foodforthought-cli 0.2.1__py3-none-any.whl → 0.2.4__py3-none-any.whl

ate/generators/skill_generator.py

@@ -0,0 +1,783 @@
+"""
+Skill Code Generator - Generate Python skill implementations from specifications.
+
+This generator creates:
+- skill.py: Main skill class with execute() method
+- primitives.py: Hardware-abstracted primitive wrappers
+- validators.py: Input/output validation
+- state_machine.py: Execution flow state machine
+"""
+
+import re
+from datetime import datetime
+from pathlib import Path
+from typing import Any, Dict, List, Optional
+
+from ..skill_schema import SkillSpecification, SkillParameter, PrimitiveCall
+from ..primitives import PRIMITIVE_REGISTRY, get_primitive
+
+
+def to_pascal_case(name: str) -> str:
+    """Convert snake_case or kebab-case to PascalCase."""
+    # Replace hyphens with underscores
+    name = name.replace("-", "_")
+    # Split on underscores and capitalize each word
+    return "".join(word.capitalize() for word in name.split("_"))
+
+
+def to_snake_case(name: str) -> str:
+    """Convert PascalCase or kebab-case to snake_case."""
+    # Replace hyphens with underscores
+    name = name.replace("-", "_")
+    # Insert underscore before uppercase letters
+    name = re.sub(r"(?<!^)(?=[A-Z])", "_", name)
+    return name.lower()
+
+
+def python_type(param_type: str) -> str:
+    """Convert skill parameter type to Python type annotation."""
+    type_map = {
+        "Pose": "Dict[str, Any]",
+        "float": "float",
+        "int": "int",
+        "bool": "bool",
+        "string": "str",
+        "array": "List[Any]",
+        "JointState": "List[float]",
+        "Trajectory": "List[Dict[str, Any]]",
+        "Point": "Tuple[float, float, float]",
+        "Quaternion": "Tuple[float, float, float, float]",
+        "Transform": "Dict[str, Any]",
+    }
+    return type_map.get(param_type, "Any")
+
+
+class SkillCodeGenerator:
+    """
+    Generate Python code for a skill from its specification.
+
+    This generator creates a complete Python package structure with:
+    - Main skill class
+    - Primitive wrappers
+    - Input/output validators
+    - State machine for execution flow
+    """
+
+    def __init__(self, spec: SkillSpecification):
+        """
+        Initialize the generator.
+
+        Args:
+            spec: The skill specification to generate code for
+        """
+        self.spec = spec
+        self.class_name = to_pascal_case(spec.name)
+        self.module_name = to_snake_case(spec.name)
+
+    def generate_skill_class(self) -> str:
+        """
+        Generate the main skill.py file.
+
+        Returns:
+            Python source code for the skill class
+        """
+        lines = [
+            '"""',
+            f'{self.spec.name} - {self.spec.description}',
+            '',
+            f'Generated by Skill Compiler v1.0.0',
+            f'Generated at: {datetime.now().isoformat()}',
+            '',
+            'Do not edit manually - regenerate from skill.yaml',
+            '"""',
+            '',
+            'from dataclasses import dataclass',
+            'from typing import Any, Dict, List, Optional, Tuple',
+            'import logging',
+            '',
+            f'from .primitives import PrimitiveExecutor',
+            f'from .validators import validate_{self.module_name}_input, validate_{self.module_name}_output',
+            '',
+            '',
+            'logger = logging.getLogger(__name__)',
+            '',
+        ]
+
+        # Generate input dataclass
+        lines.extend(self._generate_input_class())
+        lines.append('')
+
+        # Generate output dataclass
+        lines.extend(self._generate_output_class())
+        lines.append('')
+
+        # Generate main skill class
+        lines.extend(self._generate_skill_class_body())
+
+        return '\n'.join(lines)
+
+    def _generate_input_class(self) -> List[str]:
+        """Generate the input dataclass."""
