Change placeholder python code (OpMode, etc) to match Peter's API (#353)

* Change placeholder python code (OpMode, etc) to match Peter's API

* Updated generate_json.py and regenerated json files.

* Updated json used when creating a new mechanism or opmode.

* Added upgrade code to rename 'loop' to 'Periodic' in opmode modules.
Added upgrade code to rename 'update' to 'opmode_periodic' in mechanism modules.

* Make mrc_component blocks have a tooltip.
Removed staticFunctionName and mrcStaticFunctionName.

* Added a comment explaining some code in checkOpMode.

* Always generate the define_hardware method for a robot.

* Updated constants for class and method names.

* Update extended_python_generator.ts:
Changed code that generates the type decorator to use the full decorator name (including the module blocks_base_class) so the Teleop decorator doesn't collide with the Teleop class.
Generate code that was in robot_base.py, but is not in wpilib.OpModeRobot.
Generate code that was in opmode.py, but is not in wpilib.PeriodicOpMode.

Author: lizlooney

external_samples/color_range_sensor.py

@@ -16,8 +16,8 @@
 # @fileoverview This is a sample for a color/range sensor
 # @author [email protected] (Alan Smith)
 
-from typing import Protocol, Self
-from component import Component, InvalidPortException
+from typing import Protocol
+from component import Component
 from port import Port, PortType
 
 class DistanceCallable(Protocol):
@@ -32,29 +32,9 @@ def __call__(self, hue : int, saturation : int, value : int) -> None:
 
 class ColorRangeSensor(Component):    
     def __init__(self, port : Port):
+        '''REV Robotics Color Sensor v3. Part number REV-31-1557. https://www.revrobotics.com/rev-31-1557'''
         super().__init__( port, expectedType = PortType.I2C_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 reset(self) -> None:
-        pass
-
-    def periodic(self) -> None:
-        pass
-   
     # Component specific methods
 
     def get_color_rgb(self) -> tuple[int, int, int]:

external_samples/component.py

@@ -16,7 +16,7 @@
 # @fileoverview This is an abstract class for all components
 # @author [email protected] (Alan Smith)
 
-from abc import ABC, abstractmethod
+from abc import ABC
 from typing import Protocol
 from port import Port, PortType
 
@@ -38,57 +38,18 @@ def __init__(self, port : Port, expectedType : PortType):
 
         self.port = port
 
-    # Returns the manufacturer of the component
-    @abstractmethod
-    def get_manufacturer(self) -> str:
+    def opmode_start(self) -> None:
         pass
 
-    # Returns the name of the component
-    @abstractmethod
-    def get_name(self) -> str:
+    def opmode_periodic(self) -> None:
         pass
 
-    # Returns the part number of the component
-    @abstractmethod
-    def get_part_number(self) -> str:
-        pass
-
-    # Returns the URL of the component
-    @abstractmethod
-    def get_url(self) -> str:
-        pass
-
-    # 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]:
-        pass
-
-    def start(self) -> None:
-        pass
-
-    def update(self) -> None:
-        pass
-
-    # This stops all movement (if any) for the component
-    def stop(self) -> None:
-        pass
-
-    # This performs any reset required (if any) at the beginning of each opmode
-    # This might remove any registered callbacks
-    @abstractmethod
-    def reset(self) -> None:
+    # Subclasses should override opmode_end to stop all movement (if any) for the component
+    def opmode_end(self) -> None:
         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
-    @abstractmethod
-    def periodic(self) -> None:
-        pass

external_samples/expansion_hub_motor.py

@@ -20,45 +20,20 @@
 
 __author__ = "[email protected] (Liz Looney)"
 
-from typing import Self
-from component import Component, InvalidPortException
+from component import Component
 from port import Port, PortType
-import expansion_hub
+from wpilib_placeholders import expansion_hub
 import wpimath
 
 class ExpansionHubMotor(Component):
     def __init__(self, port : Port):
+        '''REV Robotics Expansion Hub Motor''' 
         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"
-
-    def get_name(self) -> str:
-        return "Expansion Hub Motor"
-
-    def get_part_number(self) -> str:
-        return ""
-
-    def get_url(self) -> str:
-        return ""
-
-    def get_version(self) -> tuple[int, int, int]:
-        return (1, 0, 0)
-
-    def start(self) -> None:
+    def opmode_start(self) -> None:
         self.expansion_hub_motor.setEnabled(True)
 
-    def stop(self) -> None:
-        # TODO: Send stop command to motor.
-        pass
-
-    def reset(self) -> None:
-        pass
-
-    def periodic(self) -> None:
-        pass
-
     # Component specific methods
 
     # Methods from expansion_hub.ExpansionHubMotor

external_samples/expansion_hub_servo.py

@@ -20,47 +20,19 @@
 
 __author__ = "[email protected] (Liz Looney)"
 
-from typing import Self
-from component import Component, PortType, InvalidPortException
+from component import Component
 from port import Port, PortType
-import expansion_hub
+from wpilib_placeholders import expansion_hub
+import wpimath
 
 class ExpansionHubServo(Component):
     def __init__(self, port : Port):
+        '''REV Robotics Expansion Hub Servo'''
         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"
-
-    def get_name(self) -> str:
-        return "Expansion Hub Servo"
-
-    def get_part_number(self) -> str:
-        return ""
-
-    def get_url(self) -> str:
-        return ""
-
-    def get_version(self) -> tuple[int, int, int]:
-        return (1, 0, 0)
-
-    def start(self) -> None:
+    def opmode_start(self) -> None:
         self.expansion_hub_servo.setEnabled(True)
-        pass
-
-    def stop(self) -> None:
-        # TODO: Send stop command to servo.
-        pass
-
-    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
 
