def domainInterface2dict(semObj):
out = a3t.gen2dict(semObj)
da = a3t.inTwo(semObj, "domainAdapter2domainInterface")
if da == None:
reportError("Domain interface must take a domain adapter on input.", semObj)
## Have to short-circuit to prevent weird errors from happening.
return out
else:
attributes = a3t.getAttributes(da)
out["parameters"] = attributes
iCall = a3t.outOne(semObj, "domainInterface2Interface")
i = a3t.outTwo(semObj, "domainInterface2Interface")
if i == None:
reportError("Domain interface must call a local interface.", semObj)
else:
name = a3t.evalAtom3Type(i.name)
calls = a3t.gen2dict(iCall)
iParameters = a3t.evalAtom3Type(i.parameters)
calls["name"] = name
out["calls"] = calls
## Constraints on interface call.
testCall(calls["arguments"], out["parameters"], iParameters, iCall)
deleteEmptyKeys(out)
testValidName(out.get("name"), semObj)
return out
def testPrimitiveCall(out, primCall):
primitive = a3t.outOne(primCall)
theirParams = a3t.evalAtom3Type(primitive.parameters)
myArgs = a3t.evalAtom3Type(primCall.arguments)
myLocals = a3t.evalAtom3Type(a3t.inOne(primCall).parameters)
testCall(myArgs, myLocals, theirParams, primCall)
if out["delay"] < 0:
reportError("Delay must be >0.", primCall)
def json_serialize(atom3i):
"""
Main entry point for ATom3.
"""
a3t.setInstance(atom3i)
root = dict()
print
print
print "=============== COMPILING ====================="
print
print
asg = getASG()
graphName = a3t.evalAtom3Type(asg.name)
graphAuthor = a3t.evalAtom3Type(asg.author)
fp = None
filename = None
filepath = None
if graphName == None or len(graphName) == 0:
reportError("Please give your model a name.")
else:
try:
filename = graphName + ".rdis.json"
filepath = genPath(filename)
fp = open(filepath, "w")
except IOError as e:
reportError(str(e))
root["name"] = graphName
root["author"] = graphAuthor
addPrimitives(root)
addInterfaces(root)
addConnections(root)
addDomainInterfaces(root)
addDomainOutputs(root)
addStateVars(root)
if not hasErrors():
json.dump(root, fp, indent=2)
fp.close()
tkMessageBox.showinfo("RDIS", "Model successfully serialized to file: " + filepath)
else:
errors = getErrors()
print (str(len(errors)) + " error(s) in total.")
i = 0
for error in errors:
i += 1
print " {:2}. ".format(i) + error[0]
return errors[0]
def primitive2dict(primitive):
out = a3t.gen2dict(primitive)
cnx = getPrimitiveConnection(primitive)
deleteEmptyKeys(out)
if cnx != None:
out["connection"] = a3t.evalAtom3Type(cnx.name)
testPrimitive(out, primitive)
return out
def getPrimitiveCalls(interface, parameters):
semCalls = a3t.filterOutboundEdges(interface, "interface2primitive")
output = list()
for semCall in semCalls:
out = a3t.gen2dict(semCall)
primitive = a3t.outOne(semCall)
print semCall
out["name"] = a3t.evalAtom3Type(primitive.name)
testPrimitiveCall(out, semCall)
output.append(out)
return output
def getTwistCallback(rosTopic):
"""
Gets twist callback textblob for given topic.
"""
global gTwistCallbackTemplate
tname = nameOf(rosTopic)
di = getInterface(rosTopic)
dit = getInterfaceAdapter(di)
rdisStmts = getMappings( dit )
return gTwistCallbackTemplate.format(
name = tname,
toRdis = rdisStmts,
domainInterface = a3t.evalAtom3Type(di.name),
)
def connection2dict(semObj):
out = a3t.gen2dict(semObj)
k = a3t.outOne(semObj, "connectionKeepalive")
s = a3t.outOne(semObj, "connectionStartup")
t = a3t.outOne(semObj, "connectionTerminate")
for thing in (("keepalive", k), ("startup", s), ("terminate", t)):
if thing[1] != None:
out[thing[0]] = a3t.gen2dict(thing[1])
out[thing[0]]["name"] = a3t.evalAtom3Type(a3t.outOne(thing[1]).name)
## Get arguments for remote interface.
myLocals = []
myArgs = out[thing[0]]["arguments"]
theirParams = a3t.evalAtom3Type(a3t.outOne(thing[1]).parameters)
testCall(myArgs, myLocals, theirParams, thing[1])
if thing[0] == "keepalive":
testKeepalive(out["keepalive"], k)
if out["keepalive"]["interval"] <= 0:
reportError("Keepalive interval should be >0.", k)
addThreading(out, semObj)
deleteEmptyKeys(out)
if isinstance(semObj, SerialConnection):
testSerial(out, semObj)
else:
reportError("Unbound connection type: {}".format(repr(semObj.__class__)), semObj)
testValidName(out.get("name"), semObj)
return out
def interface2dict(interface):
"""
Converts interface semantic object into a Python dict.
"""
out = a3t.gen2dict(interface)
out["primitiveCalls"] = getPrimitiveCalls(interface, out["parameters"])
do = a3t.outTwo(interface, "interface2domainOutput")
if do != None:
outputName = a3t.evalAtom3Type(do.name)
out["triggers"] = outputName
deleteEmptyKeys(out)
testValidName(out.get("name"), interface)
return out
def compileNode(rosNode):
"""
Compiles a particular ROS node.
"""
global gNodeTemplate
print
print
print "==================== COMPILING ========================="
print
print
nname = a3t.evalAtom3Type(rosNode.name)
ncallbacks = getCallbackSection(rosNode)
ninitialization = getInitializationSection(rosNode)
filepath = genPath("{}.gen.py".format(nname))
if not hasErrors():
try:
fp = open(filepath, "w")
fp.write(
gNodeTemplate.format(
nodeName=nname,
callbackSection=ncallbacks,
initializationSection=ninitialization
)
)
fp.close()
print "Written: {}".format(filepath)
return filepath
except IOError as e:
print "Error writing to '{}': {}".format(
filepath,
str(e)
)
reportError(str(e), None)
return False
def nameOf(semObj): """ Gets attribute "name" from semantic object. """ return a3t.evalAtom3Type(semObj.name)
def getStateVarNames():
"""
Returns a list of StateVar names.
"""
nameOf = lambda x: a3t.evalAtom3Type(x.name)
return list(map(nameOf, getStateVars()))
