Merge pull request #41 from DiamondLightSource/controller-nesting

Allow arbitrary nesting of SubControllers

pyproject.toml

@@ -14,7 +14,7 @@ dependencies = [
     "aioserial",
     "numpy",
     "pydantic",
-    "pvi~=0.8.1",
+    "pvi~=0.9.0",
     "softioc",
 ]
 dynamic = ["version"]

src/fastcs/backends/epics/gui.py

@@ -28,7 +28,7 @@
 from fastcs.cs_methods import Command
 from fastcs.datatypes import Bool, DataType, Float, Int, String
 from fastcs.exceptions import FastCSException
-from fastcs.mapping import Mapping, SingleMapping
+from fastcs.mapping import Mapping, SingleMapping, _get_single_mapping
 from fastcs.util import snake_to_pascal
 
 
@@ -49,12 +49,10 @@ def __init__(self, mapping: Mapping, pv_prefix: str) -> None:
         self._mapping = mapping
         self._pv_prefix = pv_prefix
 
-    def _get_pv(self, attr_path: str, name: str):
-        if attr_path:
-            attr_path = ":" + attr_path
-        attr_path += ":"
-
-        return f"{self._pv_prefix}{attr_path.upper()}{name.title().replace('_', '')}"
+    def _get_pv(self, attr_path: list[str], name: str):
+        attr_prefix = ":".join(attr_path)
+        pv_prefix = ":".join((self._pv_prefix, attr_prefix))
+        return f"{pv_prefix}:{name.title().replace('_', '')}"
 
     @staticmethod
     def _get_read_widget(datatype: DataType) -> ReadWidget:
@@ -80,7 +78,9 @@ def _get_write_widget(datatype: DataType) -> WriteWidget:
             case _:
                 raise FastCSException(f"Unsupported type {type(datatype)}: {datatype}")
 
-    def _get_attribute_component(self, attr_path: str, name: str, attribute: Attribute):
+    def _get_attribute_component(
+        self, attr_path: list[str], name: str, attribute: Attribute
+    ):
         pv = self._get_pv(attr_path, name)
         name = name.title().replace("_", "")
 
@@ -102,7 +102,7 @@ def _get_attribute_component(self, attr_path: str, name: str, attribute: Attribu
                 write_widget = self._get_write_widget(attribute.datatype)
                 return SignalW(name=name, write_pv=pv, write_widget=write_widget)
 
-    def _get_command_component(self, attr_path: str, name: str):
+    def _get_command_component(self, attr_path: list[str], name: str):
         pv = self._get_pv(attr_path, name)
         name = name.title().replace("_", "")
 
@@ -122,30 +122,30 @@ def create_gui(self, options: EpicsGUIOptions | None = None) -> None:
 
         assert options.output_path.suffix == options.file_format.value
 
-        formatter = DLSFormatter()
-
         controller_mapping = self._mapping.get_controller_mappings()[0]
-        sub_controller_mappings = self._mapping.get_controller_mappings()[1:]
-
         components = self.extract_mapping_components(controller_mapping)
-
-        for sub_controller_mapping in sub_controller_mappings:
-            components.append(
-                Group(
-                    name=snake_to_pascal(sub_controller_mapping.controller.path),
-                    layout=SubScreen(),
-                    children=self.extract_mapping_components(sub_controller_mapping),
-                )
-            )
-
         device = Device(label=options.title, children=components)
 
+        formatter = DLSFormatter()
         formatter.format(device, options.output_path)
 
     def extract_mapping_components(self, mapping: SingleMapping) -> list[Component]:
         components: Tree[Component] = []
         attr_path = mapping.controller.path
 
+        for sub_controller in mapping.controller.get_sub_controllers():
+            components.append(
+                Group(
+                    # TODO: Build assumption that SubController has at least one path
+                    # element into typing
+                    name=snake_to_pascal(sub_controller.path[-1]),
+                    layout=SubScreen(),
+                    children=self.extract_mapping_components(
+                        _get_single_mapping(sub_controller)
+                    ),
+                )
+            )
+
         groups: dict[str, list[Component]] = {}
         for attr_name, attribute in mapping.attributes.items():
             signal = self._get_attribute_component(
@@ -159,6 +159,9 @@ def extract_mapping_components(self, mapping: SingleMapping) -> list[Component]:
                     if group not in groups:
                         groups[group] = []
 
+                    # Remove duplication of group name and signal name
+                    signal.name = signal.name.removeprefix(group)
+
                     groups[group].append(signal)
                 case _:
                     components.append(signal)

src/fastcs/backends/epics/ioc.py

@@ -88,7 +88,7 @@ def _create_and_link_attribute_pvs(mapping: Mapping) -> None:
         path = single_mapping.controller.path
         for attr_name, attribute in single_mapping.attributes.items():
             attr_name = attr_name.title().replace("_", "")
-            pv_name = path.upper() + ":" + attr_name if path else attr_name
+            pv_name = f"{':'.join(path).upper()}:{attr_name}" if path else attr_name
 
             match attribute:
                 case AttrRW():
@@ -103,9 +103,9 @@ def _create_and_link_attribute_pvs(mapping: Mapping) -> None:
 def _create_and_link_command_pvs(mapping: Mapping) -> None:
     for single_mapping in mapping.get_controller_mappings():
         path = single_mapping.controller.path
-        for name, method in single_mapping.command_methods.items():
-            name = name.title().replace("_", "")
-            pv_name = path.upper() + ":" + name if path else name
+        for attr_name, method in single_mapping.command_methods.items():
+            attr_name = attr_name.title().replace("_", "")
+            pv_name = f"{':'.join(path).upper()}:{attr_name}" if path else attr_name
 
