<s> from multiprocessing import Process <EOL> from . connection import Connection <EOL> from . device import Device <EOL> class Helper ( object ) : <EOL> def __init__ ( self , devices , connections ) : <EOL> self . devices = devices <EOL> self . connections = connections <EOL> self . _devices = { } <EOL> self . _connections = { } <EOL> def __getattr__ ( self , name ) : <EOL> if name in self . _devices : <EOL> return self . _devices [ name ] <EOL> self . _devices [ name ] = self . initialize_device ( name ) <EOL> return self . _devices [ name ] <EOL> def initialize_device ( self , name ) : <EOL> device_config = self . devices [ name ] <EOL> connection_name = device_config [ "<STR_LIT>" ] <EOL> if connection_name in self . _connections : <EOL> connection = self . _connections [ connection_name ] <EOL> else : <EOL> connection = self . initialize_connection ( connection_name ) <EOL> self . _connections [ connection_name ] = connection <EOL> device = Device ( device_config , connection ) <EOL> return device <EOL> def initialize_connection ( self , name ) : <EOL> connection_config = self . connections [ name ] <EOL> connection = Connection ( connection_config ) <EOL> return connection <EOL> class Robot ( object ) : <EOL> def __init__ ( self , options ) : <EOL> self . name = options . get ( "<STR_LIT:name>" , "<STR_LIT>" ) <EOL> self . connections = options . get ( "<STR_LIT>" , { } ) <EOL> self . adaptors = options . get ( "<STR_LIT>" , { } ) <EOL> self . devices = options . get ( "<STR_LIT>" , { } ) <EOL> self . drivers = { } <EOL> self . commands = [ ] <EOL> self . events = [ ] <EOL> self . running = False <EOL> self . work = options [ "<STR_LIT>" ] <EOL> self . helper = Helper ( self . devices , self . connections ) <EOL> def start ( self ) : <EOL> process = Process ( target = self . work , args = ( self . helper , ) ) <EOL> process . start ( ) <EOL> return process <EOL> def halt ( self ) : <EOL> pass <EOL> def serialize ( self ) : <EOL> return { <EOL> "<STR_LIT:name>" : self . name , <EOL> "<STR_LIT>" : self . commands , <EOL> "<STR_LIT>" : self . events , <EOL> "<STR_LIT>" : self . serialize_connections ( ) , <EOL> "<STR_LIT>" : self . serialize_devices ( ) , <EOL> } <EOL> def serialize_connections ( self ) : <EOL> connections = [ ] <EOL> for name , config in self . connections . items ( ) : <EOL> config [ "<STR_LIT:name>" ] = name <EOL> connection = Connection ( config ) <EOL> connections . append ( connection . serialize ( ) ) <EOL> return connections <EOL> def serialize_devices ( self ) : <EOL> devices = [ ] <EOL> for name , config in self . devices . items ( ) : <EOL> config [ "<STR_LIT:name>" ] = name <EOL> device = Device ( config , None ) <EOL> devices . append ( device . serialize ( ) ) <EOL> return devices </s>
