Add define_hardware method to RobotBase and call it from RobotBase.__init__. (#184)

Modified mrc_mechanism_component_holder pythonFromBlock to determine the module type by calling generator.getModuleType() instead of checking for the presence of the mechanisms input.

Modified ExtendedPythonGenerator.generateInitStatements to not generate the call so self.define_hardware() if the module type is robot.
Modified ExtendedPythonGenerator.finish to generate the __init__ method before other methods.

Author: lizlooney

server_python_scripts/blocks_base_classes/robot_base.py

@@ -7,6 +7,10 @@ def __init__(self):
         self.hardware = []
         # In self.event_handlers, the keys are the event names, the values are a list of handlers.
         self.event_handlers = {}
+        self.define_hardware()
+
+    def define_hardware(self):
+        pass
 
     def register_event_handler(self, event_name: str, event_handler: Callable) -> None:
         if event_name in self.event_handlers:

src/blocks/mrc_mechanism_component_holder.ts

@@ -1,7 +1,7 @@
 /**
  * @license
  * Copyright 2025 Porpoiseful LLC
- * 
+ *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
@@ -64,7 +64,7 @@ function setName(block: Blockly.BlockSvg){
                 otherNames.push(variableBlock.getFieldValue('NAME'));
             }
         });
-        const currentName = block.getFieldValue('NAME');       
+        const currentName = block.getFieldValue('NAME');
         block.setFieldValue(getLegalName(currentName, otherNames), 'NAME');
     }
 }
@@ -205,8 +205,8 @@ function pythonFromBlockInRobot(block: MechanismComponentHolderBlock, generator:
   const body = mechanisms + components;
   if (body != '') {
     code += body;
-    generator.addClassMethodDefinition('define_hardware', code);    
-  } 
+    generator.addClassMethodDefinition('define_hardware', code);
+  }
 }
 
 function pythonFromBlockInMechanism(block: MechanismComponentHolderBlock, generator: ExtendedPythonGenerator) {
@@ -218,19 +218,20 @@ function pythonFromBlockInMechanism(block: MechanismComponentHolderBlock, genera
 
   if (components != '') {
     code += components;
-    generator.addClassMethodDefinition('define_hardware', code);    
+    generator.addClassMethodDefinition('define_hardware', code);
   }
 }
 
 export const pythonFromBlock = function (
   block: MechanismComponentHolderBlock,
-  generator: ExtendedPythonGenerator,
-) {
-  if (block.getInput(INPUT_MECHANISMS)) {
-    pythonFromBlockInRobot(block, generator);
-  }
-  else {
-    pythonFromBlockInMechanism(block, generator);
+  generator: ExtendedPythonGenerator) {
+  switch (generator.getModuleType()) {
+    case commonStorage.MODULE_TYPE_ROBOT:
+      pythonFromBlockInRobot(block, generator);
+      break;
+    case commonStorage.MODULE_TYPE_MECHANISM:
+      pythonFromBlockInMechanism(block, generator);
+      break;
   }
   return ''
 }

src/editor/extended_python_generator.ts

@@ -29,6 +29,7 @@ import {
     CLASS_NAME_OPMODE,
     getClassData,
 } from '../blocks/utils/python';
+import * as commonStorage from '../storage/common_storage';
 
 export class OpModeDetails {
   constructor(private name: string, private group : string, private enabled : boolean, private type : string) {}
@@ -70,7 +71,7 @@ export class ExtendedPythonGenerator extends PythonGenerator {
   private workspace: Blockly.Workspace | null = null;
   private context: GeneratorContext | null = null;
 
-  // Has components or mechanisms (ie, needs to call self.define_hardware in __init__)
+  // Has components or mechanisms (ie, might need to call self.define_hardware in __init__)
   private hasHardware = false;
   private ports: {[key: string]: string} = Object.create(null);
 
@@ -112,10 +113,20 @@ export class ExtendedPythonGenerator extends PythonGenerator {
     let initStatements = '';
 
     if (this.hasHardware) {
-      initStatements += this.INDENT + "self.define_hardware(";
-      initStatements += this.getListOfPorts(true);
-      initStatements += ')\n';
+      switch (this.getModuleType()) {
+        case commonStorage.MODULE_TYPE_ROBOT:
+          // The RobotBase __init__ method already calls self.define_robot(), so
+          // we don't need to generate that call here.
+          break;
+        case commonStorage.MODULE_TYPE_MECHANISM:
+          // For mechanisms
+          initStatements += this.INDENT + "self.define_hardware(";
+          initStatements += this.getListOfPorts(true);
+          initStatements += ')\n';
+          break;
+      }
     }
+
     if (this.hasEventHandler) {
       initStatements += this.INDENT + "self.register_event_handlers()\n";
     }
@@ -225,7 +236,14 @@ export class ExtendedPythonGenerator extends PythonGenerator {
         }
         classMethods.push(code);
       }
+      // Generate the __init__ method first.
+      if ('__init__' in this.classMethods) {
+        classMethods.push(this.classMethods['__init__'])
+      }
       for (const name in this.classMethods) {
+        if (name === '__init__') {
+          continue;
+        }
         classMethods.push(this.classMethods[name])
       }
       this.eventHandlers = Object.create(null);