCU:
+ colsep: 22.86
+ extras:
+ servoPins:
+ center:
+ - -17.25
+ - -14
+ size:
+ - 8
+ - 27
+ height: 13
+ length: 59.5
+ ncols: 2
+ nrows: 15
+ origin:
+ - 7.5
+ - -4.5
+ rowsep: 2.54
+ width: 44
+ proMini:
+ colsep: 15.239999999999998
+ extras: []
+ height: 9
+ length: 39
+ ncols: 2
+ nrows: 12
+ origin:
+ - 0
+ - 0
+ rowsep: 2.54
+ width: 19
driveservo:
defaultValue: fs90r
spec:
- valueType: str
+ values:
+ ds2g:
+ horndepth: 1
+ hornheight: 9
+ hornlength: 11
+ hornoffset: 4
+ motorheight: 11
+ motorlength: 17
+ motorwidth: 8.5
+ shoulderlength: 3.5
+ fs90r:
+ horndepth: 2
+ hornheight: 16
+ hornlength: 10
+ hornoffset: 8
+ motorheight: 19
+ motorlength: 23
+ motorwidth: 13
+ shoulderlength: 5
+ s4303r:
+ horndepth: 2
+ hornheight: 14
+ hornlength: 38
+ hornoffset: 7
+ motorheight: 29
+ motorlength: 31
+ motorwidth: 17
+ shoulderlength: 10
+ tgy1370a:
+ horndepth: 2
+ hornheight: 10
+ hornlength: 7
+ hornoffset: 4
+ motorheight: 14
+ motorlength: 20
+ motorwidth: 9
+ shoulderlength: 4
flapwidth:
defaultValue: 0.2
spec:
@@ -151,15 +223,15 @@ parameters:
source: ../builders/ESPSegBuilder.py
subcomponents:
brain:
- classname: ESPBrains
+ classname: MountedBrains
kwargs: {}
parameters:
brain:
- parameter: controller
+ parameter: brain
depth:
- function: max(getDim(x[0],'height'), getDim(x[1],'motorwidth'))
+ function: max(x[0].get('height'), x[1].get('motorwidth'))
parameter:
- - controller
+ - brain
- driveservo
length:
parameter: width
@@ -172,10 +244,10 @@ subcomponents:
parameter: left.angle
center: false
length:
- function: x[0] - getDim(x[1],'width')
+ function: x[0] - x[1].get('width')
parameter: &id002
- length
- - controller
+ - brain
radius:
parameter: height
servo:
@@ -192,7 +264,7 @@ subcomponents:
center: false
flip: true
length:
- function: x[0] - getDim(x[1],'width')
+ function: x[0] - x[1].get('width')
parameter: *id002
radius:
parameter: height
@@ -209,9 +281,9 @@ subcomponents:
length:
parameter: length
width:
- function: max(getDim(x[0],'height'), getDim(x[1],'motorwidth')) + x[2]
+ function: max(x[0].get('height'), x[1].get('motorwidth')) + x[2]
parameter:
- - controller
+ - brain
- driveservo
- battery
sheathsplit:
@@ -219,7 +291,7 @@ subcomponents:
kwargs: {}
parameters:
botlength:
- function: (getDim(x[0],'motorheight'), x[1] - 2*getDim(x[0],'motorheight'), getDim(x[0],'motorheight'))
+ function: (x[0].get('motorheight'), x[1] - 2*x[0].get('motorheight'), x[0].get('motorheight'))
parameter:
- driveservo
- width
@@ -231,17 +303,17 @@ subcomponents:
kwargs: {}
parameters:
depth:
- function: max(getDim(x[0],'height'), getDim(x[1],'motorwidth'))+x[2]
+ function: max(x[0].get('height'), x[1].get('motorwidth'))+x[2]
parameter:
- - controller
+ - brain
- driveservo
- battery
flapwidth:
parameter: flapwidth
height:
- function: max(getDim(x[0],'height'), getDim(x[1],'motorwidth'))/2.+x[2]
+ function: max(x[0].get('height'), x[1].get('motorwidth'))/2.+x[2]
parameter:
- - controller
+ - brain
- driveservo
- height
tailwidth:
diff --git a/rocolib/library/Header.py b/rocolib/library/Header.py
deleted file mode 100644
index 8b68315f0a6a1c11c0eb2ec4b6fb80acf58006a4..0000000000000000000000000000000000000000
--- a/rocolib/library/Header.py
+++ /dev/null
@@ -1,34 +0,0 @@
-from rocolib.api.components import DecorationComponent
-from rocolib.api.composables.graph.Face import Face
-
-
-class Header(DecorationComponent):
- def define(self):
- self.addParameter("nrows", 3, paramType="count")
- self.addParameter("ncols", 1, paramType="count")
- self.addParameter("rowsep", 2.54, paramType="length")
- self.addParameter("colsep", 2.54, paramType="length")
- self.addParameter("diameter", 1, paramType="length")
-
- def assemble(self):
- diam = self.p.diameter/2.