             _create_and_link_command_pv(
                 pv_name, MethodType(method.fn, single_mapping.controller)

src/fastcs/controller.py

@@ -6,12 +6,15 @@
 
 
 class BaseController:
-    def __init__(self, path="") -> None:
-        self._path: str = path
+    def __init__(self, path: list[str] | None = None) -> None:
+        self._path: list[str] = path or []
+        self.__sub_controllers: list[SubController] = []
+
         self._bind_attrs()
 
     @property
-    def path(self):
+    def path(self) -> list[str]:
+        """Path prefix of attributes, recursively including parent ``Controller``s."""
         return self._path
 
     def _bind_attrs(self) -> None:
@@ -21,6 +24,12 @@ def _bind_attrs(self) -> None:
                 new_attribute = copy(attr)
                 setattr(self, attr_name, new_attribute)
 
+    def register_sub_controller(self, controller: SubController):
+        self.__sub_controllers.append(controller)
+
+    def get_sub_controllers(self) -> list[SubController]:
+        return self.__sub_controllers
+
 
 class Controller(BaseController):
     """Top-level controller for a device.
@@ -33,17 +42,10 @@ class Controller(BaseController):
 
     def __init__(self) -> None:
         super().__init__()
-        self.__sub_controllers: list[SubController] = []
 
     async def connect(self) -> None:
         pass
 
-    def register_sub_controller(self, controller: SubController):
-        self.__sub_controllers.append(controller)
-
-    def get_sub_controllers(self) -> list[SubController]:
-        return self.__sub_controllers
-
 
 class SubController(BaseController):
     """A subordinate to a ``Controller`` for managing a subset of a device.
@@ -52,5 +54,5 @@ class SubController(BaseController):
     it as part of a larger device.
     """
 
-    def __init__(self, path: str) -> None:
+    def __init__(self, path: list[str]) -> None:
         super().__init__(path)

src/fastcs/mapping.py

@@ -1,3 +1,4 @@
+from collections.abc import Iterator
 from dataclasses import dataclass
 
 from .attributes import Attribute
@@ -18,36 +19,7 @@ class SingleMapping:
 class Mapping:
     def __init__(self, controller: Controller) -> None:
         self.controller = controller
-
-        self._controller_mappings: list[SingleMapping] = []
-        self._controller_mappings.append(self._get_single_mapping(controller))
-
-        for sub_controller in controller.get_sub_controllers():
-            self._controller_mappings.append(self._get_single_mapping(sub_controller))
-
-    @staticmethod
-    def _get_single_mapping(controller: BaseController) -> SingleMapping:
-        scan_methods = {}
-        put_methods = {}
-        command_methods = {}
-        attributes = {}
-        for attr_name in dir(controller):
-            attr = getattr(controller, attr_name)
-            match attr:
-                case WrappedMethod(fastcs_method=fastcs_method):
-                    match fastcs_method:
-                        case Put():
-                            put_methods[attr_name] = fastcs_method
-                        case Scan():
-                            scan_methods[attr_name] = fastcs_method
-                        case Command():
-                            command_methods[attr_name] = fastcs_method
-                case Attribute():
-                    attributes[attr_name] = attr
-
-        return SingleMapping(
-            controller, scan_methods, put_methods, command_methods, attributes
-        )
+        self._controller_mappings = list(_walk_mappings(controller))
 
     def __str__(self) -> str:
         result = "Controller mappings:\n"
@@ -57,3 +29,33 @@ def __str__(self) -> str:
 
     def get_controller_mappings(self) -> list[SingleMapping]:
         return self._controller_mappings
+
+
+def _walk_mappings(controller: BaseController) -> Iterator[SingleMapping]:
+    yield _get_single_mapping(controller)
+    for sub_controller in controller.get_sub_controllers():
+        yield from _walk_mappings(sub_controller)
+
+
+def _get_single_mapping(controller: BaseController) -> SingleMapping:
+    scan_methods = {}
+    put_methods = {}
+    command_methods = {}
+    attributes = {}
+    for attr_name in dir(controller):
+        attr = getattr(controller, attr_name)
+        match attr:
+            case WrappedMethod(fastcs_method=fastcs_method):
+                match fastcs_method:
+                    case Put():
+                        put_methods[attr_name] = fastcs_method
+                    case Scan():
+                        scan_methods[attr_name] = fastcs_method
+                    case Command():
+                        command_methods[attr_name] = fastcs_method
+            case Attribute():
+                attributes[attr_name] = attr
+
+    return SingleMapping(
+        controller, scan_methods, put_methods, command_methods, attributes
+    )

src/fastcs/util.py

@@ -1,3 +1,5 @@
 def snake_to_pascal(input: str) -> str:
-    """Convert a snake_case or UPPER_SNAKE_CASE string to PascalCase."""
-    return input.lower().replace("_", " ").title().replace(" ", "")
+    """Convert a snake_case string to PascalCase."""
+    return "".join(
+        part.title() if part.islower() else part for part in input.split("_")
+    )

tests/test_controller.py

@@ -0,0 +1,17 @@
+from fastcs.controller import Controller, SubController
+from fastcs.mapping import _get_single_mapping, _walk_mappings
+
+
+def test_controller_nesting():
+    controller = Controller()
+    sub_controller = SubController(["a"])
+    sub_sub_controller = SubController(["a", "b"])
+
+    controller.register_sub_controller(sub_controller)
+    sub_controller.register_sub_controller(sub_sub_controller)
+
+    assert list(_walk_mappings(controller)) == [
+        _get_single_mapping(controller),
+        _get_single_mapping(sub_controller),
+        _get_single_mapping(sub_sub_controller),
+    ]