def getGlobalAutoUpdateValue(cls, key, defaultValue, writeDefault):
"""Global version of getAutoUpdateValue. This function will not initialize
NetworkTables.
:param key: the full NT path of the value (must start with /)
:type key: str
:param defaultValue: The default value to return if the key doesn't exist
:type defaultValue: any
:param writeDefault: If True, force the value to the specified default
:type writeDefault: bool
.. versionadded:: 2015.3.0
.. seealso:: :func:`.ntproperty` is a read-write alternative to this
"""
assert key.startswith("/")
# Use raw NT api to avoid having to initialize networktables
value = None
valuefn = None # optimization for ntproperty
if not writeDefault:
value = cls._api.getEntryValue(key)
if value is None:
valuefn = Value.getFactory(defaultValue)
cls._api.setEntryValue(key, valuefn(defaultValue))
value = defaultValue
else:
valuefn = Value.getFactory(value)
return cls._api.createAutoValue(key, AutoUpdateValue(key, value, valuefn))
def putValue(self, key, value):
"""Put a value in the table, trying to autodetect the NT type of
the value. Refer to this table to determine the type mapping:
======= ============================ =================================
PyType NT Type Notes
======= ============================ =================================
bool :attr:`.EntryTypes.BOOLEAN`
int :attr:`.EntryTypes.DOUBLE`
float :attr:`.EntryTypes.DOUBLE`
str :attr:`.EntryTypes.STRING`
bytes :attr:`.EntryTypes.RAW` Doesn't work in Python 2.7
list Error Use `putXXXArray` methods instead
tuple Error Use `putXXXArray` methods instead
======= ============================ =================================
:param key: the key to be assigned to
:type key: str
:param value: the value that will be assigned
:type value: bool, int, float, str, bytes
:returns: False if the table key already exists with a different type
:rtype: bool
.. versionadded:: 2017.0.0
"""
value = Value.getFactory(value)(value)
path = self._path + key
return self._api.setEntryValue(path, value)
def putValue(self, key, value):
"""Put a value in the table, trying to autodetect the NT type of
the value. Refer to this table to determine the type mapping:
======= ============================ =================================
PyType NT Type Notes
======= ============================ =================================
bool :attr:`.EntryTypes.BOOLEAN`
int :attr:`.EntryTypes.DOUBLE`
float :attr:`.EntryTypes.DOUBLE`
str :attr:`.EntryTypes.STRING`
bytes :attr:`.EntryTypes.RAW` Doesn't work in Python 2.7
list Error Use `putXXXArray` methods instead
tuple Error Use `putXXXArray` methods instead
======= ============================ =================================
:param key: the key to be assigned to
:type key: str
:param value: the value that will be assigned
:type value: bool, int, float, str, bytes
:returns: False if the table key already exists with a different type
:rtype: bool
.. versionadded:: 2017.0.0
"""
value = Value.getFactory(value)(value)
path = self._path + key
return self._api.setEntryValue(path, value)
def set_safe(self, name: str, value: NT_TYPES) -> None:
entry = self._get_entry(name)
# Calculated using Python type (bool, str, float)
try:
create_value_func: Callable[..., Value] = Value.getFactory(value)
except ValueError as e: # getFactory raises ValueError when it should be raising TypeError
raise TypeError(*e.args)
if entry is not None:
# Calculated using NT type (NT_BOOLEAN, NT_STRING, NT_DOUBLE)
if Value.getFactoryByType(entry.type) != create_value_func:
# The factories don't match, which means the types don't match
# Do not allow implicit type conversion
raise TypeError("Existing type {} does not match: {}".format(
entry.type, type(value)))
# Convert Python type into NT type
nt_value: Value = create_value_func(value)
# Returns False on error (type mismatch)
successful = self.api.setEntryValue(self._get_path(name), nt_value)
if not successful:
raise TypeError("Existing type {} does not match: {}".format(
entry.type, type(value)))
def forceSetValue(self, value):
"""Sets the entry's value
:param value: the value that will be assigned
.. warning:: Empty lists will fail
"""
value = Value.getFactory(value)(value)
return self.__api.setEntryTypeValueById(self._local_id, value)
def forceSetValue(self, value):
"""Sets the entry's value
:param value: the value that will be assigned
.. warning:: Empty lists will fail
"""
value = Value.getFactory(value)(value)
return self.__api.setEntryTypeValueById(self._local_id, value)
def setValue(self, value):
"""Sets the entry's value
:param value: the value that will be assigned
:returns: False if the table key already exists with a different type
.. warning:: Empty lists will fail
"""
value = Value.getFactory(value)(value)
return self.__api.setEntryValueById(self._local_id, value)
def setDefaultValue(self, defaultValue):
"""Sets the entry's value if it does not exist.
:param defaultValue: the default value to set
:returns: False if the entry exists with a different type
.. warning:: Do not set an empty list, it will fail
"""
value = Value.getFactory(defaultValue)(defaultValue)
return self.__api.setDefaultEntryValueById(self._local_id, value)
def setValue(self, value):
"""Sets the entry's value
:param value: the value that will be assigned
:returns: False if the table key already exists with a different type
.. warning:: Empty lists will fail
"""
value = Value.getFactory(value)(value)
return self.__api.setEntryValueById(self._local_id, value)
def setDefaultValue(self, defaultValue):
"""Sets the entry's value if it does not exist.