- nr = self.p.nrows
- nc = self.p.ncols
-
- def hole(i, j, d):
- 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)
-
- for i in range(nr):
- for j in range(nc):
- d = diam
- if (i == 0 and j == 0) or \
- (i == nr-1 and j == nc-1):
- d = diam*3
- self.addFace(hole(i,j,d), prefix="r-%d-%d" % (i,j))
-
-if __name__ == "__main__":
- Header.test()
diff --git a/rocolib/library/ESPBrains.yaml b/rocolib/library/MountedBrains.yaml
similarity index 53%
rename from rocolib/library/ESPBrains.yaml
rename to rocolib/library/MountedBrains.yaml
index 902c2bd4be821dbec9a41f038a19062f80099857..aff7f4571405a33c673fc786fd3de74012fa9a7b 100644
--- a/rocolib/library/ESPBrains.yaml
+++ b/rocolib/library/MountedBrains.yaml
@@ -1,25 +1,12 @@
connections:
connection0:
- - &id001
- - beam
+ - - beam
- face1
- - - header
+ - - brain
- decoration
- mode: hole
offset:
- function: (7.5, -4.5 + 0.5*(x[0]-getDim(x[1], 'length')))
- parameter: &id002
- - length
- - brain
- connection1:
- - *id001
- - - servoPins
- - decoration
- - mode: hole
- offset:
- function: (-17.25, (0.5 * (x[0]-getDim(x[1], 'length')))-14)
- parameter: *id002
- rotate: true
+ parameter: offset
interfaces:
botedge0:
interface: botedge0
@@ -67,9 +54,45 @@ parameters:
brain:
defaultValue: nodeMCU
spec:
- valueType: str
+ 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")
+ values:
+ nodeMCU:
+ colsep: 22.86
+ extras:
+ servoPins:
+ center:
+ - -17.25
+ - -14
+ size:
+ - 8
+ - 27
+ height: 13
+ length: 59.5
+ ncols: 2
+ nrows: 15
+ origin:
+ - 7.5
+ - -4.5
+ rowsep: 2.54
+ width: 44
+ proMini:
+ colsep: 15.239999999999998
+ extras: []
+ height: 9
+ length: 39
+ ncols: 2
+ nrows: 12
+ origin:
+ - 0
+ - 0
+ rowsep: 2.54
+ width: 19
depth:
- defaultValue: 10
+ defaultValue: 20
spec:
minValue: 0
units: mm
@@ -80,53 +103,41 @@ parameters:
minValue: 0
units: mm
valueType: (float, int)
+ offset:
+ defaultValue:
+ - 0
+ - 0
+ spec: {}
width:
- defaultValue: 10
+ defaultValue: 50
spec:
minValue: 0
units: mm
valueType: (float, int)
-source: ../builders/ESPBrainsBuilder.py
+source: ../builders/MountedBrainsBuilder.py
subcomponents:
beam:
- classname: RectBeam
+ classname: SimpleRectBeam
kwargs: {}
parameters:
- angle: 90
depth:
parameter: width
+ depth#minValue:
+ function: x.get("width")
+ parameter: brain
length:
parameter: length
- mindepth:
- function: getDim(x, 'width')
- parameter: brain
- minlength:
- function: getDim(x, 'length')
- parameter: brain
- minwidth:
- function: getDim(x, 'height')
+ length#minValue:
+ function: x.get("length")
parameter: brain
width:
parameter: depth
- header:
- classname: Header
- kwargs: {}
- parameters:
- colsep:
- function: getDim(x, 'colsep')
- parameter: brain
- ncols:
- function: getDim(x, 'ncols')
- parameter: brain
- nrows:
- function: getDim(x, 'nrows')
+ width#minValue:
