All components take a single port

external_samples/color_range_sensor.py

@@ -17,7 +17,8 @@
 # @author [email protected] (Alan Smith)
 
 from typing import Protocol, Self
-from component import Component, PortType, InvalidPortException
+from component import Component, InvalidPortException
+from port import Port, PortType
 
 class DistanceCallable(Protocol):
     def __call__(self, distance : float) -> None:
@@ -30,11 +31,8 @@ def __call__(self, hue : int, saturation : int, value : int) -> None:
 
 
 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 __init__(self, port : Port):
+        super().__init__( port, expectedType = PortType.I2C_PORT)
 
     def get_manufacturer(self) -> str:   
         return "REV Robotics" 
@@ -54,17 +52,9 @@ def get_version(self) -> tuple[int, int, int]:
     def reset(self) -> None:
         pass
 
-    def get_connection_port_type(self) -> list[PortType]:
-        return [PortType.I2C_PORT]
-
     def periodic(self) -> None:
         pass
-
-    # Alternative constructor to create an instance from an i2c port
-    @classmethod
-    def from_i2c_port(cls: type[Self], i2c_port: int) -> Self:
-        return cls([(PortType.I2C_PORT, i2c_port)])
-
+
     # Component specific methods
 
     def get_color_rgb(self) -> tuple[int, int, int]:

external_samples/component.py

@@ -17,32 +17,26 @@
 # @author [email protected] (Alan Smith)
 
 from abc import ABC, abstractmethod
-from enum import Enum
 from typing import Protocol
+from port import Port, PortType
 
 class EmptyCallable(Protocol):
     def __call__(self) -> None:
         pass
 
 
-class PortType(Enum):
-    CAN_PORT = 1
-    SMART_IO_PORT = 2
-    SMART_MOTOR_PORT = 3
-    SERVO_PORT = 4
-    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
+    def __init__(self, port : Port, expectedType : PortType):
+        """This has the port it is attached to, and the expected type of the port"""
+        if port.get_type != expectedType:
+            raise InvalidPortException
+
+        self.port = port
 
     # Returns the manufacturer of the component
     @abstractmethod
@@ -87,11 +81,11 @@ def stop(self) -> None:
     def reset(self) -> None:
         pass
 
-    # 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
+    # Returns the port this connects to of the PortType enumeration
+    def get_connection_port_type(self) -> PortType | None:
+        if self.port:
+            return self.port.get_type()
+        return None
 
     # This is called periodically when an opmode is running. The component might use this
     # to talk to hardware and then call callbacks

external_samples/expansion_hub_motor.py

@@ -21,21 +21,15 @@
 __author__ = "[email protected] (Liz Looney)"
 
 from typing import Self
-from component import Component, PortType, InvalidPortException
+from component import Component, InvalidPortException
+from port import Port, PortType
 import expansion_hub
 import wpimath
 
-# TODO(lizlooney): Update port types.
-
 class ExpansionHubMotor(Component):
-    def __init__(self, ports : list[tuple[PortType, int]]):
-        port_type, hub_number = ports[0]
-        if port_type != PortType.USB_PORT:
-            raise InvalidPortException
-        port_type, motor_number = ports[1]
-        if port_type != PortType.USB_PORT:
-            raise InvalidPortException
-        self.expansion_hub_motor = expansion_hub.ExpansionHubMotor(hub_number, motor_number)
+    def __init__(self, port : Port):
+        super().__init__(port, PortType.EXPANSION_HUB_MOTOR)
+        self.expansion_hub_motor = expansion_hub.ExpansionHubMotor(self.port.port1.location, self.port.port2.location)
 
     def get_manufacturer(self) -> str:
         return "REV Robotics"
@@ -62,17 +56,9 @@ def stop(self) -> None:
     def reset(self) -> None:
         pass
 
-    def get_connection_port_type(self) -> list[PortType]:
-        return [PortType.USB_PORT, PortType.USB_PORT]
-
     def periodic(self) -> None:
         pass
 
-    # Alternative constructor to create an instance from a hub number and a motor port.
-    @classmethod
-    def from_hub_number_and_motor_number(cls: type[Self], hub_number: int, motor_number: int) -> Self:
-        return cls([(PortType.USB_PORT, hub_number), (PortType.USB_PORT, motor_number)])
-
     # Component specific methods
 
