Device

Add Device Port and Sensor components in the library that are adapted to the new port mechanisms. The function to transcribe the device info to wbo is in a different merge

rocolib/api/components/DiscreteComponent.py

+from rocolib.api.components import Component
+from rocolib.api.composables import DiscreteComposable
+
+#name of composable
+DISCRETE = 'discrete'
+
+#key names
+DIMS = 'dims'
+PARAMS = 'params'
+TYPE = 'type'
+
+
+
+# Helper functions
+def getDim(obj, param):
+    return devices[obj][DIMS][param]
+
+def isDim(obj):
+    return obj in devices
+
+def getParam(obj, param):
+    try:
+        ret = devices[obj][PARAMS][param]
+    except KeyError:
+        ret = None
+    return
+
+def getType(obj, option=None):
+    if option == 'Webots':
+        pass
+
+# helper related to commons
+def getDefaultDevice( objType):
+    return commons['default'][objType]
+
+def getCommonsParm(obj, param):
+    return commons[obj][param]
+
+def getCommonsMatch(obj, value):
+    match = None
+    for k, v in commons[obj].items():
+        if value in v:
+            match = k
+    return match
+
+
+#device lib and common data storage
+commons = {}
+devices = {}
+
+devices['ESP'] = {
+    DIMS: {
+        "length"    : 59.5,
+        "width"     : 44,
+        "height"    : 13,
+        "nrows"     : 15,
+        "ncols"     : 2,
+        "rowsep"    : 0.1 * 25.4,
+        "colsep"    : 0.9 * 25.4},
+    PARAMS: {"price": 15,
+             "URL": "https://www.adafruit.com/product/2442",
+             "power": 100},
+    TYPE: "brain",
+}
+
+devices['nodeMCU'] = {
+    DIMS: {"length"    : 59.5,
+        "width"     : 44,
+        "height"    : 13,
+        "nrows"     : 15,
+        "ncols"     : 2,
+        "rowsep"    : 0.1 * 25.4,
+        "colsep"    : 0.9 * 25.4},
+    PARAMS: {"price": 1},
+    TYPE: "brain"
+}
+
+devices['proMini'] = {
+    DIMS: {"length"    : 39,
+    "width"     : 19,
+    "height"    : 9,
+    "nrows"     : 12,
+    "ncols"     : 2,
+    "rowsep"    : 0.1 * 25.4,
+    "colsep"    : 0.6 * 25.4,},
+    PARAMS: {"price": 1},
+    TYPE: "brain"
+}
+
+devices['tgy1370a'] = {
+    DIMS: {"motorlength"   : 20,
+    "motorwidth"    : 9,
+    "motorheight"   : 14,
+    "shoulderlength": 4,
+    "hornlength"    : 7,
+    "hornheight"    : 10,
+    "hornoffset"    : 4,
+    "horndepth"     : 2},
+    PARAMS: {"price": 1},
+    TYPE: "servo"
+}
+
+devices['GPS_default'] = {
+    DIMS: {"length"    : 13,
+            "width"     : 15,
+            "height"    : 13},
+    PARAMS: {"price": 10,
+             "name": "Global_GPS"},
+    TYPE: "gps",
+
+}
+
+devices['Compass_default'] = {
+    DIMS: {"length"    : 1,
+            "width"     : 1,
+            "height"    : 1},
+    PARAMS: {"price": 2},
+    TYPE: "compass"
+}
+
+devices['fs90r'] = {
+    DIMS: {"motorlength"   : 23,
+        "motorwidth"    : 13,
+        "motorheight"   : 19,
+        "shoulderlength": 5,
+        "hornlength"    : 10,
+        "hornheight"    : 16,
+        "hornoffset"    : 8,
+        "horndepth"     : 2},
+    PARAMS: {"price": 4.95,
+             "description": "Continuous servo",
+             "URL": "https://www.adafruit.com/product/2442"},
+    TYPE: "servo"
+}
+
+
+
+commons['webotsType']={
+    "sensor": ['gps', 'compass', 'lidar'],
+    "actuator": ['servo', 'linear servo'],
+    "cpu": ['brain']
+}
+
+commons['default']={
+    'gps': 'GPS_default',
+    'compass': 'Compass_default',
+    'lidar': 'Lidar_default',
+    'servo': 'fs90r',
+    'brain': 'nodeMCU'
+}
+
+
+class DiscreteComponent(Component):
+    def predefine(self, **kwargs):
+        super().predefine(**kwargs)
+        self.composables[DISCRETE] = DiscreteComposable()
+