+ function: x.get("height")
parameter: brain
- rowsep:
- function: getDim(x, 'rowsep')
- parameter: brain
- servoPins:
- classname: Cutout
+ brain:
+ classname: Brains
kwargs: {}
parameters:
- dx: 27
- dy: 8
+ brain:
+ parameter: brain
diff --git a/rocolib/library/MountedServo.yaml b/rocolib/library/MountedServo.yaml
index aaaa270f888997a30548a631d78a58d8ed5baa9a..59533eae6be6fd4f0ed49668b961fc6a7479407d 100644
--- a/rocolib/library/MountedServo.yaml
+++ b/rocolib/library/MountedServo.yaml
@@ -61,42 +61,49 @@ 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)
@@ -126,17 +133,48 @@ parameters:
units: mm
valueType: (float, int)
offset:
- defaultValue: null
- spec:
- optional: true
- overrides:
- - flip
- - center
- - shift
+ defaultValue: 0
+ spec: {}
servo:
defaultValue: fs90r
spec:
- valueType: str
+ values:
+ ds2g:
+ horndepth: 1
+ hornheight: 9
+ hornlength: 11
+ hornoffset: 4
+ motorheight: 11
+ motorlength: 17
+ motorwidth: 8.5
+ shoulderlength: 3.5
+ fs90r:
+ horndepth: 2
+ hornheight: 16
+ hornlength: 10
+ hornoffset: 8
+ motorheight: 19
+ motorlength: 23
+ motorwidth: 13
+ shoulderlength: 5
+ s4303r:
+ horndepth: 2
+ hornheight: 14
+ hornlength: 38
+ hornoffset: 7
+ motorheight: 29
+ motorlength: 31
+ motorwidth: 17
+ shoulderlength: 10
+ tgy1370a:
+ horndepth: 2
+ hornheight: 10
+ hornlength: 7
+ hornoffset: 4
+ motorheight: 14
+ motorlength: 20
+ motorwidth: 9
+ shoulderlength: 4
shift:
defaultValue: 0
spec:
diff --git a/rocolib/library/RectBeam.py b/rocolib/library/RectBeam.py
index 474e247b39209ba69f17a9318e956041462ea762..74ebf2375dd66e0c2cf4221770ff2cafae0b7017 100644
--- a/rocolib/library/RectBeam.py
+++ b/rocolib/library/RectBeam.py
@@ -8,18 +8,13 @@ class RectBeam(FoldedComponent):
self.addParameter("width", 20, paramType="length")
self.addParameter("depth", 50, paramType="length")
- # XXX TODO: incorporate into minValue of parameters somehow
- self.addParameter("minlength", 0, paramType="length")
- self.addParameter("minwidth", 0, paramType="length")
- self.addParameter("mindepth", 0, paramType="length")
-
self.addParameter("phase", 0, valueType="int")
- self.addParameter("angle", optional=True, overrides=("tangle", "bangle"))
+ self.addParameter("angle", overrides=("tangle", "bangle"))
self.addParameter("tangle", 80, paramType="angle", maxValue=180)
self.addParameter("bangle", 135, paramType="angle", maxValue=180)
- self.addParameter("root", optional=True, valueType="int")
+ self.addParameter("root", 0, values=[0,1,2,3])
self.addParameter("addTabs", True, valueType="bool")
for i in range(4):
@@ -29,23 +24,11 @@ class RectBeam(FoldedComponent):
self.addEdgeInterface("tabedge", "r3.e1", "length")
self.addEdgeInterface("slotedge", "r0.e3", "length")
- def modifyParameters(self):
- self.p.width = max(self.p.width, self.p.minwidth)