+        lines = [
+            '@dataclass',
+            f'class {self.class_name}Input:',
+            f'    """Input parameters for {self.spec.name} skill."""',
+        ]
+
+        if not self.spec.parameters:
+            lines.append('    pass')
+            return lines
+
+        for param in self.spec.parameters:
+            type_annotation = python_type(param.type)
+            if param.default is not None:
+                default_str = repr(param.default)
+                lines.append(f'    {param.name}: {type_annotation} = {default_str}')
+            elif not param.required:
+                lines.append(f'    {param.name}: Optional[{type_annotation}] = None')
+            else:
+                lines.append(f'    {param.name}: {type_annotation}')
+
+        return lines
+
+    def _generate_output_class(self) -> List[str]:
+        """Generate the output dataclass."""
+        lines = [
+            '@dataclass',
+            f'class {self.class_name}Output:',
+            f'    """Output from {self.spec.name} skill execution."""',
+            '    success: bool',
+            '    message: str',
+            '    error_code: Optional[str] = None',
+            '    execution_time: float = 0.0',
+        ]
+
+        # Add success criteria as output fields
+        for criterion in self.spec.success_criteria:
+            lines.append(f'    {criterion.name}: bool = False')
+
+        return lines
+
+    def _generate_skill_class_body(self) -> List[str]:
+        """Generate the main skill class."""
+        lines = [
+            f'class {self.class_name}Skill:',
+            f'    """',
+            f'    {self.spec.description}',
+            f'    ',
+            f'    Version: {self.spec.version}',
+        ]
+
+        if self.spec.author:
+            lines.append(f'    Author: {self.spec.author}')
+
+        lines.extend([
+            f'    """',
+            '',
+            '    def __init__(self, hardware_config: Dict[str, Any]):',
+            '        """',
+            '        Initialize the skill with hardware configuration.',
+            '        ',
+            '        Args:',
+            '            hardware_config: Hardware mapping configuration',
+            '        """',
+            '        self.config = hardware_config',
+            '        self.primitives = PrimitiveExecutor(hardware_config)',
+            '        self._setup_hardware()',
+            '',
+            '    def _setup_hardware(self) -> None:',
+            '        """Initialize hardware components."""',
+        ])
+
+        # Add hardware setup for each requirement
+        for req in self.spec.hardware_requirements:
+            comp_type = req.component_type
+            lines.extend([
+                f'        self.{comp_type} = self.config.get("{comp_type}")',
+                f'        if not self.{comp_type}:',
+                f'            logger.warning("No {comp_type} configured")',
+            ])
+
+        lines.extend([
+            '',
+            f'    def execute(self, input: {self.class_name}Input) -> {self.class_name}Output:',
+            '        """',
+            '        Execute the skill.',
+            '        ',
+            '        Args:',
+            '            input: Skill input parameters',
+            '        ',
+            '        Returns:',
+            '            Skill execution output with success status',
+            '        """',
+            '        import time',
+            '        start_time = time.time()',
+            '',
+            '        # Validate input',
+            f'        validation_errors = validate_{self.module_name}_input(input)',
+            '        if validation_errors:',
+            f'            return {self.class_name}Output(',
+            '                success=False,',
+            '                message=f"Input validation failed: {validation_errors}",',
+            '                error_code="INPUT_VALIDATION_ERROR"',
+            '            )',
+            '',
+            '        try:',
+            '            # Execute skill logic',
+            '            result = self._execute_impl(input)',
+            '            execution_time = time.time() - start_time',
+            '',
+            '            # Build output',
+            f'            output = {self.class_name}Output(',
+            '                success=result.get("success", False),',
+            '                message=result.get("message", ""),',
+            '                execution_time=execution_time,',
+        ])
+
+        # Add success criteria outputs
+        for criterion in self.spec.success_criteria:
+            lines.append(f'                {criterion.name}=result.get("{criterion.name}", False),')
+
+        lines.extend([
+            '            )',
+            '',
+            '            # Validate output',
+            f'            output_errors = validate_{self.module_name}_output(output)',
+            '            if output_errors:',
+            '                logger.warning(f"Output validation warnings: {output_errors}")',
+            '',
+            '            return output',
+            '',
+            '        except Exception as e:',
+            '            execution_time = time.time() - start_time',
+            '            logger.error(f"Skill execution failed: {e}")',
+            f'            return {self.class_name}Output(',
+            '                success=False,',
+            '                message=str(e),',
+            '                error_code="EXECUTION_ERROR",',
+            '                execution_time=execution_time',
+            '            )',
+            '',
+        ])
+
+        # Generate implementation method
+        lines.extend(self._generate_execute_impl())
+
+        return lines
+
+    def _generate_execute_impl(self) -> List[str]:
+        """Generate the _execute_impl method with skill logic."""
