Added a few more components, including some that have non-port arguments (#368)

* Changes to python_tools/python_util.py:
Fixed isEnum.
Removed getComponentPortNameAndType.

Changes to python_tools/json_util.py:
Generate JSON componentArgs for component constructors, instead of componentPortName and componentPortType.
Added _createArgData.
Added _processComponent.

* Moved PortType and related functions from module_content.ts to python_json_types.ts

Added preupgrade_009_to_0010 to change Component.ports to Component.args.

* Added valueForComponentArgInput to value.ts. It creates blocks to plug into component input sockets.

* Changed blocks and the python generator where it used to assume that all components have a port argument and no other arguments.

Fixed the code that generates the robot when it creates a mechanism, passing one tuple of args for each component in the mechanism.

Fixed the code that generates a mechanism's __init__ and define_hardware methods. The __init__ and define_hardware methods take one parameter (which is is a tuple) for each component in the mechanism. The define_hardware method uses the * operator to unpack the elements of the tuple and pass each element as a separate positional argument to the component constructor.

* Increment the current version to 0.0.10.
Upgrade old projects so that Components have args instead of ports.

Author: lizlooney

python_tools/json_util.py

@@ -60,8 +60,7 @@
 _KEY_ALIASES = 'aliases'
 _KEY_SUBCLASSES = 'subclasses'
 _KEY_IS_COMPONENT = 'isComponent'
-_KEY_COMPONENT_PORT_NAME = 'componentPortName'
-_KEY_COMPONENT_PORT_TYPE = 'componentPortType'
+_KEY_COMPONENT_ARGS = 'componentArgs'
 
 
 def ignoreModule(module_name: str) -> bool:
@@ -120,6 +119,8 @@ def _getClassName(self, o, containing_class_name: str = None) -> str:
           o = o.replace(exported_full_class_name + ']', exported_class_name + ']')
         if o.find(exported_full_class_name + ',') != -1:
           o = o.replace(exported_full_class_name + ',', exported_class_name + ',')
+      o = o.replace('typing.SupportsInt', 'int')
+      o = o.replace('typing.SupportsFloat', 'float')
       return o
     raise Exception(f'Invalid argument {o}')
 
@@ -136,6 +137,13 @@ def _createFunctionIsEnumValue(
       self, enum_cls: type) -> typing.Callable[[object], bool]:
     return lambda value: type(value) == enum_cls
 
