def _compute_direction(self, classpath):
klass = get_class(classpath)
from morse.core.actuator import Actuator
from morse.core.sensor import Sensor
if klass:
if issubclass(klass, Actuator):
return "IN"
elif issubclass(klass, Sensor):
return "OUT"
else:
logger.error("%s: no direction is precised nor can be " "computed automatically." % classpath)
return None
def _compute_direction(self, classpath):
klass = get_class(classpath)
from morse.core.actuator import Actuator
from morse.core.sensor import Sensor
if klass:
if issubclass(klass, Actuator):
return 'IN'
elif issubclass(klass, Sensor):
return 'OUT'
else:
logger.error("%s: no direction is precised nor can be "
"computed automatically." % classpath)
return None
def add_stream(self,
datastream,
method=None,
path=None,
classpath=None,
direction=None,
**kwargs):
""" Add a data stream interface to the component
Do the binding between a component and the method to export/import its
data. This must be used in general by sensors and actuators. A single
component can make several calls to this function to add bindings with
more than one middleware.
:param datastream: enum in ['ros', 'socket', 'yarp', 'text', 'pocolibs', 'moos']
:param classpath: if set, force to use the configuration of the given
component, instead of our own (default=None).
You can pass other argument to this method, they will be added as a map
to the configuration.
.. code-block:: python
component.add_stream('ros', topic='/myrobots/data')
component.add_stream('moos', moos_host='127.0.0.1', moos_port=9000,
moos_name='iMorse')
"""
self._err_if_not_exportable()
if not classpath:
classpath = self.property_value("classpath")
if not classpath:
logger.error("%s: no classpath defined for this "
"component! Check component definition " % self.name)
return
level = self.property_value("abstraction_level") or "default"
if not direction:
direction = self._compute_direction(classpath)
if not direction:
return
config = []
# Configure the datastream for this component
if not method:
if not classpath in MORSE_DATASTREAM_DICT:
klass = get_class(classpath)
from morse.core.actuator import Actuator
from morse.core.sensor import Sensor
# Check if we can use default interface...
if klass and \
issubclass(klass, Actuator) and \
datastream in INTERFACE_DEFAULT_IN:
logger.warning("%s: no interfaces available for this "
"component! Trying to use default one "
"for %s." % (classpath, datastream))
config = [INTERFACE_DEFAULT_IN[datastream]]
elif klass and \
issubclass(klass, Sensor) and \
datastream in INTERFACE_DEFAULT_OUT:
logger.warning("%s: no interfaces available for this "
"component! Trying to use default one "
"for %s." % (classpath, datastream))
config = [INTERFACE_DEFAULT_OUT[datastream]]
else:
logger.error(
"%s: no interfaces available for this component!"
" Check builder/data.py." % classpath)
return
else:
interfaces = MORSE_DATASTREAM_DICT[classpath]
if not level in interfaces:
if level == "default": # we need to look for the default level
module_name, class_name = classpath.rsplit('.', 1)
klass = load_module_attribute(module_name, class_name)
if not hasattr(klass, "_levels"):
logger.error(
"Component <%s> does not declare any "
"default interface. You must call "
"`add_stream` with an explicit method "
"and Python module." % str(classpath))
return
# iterate over levels to find the one with the default flag
for key, value in klass._levels.items():
if value[2]:
level = key
# set the right default level
self.properties(abstraction_level=level)
logger.info("Using default level <%s> for "
"component <%s>" %
(level, classpath))
break
if level == "default":
logger.error(
"Component <%s> does not declare any"
"default interface, and none of its "
"abstraction levels is marked as the "
"default one. You must call `add_stream`"
" with an explicit method and Python "
"module." % str(classpath))
return
if not level in interfaces:
logger.error(
"%s: no interfaces defined for this "
"component for abstraction level <%s>!"
