Source code for evolver.controller.interface

from abc import abstractmethod

from evolver.base import BaseInterface
from evolver.hardware.interface import HardwareDriver




class Controller(BaseInterface):
    class Config(BaseInterface.Config): ...



    def __init__(self, *args, evolver=None, **kwargs):
        self.evolver = evolver
        super().__init__(*args, **kwargs)


    def pre_control(self, *args, **kwargs):
        """Hook for customization pre-control execution, see self.run().
        The return value is passed to control as ``self.control(pre_control_output=pre_control_output)``.
        """
        ...



    @abstractmethod
    def control(self, *args, pre_control_output=None, **kwargs):
        """Main function to implement control procedure code."""
        ...


    def post_control(self, *args, control_output=None, **kwargs):
        """Hook for customization post-control execution, see self.run().
        The value returned is also that returned from ``self.run()``.
        """
        return control_output

    def run(self, *args, **kwargs):
        """Hook for customizing control execution."""
        pre_control_output = self.pre_control(*args, **kwargs)
        control_output = self.control(*args, pre_control_output=pre_control_output, **kwargs)
        return self.post_control(*args, control_output=control_output, **kwargs)

    def get_hw(self, hardware: HardwareDriver | str) -> HardwareDriver:
        """helper function to get hardware from evolver.

        When hardware is a string, the hardware driver with that name is
        returned from the evolver manager. Otherwise, the hardware is directly
        returned (it is assumed to be a hardware driver instance).
        """
        if isinstance(hardware, str):
            return self.evolver.hardware[hardware]
        return hardware