Description and Bash generator cleanup

Author: roni-kreinin

clearpath_generator_common/clearpath_generator_common/bash/writer.py

@@ -38,7 +38,7 @@ class BashWriter():
 
     def __init__(self, bash_file: BashFile):
         self.bash_file = bash_file
-        self.file = open(self.bash_file.get_full_path(), 'w')
+        self.file = open(self.bash_file.full_path, 'w')
 
     def write(self, string, indent_level=0):
         self.file.write('{0}{1}\n'.format(self.tab * indent_level, string))
@@ -50,7 +50,7 @@ def add_unset(self, envar: str):
         self.write('unset {0}'.format(envar))
 
     def add_source(self, bash_file: BashFile):
-        self.write('source {0}'.format(bash_file.get_full_path()))
+        self.write('source {0}'.format(bash_file.full_path))
 
     def close(self):
         self.file.close()

clearpath_generator_common/clearpath_generator_common/common.py

@@ -200,7 +200,8 @@ def __init__(self,
         self.name = name
         self.file = '{0}.bash'.format(name)
 
-    def get_full_path(self):
+    @property
+    def full_path(self):
         if self.package:
             return os.path.join(
                 get_package_share_directory(self.package.name), self.path, self.file)

clearpath_generator_common/clearpath_generator_common/description/attachments.py

@@ -50,26 +50,13 @@ def __init__(self, platform: str, attachment: BaseAttachment) -> None:
 
             self.parameters = {}
 
-        def get_parameters(self) -> dict:
-            return self.parameters
+        @property
+        def xyz(self) -> List[float]:
+            return self.attachment.xyz
 
-        def get_parameter(self, parameter: str) -> str:
-            return self.parameters[parameter]
-
-        def get_package(self) -> str:
-            return self.package
-
-        def get_path(self) -> str:
-            return self.path
-
-        def get_file(self) -> str:
-            return self.file
-
-        def get_xyz(self) -> List[float]:
-            return self.attachment.get_xyz()
-
-        def get_rpy(self) -> List[float]:
-            return self.attachment.get_rpy()
+        @property
+        def rpy(self) -> List[float]:
+            return self.attachment.rpy
 
     class BumperDescription(BaseDescription):
         NAME = 'name'
@@ -79,8 +66,8 @@ def __init__(self, platform: str, attachment: Bumper) -> None:
             super().__init__(platform, attachment)
             self.file = 'bumper'
             self.parameters.update({
-                self.NAME: attachment.get_name(),
-                self.EXTENSION: attachment.get_extension()
+                self.NAME: attachment.name,
+                self.EXTENSION: attachment.extension
             })
 
     class TopPlateDescription(BaseDescription):
@@ -89,7 +76,7 @@ class TopPlateDescription(BaseDescription):
         def __init__(self, platform: str, attachment: TopPlate) -> None:
             super().__init__(platform, attachment)
             self.parameters.update({
-                self.MODEL: attachment.get_model(),
+                self.MODEL: attachment.model,
             })
 
     class StructureDescription(BaseDescription):
@@ -99,8 +86,8 @@ class StructureDescription(BaseDescription):
         def __init__(self, platform: str, attachment: Structure) -> None:
             super().__init__(platform, attachment)
             self.parameters.update({
-                self.PARENT_LINK: 'top_plate_link',
-                self.MODEL: attachment.get_model()
+                self.PARENT_LINK: attachment.parent,
+                self.MODEL: attachment.model
             })
 
     MODEL = {

clearpath_generator_common/clearpath_generator_common/description/generator.py

@@ -79,6 +79,7 @@ def generate(self) -> None:
         self.xacro_writer.write_newline()
 
         self.xacro_writer.close_file()
+        print(f'Generated {self.xacro_writer.file_path}robot.urdf.xacro')
 
     def generate_platform(self) -> None:
         self.platform = self.clearpath_config.platform.get_model()
@@ -87,10 +88,10 @@ def generate_platform(self) -> None:
         # Platform macro
         self.xacro_writer.write_comment('Platform')
         self.xacro_writer.write_include(
-            package=platform_description.get_package(),
-            file=platform_description.get_file(),
-            path=platform_description.get_path())
-        self.xacro_writer.write_macro(platform_description.get_macro())
+            package=platform_description.package,
+            file=platform_description.file,
+            path=platform_description.path)
+        self.xacro_writer.write_macro(platform_description.macro)
 
