Source Code for Module dynamic_reconfigure.encoding

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32   
33  import roslib; roslib.load_manifest('dynamic_reconfigure') 
34  import rospy 
35   
36  from dynamic_reconfigure.msg import Config as ConfigMsg 
37  from dynamic_reconfigure.msg import ConfigDescription as ConfigDescrMsg 
38  from dynamic_reconfigure.msg import IntParameter, BoolParameter, StrParameter, DoubleParameter, ParamDescription 
39   
40 -def encode_description(descr): 
41      msg = ConfigDescrMsg() 
42      msg.max = encode_config(descr.max) 
43      msg.min = encode_config(descr.min) 
44      msg.dflt = encode_config(descr.defaults) 
45      for param in descr.config_description: 
46          msg.parameters.append(ParamDescription(param['name'], param['type'], param['level'], param['description'], param['edit_method'])) 
47      return msg 
48   
49 -def encode_config(config): 
50      msg = ConfigMsg() 
51      for k, v in config.items(): 
52          ## @todo add more checks here? 
53          if   type(v) == int:   msg.ints.append(IntParameter(k, v)) 
54          elif type(v) == bool:  msg.bools.append(BoolParameter(k, v)) 
55          elif type(v) == str:   msg.strs.append(StrParameter(k, v)) 
56          elif type(v) == float: msg.doubles.append(DoubleParameter(k, v)) 
57      return msg 
58   
59 -def decode_description(msg): 
60      descr = [] 
61      mins = decode_config(msg.min) 
62      maxes = decode_config(msg.max) 
63      defaults = decode_config(msg.dflt) 
64      for param in msg.parameters: 
65          name = param.name 
66          descr.append({ 
67              'name': name, 
68              'min': mins[name], 
69              'max': maxes[name], 
70              'default': defaults[name], 
71              'type': param.type, 
72              'description': param.description, 
73              'edit_method': param.edit_method, 
74              }) 
75      return descr 
76   
77 -def decode_config(msg): 
78      return dict([(kv.name, kv.value) for kv in msg.bools + msg.ints + msg.strs + msg.doubles]) 
79