"Check builder/data.py." % (classpath, level))
return
else:
logger.error(
"%s: no interfaces defined for this component"
"for abstraction level <%s>! Check "
"builder/data.py." % (classpath, level))
interfaces = interfaces[level]
if not datastream in interfaces:
logger.error(
"%s: no %s interface defined for this component "
"for abstraction level <%s>! "
"Check builder/data.py." %
(classpath, datastream, level))
return
config = interfaces[datastream]
if isinstance(config, list):
config = config[0]
if config == INTERFACE_DEFAULT_OUT:
config = INTERFACE_DEFAULT_OUT[datastream]
if config == INTERFACE_DEFAULT_IN:
config = INTERFACE_DEFAULT_IN[datastream]
if isinstance(config, str):
config = [config]
elif not path:
config = [method]
else:
config = [method, path]
if datastream in MORSE_DATASTREAM_MODULE:
datastream_classpath = MORSE_DATASTREAM_MODULE[datastream]
else:
datastream_classpath = datastream
config.insert(0, datastream_classpath)
config.append(direction)
config.append(
kwargs) # append additional configuration (eg. topic name)
Configuration.link_datastream(self, config)
def add_stream(self, datastream, method=None, path=None, classpath=None, direction=None, **kwargs):
""" Add a data stream interface to the component
Do the binding between a component and the method to export/import its
data. This must be used in general by sensors and actuators. A single
component can make several calls to this function to add bindings with
more than one middleware.
:param datastream: enum in ['ros', 'socket', 'yarp', 'text', 'pocolibs']
:param classpath: if set, force to use the configuration of the given
component, instead of our own (default=None).
You can pass other argument to this method, they will be added as a map
to the configuration.
.. code-block:: python
component.add_stream('ros', topic='/myrobots/data')
"""
if not classpath:
classpath = self.property_value("classpath")
if not classpath:
logger.error("%s: no classpath defined for this " "component! Check component definition " % self.name)
return
level = self.property_value("abstraction_level") or "default"
config = []
# Configure the datastream for this component
if not method:
if not classpath in MORSE_DATASTREAM_DICT:
# Check if we can use default interface...
from morse.core.actuator import Actuator
from morse.core.sensor import Sensor
klass = get_class(classpath)
if klass and issubclass(klass, Actuator) and datastream in INTERFACE_DEFAULT_IN:
logger.warning(
"%s: no interfaces available for this "
"component! Trying to use default one "
"for %s." % (classpath, datastream)
)
config = [INTERFACE_DEFAULT_IN[datastream]]
elif klass and issubclass(klass, Sensor) and datastream in INTERFACE_DEFAULT_OUT:
logger.warning(
"%s: no interfaces available for this "
"component! Trying to use default one "
"for %s." % (classpath, datastream)
)
config = [INTERFACE_DEFAULT_OUT[datastream]]
else:
logger.error(
"%s: no interfaces available for this component!" " Check builder/data.py." % classpath
)
return
else:
interfaces = MORSE_DATASTREAM_DICT[classpath]
if not level in interfaces:
if level == "default": # we need to look for the default level
module_name, class_name = classpath.rsplit(".", 1)
klass = load_module_attribute(module_name, class_name)
if not hasattr(klass, "_levels"):
logger.error(
"Component <%s> does not declare any "
"default interface. You must call "
"`add_stream` with an explicit method "
"and Python module." % str(classpath)
)
return
# iterate over levels to find the one with the default flag
for key, value in klass._levels.items():
if value[2] == True:
level = key
# set the right default level
self.properties(abstraction_level=level)
logger.info("Using default level <%s> for " "component <%s>" % (level, classpath))
break
if level == "default":
logger.error(
"Component <%s> does not declare any"
"default interface, and none of its "
"abstraction levels is marked as the "
"default one. You must call `add_stream`"
" with an explicit method and Python "
"module." % str(classpath)
)
return
if not level in interfaces:
logger.error(
"%s: no interfaces defined for this "
"component for abstraction level <%s>!"
"Check builder/data.py." % (classpath, level)
)
return
else:
logger.error(
"%s: no interfaces defined for this component"
"for abstraction level <%s>! Check "
"builder/data.py." % (classpath, level)
)
interfaces = interfaces[level]
if not datastream in interfaces:
logger.error(
"%s: no %s interface defined for this component "
"for abstraction level <%s>! "
"Check builder/data.py." % (classpath, datastream, level)
)
return
config = interfaces[datastream]
if isinstance(config, list):
config = config[0]
if config == INTERFACE_DEFAULT_OUT:
config = INTERFACE_DEFAULT_OUT[datastream]
if config == INTERFACE_DEFAULT_IN:
config = INTERFACE_DEFAULT_IN[datastream]
if isinstance(config, str):
config = [config]
elif not path:
config = [method]
else:
config = [method, path]
if datastream in MORSE_DATASTREAM_MODULE:
datastream_classpath = MORSE_DATASTREAM_MODULE[datastream]
else:
datastream_classpath = datastream
config.insert(0, datastream_classpath)
config.append(kwargs) # append additional configuration (eg. topic name)
Configuration.link_datastream(self, config)
