move G graph to generic, use DataConfig to DSR params and period and erase setParams

Author: alfiTH

cli/robocompdsl/robocompdsl/templates/templateCPP/plugins/dsr/functions/etc/config.py

@@ -5,7 +5,8 @@
 
 
 DSR_CONFIG_STR = """\
-Agent.id = 0 # Change id
+# Change id
+Agent.id = 0
 Agent.name = "${name}"
 Agent.configFile = ""
 """

cli/robocompdsl/robocompdsl/templates/templatePython/files/generated/genericworker.py

@@ -20,6 +20,8 @@
 
 import sys, Ice, os
 from PySide6 import QtWidgets, QtCore
+${import_dsr}
+
 
 ${ui_import}
 
@@ -38,7 +40,7 @@ def __init__(self, mprx, configData):
 
         self.Period = 30
         self.timer = QtCore.QTimer(self)
-
+        ${insert_dsr}
 
     @QtCore.Slot()
     def killYourSelf(self):

cli/robocompdsl/robocompdsl/templates/templatePython/files/generated/main.py

@@ -96,7 +96,7 @@ def sigint_handler(*args):
 
     if interface_manager.status == 0:
         worker = SpecificWorker(interface_manager.get_proxies_map(), configData, args.startup_check)
-        worker.setParams(configData)
+        if hasattr(worker, "setParams"): worker.setParams(configData)
     else:
         print("Error getting required connections, check config file")
         sys.exit(-1)

cli/robocompdsl/robocompdsl/templates/templatePython/files/src/specificworker.py

@@ -30,16 +30,10 @@
 
 ${dsr_import}
 
-# If RoboComp was compiled with Python bindings you can use InnerModel in Python
-# import librobocomp_qmat
-# import librobocomp_osgviewer
-# import librobocomp_innermodel
-
-
 class SpecificWorker(GenericWorker):
     def __init__(self, proxy_map, configData, startup_check=False):
         super(SpecificWorker, self).__init__(proxy_map, configData)
-        self.Period = 2000
+        self.Period = configData["Period"]["Compute"]
         ${dsr_init}
         if startup_check:
             self.startup_check()
@@ -49,14 +43,6 @@ def __init__(self, proxy_map, configData, startup_check=False):
     def __del__(self):
         """Destructor"""
 
-    def setParams(self, params):
-        # try:
-        #	self.innermodel = InnerModel(params["InnerModelPath"])
-        # except:
-        #	traceback.print_exc()
-        #	print("Error reading config params")
-        return True
-
     ${compute_creation}
 
     def startup_check(self):

cli/robocompdsl/robocompdsl/templates/templatePython/plugins/dsr/functions/generated/genericworker_py.py

@@ -0,0 +1,62 @@
+import datetime
+
+from robocompdsl.dsl_parsers.parsing_utils import communication_is_ice, get_name_number
+from robocompdsl.templates.common.templatedict import TemplateDict
+
+
+DSR_INIT_STR = """\
+self.agent_id = configData["Agent"]["id"]
+self.g = DSRGraph(0, configData["Agent"]["name"], self.agent_id, configData["Agent"]["configFile"])
+"""
+
+
+class src_genericworker_py(TemplateDict):
+    def __init__(self, component):
+        super(src_genericworker_py, self).__init__()
+        self.component = component
+        self['year'] = str(datetime.date.today().year)
+        self['requires_proxies'] = self.requires_proxies()
+        self['publishes_proxies'] = self.publishes_proxies()
+        self['insert_dsr'] = self.insert_dsr()
+        self['import_dsr'] = self.import_dsr()
+
+
+
+    def import_dsr(self):
+        if self.component.dsr:
+            return "from pydsr import DSRGraph"
+        else:
+            return ""
+
+    def insert_dsr(self):
+        if self.component.dsr:
+            return DSR_INIT_STR
+        else:
+            return ""
+
+    # TODO: Refactor this and publishes with a zip?
+    def requires_proxies(self):
+        result = ""
+        for req, num in get_name_number(self.component.requires):
+            if isinstance(req, str):
+                rq = req
+            else:
+                rq = req[0]
+            if communication_is_ice(req):
+                result += "self." + rq.lower() + num + "_proxy = mprx[\"" + rq  + num + "\"]\n"
+            else:
+                result += "self." + rq.lower() + "_proxy = ServiceClient" + rq + "()\n"
+        return result
+
+    def publishes_proxies(self):
+        result = ""
+        for pb, num in get_name_number(self.component.publishes):
+            if isinstance(pb, str):
+                pub = pb
+            else:
+                pub = pb[0]
+            if communication_is_ice(pb):
+                result += "self." + pub.lower() + num + "_proxy = mprx[\"" + pub + num + "\"]\n"
+            else:
+                result += "self." + pub.lower() + "_proxy = Publisher" + pub + "()\n"
+        return result

cli/robocompdsl/robocompdsl/templates/templatePython/plugins/dsr/functions/src/specificworker_py.py

@@ -36,11 +36,6 @@ def delete_edge(self, fr: int, to: int, type: str):
 
 DSR_INIT_STR = """\
 
-# YOU MUST SET AN UNIQUE ID FOR THIS AGENT IN YOUR DEPLOYMENT. "_CHANGE_THIS_ID_" for a valid unique integer
-#self.agent_id = "_CHANGE_THIS_ID_"
-self.agent_id = 4095
-self.g = DSRGraph(0, "pythonAgent", self.agent_id)
-
 try:
     signals.connect(self.g, signals.UPDATE_NODE_ATTR, self.update_node_att)
     signals.connect(self.g, signals.UPDATE_NODE, self.update_node)
@@ -51,7 +46,7 @@ def delete_edge(self, fr: int, to: int, type: str):
     console.print("signals connected")
 except RuntimeError as e:
     print(e)
-
+    
 """
 
 class src_specificworker_py(TemplateDict):