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Proposed Node refactoring #728
Description
Activity
I am not sure about the first part - maybe setting any variable is a bad idea. As for refactoring - do you imagine a "big bang" kind of PR that does the changes and updates all users at the same time?
I am thinking about descriptor based solution. Something like
class ArtifactDetectorDNN(Node): image = osgar.input() artf = osgar.output() dropped = osgar.output() debug_artf = osgar.output() debug_depth = osgar.output(compress=True) stdout = osgar.output() debug_result = osgar.output() debug_cv_result = osgar.output() @osgar.input("image") def some_handler(self, ...)...
where the variant
image = osgar.input()would just declare the name and handle its setting, while the@osgar.input("image")variant marks the method as a handler. Callingself.dropped.publish(1)' would do whatself.bus.publish('dropped', 1)does now. For anyone having experience with pyqt it should be fairly familiar way of working. Therunand/orupdatewould have to be changed accordingly, most likely evolving into something likespinandspinOnce. Also thebus.registercall would be handled insideNode.init. But it is not all roses - I am not sure how to support dynamic outputs in this setup yet (like the once coming from config inPull` case).I am not ready to make full fledged proposal yet - I just wanted to let everyone know what I am thinking. In the mean time, I don't mind helping with some improvements to
Node.I was going to create "new" issue and I see it is here already for almost 3 years :) ... maybe it is time. We would like to do more changes (like removal of "application" so that all config files have to be complete and not "parametrized" by application). Finally cleanup to keep only the "core" utilities in osgar and drop/move unused bits ... but let's start with these 2 listed in the original message from 2020.
It is not obvious that
osgar.node:Nodeautomatically fills variables received byself.listen()(for exampleself.scanwhen it receivesscan). I would propose to add new functionregister_variables('scan', 'pose3d'), which would automatically defineself.scanandself.pose3d, and initialize them toNone.Open question is what to do with
self.time, i.e. does it have to be also specified in callregister_variables()?What to do with variables, which are not listed? I would recommend to ignore and not set them.
The second proposed change is to modify
Node.update()and extend it toI am using this construct in almost every class.
Note, that this refactoring influences ALL usages of
Nodeincluding external projects, so I would like agreement before I start it.