def loadHandler(self, r_type, h_type, h_name):
"""
Load the handler config object from the file based on the given info
"""
# create a handler config object first
handler_config = HandlerConfig()
if r_type in ['share']:
# this is a shared handler, we will require a handler type
# if the h_type is a handler type class object, translate it into a str
if h_type is None:
h_type = self.findHandlerTypeStringFromName(h_name)
if not isinstance(h_type, basestring):
h_type = ht.getHandlerTypeName(h_type)
handler_module = '.'.join(
['lib', 'handlers', r_type, h_type, h_name])
else:
# this is a robot handler, no handler type required
handler_module = '.'.join(['lib', 'handlers', r_type, h_name])
try:
if h_type in ("Sensor", "Actuator"):
handler_config.loadHandlerMethod(handler_module)
else:
handler_config.loadHandlerMethod(handler_module,
onlyLoadInit=True)
handler_config.robot_type = r_type
except ImportError as import_error:
# TODO: Log an error here if the handler is necessary
handler_config = None
return handler_config
def getHandlerConfigDefault(self, r_type, h_type, h_name):
"""
Get default handler config object from handler_configs if exists
Or load it from corresponding file if not exits
given rtype (str: share or robot type (str)), htype (class), h_name (str). NOT yet overridden by .robot defaults
"""
default_handler_config = None
if self.handler_configs == {}:
# if no handler has been loaded yet we will load the handler from file
default_handler_config = self.loadHandler(r_type, h_type, h_name)
else:
# fetch it from the exiting handler_configs dictionary
if r_type not in self.handler_configs.keys():
# robot type is not recognized
logging.warning("Cannot find handler config with robot type {!r}.".format(r_type))
elif h_type not in self.handler_configs[r_type].keys():
# handler type is not recognized
logging.warning("Cannot find handler config with handler type {!r} for robot {!r}.\n \
It is possible the handler config was not successfully loaded." \
.format(ht.getHandlerTypeName(h_type), r_type))
else:
for handler_config in self.handler_configs[r_type][h_type]:
if handler_config.name == h_name:
# we found the handler config object
default_handler_config = deepcopy(handler_config)
break
if default_handler_config is None:
# Cannot find handler config object with given name
logging.warning("Cannot find handler config with handler name {!r}.".format(h_name))
return default_handler_config
def loadHandler(self, r_type, h_type, h_name):
"""
Load the handler config object from the file based on the given info
"""
# create a handler config object first
handler_config = HandlerConfig()
if r_type in ['share']:
# this is a shared handler, we will require a handler type
# if the h_type is a handler type class object, translate it into a str
if h_type is None:
h_type = self.findHandlerTypeStringFromName(h_name)
if not isinstance(h_type, basestring):
h_type = ht.getHandlerTypeName(h_type)
handler_module = '.'.join(['lib', 'handlers', r_type, h_type, h_name])
else:
# this is a robot handler, no handler type required
handler_module = '.'.join(['lib', 'handlers', r_type, h_name])
try:
if h_type in ("Sensor", "Actuator"):
handler_config.loadHandlerMethod(handler_module)
else:
handler_config.loadHandlerMethod(handler_module, onlyLoadInit=True)
handler_config.robot_type = r_type
except ImportError as import_error:
# TODO: Log an error here if the handler is necessary
handler_config = None
return handler_config
def toString(self):
"""
Return the string representation of the handler object
"""
# prepare the input for initiation
init_method_config = self.getMethodByName('__init__')
method_input = []
for para_config in init_method_config.para:
if para_config.para_type.lower() in ['str', 'string', 'region']:
if para_config.value is not None:
method_input.append(
'%s=%s' %
(para_config.name, '\"' + para_config.value + '\"'))
else:
method_input.append('%s=%s' %
(para_config.name, str(para_config.value)))
# build the string starting from the type of the robot
method_string = self.robot_type
if self.robot_type == 'share':
# only add the handler type if the robot type is `share`
method_string += '.' + ht.getHandlerTypeName(self.h_type)
method_string += ('.' + self.name + '(' + ','.join(method_input) + ')')
return method_string
def prepareHandler(self, handler_config):
"""
Instantiate the handler object of the given handler config if it is not already instantiated
Return the handler instance
"""
# Check if we alreay instantiated the handler
handler_name = handler_config.name
h = self.getHandlerInstanceByName(handler_name)
if h is None:
# we need to instantiate the handler
robot_type = handler_config.robot_type
# construct the handler module path for importing
if robot_type == "share":
handler_type_string = ht.getHandlerTypeName(
handler_config.h_type)
handler_module_path = ".".join([
"lib", "handlers", robot_type, handler_type_string,
handler_name
])
else:
handler_module_path = ".".join(
["lib", "handlers", robot_type, handler_name])
# find the handler class object
h_name, h_type, handler_class = HandlerConfig.loadHandlerClass(
handler_module_path)