- self.p.depth = max(self.p.depth, self.p.mindepth)
- self.p.length = max(self.p.length, self.p.minlength)
-
def assemble(self):
- if self.p.angle is not None:
- bangle = 90 - self.p.angle
- tangle = 90 - self.p.angle
- else:
- bangle = 90 - self.p.bangle
- tangle = 90 - self.p.tangle
+ bangle = 90 - self.p.bangle
+ tangle = 90 - self.p.tangle
- try:
- root = self.p.root
- except KeyError:
- root = None
+ root = self.p.root
length = self.p.length
width = self.p.width
@@ -76,7 +59,7 @@ class RectBeam(FoldedComponent):
fromEdge = None
for i in range(4):
- self.attachEdge(fromEdge, rs[i], "e3", prefix="r%d"%i, angle=90, root=((i == root) if root is not None else False))
+ self.attachEdge(fromEdge, rs[i], "e3", prefix="r%d"%i, angle=90, root=((i == root)))
fromEdge = 'r%d.e1' % i
self.setFaceInterface("face%d" % i, "r%d" % ((i-phase)%4))
diff --git a/rocolib/library/ServoMotor.py b/rocolib/library/ServoMotor.py
index a4f2761937f9fc127b04d1383a7024c423b52312..969c4a2b0c0cb6f525d841962ae43eba19d96c43 100644
--- a/rocolib/library/ServoMotor.py
+++ b/rocolib/library/ServoMotor.py
@@ -2,27 +2,99 @@ from rocolib.api.components import FoldedComponent
from rocolib.api.composables.graph.Face import Rectangle as Shape
from rocolib.api.ports import AnchorPort
from rocolib.utils.utils import decorateGraph
-from rocolib.utils.dimensions import getDim
from rocolib.utils.transforms import Translate, RotateZ
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("servo", "fs90r", paramType="dimension")
- self.addInterface("mount", AnchorPort(self, self.getGraph(), "horn", Translate([0,0,0])))
- self.addFaceInterface("horn", "horn")
-
- def assemble(self):
- s = self.p.servo
- dz = getDim(s, "hornheight")
- dy = getDim(s, "motorlength") / 2 - getDim(s, "hornoffset")
-
- f = Shape("horn", 0, 0)
- decorateGraph(f, Shape("hole", 1, 1))
- self.addFace(f)
- self.setInterface("mount", AnchorPort(self, self.getGraph(), "horn", dot(RotateZ(deg2rad(self.p.angle)), Translate([0,-dy,dz]))))
+ def define(self):
+ self.addParameter("angle", 0, paramType="angle", minValue=None, maxValue=None)
+ self.addParameter("servo", "fs90r", values=ServoMotor.dims)
+ self.addInterface("mount", AnchorPort(self, self.getGraph(), "horn", Translate([0,0,0])))
+ self.addFaceInterface("horn", "horn")
+
+ def assemble(self):
+ s = self.p.servo
+
+ dz = s.get("hornheight")
+ dy = s.get("motorlength") / 2 - s.get("hornoffset")
+
+ f = Shape("horn", 0, 0)
+ decorateGraph(f, Shape("hole", 1, 1))
+ self.addFace(f)
+ self.setInterface("mount", AnchorPort(self, self.getGraph(), "horn", dot(RotateZ(deg2rad(self.p.angle)), Translate([0,-dy,dz]))))
+
+
+ '''
+ Servo dimension parameters:
+
+ |<-G->|
+ ^ =====v===== { H
+ E _I_
+ v ________| | |_____
+ ^ | |<-F->|<> D
+ | | |
+ B | <--- A ---> |
