Refactor (#21)

* Move Ticker class to utils module

* Rename mape `element`s to mape `component`s

mapek_framework/src/mapek_framework/__init__.py

@@ -2,5 +2,3 @@
 from .group import Group
 from .interaction import Interaction
 from .managed_system import ManagedSystem
-from .mape_element import MonitorElement, AnalyzeElement, PlanElement, ExecuteElement
-from .ticker import Ticker

mapek_framework/src/mapek_framework/mape_element.py → mapek_framework/src/mapek_framework/components.py

@@ -1,16 +1,16 @@
 #!/usr/bin/env python
 """
-mape_element.py
+mape_components.py
 ---------------
 """
 from abc import ABCMeta, abstractmethod
 import rospy
 from .interaction import Interaction
 
 
-class _MapeElement(object):
+class _MapeComponent(object):
     """
-    Abstract class that rappresents a generic mape element.
+    Abstract class that rappresents a generic mape component.
 
     Warning:
         This class or any subclasses of this class are not supposed to be instantiated explicitly.
@@ -20,10 +20,10 @@ class _MapeElement(object):
     __metaclass__ = ABCMeta
 
     input_interactions = []
-    """Element's input interactions"""
+    """Component's input interactions."""
 
     output_interactions = []
-    """Element's output interactions"""
+    """Component's output interactions."""
 
     def __init__(self, knowledge, managed_system):
         self.knowledge = knowledge
@@ -41,7 +41,7 @@ def __init__(self, knowledge, managed_system):
     @abstractmethod
     def on_interaction_received(self, interaction, payload):
         """
-        Override this method to implement the element logic.
+        Override this method to implement the component logic.
 
         Warning:
             This method is not supposed to be called explicitly.
@@ -53,21 +53,21 @@ def send_interaction(self, interaction, payload):
         self.output_topics[interaction].publish(payload)
 
 
-class MonitorElement(_MapeElement):
-    """Class that rappresents a Monitor element."""
+class MonitorComponent(_MapeComponent):
+    """Class that rappresents a Monitor component."""
     pass
 
 
-class AnalyzeElement(_MapeElement):
-    """Class that rappresents an Analyze element."""
+class AnalyzeComponent(_MapeComponent):
+    """Class that rappresents an Analyze component."""
     pass
 
 
-class PlanElement(_MapeElement):
-    """Class that rappresents a Plan element."""
+class PlanComponent(_MapeComponent):
+    """Class that rappresents a Plan component."""
     pass
 
 
-class ExecuteElement(_MapeElement):
-    """Class that rappresents an Execute element."""
+class ExecuteComponent(_MapeComponent):
+    """Class that rappresents an Execute component."""
     pass

mapek_framework/src/test_mapek_framework/run_tests.py

@@ -4,8 +4,8 @@
 from .test_group import GroupTestCase
 from .test_interaction import InteractionTestCase
 from .test_managed_system import ManagedSystemTestCase
-from .test_mape_element import MapeElementTestCase
-from .test_ticker import TickerTestCase
+from .test_components import ComponentsTestCase
+from .test_utils import UtilsTestCase
 
 
 if __name__ == '__main__':
@@ -16,6 +16,6 @@
     rosunit.unitrun('test_mapek_framework',
                     'test_managed_system_mapek_framework', ManagedSystemTestCase)
     rosunit.unitrun('test_mapek_framework',
-                    'test_mape_element_mapek_framework', MapeElementTestCase)
+                    'test_components_mapek_framework', ComponentsTestCase)
     rosunit.unitrun('test_mapek_framework',
-                    'test_ticker_mapek_framework', TickerTestCase)
+                    'test_utils_mapek_framework', UtilsTestCase)

mapek_framework/src/test_mapek_framework/test_mape_element.py → mapek_framework/src/test_mapek_framework/test_components.py

@@ -1,10 +1,10 @@
 import unittest
 import mock
-from mapek_framework.mape_element import _MapeElement,  MonitorElement, AnalyzeElement, PlanElement, ExecuteElement
+from mapek_framework.components import _MapeComponent, MonitorComponent, AnalyzeComponent, PlanComponent, ExecuteComponent
 from mapek_framework import ManagedSystem, Interaction
 
 
-class MyMapeElement1(_MapeElement):
+class MyMapeComponent1(_MapeComponent):
 
     input_interactions = [Interaction('ii', None)] * 3
     output_interactions = [Interaction('o1', None)] * 4
@@ -13,7 +13,7 @@ def on_interaction_received(self, interaction, payload):
         pass
 
 
-class MyMapeElement2(_MapeElement):
+class MyMapeComponent2(_MapeComponent):
 
     def on_interaction_received(self, interaction, payload):
         pass
@@ -23,21 +23,21 @@ class MyManagedSystem(ManagedSystem):
     pass
 
 
-class MapeElementTestCase(unittest.TestCase):
+class ComponentsTestCase(unittest.TestCase):
 
     def test_mape_element_inheritance(self):
-        self.assertTrue(issubclass(MonitorElement, _MapeElement))
-        self.assertTrue(issubclass(AnalyzeElement, _MapeElement))
-        self.assertTrue(issubclass(PlanElement, _MapeElement))
-        self.assertTrue(issubclass(ExecuteElement, _MapeElement))
+        self.assertTrue(issubclass(MonitorComponent, _MapeComponent))
+        self.assertTrue(issubclass(AnalyzeComponent, _MapeComponent))
+        self.assertTrue(issubclass(PlanComponent, _MapeComponent))
+        self.assertTrue(issubclass(ExecuteComponent, _MapeComponent))
 
