Source Code for Module dynamic_reconfigure.encoding

  1  # Software License Agreement (BSD License) 
  2  # 
  3  # Copyright (c) 2009, Willow Garage, Inc. 
  4  # All rights reserved. 
  5  # 
  6  # Redistribution and use in source and binary forms, with or without 
  7  # modification, are permitted provided that the following conditions 
  8  # are met: 
  9  # 
 10  #  * Redistributions of source code must retain the above copyright 
 11  #    notice, this list of conditions and the following disclaimer. 
 12  #  * Redistributions in binary form must reproduce the above 
 13  #    copyright notice, this list of conditions and the following 
 14  #    disclaimer in the documentation and/or other materials provided 
 15  #    with the distribution. 
 16  #  * Neither the name of Willow Garage, Inc. nor the names of its 
 17  #    contributors may be used to endorse or promote products derived 
 18  #    from this software without specific prior written permission. 
 19  # 
 20  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
 21  # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
 22  # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 
 23  # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 
 24  # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 
 25  # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 
 26  # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 
 27  # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
 28  # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 
 29  # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 
 30  # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
 31  # POSSIBILITY OF SUCH DAMAGE. 
 32   
 33  try: 
 34      import roslib; roslib.load_manifest('dynamic_reconfigure') 
 35  except Exception: 
 36      pass 
 37  import copy 
 38  import sys 
 39   
 40  from dynamic_reconfigure.msg import BoolParameter, DoubleParameter, IntParameter, ParamDescription, StrParameter 
 41  from dynamic_reconfigure.msg import Config as ConfigMsg 
 42  from dynamic_reconfigure.msg import ConfigDescription as ConfigDescrMsg 
 43  from dynamic_reconfigure.msg import Group as GroupMsg 
 44  from dynamic_reconfigure.msg import GroupState 
 45   
 46   
 47 -class Config(dict): 
 48 -    def __init__(self, *args, **kwargs): 
 49          dict.__init__(self, *args, **kwargs) 
 50   
 51 -    def __getstate__(self): 
 52          return self.__dict__.items() 
 53   
 54 -    def __setstate__(self, items): 
 55          for key, val in items: 
 56              self.__dict__[key] = val 
 57   
 58 -    def __repr__(self): 
 59          return super(Config, self).__repr__() 
 60   
 61 -    def __setitem__(self, key, value): 
 62          return super(Config, self).__setitem__(key, value) 
 63   
 64 -    def __getitem__(self, name): 
 65          return super(Config, self).__getitem__(name) 
 66   
 67 -    def __delitem__(self, name): 
 68          return super(Config, self).__delitem__(name) 
 69   
 70      __getattr__ = __getitem__ 
 71      __setattr__ = __setitem__ 
 72   
 73 -    def copy(self): 
 74          return Config(self) 
 75   
 76 -    def __deepcopy__(self, memo): 
 77          c = type(self)({}) 
 78          for key, value in self.items(): 
 79              c[copy.deepcopy(key)] = copy.deepcopy(value) 
 80   
 81          return c 
 82   
 83   
 84 -def encode_description(descr): 
 85      msg = ConfigDescrMsg() 
 86      msg.max = encode_config(descr.max) 
 87      msg.min = encode_config(descr.min) 
 88      msg.dflt = encode_config(descr.defaults) 
 89      msg.groups = encode_groups(None, descr.config_description) 
 90      return msg 
 91   
 92   
 93 -def encode_groups(parent, group): 
 94      group_list = [] 
 95   
 96      msg = GroupMsg() 
 97   
 98      msg.name = group['name'] 
 99      msg.id = group['id'] 
100      msg.parent = group['parent'] 
101      msg.type = group['type'] 
102   
103      for param in group['parameters']: 
104          msg.parameters.append(ParamDescription(param['name'], param['type'], param['level'], param['description'], param['edit_method'])) 
105   
106      group_list.append(msg) 
107      for next in group['groups']: 
108          group_list.extend(encode_groups(msg, next)) 
109   
110      return group_list 
111   
112   
113 -def encode_config(config, flat=True): 
114      msg = ConfigMsg() 
115      for k, v in config.items(): 
116          ## @todo add more checks here? 