+ | | (X) C |
+ v |_____________|
+
+ A : motorlength
+ B : motorheight
+ C : motorwidth
+ D : shoulderlength
+
+ E : hornheight
+ F : hornoffset
+
+ G : hornlength
+ H : horndepth
+
+ '''
+
+ dims = dict(
+ ds2g = dict(
+ motorlength = 17,
+ motorwidth = 8.5,
+ motorheight = 11,
+ shoulderlength= 3.5,
+ hornlength = 11,
+ hornheight = 9,
+ hornoffset = 4,
+ horndepth = 1,
+ ),
+ s4303r = dict(
+ motorlength = 31,
+ motorwidth = 17,
+ motorheight = 29,
+ shoulderlength= 10,
+ hornlength = 38,
+ hornheight = 14,
+ hornoffset = 7,
+ horndepth = 2,
+ ),
+ tgy1370a = dict(
+ motorlength = 20,
+ motorwidth = 9,
+ motorheight = 14,
+ shoulderlength= 4,
+ hornlength = 7,
+ hornheight = 10,
+ hornoffset = 4,
+ horndepth = 2,
+ ),
+ fs90r = dict(
+ motorlength = 23,
+ motorwidth = 13,
+ motorheight = 19,
+ shoulderlength= 5,
+ hornlength = 10,
+ hornheight = 16,
+ hornoffset = 8,
+ horndepth = 2,
+ ),
+ )
+
if __name__ == "__main__":
ServoMotor.test()
+ print(ServoMotor.dims)
diff --git a/rocolib/library/ServoMount.py b/rocolib/library/ServoMount.py
index 797a1e9823560b0849711f0bc35e1a7021e3c7e1..2d1be2ab79cd3826c834b6a88ed7046ecacacd85 100644
--- a/rocolib/library/ServoMount.py
+++ b/rocolib/library/ServoMount.py
@@ -1,6 +1,5 @@
from rocolib.api.components.Component import Component
from rocolib.api.ports.EdgePort import EdgePort
-from rocolib.utils.dimensions import getDim
from rocolib.api.Function import Function
@@ -11,9 +10,9 @@ class ServoMount(Component):
if self.p.offset:
return
- ml = getDim(self.p.servo, "motorlength")
- sl = getDim(self.p.servo, "shoulderlength")
- ho = getDim(self.p.servo, "hornoffset")
+ ml = self.p.servo.get("motorlength")
+ sl = self.p.servo.get("shoulderlength")
+ ho = self.p.servo.get("hornoffset")
dy = self.p.length/2. - ml/2. - sl
if self.p.center:
diff --git a/rocolib/library/ServoMount.yaml b/rocolib/library/ServoMount.yaml
index f45cb93dc81a8f21bba35a103e820070315f0633..45d9c9e63ebbef06b611ffa8755129071419b4df 100644
--- a/rocolib/library/ServoMount.yaml
+++ b/rocolib/library/ServoMount.yaml
@@ -73,17 +73,48 @@ parameters:
units: mm
valueType: (float, int)
offset:
- defaultValue: null
- spec:
- optional: true
- overrides:
- - flip
- - center
- - shift
+ defaultValue: 0
+ spec: {}
servo:
defaultValue: fs90r
spec:
- valueType: str
+ values:
+ ds2g:
+ horndepth: 1
+ hornheight: 9
+ hornlength: 11
+ hornoffset: 4
+ motorheight: 11
+ motorlength: 17
+ motorwidth: 8.5
+ shoulderlength: 3.5
+ fs90r:
+ horndepth: 2
+ hornheight: 16
+ hornlength: 10
+ hornoffset: 8
+ motorheight: 19
+ motorlength: 23
+ motorwidth: 13
+ shoulderlength: 5
+ s4303r:
+ horndepth: 2
+ hornheight: 14
+ hornlength: 38
+ hornoffset: 7
+ motorheight: 29
+ motorlength: 31
+ motorwidth: 17
+ shoulderlength: 10
+ tgy1370a:
+ horndepth: 2
+ hornheight: 10