+  def _createArgData(self, arg_name: str, arg_type: str, default_value: str = ''):
+    arg_data = {}
+    arg_data[_KEY_ARGUMENT_NAME] = arg_name
+    arg_data[_KEY_ARGUMENT_TYPE] = arg_type
+    arg_data[_KEY_ARGUMENT_DEFAULT_VALUE] = default_value if default_value else ''
+    return arg_data
+
   def _processModule(self, module) -> dict:
     module_data = {}
     module_name = self._getModuleName(module)
@@ -194,14 +202,10 @@ def _processModule(self, module) -> dict:
           continue
         args = []
         for i in range(len(arg_names)):
-          arg_data = {}
-          arg_data[_KEY_ARGUMENT_NAME] = arg_names[i]
-          arg_data[_KEY_ARGUMENT_TYPE] = self._getClassName(arg_types[i])
-          if arg_default_values[i] is not None:
-            arg_data[_KEY_ARGUMENT_DEFAULT_VALUE] = arg_default_values[i]
-          else:
-            arg_data[_KEY_ARGUMENT_DEFAULT_VALUE] = ''
-          args.append(arg_data)
+          args.append(self._createArgData(
+              arg_names[i],
+              self._getClassName(arg_types[i]),
+              arg_default_values[i] if arg_default_values[i] is not None else ''))
         function_data = {}
         function_data[_KEY_FUNCTION_NAME] = function_name
         function_data[_KEY_FUNCTION_RETURN_TYPE] = self._getClassName(return_type)
@@ -352,22 +356,14 @@ def _processClass(self, cls):
               declaring_class_name = self._getClassName(arg_type, class_name)
             # Don't append the self argument to the args array.
             continue
-          arg_data = {}
-          arg_data[_KEY_ARGUMENT_NAME] = arg_name
-          arg_data[_KEY_ARGUMENT_TYPE] = self._getClassName(arg_type, class_name)
-          if arg_default_values[i] is not None:
-            arg_data[_KEY_ARGUMENT_DEFAULT_VALUE] = arg_default_values[i]
-          else:
-            arg_data[_KEY_ARGUMENT_DEFAULT_VALUE] = ''
-          args.append(arg_data)
+          args.append(self._createArgData(
+              arg_name,
+              self._getClassName(arg_type, class_name),
+              arg_default_values[i] if arg_default_values[i] is not None else ''))
         constructor_data[_KEY_FUNCTION_ARGS] = args
         constructor_data[_KEY_FUNCTION_DECLARING_CLASS_NAME] = declaring_class_name
         constructor_data[_KEY_FUNCTION_RETURN_TYPE] = declaring_class_name
-        componentPortTuple = python_util.getComponentPortNameAndType(declaring_class_name, value)
-        if componentPortTuple is not None:
-          constructor_data[_KEY_COMPONENT_PORT_NAME] = componentPortTuple[0]
-          constructor_data[_KEY_COMPONENT_PORT_TYPE] = componentPortTuple[1]
-          class_data[_KEY_IS_COMPONENT] = True
+        self._processComponent(class_data, constructor_data, declaring_class_name, arg_names, arg_types, arg_default_values)
         constructors.append(constructor_data)
     class_data[_KEY_CONSTRUCTORS] = constructors
 
@@ -406,14 +402,10 @@ def _processClass(self, cls):
             found_self_arg = True
             if arg_type != full_class_name:
               declaring_class_name = self._getClassName(arg_type, class_name)
-          arg_data = {}
-          arg_data[_KEY_ARGUMENT_NAME] = arg_name
-          arg_data[_KEY_ARGUMENT_TYPE] = self._getClassName(arg_type, class_name)
-          if arg_default_values[i] is not None:
-            arg_data[_KEY_ARGUMENT_DEFAULT_VALUE] = arg_default_values[i]
-          else:
-            arg_data[_KEY_ARGUMENT_DEFAULT_VALUE] = ''
-          args.append(arg_data)
+          args.append(self._createArgData(
+              arg_name,
+              self._getClassName(arg_type, class_name),
+              arg_default_values[i] if arg_default_values[i] is not None else ''))
         function_data = {}
         function_data[_KEY_FUNCTION_NAME] = function_name
         function_data[_KEY_FUNCTION_RETURN_TYPE] = self._getClassName(return_type, class_name)
@@ -456,6 +448,96 @@ def _processClass(self, cls):
     class_data[_KEY_ENUMS] = sorted(enums, key=lambda enum_data: enum_data[_KEY_ENUM_CLASS_NAME])
     return class_data
 