     def generate_attachments(self) -> None:
         self.xacro_writer.write_comment('Attachments')
@@ -101,16 +102,16 @@ def generate_attachments(self) -> None:
             if attachment.get_enabled():
                 attachment_description = AttachmentsDescription(self.platform, attachment)
                 self.xacro_writer.write_include(
-                    package=attachment_description.get_package(),
-                    file=attachment_description.get_file(),
-                    path=attachment_description.get_path())
+                    package=attachment_description.package,
+                    file=attachment_description.file,
+                    path=attachment_description.path)
 
                 self.xacro_writer.write_macro(
-                    macro=attachment_description.get_file(),
-                    parameters=attachment_description.get_parameters(),
+                    macro=attachment_description.file,
+                    parameters=attachment_description.parameters,
                     blocks=XacroWriter.add_origin(
-                        attachment_description.get_xyz(),
-                        attachment_description.get_rpy()))
+                        attachment_description.xyz,
+                        attachment_description.rpy))
                 self.xacro_writer.write_newline()
 
     def generate_links(self) -> None:
@@ -121,16 +122,16 @@ def generate_links(self) -> None:
         for link in links:
             link_description = LinkDescription(link)
             self.xacro_writer.write_include(
-                package=link_description.get_package(),
-                file=link_description.get_file(),
-                path=link_description.get_path())
+                package=link_description.package,
+                file=link_description.file,
+                path=link_description.path)
 
             self.xacro_writer.write_macro(
-                macro=link_description.get_file(),
-                parameters=link_description.get_parameters(),
+                macro=link_description.file,
+                parameters=link_description.parameters,
                 blocks=XacroWriter.add_origin(
-                    link_description.get_xyz(),
-                    link_description.get_rpy()))
+                    link_description.xyz,
+                    link_description.rpy))
             self.xacro_writer.write_newline()
 
     def generate_mounts(self) -> None:
@@ -141,20 +142,20 @@ def generate_mounts(self) -> None:
             mount_description = MountDescription(mount)
 
             self.xacro_writer.write_comment(
-                '{0}'.format(mount_description.get_name())
+                '{0}'.format(mount_description.name)
             )
 
             self.xacro_writer.write_include(
-                package=mount_description.get_package(),
-                file=mount_description.get_model(),
-                path=mount_description.get_path()
+                package=mount_description.package,
+                file=mount_description.model,
+                path=mount_description.path
             )
 
             self.xacro_writer.write_macro(
-                macro='{0}'.format(mount_description.get_model()),
-                parameters=mount_description.get_parameters(),
+                macro='{0}'.format(mount_description.model),
+                parameters=mount_description.parameters,
                 blocks=XacroWriter.add_origin(
-                    mount_description.get_xyz(), mount_description.get_rpy())
+                    mount_description.xyz, mount_description.rpy)
             )
 
             self.xacro_writer.write_newline()
@@ -167,20 +168,20 @@ def generate_sensors(self) -> None:
             sensor_description = SensorDescription(sensor)
 
             self.xacro_writer.write_comment(
-                '{0}'.format(sensor_description.get_name())
+                '{0}'.format(sensor_description.name)
             )
 
             self.xacro_writer.write_include(
-                package=sensor_description.get_package(),
-                file=sensor_description.get_model(),
-                path=sensor_description.get_path()
+                package=sensor_description.package,
+                file=sensor_description.model,
+                path=sensor_description.path
             )
 
             self.xacro_writer.write_macro(
-                macro='{0}'.format(sensor_description.get_model()),
-                parameters=sensor_description.get_parameters(),
+                macro='{0}'.format(sensor_description.model),
+                parameters=sensor_description.parameters,
                 blocks=XacroWriter.add_origin(
-                    sensor_description.get_xyz(), sensor_description.get_rpy())
+                    sensor_description.xyz, sensor_description.rpy)
             )
 
             self.xacro_writer.write_newline()

clearpath_generator_common/clearpath_generator_common/description/links.py

@@ -54,38 +54,25 @@ def __init__(self, link: BaseLink) -> None:
             self.file = self.link.get_link_type()
 
             self.parameters = {
-                self.NAME: self.link.get_name(),
-                self.PARENT_LINK: self.link.get_parent()
+                self.NAME: self.link.name,
+                self.PARENT_LINK: self.link.parent
             }
 
-        def get_parameters(self) -> dict:
-            return self.parameters
+        @property
+        def xyz(self) -> List[float]:
+            return self.link.xyz
 