117          if type(v) == int: 
118              msg.ints.append(IntParameter(k, v)) 
119          elif type(v) == bool: 
120              msg.bools.append(BoolParameter(k, v)) 
121          elif type(v) == str: 
122              msg.strs.append(StrParameter(k, v)) 
123          elif sys.version_info.major < 3 and isinstance(v, unicode): 
124              msg.strs.append(StrParameter(k, v)) 
125          elif type(v) == float: 
126              msg.doubles.append(DoubleParameter(k, v)) 
127          elif type(v) == dict or isinstance(v, Config): 
128              if flat is True: 
129                  def flatten(g): 
130                      groups = [] 
131                      for _name, group in g['groups'].items(): 
132                          groups.extend(flatten(group)) 
133                          groups.append(GroupState(group['name'], group['state'], group['id'], group['parent'])) 
134                      return groups 
135                  msg.groups.append(GroupState(v['name'], v['state'], v['id'], v['parent'])) 
136                  msg.groups.extend(flatten(v)) 
137              else: 
138                  msg.groups = [GroupState(x['name'], x['state'], x['id'], x['parent']) for x in v] 
139   
140      return msg 
141   
142   
143 -def group_dict(group): 
144      try: 
145          state = group.state 
146      except AttributeError: 
147          state = True 
148      if hasattr(group, 'type'): 
149          type = group.type 
150      else: 
151          type = '' 
152      return Config({ 
153          'id': group.id, 
154          'parent': group.parent, 
155          'name': group.name, 
156          'type': type, 
157          'state': state, 
158          'groups': Config({}), 
159          'parameters': Config({}), 
160      }) 
161   
162   
163 -def decode_description(msg): 
164      mins = decode_config(msg.min) 
165      maxes = decode_config(msg.max) 
166      defaults = decode_config(msg.dflt) 
167      groups = {} 
168      grouplist = msg.groups 
169   
170      def params_from_msg(msg): 
171          params = [] 
172          for param in msg.parameters: 
173              name = param.name 
174              params.append({ 
175                  'name': name, 
176                  'min': mins[name], 
177                  'max': maxes[name], 
178                  'default': defaults[name], 
179                  'type': param.type, 
180                  'level': param.level, 
181                  'description': param.description, 
182                  'edit_method': param.edit_method, 
183              }) 
184          return params 
185   
186      # grab the default group 
187      for group in grouplist: 
188          if group.id == 0: 
189              groups = group_dict(group) 
190              groups['parameters'] = params_from_msg(group) 
191   
192      def build_tree(group): 
193          children = Config({}) 
194          for g in grouplist: 
195              if g.id == 0: 
196                  pass 
197              elif g.parent == group['id']: 
198                  gd = group_dict(g) 
199   
200                  gd['parameters'] = params_from_msg(g) 
201                  gd['groups'] = build_tree(gd) 
202                  # add the dictionary into the tree 
203                  children[gd['name']] = gd 
204          return children 
205   
206      groups['groups'] = build_tree(groups) 
207   
208      return groups 
209   
210   
211 -def get_tree(m, group=None): 
212      if group is None: 
213          for x in m.groups: 
214              if x.id == 0: 
215                  group = x 
216   
217      children = Config({}) 
218      for g in m.groups: 
219          if g.id == 0: 
220              pass 
221          elif g.parent == group.id: 
222              gd = group_dict(g) 
223   
224              gd['groups'] = get_tree(m, g) 
225              children[gd['name']] = gd 
226   
227      if group.id == 0: 
228          ret = group_dict(group) 
229          ret['groups'] = children 
230          return ret 
231      else: 
232          return children 
233   
234   
235 -def initial_config(msg, description=None): 
236      d = Config([(kv.name, kv.value) for kv in msg.bools + msg.ints + msg.strs + msg.doubles]) 
237   
238      def gt(m, descr, group=None): 
239          # get the default group 
240          if group is None: 
241              for x in m.groups: 
242                  if x.id == 0: 
243                      group = x 
244   
245          children = Config({}) 
246          for g in m.groups: 
247              if g.id == 0: 
248                  pass 
249              elif g.parent == group.id: 
250                  gd = group_dict(g) 
251   
252                  def find_state(gr, dr): 
253                      for g in dr['groups']: 
254                          if g['id'] == gr['id']: 
255                              gr['state'] = g['state'] 
256                              return 
257                          else: 
258                              find_state(gr, g) 
259                              return 
260   
261                  find_state(gd, descr) 
262   
263                  # Get the tree for this group 
264                  gd['groups'] = gt(m, descr, g) 
265                  children[gd['name']] = gd 
266   
267          if group.id == 0: 
268              ret = group_dict(group) 
269              ret['groups'] = children 
270              return ret 
271          else: 
272              return children 
273   
274      if not msg.groups == [] and description is not None: 
275          d["groups"] = gt(msg, description) 
276   
277          def add_params(group, descr): 
278              for param in descr['parameters']: 
279                  group['parameters'][param['name']] = d[param['name']] 
280              for _n, g in group['groups'].items(): 
281                  for dr in descr['groups']: 
282                      if dr['name'] == g['name']: 
283                          add_params(g, dr) 
284   
285          add_params(d['groups'], description) 
286   
287      return d 
288   
289   
290 -def decode_config(msg, description=None): 
291      if sys.version_info.major < 3: 
292          for s in msg.strs: 
293              if not isinstance(s.value, unicode): 
294                  try: 
295                      s.value.decode('ascii') 
296                  except UnicodeDecodeError: 
297                      s.value = s.value.decode('utf-8') 
298   
299      d = Config([(kv.name, kv.value) for kv in msg.bools + msg.ints + msg.strs + msg.doubles]) 
300      if not msg.groups == [] and description is not None: 
301          d["groups"] = get_tree(msg) 
302   
303          def add_params(group, descr): 
304              for param in descr['parameters']: 
305                  if param['name'] in d.keys(): 
306                      group[param['name']] = d[param['name']] 
307              for _n, g in group['groups'].items(): 
308                  for _nr, dr in descr['groups'].items(): 
309                      if dr['name'] == g['name']: 
310                          add_params(g, dr) 
311   
312          add_params(d['groups'], description) 
313   
314      return d 
315   
316   
317 -def extract_params(group): 
318      params = [] 
319      params.extend(group['parameters']) 
320      try: 
321          for _n, g in group['groups'].items(): 
322              params.extend(extract_params(g)) 
323      except AttributeError: 
324          for g in group['groups']: 
325              params.extend(extract_params(g)) 
326      return params 
327   
328   
329 -def get_parents(group, descriptions): 
330      parents = [] 
331      for p in descriptions['group']: 
332          if p['id'] == group['parent']: 
333              parents.extend(get_parents(p, descriptions)) 
334              parents.append(p) 
335      return parents 
336