+
+  def _processComponent(self, class_data, constructor_data, declaring_class_name, arg_names, arg_types, arg_default_values):
+    """Determine whether this is a component and, if so, update the class_data and
+    constructor_data."""
+
+    # TODO(lizlooney): Replace the following temporary fake code with code that
+    # looks at doc string and/or parameter type aliases to tell whether this is
+    # a component and what the args are.
+
+    if declaring_class_name == 'wpilib_placeholders.ExpansionHubMotor':
+      args = []
+      args.append(self._createArgData('expansion_hub_motor', 'SYSTEMCORE_USB_PORT__EXPANSION_HUB_MOTOR_PORT'))
+      constructor_data[_KEY_COMPONENT_ARGS] = args
+      constructor_data[_KEY_IS_COMPONENT] = True
+      class_data[_KEY_IS_COMPONENT] = True
+      return
+
+    if declaring_class_name == 'wpilib_placeholders.ExpansionHubServo':
+      args = []
+      args.append(self._createArgData('expansion_hub_servo', 'SYSTEMCORE_USB_PORT__EXPANSION_HUB_SERVO_PORT'))
+      constructor_data[_KEY_COMPONENT_ARGS] = args
+      constructor_data[_KEY_IS_COMPONENT] = True
+      class_data[_KEY_IS_COMPONENT] = True
+      return
+
+    if declaring_class_name == 'wpilib.AddressableLED':
+      args = []
+      args.append(self._createArgData('smart_io_port', 'SYSTEMCORE_SMART_IO_PORT'))
+      constructor_data[_KEY_COMPONENT_ARGS] = args
+      constructor_data[_KEY_IS_COMPONENT] = True
+      class_data[_KEY_IS_COMPONENT] = True
+      return
+
+    if declaring_class_name == 'wpilib.AnalogEncoder':
+      if (len(arg_names) == 4 and
+          arg_names[0] == 'self' and
+          arg_names[1] == 'channel' and
+          arg_names[2] == 'fullRange' and
+          arg_names[3] == 'expectedZero'):
+        args = []
+        args.append(self._createArgData('smart_io_port', 'SYSTEMCORE_SMART_IO_PORT'))
+        args.append(self._createArgData('full_range', self._getClassName(arg_types[2]), '1.0'))
+        args.append(self._createArgData('expected_zero', self._getClassName(arg_types[3]), '0.0'))
+        constructor_data[_KEY_COMPONENT_ARGS] = args
+        constructor_data[_KEY_COMPONENT_ARGS]
+        constructor_data[_KEY_IS_COMPONENT] = True
+        class_data[_KEY_IS_COMPONENT] = True
+      return
+
+    if declaring_class_name == 'wpilib.AnalogPotentiometer':
+      if (len(arg_names) == 4 and
+          arg_names[0] == 'self' and
+          arg_names[1] == 'channel' and
+          arg_names[2] == 'fullRange' and
+          arg_names[3] == 'offset'):
+        args = []
+        args.append(self._createArgData('smart_io_port', 'SYSTEMCORE_SMART_IO_PORT'))
+        args.append(self._createArgData('full_range', self._getClassName(arg_types[2]), arg_default_values[2]))
+        args.append(self._createArgData('offset', self._getClassName(arg_types[3]), arg_default_values[3]))
+        constructor_data[_KEY_COMPONENT_ARGS] = args
+        constructor_data[_KEY_IS_COMPONENT] = True
+        class_data[_KEY_IS_COMPONENT] = True
+      return
+
+    if declaring_class_name == 'wpilib.DigitalInput':
+      args = []
+      args.append(self._createArgData('smart_io_port', 'SYSTEMCORE_SMART_IO_PORT'))
+      constructor_data[_KEY_COMPONENT_ARGS] = args
+      constructor_data[_KEY_IS_COMPONENT] = True
+      class_data[_KEY_IS_COMPONENT] = True
+      return
+
+    if declaring_class_name == 'wpilib.OnboardIMU':
+      if (len(arg_names) == 2 and
+          arg_names[0] == 'self' and
+          arg_names[1] == 'mountOrientation'):
+        args = []
+        args.append(self._createArgData('mount_orientation', self._getClassName(arg_types[1]), arg_default_values[1]))
+        constructor_data[_KEY_COMPONENT_ARGS] = args
+        constructor_data[_KEY_IS_COMPONENT] = True
+        class_data[_KEY_IS_COMPONENT] = True
+      return
+
+    if declaring_class_name ==  'wpilib.PWMSparkMax':
+      args = []
+      args.append(self._createArgData('smart_io_port', 'SYSTEMCORE_SMART_IO_PORT'))
+      constructor_data[_KEY_COMPONENT_ARGS] = args
+      constructor_data[_KEY_IS_COMPONENT] = True
+      class_data[_KEY_IS_COMPONENT] = True
+
   def _processClasses(self):
     class_data_list = []
     for cls in self._getPublicClasses():