     # Component specific methods
 
@@ -78,7 +50,7 @@ def setEnabled(self, enabled: bool):
     def isHubConnected(self) -> bool:
         return self.expansion_hub_servo.isHubConnected()
 
-    def setFramePeriod(self, framePeriod: int):
+    def setFramePeriod(self, framePeriod: wpimath.units.microseconds):
         self.expansion_hub_servo.setFramePeriod(framePeriod)
 
     def setPulseWidth(self, pulseWidth: int):

external_samples/port.py

@@ -17,7 +17,7 @@
 # @author [email protected] (Alan Smith)
 from abc import ABC, abstractmethod
 from enum import Enum
-from typing import Final, Self
+from typing import Final
 
 _BASE_COMPOUND: Final[int] = 256
 

external_samples/rev_touch_sensor.py

@@ -16,36 +16,20 @@
 # @fileoverview This is a sample for a touch sensor
 # @author [email protected] (Alan Smith)
 
-from typing import Self
-from component import Component, PortType, InvalidPortException, EmptyCallable
+from component import Component, EmptyCallable
 from port import Port, PortType
 
 class RevTouchSensor(Component):
     def __init__(self, port : Port):
+        '''REV Robotics Touch Sensor. Part number REV-31-1425. https://www.revrobotics.com/rev-31-1425'''
         super().__init__(port, PortType.SMART_IO_PORT)
         self._is_pressed = None
 
-    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 reset(self) -> None:
+    def opmode_stop(self) -> None:
         self.pressed_callback = None
         self.released_callback = None
-        pass
 
-    def periodic(self) -> None:
+    def opmode_periodic(self) -> None:
         old = self._is_pressed
         self._read_hardware()
         if old != self._is_pressed:
@@ -57,7 +41,7 @@ def periodic(self) -> None:
     # Component specific methods
 
     def _read_hardware(self):
-        # here read hardware to get the current value of the sensor and set self._is_pressed
+        # TODO: Read hardware to get the current value of the sensor and set self._is_pressed
         pass
 
     def is_pressed(self) -> bool:

external_samples/smart_motor.py

@@ -16,8 +16,7 @@
 # @fileoverview This is a sample for a smart motor
 # @author [email protected] (Alan Smith)
 
-from typing import Self
-from component import Component, PortType, InvalidPortException
+from component import Component
 from port import Port, PortType
 
 class SmartMotor(Component):
@@ -39,16 +38,10 @@ def get_url(self) -> str:
     def get_version(self) -> tuple[int, int, int]: 
         return (1, 0, 0)
 
-    def stop(self) -> None:
+    def opmode_end(self) -> None:
         # TODO: send stop command to motor
         pass
 
-    def reset(self) -> None:
-        pass
-
-    def periodic(self) -> None:
-        pass
-    
     # Component specific methods
 
     def set_speed(self, speed: float) -> None:

external_samples/spark_mini.py

@@ -20,8 +20,7 @@
 
 __author__ = "[email protected] (Liz Looney)"
 
-from typing import Self
-from component import Component, PortType, InvalidPortException
+from component import Component
 from port import Port, PortType
 
 import wpilib
@@ -51,16 +50,10 @@ def get_url(self) -> str:
     def get_version(self) -> tuple[int, int, int]:
         return (1, 0, 0)
 
-    def stop(self) -> None:
+    def opmode_end(self) -> None:
         # TODO: send stop command to motor
         pass
 
-    def reset(self) -> None:
-        pass
-
-    def periodic(self) -> None:
-        pass
-    
     # Component specific methods
 
     # Methods from wpilib.PWMMotorController

external_samples/sparkfun_led_stick.py

@@ -14,8 +14,7 @@
 
 __author__ = "[email protected] (Liz Looney)"
 
-from typing import Self
-from component import Component, PortType, InvalidPortException
+from component import Component
 from port import Port, PortType
 import wpilib
 
@@ -38,15 +37,9 @@ def get_url(self) -> str:
     def get_version(self) -> tuple[int, int, int]: 
         return (1, 0, 0)
 
-    def stop(self) -> None:
+    def opmode_end(self) -> None:
         self.turn_all_off()
 
-    def reset(self) -> None:
-        pass
-
-    def periodic(self) -> None:
-        pass
-    
     # SparkFunLEDStick methods
 
     def set_color(self, position: int, color: wpilib.Color) -> None:

python/wpilib_placeholders/__init__.py

@@ -0,0 +1,14 @@
+"""Placeholder classes for future wpilib."""
+
+from .expansion_hub import ExpansionHubPidConstants, ExpansionHubMotor, ExpansionHubServo, ExpansionHub
+from .op_mode_robot import OpModeRobot
+from .periodic_op_mode import PeriodicOpMode
+
+__all__ = [
+    'ExpansionHubPidConstants',
+    'ExpansionHubMotor',
+    'ExpansionHubServo',
+    'ExpansionHub',
+    'OpModeRobot',
+    'PeriodicOpMode',
+]