# get the HMC for the init_method
init_method_config = handler_config.getMethodByName("__init__")
# construct the arguments list; everyone gets a reference to executor
arg_dict = {"executor": self.executor}
# everyone except for InitHandler gets shared_data too
if h_type is not ht.InitHandler:
arg_dict.update(
{"shared_data": self.executor.proj.shared_data})
# add any arguments specific to this method
arg_dict.update(init_method_config.getArgDict())
# instantiate the handler
try:
h = handler_class(**arg_dict)
except Exception:
logging.exception(
"Failed during handler {} instantiation".format(
handler_module_path))
else:
self.handler_instance.append(h)
return h
def prepareHandler(self, handler_config):
"""
Instantiate the handler object of the given handler config if it is not already instantiated
Return the handler instance
"""
# Check if we alreay instantiated the handler
handler_name = handler_config.name
h = self.getHandlerInstanceByName(handler_name)
if h is None:
# we need to instantiate the handler
robot_type = handler_config.robot_type
# construct the handler module path for importing
if robot_type == "share":
handler_type_string = ht.getHandlerTypeName(handler_config.h_type)
handler_module_path = ".".join(["lib", "handlers", robot_type, handler_type_string, handler_name])
else:
handler_module_path = ".".join(["lib", "handlers", robot_type, handler_name])
# find the handler class object
h_name, h_type, handler_class = HandlerConfig.loadHandlerClass(handler_module_path)
# get the HMC for the init_method
init_method_config = handler_config.getMethodByName("__init__")
# construct the arguments list; everyone gets a reference to executor
arg_dict = {"executor": self.executor}
# everyone except for InitHandler gets shared_data too
if h_type is not ht.InitHandler:
arg_dict.update({"shared_data":self.executor.proj.shared_data})
# add any arguments specific to this method
arg_dict.update(init_method_config.getArgDict())
# instantiate the handler
try:
h = handler_class(**arg_dict)
except Exception:
logging.exception("Failed during handler {} instantiation".format(handler_module_path))
else:
self.handler_instance.append(h)
return h
def __repr__(self):
"""
Overwrite string representation function
"""
strRepr = ""
# Only show the atrributes we are interested in
keyList = ['name', 'r_type', 'handlers']
for key in keyList:
if key == 'handlers':
handler_configs = getattr(self, key, {})
temp_str_list = []
for h_type in handler_configs.keys():
temp_str_list.append("{0:13}{1:23}{2}".format('', ht.getHandlerTypeName(h_type) + ':', \
handler_configs[h_type].name))
strRepr = strRepr + ("{0}{1}\n".format("<"+key+">:\n", '\n'.join(temp_str_list)))
else:
strRepr = strRepr + ("{0:13}{1}\n".format("<"+key+">:", getattr(self, key, 'NOT DEFINED')))
reprString = "\n --Robot <{0}> -- \n".format(self.name) + \
strRepr + " -- End of Robot <{0}> -- \n".format(self.name)
return reprString
def getHandlerConfigDefault(self, r_type, h_type, h_name):
"""
Get default handler config object from handler_configs if exists
Or load it from corresponding file if not exits
given rtype (str: share or robot type (str)), htype (class), h_name (str). NOT yet overridden by .robot defaults
"""
default_handler_config = None
if self.handler_configs == {}:
# if no handler has been loaded yet we will load the handler from file
default_handler_config = self.loadHandler(r_type, h_type, h_name)
else:
# fetch it from the exiting handler_configs dictionary
if r_type not in self.handler_configs.keys():
# robot type is not recognized
logging.warning(
"Cannot find handler config with robot type {!r}.".format(
r_type))
elif h_type not in self.handler_configs[r_type].keys():
# handler type is not recognized
logging.warning("Cannot find handler config with handler type {!r} for robot {!r}.\n \
It is possible the handler config was not successfully loaded." \
.format(ht.getHandlerTypeName(h_type), r_type))
else:
for handler_config in self.handler_configs[r_type][h_type]:
if handler_config.name == h_name:
# we found the handler config object
default_handler_config = deepcopy(handler_config)
break
if default_handler_config is None:
# Cannot find handler config object with given name
logging.warning(
"Cannot find handler config with handler name {!r}.".
format(h_name))
return default_handler_config
def toString(self):
"""
Return the string representation of the handler object
"""
# prepare the input for initiation
init_method_config = self.getMethodByName('__init__')
method_input = []
for para_config in init_method_config.para:
if para_config.para_type.lower() in ['str', 'string', 'region']:
if para_config.value is not None:
method_input.append('%s=%s'%(para_config.name, '\"'+para_config.value+'\"'))
else:
method_input.append('%s=%s'%(para_config.name, str(para_config.value)))
# build the string starting from the type of the robot
method_string = self.robot_type
if self.robot_type == 'share':
# only add the handler type if the robot type is `share`
method_string += '.' + ht.getHandlerTypeName(self.h_type)
method_string += ('.' + self.name + '(' + ','.join(method_input) + ')')
return method_string