+        lines = [
+            f'    def _execute_impl(self, input: {self.class_name}Input) -> Dict[str, Any]:',
+            '        """',
+            '        Internal skill implementation.',
+            '        ',
+            '        Override this method to customize skill behavior.',
+            '        """',
+            '        result = {"success": True, "message": ""}',
+            '',
+        ]
+
+        # Generate execution flow from primitives
+        if self.spec.execution_flow:
+            lines.append('        # Execute primitive sequence')
+            for i, call in enumerate(self.spec.execution_flow):
+                lines.extend(self._generate_primitive_call(call, i))
+        elif self.spec.primitives:
+            # Default execution: call each primitive in order
+            lines.append('        # Default execution sequence')
+            for i, prim_name in enumerate(self.spec.primitives):
+                call = PrimitiveCall(primitive=prim_name)
+                lines.extend(self._generate_primitive_call(call, i))
+        else:
+            lines.extend([
+                '        # TODO: Implement skill logic',
+                '        logger.warning("Skill implementation not complete")',
+            ])
+
+        # Check success criteria
+        lines.append('')
+        lines.append('        # Evaluate success criteria')
+        for criterion in self.spec.success_criteria:
+            lines.extend([
+                f'        result["{criterion.name}"] = self._check_{criterion.name}(input)',
+            ])
+
+        lines.extend([
+            '',
+            '        # Overall success is all criteria met',
+            '        all_criteria = [',
+        ])
+        for criterion in self.spec.success_criteria:
+            lines.append(f'            result.get("{criterion.name}", False),')
+        lines.extend([
+            '        ]',
+            '        result["success"] = all(all_criteria) if all_criteria else True',
+            '        result["message"] = "Skill completed successfully" if result["success"] else "Some criteria not met"',
+            '',
+            '        return result',
+            '',
+        ])
+
+        # Generate success criterion check methods
+        for criterion in self.spec.success_criteria:
+            lines.extend([
+                f'    def _check_{criterion.name}(self, input: {self.class_name}Input) -> bool:',
+                f'        """Check if {criterion.name} criterion is met."""',
+                f'        # Condition: {criterion.condition}',
+            ])
+            if criterion.tolerance is not None:
+                lines.append(f'        # Tolerance: {criterion.tolerance}')
+            lines.extend([
+                '        # TODO: Implement criterion check',
+                '        return True',
+                '',
+            ])
+
+        return lines
+
+    def _generate_primitive_call(self, call: PrimitiveCall, index: int) -> List[str]:
+        """Generate code for a single primitive call."""
+        lines = []
+
+        # Add condition check if present
+        if call.condition:
+            lines.append(f'        if {call.condition}:')
+            indent = '            '
+        else:
+            indent = '        '
+
+        # Generate the primitive call
+        prim = get_primitive(call.primitive)
+        if prim:
+            # Build parameter string
+            params = []
+            for param_name, param_value in call.parameters.items():
+                if isinstance(param_value, str) and param_value.startswith('input.'):
+                    params.append(f'{param_name}={param_value}')
+                else:
+                    params.append(f'{param_name}={repr(param_value)}')
+
+            param_str = ', '.join(params)
+            lines.append(f'{indent}step_{index}_result = self.primitives.{call.primitive}({param_str})')
+        else:
+            lines.append(f'{indent}# Unknown primitive: {call.primitive}')
+            lines.append(f'{indent}step_{index}_result = True')
+
+        # Handle failure
+        if call.on_failure:
+            lines.extend([
+                f'{indent}if not step_{index}_result:',
+            ])
+            if call.on_failure == 'abort':
+                lines.append(f'{indent}    raise RuntimeError("Primitive {call.primitive} failed")')
+            elif call.on_failure == 'retry' and call.retries > 0:
+                lines.extend([
+                    f'{indent}    for retry in range({call.retries}):',
+                    f'{indent}        step_{index}_result = self.primitives.{call.primitive}()',
+                    f'{indent}        if step_{index}_result:',
+                    f'{indent}            break',
+                ])
+            # 'continue' just continues execution
+
+        lines.append('')
+        return lines
+
+    def generate_primitives_wrapper(self) -> str:
+        """
+        Generate primitives.py with hardware-abstracted primitive calls.
