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 getOutput(rosTopic):
"""
Gets the domain output associated with this topic.
"""
do = a3t.inTwo(rosTopic, "GenericGraphEdge")
if do == None:
reportError("ROS published topic must be connected to RDIS domain output!", rosTopic)
return do
def getOutputAdapter(do):
"""
Gets domain adapter associated with domain output.
"""
adapter = a3t.inTwo(do, "domainAdapter2domainOutput")
if adapter == None:
reportError("Domain output has no adapter tied to it.", do)
return None
return adapter
def getInterfaceAdapter(di):
"""
Gets domain adapter associated with domain interface.
"""
dit = a3t.inTwo(di, "domainAdapter2domainInterface")
if dit == None:
reportError("Domain interface has no adapter tied to it.", di)
return None
return dit
def domainOutput2dict(domainOutput):
out = a3t.gen2dict(domainOutput)
da = a3t.inTwo(domainOutput, "domainAdapter2domainOutput")
if da == None:
reportError("Domain output must take a domain adapter on input.", domainOutput)
else:
returns = a3t.gen2dict(da)
testValidArgs(returns.values(), [], da)
out["returns"] = returns
deleteEmptyKeys(out)
testValidName(out.get("name"), domainOutput)
return out