- Changed how user functions for interacting with framework and state machine are made availible in task file. Previously they were monkey-patched into the user task definition file when the State_machine was instantiated. This was not ideal as: 1) It could cause a patched-in function to overwrite user function or variables in the event of a name collision, causing hard to diagnose errors. 2) It prevented the user from importing these functions using a named import if they wish to, e.g. to ensure task code passes linting. 3) It made the framework code harder to understand. This commit moves all pyControl functions that are used in task files to the pyControl.utility module, so they can be imported into the task definition file using standard python imports.

Author: ThomasAkam

pyControl/__init__.py

@@ -1,4 +1,4 @@
 import pyControl.framework as fw
 import pyControl.hardware as hw
 import pyControl.state_machine as sm
-from pyControl.utility import *
+import pyControl.utility as ut

pyControl/state_machine.py

@@ -21,25 +21,6 @@ def __init__(self, smd):
             else:
                 self.event_dispatch_dict[state] = None
 
-        # Attach user methods to discription object namespace, this allows the user
-        # to write e.g. goto_state(state) in the task description to call 
-        # State_machine.goto_state. 
-        smd.goto_state       = self.goto_state
-        smd.goto             = self.goto_state # For backwards compatibility.
-        smd.timed_goto_state = self.timed_goto_state
-        smd.set_timer        = self.set_timer
-        smd.disarm_timer     = self.disarm_timer
-        smd.reset_timer      = self.reset_timer
-        smd.pause_timer      = self.pause_timer
-        smd.unpause_timer    = self.unpause_timer
-        smd.print            = self.print 
-        smd.stop_framework   = self.stop_framework
-        smd.publish_event    = self.publish_event
-        smd.get_current_time = self.get_current_time
-        smd.timer_remaining  = self.timer_remaining
-
-    # Methods called by user
-
     def goto_state(self, next_state):
         # Transition to next state, calling exit action of old state
         # and entry action of next state.
@@ -56,57 +37,6 @@ def goto_state(self, next_state):
         self._process_event('entry')
         self.state_transition_in_progress = False
 
-    def timed_goto_state(self, next_state, interval):
-        # Transition to next_state after interval milliseconds. timed_goto_state()
-        # is cancelled if goto_state() occurs before interval elapses.
-        fw.timer.set(interval, fw.state_typ, fw.states[next_state])
-
-    def set_timer(self, event, interval, output_event=False):
-        # Set a timer to return specified event after interval milliseconds.
-        event_type = fw.event_typ if output_event else fw.timer_typ
-        fw.timer.set(interval, event_type, fw.events[event])    
-
-    def disarm_timer(self, event):
-        # Disable all timers due to return specified event.
-        fw.timer.disarm(fw.events[event])
-
-    def reset_timer(self, event, interval, output_event=False):
-        # Disarm all timers due to return specified event and set new timer
-        # to return specified event after interval milliseconds.
-        fw.timer.disarm(fw.events[event])
-        event_type = fw.event_typ if output_event else fw.timer_typ
-        fw.timer.set(interval, event_type, fw.events[event])
-
-    def pause_timer(self,event):
-        # Pause all timers due to return specified event.
-        fw.timer.pause(fw.events[event])
-
-    def unpause_timer(self,event):
-        # Unpause all timers due to return specified event.
-        fw.timer.unpause(fw.events[event])
-
-    def timer_remaining(self,event):
-        # Return time until timer for specified event elapses, returns 0 if no timer set for event.
-        return fw.timer.remaining(fw.events[event])
-
-    def print(self, print_string):
-        # Used to output data print_string with timestamp.  print_string is stored and only
-        #  printed to serial line once higher priority tasks have all been processed. 
-        if fw.data_output:
-            fw.data_output_queue.put((fw.current_time, fw.print_typ, str(print_string)))
-
-    def publish_event(self, event):
-        # Put event with specified name in the event queue.
-        fw.event_queue.put((fw.current_time, fw.event_typ, fw.events[event]))
-
-    def stop_framework(self):
-        fw.running = False
-
-    def get_current_time(self):
-        return fw.current_time
-
-    # Methods called by pyControl framework.
-
     def _process_event(self, event):
         # Process event given event name by calling appropriate state event handler function.
         if self.event_dispatch_dict['all_states']:                      # If machine has all_states event handler function. 

pyControl/utility.py

@@ -1,5 +1,60 @@
 import pyb
 import math
+from . import framework as fw
+
+# State machine functions -----------------------------------------------------
+
+def goto_state(next_state):
+    fw.state_machine.goto_state(next_state)
+
+def timed_goto_state(next_state, interval):
+    # Transition to next_state after interval milliseconds. timed_goto_state()
+    # is cancelled if goto_state() occurs before interval elapses.
+    fw.timer.set(interval, fw.state_typ, fw.states[next_state])
+
+def set_timer(event, interval, output_event=False):
+    # Set a timer to return specified event after interval milliseconds.
+    event_type = fw.event_typ if output_event else fw.timer_typ
+    fw.timer.set(interval, event_type, fw.events[event])    
+
+def disarm_timer(event):
+    # Disable all timers due to return specified event.
+    fw.timer.disarm(fw.events[event])
+
+def reset_timer(event, interval, output_event=False):
+    # Disarm all timers due to return specified event and set new timer
+    # to return specified event after interval milliseconds.
+    fw.timer.disarm(fw.events[event])
+    event_type = fw.event_typ if output_event else fw.timer_typ
+    fw.timer.set(interval, event_type, fw.events[event])
+
+def pause_timer(event):
+    # Pause all timers due to return specified event.
+    fw.timer.pause(fw.events[event])
+
+def unpause_timer(event):
+    # Unpause all timers due to return specified event.
+    fw.timer.unpause(fw.events[event])
+
+def timer_remaining(event):
+    # Return time until timer for specified event elapses, returns 0 if no timer set for event.
+    return fw.timer.remaining(fw.events[event])
+
+def print(print_string):
+    # Used to output data print_string with timestamp.  print_string is stored and only
+    #  printed to serial line once higher priority tasks have all been processed. 
+    if fw.data_output:
+        fw.data_output_queue.put((fw.current_time, fw.print_typ, str(print_string)))
+
+def publish_event(event):
+    # Put event with specified name in the event queue.
+    fw.event_queue.put((fw.current_time, fw.event_typ, fw.events[event]))
+
+def stop_framework():
+    fw.running = False
+
+def get_current_time():
+    return fw.current_time
 
 #  Random functions and classes -----------------------------------------------