+ hornlength: 7
+ hornoffset: 4
+ motorheight: 14
+ motorlength: 20
+ motorwidth: 9
+ shoulderlength: 4
shift:
defaultValue: 0
spec:
@@ -99,20 +130,23 @@ subcomponents:
addTabs:
parameter: addTabs
depth:
- function: getDim(x, "motorheight")
+ function: x.get("motorheight")
parameter: servo
length:
parameter: length
+ length#minValue:
+ function: x.get("motorlength") + 2 * x.get("shoulderlength")
+ parameter: servo
width:
- function: getDim(x, "motorwidth")
+ function: x.get("motorwidth")
parameter: servo
mount:
classname: Cutout
kwargs: {}
parameters:
dx:
- function: getDim(x, "motorwidth") * 0.99
+ function: x.get("motorwidth") * 0.99
parameter: servo
dy:
- function: getDim(x, "motorlength")
+ function: x.get("motorlength")
parameter: servo
diff --git a/rocolib/library/SimpleChair.yaml b/rocolib/library/SimpleChair.yaml
index 3756a211f2a105b26ef98575405efa90ef6af541..672e7b286a2f4e553a2ff625350097c66e182dcd 100644
--- a/rocolib/library/SimpleChair.yaml
+++ b/rocolib/library/SimpleChair.yaml
@@ -16,42 +16,49 @@ 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)
diff --git a/rocolib/library/SimpleTable.yaml b/rocolib/library/SimpleTable.yaml
index f377c9740c7f777beb667cda5e00dfa87c7e95ef..5a77e45e77f45fded0bcd175645f67567f650d48 100644
--- a/rocolib/library/SimpleTable.yaml
+++ b/rocolib/library/SimpleTable.yaml
@@ -52,42 +52,49 @@ 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)
diff --git a/rocolib/library/Stool.py b/rocolib/library/Stool.py
index c5ce4be0f99dc40017c6b366c503ac933169ce20..8c36db6363edd2fdd15ee654141bedeeca35c399 100644
--- a/rocolib/library/Stool.py
+++ b/rocolib/library/Stool.py
@@ -8,14 +8,12 @@ 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", optional=True, overrides=("legwidth",))
- self.addParameter("legwidth", 20, paramType="length", minValue=10)
+ 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 modifyParameters(self):
- if self.p.radius is not None:
- self.p.legwidth = r2l.r2l(self.p.radius, self.p.legs*2)
-
def assemble(self):
h = self.p.height
lp = self.p.legs
diff --git a/rocolib/library/ThruHole.py b/rocolib/library/ThruHole.py
new file mode 100644
index 0000000000000000000000000000000000000000..b61671480639d9731fe14a335c8ff7e73eee81e2
--- /dev/null
+++ b/rocolib/library/ThruHole.py
@@ -0,0 +1,35 @@
+from rocolib.api.components import DecorationComponent
+from rocolib.api.composables.graph.Face import Face
+
+
+class ThruHole(DecorationComponent):
+
+ def define(self):
+ self.addParameter("nrows", 3, paramType="count")
+ self.addParameter("ncols", 1, paramType="count")
+ self.addParameter("rowsep", 2.54, paramType="length")
+ self.addParameter("colsep", 2.54, paramType="length")
+ self.addParameter("diameter", 1, paramType="length")
+
+ def assemble(self):
+ diam = self.getParameter("diameter")/2.
