From 591dc2446da1a8147e4bc40255e3e0f7570825d1 Mon Sep 17 00:00:00 2001
From: Jan Feitsma <jan.feitsma@gmail.com>
Date: Sun, 6 Aug 2023 10:03:16 +0200
Subject: [PATCH] falcons/localization_vision: tune.py: apply composition
 instead of inheritance at parameters.py; for now disable tick call as long as
 threading and parameter handling is not sorted out

---
 .../localization_vision/test/parameters.py    | 54 +++++++++++--------
 .../falcons/localization_vision/test/tune.py  |  4 +-
 2 files changed, 36 insertions(+), 22 deletions(-)

diff --git a/components/falcons/localization_vision/test/parameters.py b/components/falcons/localization_vision/test/parameters.py
index 7fa841b..ad33118 100755
--- a/components/falcons/localization_vision/test/parameters.py
+++ b/components/falcons/localization_vision/test/parameters.py
@@ -1,54 +1,66 @@
 # python modules
-import types
 from google.protobuf.message import Message
 
 # own modules
 import gui
 
 
-class ParametersProxy(gui.Parameters):
+class ParametersProxy:
     """
     Connect sliders with protobuf Params object.
+    This class behaves as gui.Parameters, such that the GUI (sliders etc) remains clean.
     """
+    # choose composition over inheritance
+
     def __init__(self, params_proto, range_hints_proto):
-        super().__init__()
         self.params_proto = params_proto
         self.range_hints_proto = range_hints_proto
-        gui.create_standard_gui_params(self) # default zoom etc
-        self._init_params(params_proto.solver) # only make solver configurable, not the field dimension model A,B,C etc
+        self.gui_params = gui.create_standard_gui_params() # system parameters from GUI (zoom, frequency etc)
+        self.pb_params = gui.Parameters() # component-specific parameters from protobuf
+        self._init_params(params_proto)
 
     def _init_params(self, proto, parent_name=''):
         for field, value in proto.ListFields():
             name = f'{parent_name}.{field.name}' if parent_name else field.name
             if isinstance(value, str):  # Handling string fields
                 raise NotImplementedError('strings not yet supported in tuning')
-                self.add(name, str, None, None, value)
+                # self.add(name, str, None, None, value)
             elif isinstance(value, int):  # Handling integer fields
                 min_val, max_val = self.range_hints_proto[name]
-                self.add(name, int, min_val, max_val, value)
+                self.pb_params.add(name, int, min_val, max_val, value)
             elif isinstance(value, float):  # Handling float fields
                 min_val, max_val = self.range_hints_proto[name]
-                self.add(name, float, min_val, max_val, value)
+                self.pb_params.add(name, float, min_val, max_val, value)
             elif isinstance(value, bool):  # Handling boolean fields
-                self.add(name, bool, False, True, value)
+                self.pb_params.add(name, bool, False, True, value)
             elif isinstance(value, Message):  # Handling nested protobuf messages
                 self._init_params(value, name)
 
-    def _construct(self, *args, **kwargs):
-        result = gui.Param(*args, **kwargs)
-        result.notify = self._update_protobuf
-        return result
+    def get(self, name):
+        if name in self.gui_params.params:
+            return self.gui_params.get(name)
+        return self.pb_params.get(name)
+
+    def set(self, name, value):
+        if name in self.gui_params.params:
+            self.gui_params.set(name, value)
+        else:
+            self.pb_params.set(name, value)
+            self._update_protobuf(name, value)
+
+    def __iter__(self):
+        yield from self.gui_params
+        yield from self.pb_params
+
+    def __repr__(self):
+        gui_repr = '\n'.join([repr(p) for p in self.gui_params])
+        pb_repr = '\n'.join([repr(p) for p in self.pb_params])
+        return f"{gui_repr}\n{pb_repr}"
 
     def _update_protobuf(self, name, value):
         names = name.split('.')
-        current_proto = self.params_proto.solver # only make solver configurable, not the field dimension model A,B,C etc
+        current_proto = self.params_proto
         for n in names[:-1]:
             current_proto = getattr(current_proto, n)
-        try:
-            setattr(current_proto, names[-1], value)
-        except:
-            pass # TODO
-
-    def __repr__(self):
-        return '\n'.join([repr(p) for p in self.params.values()])
+        setattr(current_proto, names[-1], value)
 
diff --git a/components/falcons/localization_vision/test/tune.py b/components/falcons/localization_vision/test/tune.py
index 0a60726..ae5dc19 100755
--- a/components/falcons/localization_vision/test/tune.py
+++ b/components/falcons/localization_vision/test/tune.py
@@ -55,7 +55,7 @@ class TuningTool():
     def __init__(self, filename):
         self.image = None
         self.data = common.Data(filename)
-        self.params = parameters.ParametersProxy(self.data.params, RANGE_HINTS)
+        self.params = parameters.ParametersProxy(self.data.params.solver, RANGE_HINTS)
         self.gui = gui.WindowManager(self.params, callback=self.get_image)
         self.thread = threading.Thread(target=self.runner)
         self.thread.start()
@@ -69,6 +69,8 @@ def runner(self):
             time.sleep(1)
 
     def tick(self):
+        print(self.data.params.solver)
+        return
         print('py before tick')
         t = self.data.t
         ans = pybind_ext.tick(