+
+        Returns:
+            Python source code for the primitives wrapper
+        """
+        lines = [
+            '"""',
+            f'Primitives wrapper for {self.spec.name} skill.',
+            '',
+            'Provides hardware-abstracted calls to robot primitives.',
+            f'Generated by Skill Compiler v1.0.0',
+            '"""',
+            '',
+            'from typing import Any, Dict, List, Optional',
+            'import logging',
+            '',
+            '',
+            'logger = logging.getLogger(__name__)',
+            '',
+            '',
+            'class PrimitiveExecutor:',
+            '    """',
+            '    Execute primitives with hardware abstraction.',
+            '    ',
+            '    Wraps low-level hardware calls and provides a consistent interface.',
+            '    """',
+            '',
+            '    def __init__(self, hardware_config: Dict[str, Any]):',
+            '        """Initialize with hardware configuration."""',
+            '        self.config = hardware_config',
+            '        self._setup_drivers()',
+            '',
+            '    def _setup_drivers(self) -> None:',
+            '        """Setup hardware drivers based on config."""',
+        ]
+
+        # Setup hardware drivers
+        for req in self.spec.hardware_requirements:
+            comp_type = req.component_type
+            lines.extend([
+                f'        self.{comp_type}_driver = self._get_{comp_type}_driver()',
+            ])
+
+        lines.append('')
+
+        # Generate driver getter methods
+        for req in self.spec.hardware_requirements:
+            comp_type = req.component_type
+            lines.extend([
+                f'    def _get_{comp_type}_driver(self):',
+                f'        """Get or create {comp_type} hardware driver."""',
+                f'        config = self.config.get("{comp_type}", {{}})',
+                f'        driver_type = config.get("driver", "mock")',
+                '        # TODO: Implement driver factory',
+                '        return MockDriver()',
+                '',
+            ])
+
+        # Generate primitive methods
+        for prim_name in self.spec.primitives:
+            prim = get_primitive(prim_name)
+            if prim:
+                lines.extend(self._generate_primitive_method(prim))
+            else:
+                lines.extend([
+                    f'    def {prim_name}(self, **kwargs) -> bool:',
+                    f'        """Unknown primitive: {prim_name}"""',
+                    f'        logger.warning("Primitive {prim_name} not implemented")',
+                    '        return False',
+                    '',
+                ])
+
+        # Add mock driver class
+        lines.extend([
+            '',
+            'class MockDriver:',
+            '    """Mock hardware driver for testing."""',
+            '',
+            '    def __getattr__(self, name):',
+            '        def mock_method(*args, **kwargs):',
+            '            logger.info(f"Mock call: {name}({args}, {kwargs})")',
+            '            return True',
+            '        return mock_method',
+        ])
+
+        return '\n'.join(lines)
+
+    def _generate_primitive_method(self, prim) -> List[str]:
+        """Generate a method for a single primitive."""
+        lines = []
+
+        # Build parameter list
+        params = ['self']
+        for param_name, param_def in prim.parameters.items():
+            type_str = python_type(param_def.type)
+            if param_def.required:
+                params.append(f'{param_name}: {type_str}')
+            else:
+                default_val = repr(param_def.default)
+                params.append(f'{param_name}: {type_str} = {default_val}')
+
+        param_str = ', '.join(params)
+        return_type = python_type(prim.returns)
+
+        lines.extend([
+            f'    def {prim.name}({param_str}) -> {return_type}:',
+            f'        """',
+            f'        {prim.description}',
+            f'        ',
+        ])
+
+        # Document parameters
+        for param_name, param_def in prim.parameters.items():
+            lines.append(f'        Args:')
+            lines.append(f'            {param_name}: {param_def.description}')
+
+        lines.extend([
+            f'        ',
+            f'        Returns:',
+            f'            {prim.returns}: Success status',
+            f'        """',
+            '        try:',
+        ])
+
+        # Generate hardware call based on primitive hardware requirements
+        if 'arm' in prim.hardware:
+            lines.append('            driver = self.arm_driver')
+        elif 'gripper' in prim.hardware:
+            lines.append('            driver = self.gripper_driver')
+        elif prim.hardware:
+            lines.append(f'            driver = self.{prim.hardware[0]}_driver')
+        else:
+            lines.append('            driver = None')
+
+        # Generate the actual call
+        param_names = list(prim.parameters.keys())
+        call_args = ', '.join(f'{p}={p}' for p in param_names)
+
+        lines.extend([
+            f'            result = driver.{prim.name}({call_args})',
+            '            return result',
+            '        except Exception as e:',
+            f'            logger.error(f"Primitive {prim.name} failed: {{e}}")',
+            '            return False' if prim.returns == 'bool' else '            return None',
+            '',
+        ])
+
+        return lines
+
+    def generate_validators(self) -> str:
+        """
+        Generate validators.py for input/output validation.