+ nr = self.getParameter("nrows")
+ nc = self.getParameter("ncols")
+
+ def hole(i, j, d):
+ dx = (j - (nc-1)/2.)*self.getParameter("colsep")
+ dy = (i - (nr-1)/2.)*self.getParameter("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)
+
+ for i in range(nr):
+ for j in range(nc):
+ d = diam
+ if (i == 0 and j == 0) or \
+ (i == nr-1 and j == nc-1):
+ d = diam*3
+ self.addFace(hole(i,j,d), prefix="r-%d-%d" % (i,j))
+
+if __name__ == "__main__":
+ ThruHole.test()
diff --git a/rocolib/library/UChannel.py b/rocolib/library/UChannel.py
index b16166970d50c2968ff538ebd3922c6e2f76e999..f1e46835d38c5d1b7321744bcc39079c2a571836 100644
--- a/rocolib/library/UChannel.py
+++ b/rocolib/library/UChannel.py
@@ -9,9 +9,9 @@ class UChannel(FoldedComponent):
self.addParameter("depth", 20, paramType="length")
# Minimum of 45deg to make sure the geometry stays convex
- self.addParameter("angle", optional=True, overrides=("tangle", "bangle"))
self.addParameter("tangle", 80, paramType="angle", minValue=45)
self.addParameter("bangle", 135, paramType="angle", minValue=45)
+ self.addParameter("angle", paramType="angle", minValue=45, overrides=("bangle", "tangle"))
for i in range(3):
self.addEdgeInterface("topedge%d" % i, "r%d.e0" % i, ["depth", "width"][i % 2])
@@ -23,11 +23,6 @@ class UChannel(FoldedComponent):
self.addEdgeInterface("ledge", "r0.e3", "length")
self.addEdgeInterface("redge", "r2.e1", "length")
- def modifyParameters(self):
- if self.p.angle is not None:
- self.p.bangle = self.p.angle
- self.p.tangle = self.p.angle
-
def assemble(self):
bangle = 90 - self.p.bangle
tangle = 90 - self.p.tangle
diff --git a/rocolib/library/Wheel.yaml b/rocolib/library/Wheel.yaml
index 51d9e01c2f7ca3f35118e9b7cab3c760ff056e21..6de1d93af4b845fe912b2cf84b60e44275325bc3 100644
--- a/rocolib/library/Wheel.yaml
+++ b/rocolib/library/Wheel.yaml
@@ -61,42 +61,49 @@ 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)
@@ -126,13 +133,8 @@ parameters:
units: mm
valueType: (float, int)
offset:
- defaultValue: null
- spec:
- optional: true
- overrides:
- - flip
- - center
- - shift
+ defaultValue: 0
+ spec: {}
radius:
defaultValue: 25
spec:
@@ -142,7 +144,43 @@ parameters:
servo:
defaultValue: fs90r
spec:
- valueType: str
+ values:
+ ds2g:
+ horndepth: 1
+ hornheight: 9
+ hornlength: 11
+ hornoffset: 4
+ motorheight: 11
+ motorlength: 17
+ motorwidth: 8.5
+ shoulderlength: 3.5
+ fs90r:
+ horndepth: 2
+ hornheight: 16
+ hornlength: 10
+ hornoffset: 8
+ motorheight: 19
+ motorlength: 23
+ motorwidth: 13
+ shoulderlength: 5
+ s4303r:
+ horndepth: 2
+ hornheight: 14
+ hornlength: 38
+ hornoffset: 7
+ motorheight: 29
+ motorlength: 31
+ motorwidth: 17
+ shoulderlength: 10
+ tgy1370a:
+ horndepth: 2
+ hornheight: 10
+ hornlength: 7
+ hornoffset: 4
+ motorheight: 14
+ motorlength: 20
+ motorwidth: 9
+ shoulderlength: 4
shift:
defaultValue: 0
spec:
diff --git a/rocolib/utils/dimensions.py b/rocolib/utils/dimensions.py
deleted file mode 100644
index 4d87f57f6335a69363889b7f6f15bd43d22ed6e9..0000000000000000000000000000000000000000
--- a/rocolib/utils/dimensions.py
+++ /dev/null
@@ -1,156 +0,0 @@
