Add expansion hub python code. (#183)

* Improved python tools.
Removed _DICT_FULL_MODULE_NAME_TO_MODULE_NAME. Use <module>.__all__ instead.
Pass the json_generator_robotpy to the constructor for json_generator_external_samples so it can understand the module exports from robotpy.

Renamed SparkMiniComponent to SparkMini.

Added expansion_hub.py.

* Fixed string concatenations in expansion_hub.py.

Author: lizlooney

external_samples/color_range_sensor.py

@@ -16,39 +16,51 @@
 # @fileoverview This is a sample for a color/range sensor
 # @author [email protected] (Alan Smith)
 
-from component import Component, PortType, InvalidPortException
 from typing import Protocol, Self
+from component import Component, PortType, InvalidPortException
 
 class DistanceCallable(Protocol):
     def __call__(self, distance : float) -> None:
         pass
+
+
 class ColorCallable(Protocol):
     def __call__(self, hue : int, saturation : int, value : int) -> None:
         pass
 
+
 class ColorRangeSensor(Component):    
     def __init__(self, ports : list[tuple[PortType, int]]):
         portType, port = ports[0]
         if portType != PortType.I2C_PORT:
             raise InvalidPortException
         self.port = port
+
     def get_manufacturer(self) -> str:   
         return "REV Robotics" 
+
     def get_name(self) -> str:  
         return "Color Sensor v3"
+
     def get_part_number(self) -> str:  
         return "REV-31-1557"
+
     def get_url(self) -> str:  
         return "https://www.revrobotics.com/rev-31-1557"
+
     def get_version(self) -> tuple[int, int, int]: 
         return (1, 0, 0)
+
     def stop(self) -> None:
         # send stop command to sensor
         pass
+
     def reset(self) -> None:
         pass
+
     def get_connection_port_type(self) -> list[PortType]:
         return [PortType.I2C_PORT]
+
     def periodic(self) -> None:
         pass
 
@@ -62,9 +74,11 @@ def from_i2c_port(cls: type[Self], i2c_port: int) -> Self:
     def get_color_rgb(self) -> tuple[int, int, int]:
         '''gets the color in rgb (red, green, blue)'''
         pass
+
     def get_color_hsv(self) -> tuple[int, int, int]:
         '''gets the color in hsv (hue, saturation, value)'''
         pass
+
     def get_distance_mm(self) -> float:
         '''gets the distance of the object seen'''
         pass

external_samples/component.py

@@ -23,6 +23,8 @@
 class EmptyCallable(Protocol):
     def __call__(self) -> None:
         pass
+
+
 class PortType(Enum):
     CAN_PORT = 1
     SMART_IO_PORT = 2
@@ -31,37 +33,44 @@ class PortType(Enum):
     I2C_PORT = 5
     USB_PORT = 6
 
+
 class InvalidPortException(Exception):
     pass
 
+
 # This is an abstract class
 class Component(ABC):
     @abstractmethod
     def __init__(self, ports : list[tuple[PortType, int]]):
         pass
-    # This is the manufacturer of the component
+
+    # Returns the manufacturer of the component
     @abstractmethod
-    def get_manufacturer(self) -> str:   
-        pass 
-    # This is the name of the component
+    def get_manufacturer(self) -> str:
+        pass
+
+    # Returns the name of the component
     @abstractmethod
-    def get_name(self) -> str:  
+    def get_name(self) -> str:
         pass
-    # This is the part number of the component
+
+    # Returns the part number of the component
     @abstractmethod
-    def get_part_number(self) -> str:  
+    def get_part_number(self) -> str:
         pass
-    # This is the URL of the component
+
+    # Returns the URL of the component
     @abstractmethod
-    def get_url(self) -> str:  
+    def get_url(self) -> str:
         pass
-    # This is the version of the software (returned as a (major, minor, patch) tuple where 
+
+    # Returns the version of the software (returned as a (major, minor, patch) tuple where
     # major, minor and patch are all positive integers
     # This MUST follow semantic versioning as described here: https://semver.org/
     @abstractmethod
-    def get_version(self) -> tuple[int, int, int]: 
+    def get_version(self) -> tuple[int, int, int]:
         pass
-    
+
     # This stops all movement (if any) for the component
     @abstractmethod
     def stop(self) -> None:
@@ -73,13 +82,13 @@ def stop(self) -> None:
     def reset(self) -> None:
         pass
 
-    # This returns a list (can be empty, one, or multiple) of the ports this connects to
+    # Returns a list (can be empty, one, or multiple) of the ports this connects to
     # of the PortType enumeration
     @abstractmethod
     def get_connection_port_type(self) -> list[PortType]:
         pass
 