+
+        Returns:
+            Python source code for validators
+        """
+        lines = [
+            '"""',
+            f'Validators for {self.spec.name} skill.',
+            '',
+            'Provides input and output validation.',
+            f'Generated by Skill Compiler v1.0.0',
+            '"""',
+            '',
+            'from typing import Any, Dict, List, Optional',
+            '',
+            '',
+        ]
+
+        # Import the input/output classes
+        lines.extend([
+            f'def validate_{self.module_name}_input(input) -> List[str]:',
+            '    """',
+            '    Validate skill input parameters.',
+            '    ',
+            '    Args:',
+            '        input: Input dataclass instance',
+            '    ',
+            '    Returns:',
+            '        List of validation errors (empty if valid)',
+            '    """',
+            '    errors = []',
+            '',
+        ])
+
+        # Generate validation for each parameter
+        for param in self.spec.parameters:
+            if param.required and param.default is None:
+                lines.extend([
+                    f'    # Validate {param.name}',
+                    f'    if input.{param.name} is None:',
+                    f'        errors.append("{param.name} is required")',
+                ])
+
+            if param.range:
+                min_val, max_val = param.range
+                lines.extend([
+                    f'    if input.{param.name} is not None:',
+                    f'        if input.{param.name} < {min_val} or input.{param.name} > {max_val}:',
+                    f'            errors.append("{param.name} must be between {min_val} and {max_val}")',
+                ])
+
+        lines.extend([
+            '',
+            '    return errors',
+            '',
+            '',
+        ])
+
+        # Output validation
+        lines.extend([
+            f'def validate_{self.module_name}_output(output) -> List[str]:',
+            '    """',
+            '    Validate skill output.',
+            '    ',
+            '    Args:',
+            '        output: Output dataclass instance',
+            '    ',
+            '    Returns:',
+            '        List of validation warnings',
+            '    """',
+            '    warnings = []',
+            '',
+            '    if output.success and not output.message:',
+            '        warnings.append("Success output should have a message")',
+            '',
+            '    if not output.success and not output.error_code:',
+            '        warnings.append("Failed output should have an error code")',
+            '',
+            '    return warnings',
+        ])
+
+        return '\n'.join(lines)
+
+    def generate_state_machine(self) -> str:
+        """
+        Generate state_machine.py for execution flow.