     # Methods from expansion_hub.ExpansionHubMotor

external_samples/expansion_hub_servo.py

@@ -22,19 +22,13 @@
 
 from typing import Self
 from component import Component, PortType, InvalidPortException
+from port import Port, PortType
 import expansion_hub
 
-# TODO(lizlooney): Update port types.
-
 class ExpansionHubServo(Component):
-    def __init__(self, ports : list[tuple[PortType, int]]):
-        port_type, hub_number = ports[0]
-        if port_type != PortType.USB_PORT:
-            raise InvalidPortException
-        port_type, servo_number = ports[1]
-        if port_type != PortType.USB_PORT:
-            raise InvalidPortException
-        self.expansion_hub_servo = expansion_hub.ExpansionHubServo(hub_number, servo_number)
+    def __init__(self, port : Port):
+        super().__init__(port, PortType.EXPANSION_HUB_SERVO)
+        self.expansion_hub_servo = expansion_hub.ExpansionHubServo(self.port.port1.location, self.port.port2.location)
 
     def get_manufacturer(self) -> str:
         return "REV Robotics"
@@ -68,11 +62,6 @@ def get_connection_port_type(self) -> list[PortType]:
     def periodic(self) -> None:
         pass
 
-    # Alternative constructor to create an instance from a hub number and a servo port.
-    @classmethod
-    def from_hub_number_and_servo_number(cls: type[Self], hub_number: int, servo_number: int) -> Self:
-        return cls([(PortType.USB_PORT, hub_number), (PortType.USB_PORT, servo_number)])
-
     # Component specific methods
 
     # Methods from expansion_hub.ExpansionHubServo

external_samples/port.py

@@ -0,0 +1,87 @@
+# @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
+#
+#    https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# @fileoverview This is a class to handle port types
+# @author [email protected] (Alan Smith)
+from enum import Enum
+from typing import Self
+
+class PortType(Enum):
+    CAN_PORT = 1
+    SMART_IO_PORT = 2
+    SMART_MOTOR_PORT = 3
+    SERVO_PORT = 4
+    I2C_PORT = 5
+    USB_PORT = 6
+    EXPANSION_HUB_MOTOR_PORT = 7
+    EXPANSION_HUB_SERVO_PORT = 8
+
+    BASE_COMPOUND = 256
+    USB_HUB = BASE_COMPOUND + 1
+    EXPANSION_HUB_MOTOR = BASE_COMPOUND + 2
+    EXPANSION_HUB_SERVO = BASE_COMPOUND + 3
+
+class Port:
+    def __init__(self, port_type : PortType = None, location : int = None, port1 : type[Self] = None, port2 : type[Self] = None):
+        """
+        Create a port that can be either simple (type + location) or compound (two other ports).
+        
+        Args:
+            port_type: PortType or CompoundPortType for this port
+            location: int location for simple ports
+            port1: First Port for compound ports
+            port2: Second Port for compound ports
+        """
+        if port1 is not None and port2 is not None:
+            # Compound port
+            if port_type < PortType.BASE_COMPOUND:
+                raise ValueError("Port must be of a compound type")
+            self.is_compound = True
+            self.type = port_type
+            self.port1 = port1
+            self.port2 = port2
+            self.location = None
+        elif port_type is not None and location is not None:
+            # Simple port
+            if port_type > PortType.BASE_COMPOUND:
+                raise ValueError("Port must be of a simple type")            
+            self.is_compound = False
+            self.type = port_type
+            self.location = location
+            self.port1 = None
+            self.port2 = None
+        else:
+            raise ValueError("Port must be either simple (type + location) or compound (port1 + port2)")
+
+    def get_all_ports(self):
+        """Return a list of all simple ports contained in this port."""
+        if self.is_compound:
+            return self.port1.get_all_ports() + self.port2.get_all_ports()
+        else:
+            return [(self.type, self.location)]
+
+
+    def get_type(self):
+        """This returns the type if it is simple or the type of the last one in the chain if compound"""
+        if self.is_compound:
+            return self.port2.get_type()
+        else:
+            return self.type           
+
+    def __str__(self):
+        if self.is_compound:
+            return f"CompoundPort({self.type}: {self.port1}, {self.port2})"
+        else:
+            return f"Port({self.type}, {self.location})"