-        def get_parameter(self, parameter: str) -> str:
-            return self.parameters[parameter]
-
-        def get_package(self) -> str:
-            return self.package
-
-        def get_path(self) -> str:
-            return self.path
-
-        def get_file(self) -> str:
-            return self.file
-
-        def get_xyz(self) -> List[float]:
-            return self.link.get_xyz()
-
-        def get_rpy(self) -> List[float]:
-            return self.link.get_rpy()
+        @property
+        def rpy(self) -> List[float]:
+            return self.link.rpy
 
     class BoxDescription(BaseDescription):
         SIZE = 'size'
 
         def __init__(self, link: Box) -> None:
             super().__init__(link)
             self.parameters.update({
-                self.SIZE: str(link.get_size()).strip('[]').replace(',', '')
+                self.SIZE: str(link.size).strip('[]').replace(',', '')
             })
 
     class CylinderDescription(BaseDescription):
@@ -95,8 +82,8 @@ class CylinderDescription(BaseDescription):
         def __init__(self, link: Cylinder) -> None:
             super().__init__(link)
             self.parameters.update({
-                self.RADIUS: link.get_radius(),
-                self.LENGTH: link.get_length()
+                self.RADIUS: link.radius,
+                self.LENGTH: link.length
             })
 
     class SphereDescription(BaseDescription):
@@ -105,7 +92,7 @@ class SphereDescription(BaseDescription):
         def __init__(self, link: Sphere) -> None:
             super().__init__(link)
             self.parameters.update({
-                self.RADIUS: link.get_radius()
+                self.RADIUS: link.radius
             })
 
     class MeshDescription(BaseDescription):
@@ -114,7 +101,7 @@ class MeshDescription(BaseDescription):
         def __init__(self, link: Mesh) -> None:
             super().__init__(link)
             self.parameters.update({
-                self.VISUAL: link.get_visual()
+                self.VISUAL: link.visual
             })
 
     MODEL = {

clearpath_generator_common/clearpath_generator_common/description/mounts.py

@@ -53,40 +53,32 @@ def __init__(self, mount: BaseMount) -> None:
             self.path = 'urdf/'
 
             self.parameters = {
-                self.NAME: mount.get_name(),
-                self.PARENT: mount.get_parent()
+                self.NAME: mount.name,
+                self.PARENT: mount.parent
             }
 
-        def get_parameters(self) -> dict:
-            return self.parameters
-
-        def get_parameter(self, parameter: str) -> str:
-            return self.parameters[parameter]
-
-        def get_name(self) -> str:
+        @property
+        def name(self) -> str:
             return self.parameters[self.NAME]
 
-        def get_model(self) -> str:
+        @property
+        def model(self) -> str:
             return self.mount.MOUNT_MODEL
 
-        def get_package(self) -> str:
-            return self.package
-
-        def get_path(self) -> str:
-            return self.path
-
-        def get_xyz(self) -> List[float]:
-            return self.mount.get_xyz()
+        @property
+        def xyz(self) -> List[float]:
+            return self.mount.xyz
 
-        def get_rpy(self) -> List[float]:
-            return self.mount.get_rpy()
+        @property
+        def rpy(self) -> List[float]:
+            return self.mount.rpy
 
     class FathPivotDescription(BaseDescription):
         ANGLE = 'angle'
 
         def __init__(self, mount: FathPivot) -> None:
             super().__init__(mount)
-            self.parameters[self.ANGLE] = mount.get_angle()
+            self.parameters[self.ANGLE] = mount.angle
 
     class PACSRiserDescription(BaseDescription):
         ROWS = 'rows'
@@ -97,9 +89,9 @@ def __init__(self, mount: PACS.Riser) -> None:
             super().__init__(mount)
             self.path = 'urdf/pacs/'
             self.parameters.update({
-                self.ROWS: mount.get_rows(),
-                self.COLUMNS: mount.get_columns(),
-                self.THICKNESS: mount.get_thickness()
+                self.ROWS: mount.rows,
+                self.COLUMNS: mount.columns,
+                self.THICKNESS: mount.thickness
             })
 
     class PACSBracketDescription(BaseDescription):
@@ -109,7 +101,7 @@ def __init__(self, mount: PACS.Bracket) -> None:
             super().__init__(mount)
             self.path = 'urdf/pacs/'
             self.parameters.update({
-                self.MODEL: mount.get_model(),
+                self.MODEL: mount.model,
             })
 
     MODEL = {

clearpath_generator_common/clearpath_generator_common/description/platform.py

@@ -41,19 +41,7 @@ def __init__(self, model: Platform) -> None:
             self.package = self.pkg_clearpath_platform_description
             self.file = model
             self.macro = self.file
-            self.path = 'urdf/' + model + '/'
-
-        def get_file(self) -> str:
-            return self.file
-
-        def get_macro(self) -> str:
-            return self.macro
-
-        def get_package(self) -> str:
-            return self.package
-
-        def get_path(self) -> str:
-            return self.path
+            self.path = f'urdf/{model}/'
 
     MODEL = {
         Platform.A200: Base,