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  import sys 
 41   
 42  from dynamic_reconfigure.msg import Config as ConfigMsg 
 43  from dynamic_reconfigure.msg import ConfigDescription as ConfigDescrMsg 
 44  from dynamic_reconfigure.msg import Group as GroupMsg 
 45  from dynamic_reconfigure.msg import GroupState 
 46  from dynamic_reconfigure.msg import IntParameter, BoolParameter, StrParameter, DoubleParameter, ParamDescription 
 47   
 48 -class Config(dict): 
 49 -    def __init__(self, *args, **kwargs): 
 50          dict.__init__(self, *args, **kwargs) 
 51   
 52 -    def __getstate__(self): 
 53          return self.__dict__.items() 
 54   
 55 -    def __setstate__(self, items): 
 56          for key, val in items: 
 57              self.__dict__[key] = val 
 58   
 59 -    def __repr__(self): 
 60          return super(Config, self).__repr__()  
 61   
 62 -    def __setitem__(self, key, value): 
 63          return super(Config, self).__setitem__(key, value) 
 64   
 65 -    def __getitem__(self, name): 
 66          return super(Config, self).__getitem__(name) 
 67   
 68 -    def __delitem__(self, name): 
 69          return super(Config, self).__delitem__(name) 
 70   
 71      __getattr__ = __getitem__ 
 72      __setattr__ = __setitem__ 
 73   
 74 -    def copy(self): 
 75          return Config(self) 
 76   
 77 -    def __deepcopy__(self, memo): 
 78          c = type(self)({}) 
 79          for key, value in self.iteritems(): 
 80              c[copy.deepcopy(key)] = copy.deepcopy(value) 
 81   
 82          return c 
 83           
 84   
 85 -def encode_description(descr): 
 86      msg = ConfigDescrMsg() 
 87      msg.max = encode_config(descr.max) 
 88      msg.min = encode_config(descr.min) 
 89      msg.dflt = encode_config(descr.defaults) 
 90      msg.groups = encode_groups(None, descr.config_description) 
 91      return msg 
 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 -def encode_config(config, flat=True): 
113      msg = ConfigMsg() 
114      for k, v in config.items(): 
115          ## @todo add more checks here? 
116          if   type(v) == int:   msg.ints.append(IntParameter(k, v)) 
117          elif type(v) == bool:  msg.bools.append(BoolParameter(k, v)) 
118          elif type(v) == str:   msg.strs.append(StrParameter(k, v)) 
119          elif sys.version_info.major < 3 and type(v) == unicode: 
120              msg.strs.append(StrParameter(k, v)) 
121          elif type(v) == float: msg.doubles.append(DoubleParameter(k, v)) 
122          elif type(v) == dict or isinstance(v, Config): 
123              if flat is True: 
124                  def flatten(g): 
125                      groups = [] 
126                      for name, group in g['groups'].items(): 
127                          groups.extend(flatten(group)) 
128                          groups.append(GroupState(group['name'], group['state'], group['id'], group['parent'])) 
129                      return groups 
130                  msg.groups.append(GroupState(v['name'], v['state'], v['id'], v['parent'])) 
131                  msg.groups.extend(flatten(v)) 
132              else: 
133                  msg.groups = [GroupState(x['name'], x['state'], x['id'], x['parent']) for x in v] 
134   
135      return msg 
136   
137 -def group_dict(group): 
138      try: 
139          state = group.state 
140      except AttributeError: 
141          state = True 
142      if hasattr(group, 'type'): 
143          type = group.type 
144      else: 
145          type ='' 
146      return Config({ 
147          'id' : group.id, 
148          'parent' : group.parent, 
149          'name' : group.name, 
150          'type' : type, 
151          'state': state, 
152          'groups' : Config({}), 
153          'parameters' : Config({}), 
154      }) 
155   
156 -def decode_description(msg): 
157      mins = decode_config(msg.min) 
158      maxes = decode_config(msg.max) 
159      defaults = decode_config(msg.dflt) 
160      groups = {} 
161      grouplist = msg.groups 
162   
163      def params_from_msg(msg): 
164          params = [] 
165          for param in msg.parameters: 
166              name = param.name 
167              params.append({ 
168                 'name': name, 
169                 'min' : mins[name], 
170                 'max' : maxes[name], 
171                 'default' : defaults[name], 
172                 'type' : param.type, 
173                 'level': param.level, 
174                 'description' : param.description, 
175                 'edit_method' : param.edit_method, 
176              }) 
177          return params 
178   
179      # grab the default group 
180      for group in grouplist: 
181          if group.id == 0: 
182              groups = group_dict(group) 
183              groups['parameters'] = params_from_msg(group) 
184     
185      def build_tree(group): 
186          children = Config({}) 