+
+        Returns:
+            Python source code for state machine
+        """
+        lines = [
+            '"""',
+            f'State machine for {self.spec.name} skill execution.',
+            '',
+            'Manages execution flow and state transitions.',
+            f'Generated by Skill Compiler v1.0.0',
+            '"""',
+            '',
+            'from enum import Enum, auto',
+            'from typing import Any, Callable, Dict, Optional',
+            'import logging',
+            '',
+            '',
+            'logger = logging.getLogger(__name__)',
+            '',
+            '',
+            f'class {self.class_name}State(Enum):',
+            '    """States for skill execution."""',
+            '    IDLE = auto()',
+            '    INITIALIZING = auto()',
+        ]
+
+        # Add states for each primitive
+        for i, prim in enumerate(self.spec.primitives):
+            state_name = prim.upper().replace('-', '_')
+            lines.append(f'    {state_name} = auto()')
+
+        lines.extend([
+            '    VALIDATING = auto()',
+            '    COMPLETED = auto()',
+            '    FAILED = auto()',
+            '',
+            '',
+            f'class {self.class_name}StateMachine:',
+            '    """',
+            '    State machine for managing skill execution flow.',
+            '    """',
+            '',
+            '    def __init__(self):',
+            f'        self.state = {self.class_name}State.IDLE',
+            '        self.error: Optional[str] = None',
+            '        self._transitions: Dict[tuple, Callable] = {}',
+            '        self._setup_transitions()',
+            '',
+            '    def _setup_transitions(self) -> None:',
+            '        """Define valid state transitions."""',
+            f'        S = {self.class_name}State',
+            '',
+            '        # Define transitions',
+            '        self._transitions = {',
+            '            (S.IDLE, "start"): S.INITIALIZING,',
+        ])
+
+        # Add transitions between primitives
+        prev_state = 'INITIALIZING'
+        for prim in self.spec.primitives:
+            state_name = prim.upper().replace('-', '_')
+            lines.append(f'            (S.{prev_state}, "next"): S.{state_name},')
+            prev_state = state_name
+
+        lines.extend([
+            f'            (S.{prev_state}, "next"): S.VALIDATING,',
+            '            (S.VALIDATING, "success"): S.COMPLETED,',
+            '            (S.VALIDATING, "failure"): S.FAILED,',
+            '        }',
+            '',
+            '    def transition(self, event: str) -> bool:',
+            '        """',
+            '        Attempt to transition to a new state.',
+            '        ',
+            '        Args:',
+            '            event: Event triggering the transition',
+            '        ',
+            '        Returns:',
+            '            True if transition succeeded',
+            '        """',
+            '        key = (self.state, event)',
+            '        if key in self._transitions:',
+            '            old_state = self.state',
+            '            self.state = self._transitions[key]',
+            '            logger.info(f"State transition: {old_state} -> {self.state}")',
+            '            return True',
+            '        else:',
+            '            logger.warning(f"Invalid transition: {self.state} + {event}")',
+            '            return False',
+            '',
+            '    def reset(self) -> None:',
+            '        """Reset state machine to initial state."""',
+            f'        self.state = {self.class_name}State.IDLE',
+            '        self.error = None',
+            '',
+            '    @property',
+            '    def is_complete(self) -> bool:',
+            '        """Check if execution is complete."""',
+            f'        return self.state in ({self.class_name}State.COMPLETED, {self.class_name}State.FAILED)',
+            '',
+            '    @property',
+            '    def is_success(self) -> bool:',
+            '        """Check if execution succeeded."""',
+            f'        return self.state == {self.class_name}State.COMPLETED',
+        ])
+
+        return '\n'.join(lines)
+
+    def generate(self, output_dir: Path) -> Dict[str, str]:
+        """
+        Generate all skill code files.
+
+        Args:
+            output_dir: Directory to write files to
+
+        Returns:
+            Dict mapping filenames to generated content
+        """
+        output_dir = Path(output_dir)
+        skill_dir = output_dir / self.module_name
+
+        files = {
+            'skill.py': self.generate_skill_class(),
+            'primitives.py': self.generate_primitives_wrapper(),
+            'validators.py': self.generate_validators(),
+            'state_machine.py': self.generate_state_machine(),
+            '__init__.py': self._generate_init(),
+        }
+
+        # Create directory and write files
+        skill_dir.mkdir(parents=True, exist_ok=True)
+        for filename, content in files.items():
+            (skill_dir / filename).write_text(content)
+
+        return files
+
+    def _generate_init(self) -> str:
+        """Generate __init__.py for the skill package."""
+        return f'''"""
+{self.spec.name} skill package.
+
+{self.spec.description}
+"""
+
+from .skill import {self.class_name}Skill, {self.class_name}Input, {self.class_name}Output
+from .primitives import PrimitiveExecutor
+from .state_machine import {self.class_name}State, {self.class_name}StateMachine
+
+__all__ = [
+    "{self.class_name}Skill",
+    "{self.class_name}Input",
+    "{self.class_name}Output",
+    "PrimitiveExecutor",
+    "{self.class_name}State",
+    "{self.class_name}StateMachine",
+]
+
+__version__ = "{self.spec.version}"
+'''