-from sympy import symbols
-
-dims = {}
-
-def isDim(obj):
- return obj in dims
-
-def getDim(obj, param):
- return dims[obj][param]
-
-'''
-Brain dimension parameters:
- params.setdefault("length")
- params.setdefault("width")
- params.setdefault("height")
-
- params.setdefault("nrows")
- params.setdefault("ncols")
- params.setdefault("rowsep")
- params.setdefault("colsep")
-'''
-dims["proMini"] = { "type" : "brains",
- "length" : 39,
- "width" : 19,
- "height" : 9,
- "nrows" : 12,
- "ncols" : 2,
- "rowsep" : 0.1 * 25.4,
- "colsep" : 0.6 * 25.4,
-}
-
-dims["nodeMCU"] = { "type" : "brains",
- "length" : 59.5,
- "width" : 44,
- "height" : 13,
- "nrows" : 15,
- "ncols" : 2,
- "rowsep" : 0.1 * 25.4,
- "colsep" : 0.9 * 25.4,
-}
-
-'''
-Servo dimension parameters:
-
- |<-G->|
-^ =====v===== { H
-E _I_
-v ________| | |_____
- ^ | |<-F->|<> D
- | | |
- B | <--- A ---> |
- | | (X) C |
- v |_____________|
-
-A : motorlength
-B : motorheight
-C : motorwidth
-D : shoulderlength
-
-E : hornheight
-F : hornoffset
-
-G : hornlength
-H : horndepth
-
- params.setdefault("motorlength")
- params.setdefault("motorwidth")
- params.setdefault("motorheight")
- params.setdefault("shoulderlength", 0)
-
- params.setdefault("hornheight", 0)
- params.setdefault("hornoffset", 0)
-
- params.setdefault("hornlength", 0)
- params.setdefault("horndepth", 0)
-
-If horn is not symmetric?
-
- params.setdefault("rhornlength", 0)
- params.setdefault("lhornlength", 0)
- if name == "hornlength":
- self.setParameter("rhornlength", val)
- self.setParameter("lhornlength", val)
-
-Should horn be a different object?
-
-'''
-
-dims["ds2g"] = { "type" : "servo",
- "motorlength" : 17,
- "motorwidth" : 8.5,
- "motorheight" : 11,
- "shoulderlength": 3.5,
- "hornlength" : 11,
- "hornheight" : 9,
- "hornoffset" : 4,
- "horndepth" : 1,
-}
-
-dims["s4303r"] = { "type" : "servo",
- "motorlength" : 31,
- "motorwidth" : 17,
- "motorheight" : 29,
- "shoulderlength": 10,
- "hornlength" : 38,
- "hornheight" : 14,
- "hornoffset" : 7,
- "horndepth" : 2,
-}
-
-dims["tgy1370a"] = { "type" : "servo",
- "motorlength" : 20,
- "motorwidth" : 9,
- "motorheight" : 14,
- "shoulderlength": 4,
- "hornlength" : 7,
- "hornheight" : 10,
- "hornoffset" : 4,
- "horndepth" : 2,
-}
-
-dims["fs90r"] = { "type" : "servo",
- "motorlength" : 23,
- "motorwidth" : 13,
- "motorheight" : 19,
- "shoulderlength": 5,
- "hornlength" : 10,
- "hornheight" : 16,
- "hornoffset" : 8,
- "horndepth" : 2,
-}
-
-l, w, h, r, c, rs, cs = symbols("brainLength brainWidth brainHeight brainNRows brainNCols brainRowSep brainColSep", positive=True)
-
-dims["brainSymbols"] = { "type" : "brains",
- "length" : l,
- "width" : w,
- "height" : h,
- "nrows" : r,
- "ncols" : c,
- "rowsep" : rs,
- "colsep" : cs,
-}
-
-l, w, h, s, hl, hh, ho, hd = symbols("servoLength servoWidth servoHeight servoShoulder servoHornLength servoHornHeight servoHornOffset servoHornDepth", positive=True)
-
-dims["servoSymbols"] = { "type" : "servo",
- "motorlength" : l,
- "motorwidth" : w,
- "motorheight" : h,
- "shoulderlength": s,
- "hornlength" : hl,
- "hornheight" : hh,
- "hornoffset" : ho,
- "horndepth" : hd,
-}