def check_validity_family_interface(f):
# try to import interface
symbol = f.interface
try:
dtu.import_name(symbol)
except ValueError:
#logger.error(e)
error_if_invalid = 'Invalid symbol %r.' % symbol
return f._replace(valid=False, error_if_invalid=error_if_invalid)
return f
def create_instance(self, family_name, instance_name_or_spec):
dtu.check_isinstance(instance_name_or_spec, (dict, str))
family = self.get_family(family_name)
if not family.valid:
msg = ('Cannot instantiate %r because its family %r is invalid.' %
(instance_name_or_spec, family_name))
msg += '\n\n' + dtu.indent(family.error_if_invalid, " > ")
raise dtu.DTConfigException(msg)
if isinstance(instance_name_or_spec, str):
instance_name = instance_name_or_spec
dtu.check_is_in('instance', instance_name, family.instances)
instance = family.instances[instance_name]
if not instance.valid:
msg = ('Cannot instantiate %r because it is invalid:\n%s' %
(instance_name,
dtu.indent(instance.error_if_invalid, '> ')))
raise dtu.DTConfigException(msg)
res = dtu.instantiate(instance.constructor, instance.parameters)
elif isinstance(instance_name_or_spec, dict):
_name, spec = _parse_inline_spec(instance_name_or_spec)
res = dtu.instantiate(spec.constructor, spec.parameters)
else:
assert False
interface = dtu.import_name(family.interface)
if not isinstance(res, interface):
msg = ('I expected that %r would be a %s but it is a %s.' %
(instance_name, interface.__name__, type(res).__name__))
raise dtu.DTConfigException(msg)
return res
def check_validity_instance(f, i):
if not f.valid:
msg = 'Instance not valid because family not valid.'
return i._replace(valid=False, error_if_invalid=msg)
try:
res = instantiate(i.constructor, i.parameters)
except Exception as e:
msg = str(e)
return i._replace(valid=False, error_if_invalid=msg)
interface = import_name(f.interface)
# print('interface: %s' % interface)
if not isinstance(res, interface):
msg = ('Expected a %s but it is a %s.' %
(interface.__name__, type(res).__name__))
return i._replace(valid=False, error_if_invalid=msg)
return i
def message_class_from_string(s):
if not '/' in s:
msg = ''
msg += 'Invalid message name "%s".\n' % s
msg += 'I expected that the name of the message is in the format "PACKAGE/MSG".\n '
msg += 'E.g. "sensor_msgs/Joy" or "duckietown_msgs/BoolStamped".'
raise dtu.DTConfigException(msg)
# e.g. "std_msgs/Header"
i = s.index('/')
package = s[:i]
name = s[i + 1:]
symbol = '%s.msg.%s' % (package, name)
try:
msgclass = dtu.import_name(symbol)
return msgclass
except ValueError as e:
msg = 'Cannot import type for message "%s" (%s).' % (s, symbol)
dtu.raise_wrapped(dtu.DTConfigException, e, msg, compact=True)
def create_instance(self, family_name, instance_name):
family = self.get_family(family_name)
if not family.valid:
msg = ('Cannot instantiate %r because its family %r is invalid.' %
(instance_name, family_name))
raise DTConfigException(msg)
check_is_in('instance', instance_name, family.instances)
instance = family.instances[instance_name]
if not instance.valid:
msg = ('Cannot instantiate because it is invalid:\n%s' %
indent(instance.error_if_invalid, '> '))
raise DTConfigException(msg)
res = instantiate(instance.constructor, instance.parameters)
interface = import_name(family.interface)
if not isinstance(res, interface):
msg = ('I expected that %r would be a %s but it is a %s.' %
(instance_name, interface.__name__, type(res).__name__))
raise DTConfigException(msg)
return res