187          for g in grouplist: 
188              if g.id == 0: 
189                 pass 
190              elif g.parent == group['id']: 
191                 gd = group_dict(g) 
192                  
193                 gd['parameters'] = params_from_msg(g) 
194                 gd['groups'] = build_tree(gd) 
195                 # add the dictionary into the tree 
196                 children[gd['name']] = gd 
197          return children 
198   
199      groups['groups'] = build_tree(groups) 
200   
201      return groups 
202   
203 -def get_tree(m, group = None): 
204      if group is None: 
205          for x in m.groups: 
206              if x.id == 0: 
207                  group = x 
208   
209      children = Config({}) 
210      for g in m.groups: 
211          if g.id == 0: 
212            pass 
213          elif g.parent == group.id: 
214              gd = group_dict(g) 
215   
216              gd['groups'] = get_tree(m, g) 
217              children[gd['name']] = gd 
218   
219      if group.id == 0: 
220          ret = group_dict(group) 
221          ret['groups'] = children 
222          return ret 
223      else: 
224          return children 
225   
226 -def initial_config(msg, description = None): 
227      d = Config([(kv.name, kv.value) for kv in msg.bools + msg.ints + msg.strs + msg.doubles]) 
228      def gt(m, descr, group = None): 
229          # get the default group 
230          if group is None: 
231              for x in m.groups: 
232                  if x.id == 0: 
233                      group = x 
234   
235          children = Config({}) 
236          for g in m.groups: 
237              if g.id == 0: 
238                  pass 
239              elif g.parent == group.id: 
240                  gd = group_dict(g) 
241   
242                  def find_state(gr, dr): 
243                      for g in dr['groups']: 
244                          if g['id'] == gr['id']: 
245                              gr['state'] = g['state'] 
246                              return 
247                          else: 
248                              find_state(gr, g) 
249                              return 
250   
251                  find_state(gd, descr) 
252   
253                  # Get the tree for this group 
254                  gd['groups'] = gt(m, descr, g) 
255                  children[gd['name']] = gd 
256   
257          if group.id == 0: 
258              ret = group_dict(group) 
259              ret['groups'] = children 
260              return ret 
261          else: 
262              return children 
263   
264      if not msg.groups == [] and description is not None: 
265          d["groups"] = gt(msg, description) 
266   
267          def add_params(group, descr): 
268              for param in descr['parameters']: 
269                  group['parameters'][param['name']] = d[param['name']] 
270              for n, g in group['groups'].items(): 
271                  for dr in descr['groups']: 
272                      if dr['name'] == g['name']: 
273                          add_params(g, dr) 
274   
275          add_params(d['groups'], description) 
276   
277      return d  
278   
279 -def decode_config(msg, description = None): 
280      if sys.version_info.major < 3: 
281          for s in msg.strs: 
282              if not isinstance(s.value, unicode): 
283                  try: 
284                      s.value.decode('ascii') 
285                  except UnicodeDecodeError: 
286                      s.value = s.value.decode('utf-8') 
287   
288      d = Config([(kv.name, kv.value) for kv in msg.bools + msg.ints + msg.strs + msg.doubles]) 
289      if not msg.groups == [] and description is not None: 
290          d["groups"] = get_tree(msg) 
291           
292          def add_params(group, descr): 
293              for param in descr['parameters']: 
294                  if param['name'] in d.keys(): 
295                      group[param['name']] = d[param['name']] 
296              for n, g in group['groups'].items(): 
297                  for nr, dr in descr['groups'].items(): 
298                      if dr['name'] == g['name']: 
299                          add_params(g, dr) 
300   
301          add_params(d['groups'], description) 
302   
303      return d  
304   
305 -def extract_params(group): 
306      params = [] 
307      params.extend(group['parameters']) 
308      try: 
309          for n,g in group['groups'].items(): 
310              params.extend(extract_params(g)) 
311      except AttributeError: 
312          for g in group['groups']: 
313              params.extend(extract_params(g)) 
314      return params 
315   
316 -def get_parents(group, descriptions): 
317      parents = [] 
318      for p in descriptions['group']: 
319          if p['id'] == group['parent']: 
320              parents.extend(get_parents(p, descriptions)) 
321              parents.append(p) 
322      return parents 
323