external_samples/rev_touch_sensor.py

@@ -18,14 +18,12 @@
 
 from typing import Self
 from component import Component, PortType, InvalidPortException, EmptyCallable
+from port import Port, PortType
 
 class RevTouchSensor(Component):
-    def __init__(self, ports : list[tuple[PortType, int]]):
+    def __init__(self, port : Port):
+        super().__init__(port, PortType.SMART_IO_PORT)
         self.is_pressed = None
-        portType, port = ports[0]
-        if portType != PortType.SMART_IO_PORT:
-            raise InvalidPortException
-        self.port = port
 
     def get_manufacturer(self) -> str:   
         return "REV Robotics" 
@@ -47,8 +45,8 @@ def reset(self) -> None:
         self.released_callback = None
         pass
 
-    def get_connection_port_type(self) -> list[PortType]:
-        return [PortType.SMART_IO_PORT]
+    def get_connection_port_type(self) -> PortType | None:
+        return self.port.get_type
 
     def periodic(self) -> None:
         old = self.is_pressed
@@ -58,12 +56,7 @@ def periodic(self) -> None:
                 self.pressed_callback()
             elif old and self.released_callback:
                 self.released_callback()
-
-    # Alternative constructor to create an instance from a smart io port
-    @classmethod
-    def from_smart_io_port(cls: type[Self], smart_io_port: int) -> Self:
-        return cls([(PortType.SMART_IO_PORT, smart_io_port)])
-
+
     # Component specific methods
 
     def _read_hardware(self):

external_samples/servo.py

@@ -18,13 +18,11 @@
 
 from typing import Self
 from component import Component, PortType, InvalidPortException
+from port import Port, PortType
 
 class Servo(Component):    
-    def __init__(self, ports : list[tuple[PortType, int]]):
-        portType, port = ports[0]
-        if portType != PortType.SERVO_PORT:
-            raise InvalidPortException
-        self.port = port
+    def __init__(self, port : Port):
+        super().__init__(port, PortType.SERVO_PORT)
 
     def get_manufacturer(self) -> str:   
         return "REV Robotics" 
@@ -48,17 +46,9 @@ def stop(self) -> None:
     def reset(self) -> None:
         pass
 
-    def get_connection_port_type(self) -> list[PortType]:
-        return [PortType.SERVO_PORT]
-
     def periodic(self) -> None:
         pass
-
-    # Alternative constructor to create an instance from an servo port
-    @classmethod
-    def from_servo_port(cls: type[Self], servo_port: int) -> Self:
-        return cls([(PortType.SERVO_PORT, servo_port)])
-
+
     # Component specific methods
 
     def set_position(self, pos: float) -> None:

external_samples/smart_motor.py

@@ -18,13 +18,11 @@
 
 from typing import Self
 from component import Component, PortType, InvalidPortException
+from port import Port, PortType
 
 class SmartMotor(Component):
-    def __init__(self, ports : list[tuple[PortType, int]]):
-        portType, port = ports[0]
-        if portType != PortType.SMART_MOTOR_PORT:
-            raise InvalidPortException
-        self.port = port
+    def __init__(self, port : Port):
+        super().__init__(port, PortType.SMART_MOTOR_PORT)
 
     def get_manufacturer(self) -> str:   
         return "REV Robotics" 
@@ -48,16 +46,11 @@ def stop(self) -> None:
     def reset(self) -> None:
         pass
 
-    def get_connection_port_type(self) -> list[PortType]:
-        return [PortType.SMART_MOTOR_PORT]
+    def get_connection_port_type(self) -> PortType | None:
+        return self.port.get_type()
 
     def periodic(self) -> None:
         pass
-
-    # Alternative constructor to create an instance from a smart motor port
-    @classmethod
-    def from_smart_motor_port(cls: type[Self], smart_motor_port: int) -> Self:
-        return cls([(PortType.SMART_MOTOR_PORT, smart_motor_port)])
 
     # Component specific methods