:param defaultValue: the default value to set
:returns: False if the entry exists with a different type
.. warning:: Do not set an empty list, it will fail
"""
value = Value.getFactory(defaultValue)(defaultValue)
return self.__api.setDefaultEntryValueById(self._local_id, value)
def set(self, name: str, value: NT_TYPES) -> None:
# Calculated using Python type (bool, str, float)
try:
create_value_func: Callable[..., Value] = Value.getFactory(value)
except ValueError as e: # getFactory raises ValueError when it should be raising TypeError
raise TypeError(*e.args)
nt_value: Value = create_value_func(value)
self.api.setEntryTypeValue(self._get_path(name), nt_value)
def getGlobalAutoUpdateValue(cls, key, defaultValue, writeDefault):
'''Global version of getAutoUpdateValue. This function will not initialize
NetworkTables.
:param key: the full NT path of the value (must start with /)
:type key: str
:param defaultValue: The default value to return if the key doesn't exist
:type defaultValue: any
:param writeDefault: If True, force the value to the specified default
:type writeDefault: bool
.. versionadded:: 2015.3.0
.. seealso:: :func:`.ntproperty` is a read-write alternative to this
'''
assert key.startswith('/')
# Use raw NT api to avoid having to initialize networktables
value = None
valuefn = None # optimization for ntproperty
if not writeDefault:
value = cls._api.getEntryValue(key)
if value is None:
valuefn = Value.getFactory(defaultValue)
cls._api.setEntryValue(key, valuefn(defaultValue))
value = defaultValue
elif not writeDefault:
value = value.value
valuefn = Value.getFactory(value)
else:
valuefn = Value.getFactory(value)
return cls._api.createAutoValue(key,
AutoUpdateValue(key, value, valuefn))
def setDefaultValue(self, key, defaultValue):
"""If the key doesn't currently exist, then the specified value will
be assigned to the key.
:param key: the key to be assigned to
:type key: str
:param defaultValue: the default value to set if key doesn't exist.
:type defaultValue: bool, int, float, str, bytes
:returns: False if the table key exists with a different type
.. versionadded:: 2017.0.0
.. seealso:: :meth:`.putValue`
"""
defaultValue = Value.getFactory(defaultValue)(defaultValue)
path = self._path + key
return self._api.setDefaultEntryValue(path, defaultValue)
def setDefaultValue(self, key, defaultValue):
"""If the key doesn't currently exist, then the specified value will
be assigned to the key.
:param key: the key to be assigned to
:type key: str
:param defaultValue: the default value to set if key doesn't exist.
:type defaultValue: bool, int, float, str, bytes
:returns: False if the table key exists with a different type
.. versionadded:: 2017.0.0
.. seealso:: :meth:`.putValue`
"""
defaultValue = Value.getFactory(defaultValue)(defaultValue)
path = self._path + key
return self._api.setDefaultEntryValue(path, defaultValue)
def __init__(
self,
default: V,
*,
writeDefault: bool = True,
subtable: Optional[str] = None,
doc=None
) -> None:
if doc is not None:
warnings.warn("tunable no longer uses the doc argument", stacklevel=2)
self._ntdefault = default
self._ntsubtable = subtable
self._ntwritedefault = writeDefault
# self.__doc__ = doc
self._mkv = Value.getFactory(default)
self._nt = NetworkTables
def tunable(default, *, writeDefault=True, subtable=None, doc=None):
"""
This allows you to define simple properties that allow you to easily
communicate with other programs via NetworkTables.
The following example will define a NetworkTable variable at
``/components/my_component/foo``::
class MyRobot(magicbot.MagicRobot):
my_component = MyComponent
...
from magicbot import tunable
class MyComponent:
# define the tunable property
foo = tunable(True)
def execute(self):
# set the variable
self.foo = True
# get the variable
foo = self.foo
The key of the NetworkTables variable will vary based on what kind of
object the decorated method belongs to:
* A component: ``/components/COMPONENTNAME/VARNAME``
* An autonomous mode: ``/autonomous/MODENAME/VARNAME``
* Your main robot class: ``/robot/VARNAME``
.. note:: When executing unit tests on objects that create tunables,
you will want to use setup_tunables to set the object up.
In normal usage, MagicRobot does this for you, so you don't
have to do anything special.
"""
# the way this works is we use a special class to indicate that it
# is a tunable, and MagicRobot adds _ntattr and _global_table variables
# to the class property
# The tricky bit is that you need to do late binding on these, because
# the networktables key is not known when the object is created. Instead,
# the name of the key is related to the name of the variable name in the
# robot class
nt = NetworkTables
mkv = Value.getFactory(default)
def _get(self):
return getattr(self, prop._ntattr).value
def _set(self, value):
v = getattr(self, prop._ntattr)
nt._api.setEntryValueById(v._local_id, mkv(value))
prop = _TunableProperty(fget=_get, fset=_set, doc=doc)
prop._ntdefault = default
prop._ntsubtable = subtable
prop._ntwritedefault = writeDefault
return prop