-    # This is called periodically when an opmode is running.   The component might use this
+    # This is called periodically when an opmode is running. The component might use this
     # to talk to hardware and then call callbacks
     @abstractmethod
     def periodic(self) -> None:

external_samples/rev_touch_sensor.py

@@ -26,24 +26,33 @@ def __init__(self, ports : list[tuple[PortType, int]]):
         if portType != PortType.SMART_IO_PORT:
             raise InvalidPortException
         self.port = port
+
     def get_manufacturer(self) -> str:   
         return "REV Robotics" 
+
     def get_name(self) -> str:  
         return "Touch Sensor"
+
     def get_part_number(self) -> str:  
         return "REV-31-1425"
+
     def get_url(self) -> str:  
         return "https://www.revrobotics.com/rev-31-1425/"
+
     def get_version(self) -> tuple[int, int, int]: 
         return (1, 0, 0)
+
     def stop(self) -> None:
         pass
+
     def reset(self) -> None:
         self.pressed_callback = None
         self.released_callback = None
         pass
+
     def get_connection_port_type(self) -> list[PortType]:
         return [PortType.SMART_IO_PORT]
+
     def periodic(self) -> None:
         old = self.is_pressed
         self._read_hardware()

external_samples/servo.py

@@ -25,23 +25,32 @@ def __init__(self, ports : list[tuple[PortType, int]]):
         if portType != PortType.SERVO_PORT:
             raise InvalidPortException
         self.port = port
+
     def get_manufacturer(self) -> str:   
         return "REV Robotics" 
+
     def get_name(self) -> str:  
         return "SRS Servo"
+
     def get_part_number(self) -> str:  
         return "REV-41-1097"
+
     def get_url(self) -> str:  
         return "https://www.revrobotics.com/rev-41-1097/"
+
     def get_version(self) -> tuple[int, int, int]: 
         return (1, 0, 0)
+
     def stop(self) -> None:
         # De-energize servo port
         pass
+
     def reset(self) -> None:
         pass
+
     def get_connection_port_type(self) -> list[PortType]:
         return [PortType.SERVO_PORT]
+
     def periodic(self) -> None:
         pass
 
@@ -56,6 +65,7 @@ def set_position(self, pos: float) -> None:
         '''Set the servo to a position between 0 and 1'''
         # sends to the hardware the position of the servo
         pass
+
     def set_angle_degrees(self, angle: float) -> None:
         '''Set the servo to an angle between 0 and 270'''
         self.set_position(angle / 270.0)

external_samples/smart_motor.py

@@ -25,23 +25,32 @@ def __init__(self, ports : list[tuple[PortType, int]]):
         if portType != PortType.SMART_MOTOR_PORT:
             raise InvalidPortException
         self.port = port
+
     def get_manufacturer(self) -> str:   
         return "REV Robotics" 
+
     def get_name(self) -> str:  
         return "DC Motor"
+
     def get_part_number(self) -> str:  
         return "REV-xx-xxxx"
+
     def get_url(self) -> str:  
         return "https://www.revrobotics.com/rev-xx-xxxx"
+
     def get_version(self) -> tuple[int, int, int]: 
         return (1, 0, 0)
+
     def stop(self) -> None:
         # send stop command to motor
         pass
+
     def reset(self) -> None:
         pass
+
     def get_connection_port_type(self) -> list[PortType]:
         return [PortType.SMART_MOTOR_PORT]
+
     def periodic(self) -> None:
         pass
 

external_samples/spark_mini.py

@@ -26,7 +26,7 @@
 import wpimath
 import wpiutil
 
-class SparkMiniComponent(Component):
+class SparkMini(Component):
     def __init__(self, ports : list[tuple[PortType, int]]):
         portType, port = ports[0]
         if portType != PortType.SMART_MOTOR_PORT:

python_tools/generate_json.py

@@ -53,6 +53,7 @@
 # Server python scripts
 sys.path.append("../server_python_scripts")
 import blocks_base_classes
+import expansion_hub  # TODO(lizlooney): update this when it is built into robotpy.
 
 # External samples
 sys.path.append("../external_samples")
@@ -84,6 +85,7 @@ def main(argv):
   pathlib.Path(f'{FLAGS.output_directory}/generated/').mkdir(parents=True, exist_ok=True)
 
   robotpy_modules = [
+    expansion_hub,  # TODO(lizlooney): update this when it is built into robotpy.
     ntcore,
     wpilib,
     wpilib.counter,
@@ -110,16 +112,9 @@ def main(argv):
     wpinet,
     wpiutil,
   ]
-  json_generator = json_util.JsonGenerator(robotpy_modules)
+  json_generator_robotpy = json_util.JsonGenerator(robotpy_modules)
   file_path = f'{FLAGS.output_directory}/generated/robotpy_data.json'
-  json_generator.writeJsonFile(file_path)
-
-  server_python_scripts = [
-    blocks_base_classes,
-  ]
-  json_generator = json_util.JsonGenerator(server_python_scripts)
-  file_path = f'{FLAGS.output_directory}/generated/server_python_scripts.json'
-  json_generator.writeJsonFile(file_path)
+  json_generator_robotpy.writeJsonFile(file_path)
 
   external_samples_modules = [
     color_range_sensor,
@@ -130,10 +125,18 @@ def main(argv):
     spark_mini,
     sparkfun_led_stick,
   ]
-  json_generator = json_util.JsonGenerator(external_samples_modules)
+  json_generator_external_samples = json_util.JsonGenerator(
+      external_samples_modules, [json_generator_robotpy])
   file_path = f'{FLAGS.output_directory}/generated/external_samples_data.json'
-  json_generator.writeJsonFile(file_path)
+  json_generator_external_samples.writeJsonFile(file_path)
 
+  server_python_scripts = [
+    blocks_base_classes,
+  ]
+  json_generator_server_python = json_util.JsonGenerator(
+      server_python_scripts, [json_generator_robotpy])
+  file_path = f'{FLAGS.output_directory}/generated/server_python_scripts.json'
+  json_generator_server_python.writeJsonFile(file_path)
 
 if __name__ == '__main__':
   app.run(main)