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 getType(rosTopic):
"""
Gets the ATOM3 ROS type for a topic.
"""
topicType = a3t.outTwo(rosTopic, "ROSType")
if topicType == None:
reportError("ROS topic must have a type.", rosTopic)
return topicType
def getInterface(rosTopic):
"""
Gets domain interface associated with topic.
"""
di = a3t.outTwo(rosTopic, "GenericGraphEdge")
if di == None:
reportError("ROS subscribed topic must be connected to RDIS domain interface!", rosTopic)
return None
return di
def addThreading(obj, connectionSem):
threadingSem = a3t.outTwo(connectionSem, "connection2threading")
if threadingSem == None:
reportError("Connections must have a threading object.", connectionSem)
else:
threadObj = a3t.gen2dict(threadingSem)
deleteEmptyKeys(threadObj)
if isinstance(threadingSem, SingleThreading):
testSingleThreading(threadObj, threadingSem)
obj["singleThreading"] = threadObj
else:
reportError("Unbound threading type: {}".format(repr(threadingSem.__class__)), threading)
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 getReturns(interface):
domainAdapter = a3t.outTwo(interface, "interface2domainAdapter")
if domainAdapter == None:
return None
returns = a3t.gen2dict(domainAdapter)
return returns