Source Code for Module dynamic_reconfigure.encoding

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 32   
 33  try: 
 34      import roslib; roslib.load_manifest('dynamic_reconfigure') 
 35  except: 
 36      pass 
 37  import rospy 
 38  import inspect 
 39  import copy 
 40   
 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  from dynamic_reconfigure.msg import IntParameter, BoolParameter, StrParameter, DoubleParameter, ParamDescription 
 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.iteritems(): 
 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 -def encode_groups(parent, group): 
 93      group_list = [] 
 94       
 95      msg = GroupMsg() 
 96   
 97      msg.name = group['name'] 
 98      msg.id = group['id'] 
 99      msg.parent = group['parent'] 
100      msg.type = group['type'] 
101   
102      for param in group['parameters']: 
103          msg.parameters.append(ParamDescription(param['name'], param['type'], param['level'], param['description'], param['edit_method'])) 
104   
105      group_list.append(msg) 
106      for next in group['groups']: 
107          group_list.extend(encode_groups(msg, next)) 
108   
109      return group_list 
110   
111 -def encode_config(config, flat=True): 
112      msg = ConfigMsg() 
113      for k, v in config.items(): 
114          ## @todo add more checks here? 
115          if   type(v) == int:   msg.ints.append(IntParameter(k, v)) 
116          elif type(v) == bool:  msg.bools.append(BoolParameter(k, v)) 
117          elif type(v) == str:   msg.strs.append(StrParameter(k, v)) 
118          elif type(v) == float: msg.doubles.append(DoubleParameter(k, v)) 
119          elif type(v) == dict or isinstance(v, Config): 
120              if flat is True: 
121                  def flatten(g): 
122                      groups = [] 
123                      for name, group in g['groups'].items(): 
124                          groups.extend(flatten(group)) 
125                          groups.append(GroupState(group['name'], group['state'], group['id'], group['parent'])) 
126                      return groups 
127                  msg.groups.append(GroupState(v['name'], v['state'], v['id'], v['parent'])) 
128                  msg.groups.extend(flatten(v)) 
129              else: 
130                  msg.groups = [GroupState(x['name'], x['state'], x['id'], x['parent']) for x in v] 
131   
132      return msg 
133   
134 -def group_dict(group): 
135      try: 
136          state = group.state 
137      except AttributeError: 
138          state = True 
139      if hasattr(group, 'type'): 
140          type = group.type 
141      else: 
142          type ='' 
143      return Config({ 
144          'id' : group.id, 
145          'parent' : group.parent, 
146          'name' : group.name, 
147          'type' : type, 
148          'state': state, 
149          'groups' : Config({}), 
150          'parameters' : Config({}), 
151      }) 
152   
153 -def decode_description(msg): 
154      mins = decode_config(msg.min) 
155      maxes = decode_config(msg.max) 
156      defaults = decode_config(msg.dflt) 
157      groups = {} 
158      grouplist = msg.groups 
159   
160      def params_from_msg(msg): 
161          params = [] 
162          for param in msg.parameters: 
163              name = param.name 
164              params.append({ 
165                 'name': name, 
166                 'min' : mins[name], 
167                 'max' : maxes[name], 
168                 'default' : defaults[name], 
169                 'type' : param.type, 
170                 'level': param.level, 
171                 'description' : param.description, 
172                 'edit_method' : param.edit_method, 
173              }) 
174          return params 
175   
176      # grab the default group 
177      for group in grouplist: 
178          if group.id == 0: 
179              groups = group_dict(group) 
180              groups['parameters'] = params_from_msg(group) 
181     
182      def build_tree(group): 
183          children = Config({}) 
184          for g in grouplist: 
185              if g.id == 0: 
186                 pass 
187              elif g.parent == group['id']: 
188                 gd = group_dict(g) 
189                  
190                 gd['parameters'] = params_from_msg(g) 
191                 gd['groups'] = build_tree(gd) 
192                 # add the dictionary into the tree 
193                 children[gd['name']] = gd 
194          return children 
195   
196      groups['groups'] = build_tree(groups) 
197   
198      return groups 
199   
200 -def get_tree(m, group = None): 
201      if group is None: 
202          for x in m.groups: 
203              if x.id == 0: 
204                  group = x 
205   
206      children = Config({}) 
207      for g in m.groups: 
208          if g.id == 0: 
209            pass 
210          elif g.parent == group.id: 
211              gd = group_dict(g) 
212   
213              gd['groups'] = get_tree(m, g) 
214              children[gd['name']] = gd 
215   
216      if group.id == 0: 
217          ret = group_dict(group) 
218          ret['groups'] = children 
219          return ret 
220      else: 
221          return children 
222   
223 -def initial_config(msg, description = None): 
224      d = Config([(kv.name, kv.value) for kv in msg.bools + msg.ints + msg.strs + msg.doubles]) 
225      def gt(m, descr, group = None): 
226          # get the default group 
227          if group is None: 
228              for x in m.groups: 
229                  if x.id == 0: 
230                      group = x 
231   
232          children = Config({}) 
233          for g in m.groups: 
234              if g.id == 0: 
235                  pass 
236              elif g.parent == group.id: 
237                  gd = group_dict(g) 
238   
239                  def find_state(gr, dr): 
240                      for g in dr['groups']: 
241                          if g['id'] == gr['id']: 
242                              gr['state'] = g['state'] 
243                              return 
244                          else: 
245                              find_state(gr, g) 
246                              return 
247   
248                  find_state(gd, descr) 
249   
250                  # Get the tree for this group 
251                  gd['groups'] = gt(m, descr, g) 
252                  children[gd['name']] = gd 
253   
254          if group.id == 0: 
255              ret = group_dict(group) 
256              ret['groups'] = children 
257              return ret 
258          else: 
259              return children 
260   
261      if not msg.groups == [] and description is not None: 
262          d["groups"] = gt(msg, description) 
263   
264          def add_params(group, descr): 
265              for param in descr['parameters']: 
266                  group['parameters'][param['name']] = d[param['name']] 
267              for n, g in group['groups'].items(): 
268                  for dr in descr['groups']: 
269                      if dr['name'] == g['name']: 
270                          add_params(g, dr) 
271   
272          add_params(d['groups'], description) 
273   
274      return d  
275   
276 -def decode_config(msg, description = None): 
277      d = Config([(kv.name, kv.value) for kv in msg.bools + msg.ints + msg.strs + msg.doubles]) 
278      if not msg.groups == [] and description is not None: 
279          d["groups"] = get_tree(msg) 
280           
281          def add_params(group, descr): 
282              for param in descr['parameters']: 
283                  if param['name'] in d.keys(): 
284                      group[param['name']] = d[param['name']] 
285              for n, g in group['groups'].items(): 
286                  for nr, dr in descr['groups'].items(): 
287                      if dr['name'] == g['name']: 
288                          add_params(g, dr) 
289   
290          add_params(d['groups'], description) 
291   
292      return d  
293   
294 -def extract_params(group): 
295      params = [] 
296      params.extend(group['parameters']) 
297      try: 
298          for n,g in group['groups'].items(): 
299              params.extend(extract_params(g)) 
300      except AttributeError: 
301          for g in group['groups']: 
302              params.extend(extract_params(g)) 
303      return params 
304   
305 -def get_parents(group, descriptions): 
306      parents = [] 
307      for p in descriptions['group']: 
308          if p['id'] == group['parent']: 
309              parents.extend(get_parents(p, descriptions)) 
310              parents.append(p) 
311      return parents 
312