Issue 1531: fixes undefined hub in spike prime / robot inventor gener…

…ated code

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/collectorResults/spike/actionDisplay.txt

@@ -1,6 +1,6 @@
 Sensors: 
 []
 Actors: 
-[UsedActor [, DISPLAY], UsedActor [, HUB]]
+[UsedActor [, DISPLAY]]
 Methods: 
 []

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/collectorResults/spike/actionSoundLight.txt

@@ -1,6 +1,6 @@
 Sensors: 
 []
 Actors: 
-[UsedActor [, HUB]]
+[]
 Methods: 
 [GETMIDI, SETSTATUSLIGHT]

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/collectorResults/spike/control.txt

@@ -1,6 +1,6 @@
 Sensors: 
 [UsedSensor [B, TOUCH, PRESSED]]
 Actors: 
-[UsedActor [, HUB]]
+[]
 Methods: 
 [SETSTATUSLIGHT]

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/collectorResults/spike/sensor.txt

@@ -1,6 +1,6 @@
 Sensors: 
 [UsedSensor [1, TIMER, DEFAULT], UsedSensor [F, COLOR, DEFAULT], UsedSensor [U, ULTRASONIC, DISTANCE], UsedSensor [B, TOUCH, PRESSED], UsedSensor [B, TOUCH, FORCE], UsedSensor [1, TIMER, VALUE]]
 Actors: 
-[UsedActor [, HUB]]
+[]
 Methods: 
 [GETSAMPLEULTRASONIC, SETSTATUSLIGHT]

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/actionDiffDrive.py

@@ -4,6 +4,7 @@
 TRACKWIDTH = 11.5
 diff_drive = spike.MotorPair('A', 'B')
 diff_drive.set_motor_rotation(5.6 * math.pi, 'cm')
+hub = spike.PrimeHub()
 
 def run():
     # drive

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/actionMotor.py

@@ -3,6 +3,7 @@
 from spike.control import wait_for_seconds, wait_until
 motorB = spike.Motor('B')
 motorA = spike.Motor('A')
+hub = spike.PrimeHub()
 
 def run():
     # motor

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/control.py

@@ -1,7 +1,6 @@
 import spike
 import math
 from spike.control import wait_for_seconds, wait_until
-
 touch_sensor_B = spike.ForceSensor('F')
 hub = spike.PrimeHub()
 

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/sensor.py

@@ -1,7 +1,6 @@
 import spike
 import math
 from spike.control import wait_for_seconds, wait_until, Timer
-
 touch_sensor_B = spike.ForceSensor('F')
 touch_sensor_B = spike.ForceSensor('F')
 ultrasonic_sensor_U = spike.DistanceSensor('D')

RobotSpike/src/main/java/de/fhg/iais/roberta/visitor/SpikePythonVisitor.java

@@ -702,10 +702,8 @@ protected void generateProgramPrefix(boolean withWrapping) {
             nlIndent();
             this.src.add("timer = Timer()");
         }
-        if ( usedHardwareBean.isActorUsed("HUB") ) {
-            nlIndent();
-            this.src.add("hub = spike.PrimeHub()");
-        }
+        nlIndent();
+        this.src.add("hub = spike.PrimeHub()");
         generateNNStuff("python");
     }
 

RobotSpike/src/main/java/de/fhg/iais/roberta/visitor/SpikeValidatorAndCollectorVisitor.java

@@ -72,7 +72,6 @@ public Void visitColorSensor(ColorSensor colorSensor) {
 
     @Override
     public Void visitDisplayClearAction(DisplayClearAction displayClearAction) {
-        usedHardwareBuilder.addUsedActor(new UsedActor("", "HUB"));
         return null;
     }
 
@@ -89,19 +88,16 @@ public Void visitDisplayTextAction(DisplayTextAction displayTextAction) {
         requiredComponentVisited(displayTextAction, displayTextAction.textToDisplay);
         checkActorPort(displayTextAction);
         usedHardwareBuilder.addUsedActor(new UsedActor("", "DISPLAY"));
-        usedHardwareBuilder.addUsedActor(new UsedActor("", "HUB"));
         return null;
     }
 
     @Override
     public Void visitGestureSensor(GestureSensor gestureSensor) {
-        usedHardwareBuilder.addUsedActor(new UsedActor("", "HUB"));
         return null;
     }
 
     @Override
     public Void visitGyroSensor(GyroSensor gyroSensor) {
-        usedHardwareBuilder.addUsedActor(new UsedActor("", "HUB"));
         return null;
     }
 
@@ -113,21 +109,18 @@ public Void visitImage(Image image) {
     @Override
     public Void visitKeysSensor(KeysSensor keysSensor) {
         checkSensorPort(keysSensor);
-        usedHardwareBuilder.addUsedActor(new UsedActor("", "HUB"));
         return null;
     }
 
     @Override
     public Void visitRgbLedOffHiddenAction(RgbLedOffHiddenAction rgbLedOffHiddenAction) {
-        usedHardwareBuilder.addUsedActor(new UsedActor("", "HUB"));
         return null;
     }
 
     @Override
     public Void visitRgbLedOnHiddenAction(RgbLedOnHiddenAction rgbLedOnHiddenAction) {
         requiredComponentVisited(rgbLedOnHiddenAction, rgbLedOnHiddenAction.colour);
         usedMethodBuilder.addUsedMethod(SpikeMethods.SETSTATUSLIGHT);
-        usedHardwareBuilder.addUsedActor(new UsedActor("", "HUB"));
         return null;
     }
 
@@ -211,15 +204,13 @@ public Void visitMotorStopAction(MotorStopAction motorStopAction) {
     @Override
     public Void visitPlayNoteAction(PlayNoteAction playNoteAction) {
         checkActorPort(playNoteAction);
-        usedHardwareBuilder.addUsedActor(new UsedActor("", "HUB"));
         return null;
     }
 
     @Override
     public Void visitPlayToneAction(PlayToneAction playToneAction) {
         requiredComponentVisited(playToneAction, playToneAction.frequency, playToneAction.duration);
         checkActorPort(playToneAction);
-        usedHardwareBuilder.addUsedActor(new UsedActor("", "HUB"));
         usedMethodBuilder.addUsedMethod(SpikeMethods.GETMIDI);
         return null;
     }