wip

Author: lizlooney

server_python_scripts/blocks_base_classes/opmode.py

@@ -7,9 +7,6 @@ def __init__(self, robot: RobotBase):
     def start(self) -> None:
         self.robot.start()
     def loop(self) -> None:
-        # Call steps method if it exists in the derived class
-        if hasattr(self, 'steps') and callable(self.steps):
-            self.steps()
         self.robot.update()
     def stop(self) -> None:
         self.robot.stop()

src/blocks/mrc_class_method_def.ts

@@ -457,8 +457,8 @@ export const pythonFromBlock = function (
     xfix2 = xfix1;
   }
   if (block.mrcPythonMethodName === '__init__') {
-    const classSpecific = generator.getClassSpecificForInit();
-    branch = generator.INDENT + 'super().__init__(' + classSpecific + ')\n' +
+    const superInitParameters = generator.getSuperInitParameters();
+    branch = generator.INDENT + 'super().__init__(' + superInitParameters + ')\n' +
         generator.generateInitStatements() + branch;
   }
   else if (generator.inBaseClassMethod(blocklyName)) {

src/blocks/mrc_steps.ts

@@ -27,6 +27,7 @@ import { ExtendedPythonGenerator } from '../editor/extended_python_generator';
 import { createStepFieldFlydown } from '../fields/field_flydown';
 import { renameSteps as updateJumpToStepBlocks } from './mrc_jump_to_step';
 import * as stepContainer from './mrc_step_container'
+import { STEPS_METHOD_NAME } from './utils/python';
 import { createBooleanShadowValue } from './utils/value';
 import * as toolboxItems from '../toolbox/items';
 
@@ -219,7 +220,7 @@ export const pythonFromBlock = function (
   block: StepsBlock,
   generator: ExtendedPythonGenerator,
 ) {
-  let code = 'def steps(self):\n';
+  let code = 'def ' + STEPS_METHOD_NAME + '(self):\n';
   code += generator.INDENT + 'if not hasattr(self, "_initialized_steps"):\n';
   code += generator.INDENT.repeat(2) + 'self._current_step = "' + block.mrcStepNames[0] + '"\n';
   code += generator.INDENT.repeat(2) + 'self._initialized_steps = True\n\n';
@@ -243,7 +244,7 @@ export const pythonFromBlock = function (
     }
   });
 
-  generator.addClassMethodDefinition('steps', code);
+  generator.addClassMethodDefinition(STEPS_METHOD_NAME, code);
 
   return ''
 }

src/blocks/utils/python.ts

@@ -33,9 +33,13 @@ import * as SetPythonVariable from "../mrc_set_python_variable";
 
 export const MODULE_NAME_BLOCKS_BASE_CLASSES = 'blocks_base_classes';
 export const CLASS_NAME_ROBOT_BASE = MODULE_NAME_BLOCKS_BASE_CLASSES + '.RobotBase';
-export const CLASS_NAME_OPMODE = MODULE_NAME_BLOCKS_BASE_CLASSES + '.OpMode';
 export const CLASS_NAME_MECHANISM = MODULE_NAME_BLOCKS_BASE_CLASSES + '.Mechanism';
 
+// TODO(lizlooney): what about PeriodicOpMode and LinearOpMode?
+export const CLASS_NAME_OPMODE = MODULE_NAME_BLOCKS_BASE_CLASSES + '.OpMode';
+// TODO(lizlooney): Make sure to update the value of PERIODIC_METHOD_NAME when we update wpilib.
+export const PERIODIC_METHOD_NAME = 'loop';
+export const STEPS_METHOD_NAME = 'steps';
 
 export const robotPyData = generatedRobotPyData as PythonData;
 const externalSamplesData = generatedExternalSamplesData as PythonData

src/editor/extended_python_generator.ts

@@ -27,6 +27,8 @@ import * as eventHandler from '../blocks/mrc_event_handler';
 import {
     MODULE_NAME_BLOCKS_BASE_CLASSES,
     CLASS_NAME_OPMODE,
+    PERIODIC_METHOD_NAME,
+    STEPS_METHOD_NAME,
     getClassData,
 } from '../blocks/utils/python';
 import * as storageModule from '../storage/module';
@@ -248,6 +250,22 @@ export class ExtendedPythonGenerator extends PythonGenerator {
 
       code = decorators + 'class ' + className + '(' + baseClassName + '):\n';
 
+      if (this.getModuleType() ===  storageModule.ModuleType.OPMODE) {
+        // If the user has a steps method, we need to generate code to call it from the periodic method.
+        if (STEPS_METHOD_NAME in this.classMethods) {
+          let periodicCode: string;
+          if (PERIODIC_METHOD_NAME in this.classMethods) {
+            periodicCode = this.classMethods[PERIODIC_METHOD_NAME];
+          } else {
+            periodicCode = `def {PERIODIC_METHOD_NAME}():\n`;
+            periodicCode += this.INDENT + `super().{PERIODIC_METHOD_NAME}()\n`;
+          }
+          periodicCode += this.INDENT + `if hasattr(self, '${STEPS_METHOD_NAME}') and callable(self.${STEPS_METHOD_NAME}):\n`;
+          periodicCode += this.INDENT.repeat(2) + `self.${STEPS_METHOD_NAME}()\n`;
+          this.classMethods[PERIODIC_METHOD_NAME] = periodicCode;
+        }
+      }
+
       const classMethods = [];
 
       // Generate the __init__ method first.
@@ -295,7 +313,7 @@ export class ExtendedPythonGenerator extends PythonGenerator {
     this.opModeDetails = opModeDetails;
   }
 
-  getClassSpecificForInit(): string {
+  getSuperInitParameters(): string {
     if (this.context?.getBaseClassName() == CLASS_NAME_OPMODE) {
       return 'robot'
     }

src/modules/opmode_start.json

@@ -37,7 +37,6 @@
                 "type": "mrc_class_method_def",
                 "x": 10,
                 "y": 190,
-                "deletable": false,
                 "editable": false,
                 "extraState": {
                     "canChangeSignature": false,