def get_camera_info_for_robot(robot_name: str) -> CameraInfo:
"""
Returns a CameraInfo object for the given robot.
This is in a good format to pass to PinholeCameraModel:
self.pcm = PinholeCameraModel()
self.pcm.fromCameraInfo(self.ci)
The fields are simply lists (not array or matrix).
Raises:
NoCameraInfoAvailable if no info available
InvalidCameraInfo if the info exists but is invalid
"""
if robot_name == dtu.DuckietownConstants.ROBOT_NAME_FOR_TESTS:
calib_data = dtu.yaml_load(default_camera_info)
fn = None
else:
# find the file
fn = get_camera_info_config_file(robot_name)
# load the YAML
calib_data = dtu.yaml_load_file(fn, plain_yaml=True)
# convert the YAML
try:
camera_info = camera_info_from_yaml(calib_data)
except InvalidCameraInfo as e:
msg = f"Invalid data in file {fn}"
raise InvalidCameraInfo(msg) from e
check_camera_info_sane_for_DB17(camera_info)
return camera_info
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 load_configuration(realpath, contents) -> EasyNodeConfig:
# TODO: load "version" string
try:
try:
data = dtu.yaml_load(contents)
except Exception as e:
msg = "Could not parse YAML file properly:"
dtu.raise_wrapped(dtu.DTConfigException, e, msg, compact=True)
raise # ide not smart
if not isinstance(data, dict):
msg = f"Expected a dict, got {type(data).__name__}."
raise dtu.DTConfigException(msg)
try:
parameters = data.pop("parameters")
subscriptions = data.pop("subscriptions")
publishers = data.pop("publishers")
contracts = data.pop("contracts")
description = data.pop("description")
except KeyError as e:
key = e.args[0]
msg = f"Invalid configuration: missing field {key!r}."
raise dtu.DTConfigException(msg)
if not isinstance(description, (str, NoneType)):
msg = f"Description should be a string, not {type(description).__name__}."
raise dtu.DTConfigException(msg)
if data:
msg = f"Spurious fields found: {sorted(data)}"
raise dtu.DTConfigException(msg)
parameters = load_configuration_parameters(parameters)
subscriptions = load_configuration_subscriptions(subscriptions)
contracts = load_configuration_contracts(contracts)
publishers = load_configuration_publishers(publishers)
return EasyNodeConfig(
filename=realpath,
parameters=parameters,
contracts=contracts,
subscriptions=subscriptions,
publishers=publishers,
package_name=None,
description=description,
node_type_name=None,
)
except dtu.DTConfigException as e:
msg = f"Invalid configuration at {realpath}: "
dtu.raise_wrapped(dtu.DTConfigException, e, msg, compact=True)