python_tools/python_util.py

@@ -183,10 +183,16 @@ def isEnum(object):
       inspect.isroutine(object.__init__) and
       inspect.ismethoddescriptor(object.__init__) and
       hasattr(object.__init__, "__doc__") and
-      object.__init__.__doc__ == f"__init__(self: {getFullClassName(object)}, value: int) -> None\n" and
+      (
+        object.__init__.__doc__ == f"__init__(self: {getFullClassName(object)}, value: int) -> None\n" or
+        object.__init__.__doc__ == f"__init__(self: {getFullClassName(object)}, value: typing.SupportsInt) -> None\n"
+      ) and
       hasattr(object, "name") and
       inspect.isdatadescriptor(object.name) and
-      object.name.__doc__ == 'name(self: object) -> str\n' and
+      (
+        object.name.__doc__ == 'name(self: object) -> str\n' or
+        object.name.__doc__ == 'name(self: object, /) -> str\n'
+      ) and
       hasattr(object, "value") and
       inspect.isdatadescriptor(object.value))
 
@@ -579,25 +585,3 @@ def collectSubclasses(classes: list[type]) -> dict[str, list[str]]:
       if subclass_name not in subclass_names:
         subclass_names.append(subclass_name)
   return dict_class_name_to_subclass_names
-
-
-def getComponentPortNameAndType(declaring_class_name, constructor) -> (str, str):
-  """Determine whether this is a component and, if so, get the port types that
-  correspond to the constructor parameters. The returned value is a single
-  string consisting of one or more port types. Multiple port types are
-  separated by __ (two underscores). Each port type matches one of the PortType
-  enum values in src/storage/module_content.ts."""
-
-  # TODO(lizlooney): Replace the following temporary fake code with code that
-  # looks at doc string and/or parameter type aliases to tell whether this is
-  # a component and what the port types are.
-  if declaring_class_name == "wpilib_placeholders.ExpansionHubMotor":
-    return ("expansion_hub_motor", "SYSTEMCORE_USB_PORT__EXPANSION_HUB_MOTOR_PORT")
-  if declaring_class_name == "wpilib_placeholders.ExpansionHubServo":
-    return ("expansion_hub_servo", "SYSTEMCORE_USB_PORT__EXPANSION_HUB_SERVO_PORT")
-  if declaring_class_name == "wpilib.PWMSparkMax":
-    return ("smart_io_port", "SYSTEMCORE_SMART_IO_PORT")
-  if declaring_class_name == "wpilib.AddressableLED":
-    return ("smart_io_port", "SYSTEMCORE_SMART_IO_PORT")
-
-  return None

src/blocks/mrc_class_method_def.ts

@@ -471,20 +471,20 @@ export const pythonFromBlock = function (
     branch = generator.PASS;
   }
 
-  const params = block.mrcParameters;
   let paramString = 'self';
+
   if (generator.getModuleType() === storageModule.ModuleType.MECHANISM && block.mrcPythonMethodName === '__init__') {
-    const ports: string[] = generator.getComponentPortParameters();
-    if (ports.length) {
-      paramString += ', ' + ports.join(', ');
+    const mechanismInitArgNames: string[] = generator.getMechanismInitArgNames();
+    if (mechanismInitArgNames.length) {
+      paramString += ', ' + mechanismInitArgNames.join(', ');
     }
   }
 
   if (generator.getModuleType() === storageModule.ModuleType.OPMODE && block.mrcPythonMethodName === '__init__') {
     paramString += ', robot';
   }
 
-  if (params.length != 0) {
+  if (block.mrcParameters.length != 0) {
     block.mrcParameters.forEach(param => {
       paramString += ', ' + param.name;
     });