     @mock.patch('rospy.Publisher')
     @mock.patch('rospy.Subscriber')
     def test_mape_element_init(self, mock_subscriber, mock_publisher):
         knowledge = {}
         managed_system = MyManagedSystem()
 
-        element = MyMapeElement1(knowledge, managed_system)
+        element = MyMapeComponent1(knowledge, managed_system)
         self.assertEqual(element.knowledge, knowledge)
         self.assertEqual(element.managed_system, managed_system)
         self.assertEqual(mock_subscriber.call_count, 3)
@@ -50,7 +50,7 @@ def test_mape_element_send_interaction(self):
         m2 = mock.MagicMock()
         m2.__getitem__.side_effect = lambda _: m1
 
-        element = MyMapeElement2(None, None)
+        element = MyMapeComponent2(None, None)
         element.output_topics = m2
         element.send_interaction(interaction, payload)
         m2.__getitem__.assert_called_with(interaction)

mapek_framework/src/test_mapek_framework/test_ticker.py → mapek_framework/src/test_mapek_framework/test_utils.py

@@ -1,9 +1,9 @@
 import unittest
 import mock
-from mapek_framework import Ticker
+from mapek_framework.utils import Ticker
 
 
-class TickerTestCase(unittest.TestCase):
+class UtilsTestCase(unittest.TestCase):
 
     def test_ticker_init(self):
         node_name = 'foo_name'

mapek_framework_demo/nodes/master.py

@@ -1,9 +1,11 @@
 #!/usr/bin/env python
 import rospy
 from std_msgs.msg import String
-from mapek_framework import Group, AnalyzeElement, PlanElement, Interaction
+from mapek_framework import Group, Interaction
+from mapek_framework.components import AnalyzeComponent, PlanComponent
 
-class MyAnalyzeElement(AnalyzeElement):
+
+class MyAnalyzeComponent(AnalyzeComponent):
 
     input_interactions = [
         Interaction('light_status', String)
@@ -14,10 +16,11 @@ class MyAnalyzeElement(AnalyzeElement):
 
     def on_interaction_received(self, interaction, payload):
         light, status = payload.data.split(' ')
-        self.knowledge[int(light)] = status  
+        self.knowledge[int(light)] = status
         self.send_interaction('master_analyze_plan', light)
 
-class MyPlanElement(PlanElement):
+
+class MyPlanComponent(PlanComponent):
 
     input_interactions = [
         Interaction('master_analyze_plan', String)
@@ -37,13 +40,14 @@ def on_interaction_received(self, interaction, payload):
 
 
 class MasterGroup(Group):
-    elements = [MyAnalyzeElement, MyPlanElement]
-    
+    elements = [MyAnalyzeComponent, MyPlanComponent]
+
 
 def main():
     master = MasterGroup('master')
     master.spin()
 
+
 if __name__ == '__main__':
     try:
         main()

mapek_framework_demo/nodes/slave.py

@@ -3,7 +3,9 @@
 import sys
 import rospy
 from std_msgs.msg import Empty, String
-from mapek_framework import Group, MonitorElement, ExecuteElement, ManagedSystem, Interaction
+from mapek_framework import Group, ManagedSystem, Interaction
+from mapek_framework.components import MonitorComponent, ExecuteComponent
+
 
 class LightPoleMS(ManagedSystem):
 
@@ -19,13 +21,14 @@ def turn_on(self):
         else:
             rospy.loginfo('BROKEN')
 
-    def turn_off(self):       
+    def turn_off(self):
         if self.working:
             rospy.loginfo('OFF')
         else:
             rospy.loginfo('BROKEN')
 
-class MyMonitorElement(MonitorElement):
+
+class MyMonitorComponent(MonitorComponent):
 
     input_interactions = [
         Interaction('tick', Empty)
@@ -36,14 +39,16 @@ class MyMonitorElement(MonitorElement):
 
     def on_interaction_received(self, interaction, payload):
         status = 'ok' if self.managed_system.is_working() else 'ko'
-        self.send_interaction('light_status', '%s %s' % (self.knowledge['group_name'], status))
+        self.send_interaction('light_status', '%s %s' %
+                              (self.knowledge['group_name'], status))
+
 
-class MyExecuteElement(ExecuteElement):
+class MyExecuteComponent(ExecuteComponent):
 
     input_interactions = [
         Interaction('switch_light', String)
     ]
-    
+
     def on_interaction_received(self, interaction, payload):
         light, status = payload.data.split(' ')
         if light == str(self.knowledge['group_name']):
@@ -54,13 +59,14 @@ def on_interaction_received(self, interaction, payload):
 
 
 class SlaveGroup(Group):
-    elements = [MyMonitorElement, MyExecuteElement]
+    elements = [MyMonitorComponent, MyExecuteComponent]
     managed_system = LightPoleMS()
 
     def __init__(self, group_name, node_name, **kwargs):
         super(SlaveGroup, self).__init__(node_name, **kwargs)
         self.knowledge['group_name'] = group_name
 
+
 def main():
     name = rospy.myargv(argv=sys.argv)[1]
     slave = SlaveGroup(name, 'slave', anonymous=True)

mapek_framework_demo/nodes/ticker.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-from mapek_framework import Ticker
+from mapek_framework.utils import Ticker
 
 def main():
     ticker = Ticker('ticker', 'tick', 0.2)