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 updateParams(self, _event):
old_verbose = self.verbose
self.verbose = rospy.get_param('~verbose', True)
# self.loginfo('verbose = %r' % self.verbose)
if self.verbose != old_verbose:
self.loginfo('Verbose is now %r' % self.verbose)
self.image_size = rospy.get_param('~img_size')
self.top_cutoff = rospy.get_param('~top_cutoff')
if self.detector is None:
c = rospy.get_param('~detector')
assert isinstance(c, list) and len(c) == 2, c
# if str(self.detector_config) != str(c):
self.loginfo('new detector config: %s' % str(c))
self.detector = dtu.instantiate(c[0], c[1])
# self.detector_config = c
if self.verbose and self.pub_edge is None:
self.pub_edge = rospy.Publisher("~edge", Image, queue_size=1)
self.pub_colorSegment = rospy.Publisher("~colorSegment",
Image,
queue_size=1)
def updateParams(self, event):
if self.filter is None:
c = rospy.get_param('~filter')
assert isinstance(c, list) and len(c) == 2, c
self.loginfo('new filter config: %s' % str(c))
self.filter = dtu.instantiate(c[0], c[1])
def parse_reg_test():
x = dtu.yaml_load(s)
if isinstance(x['description'], unicode):
msg = 'I do not expect Unicode'
msg += '\n' + x.__repr__()
raise ValueError(msg)
_ = dtu.instantiate(x['constructor'], x['parameters'])
def parse_reg_fail():
x = dtu.yaml_load(s_fail)
print x.__repr__()
try:
_ = dtu.instantiate(x['constructor'], x['parameters'])
except RTParseError:
pass
else:
raise Exception('Expected failure')
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 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
def LineDetectorClass():
return dtu.instantiate(detector[0], detector[1])