class MissionActionsHandler(object):
def __init__(self, config):
self.filename = config.csettings[
'configs_path'] + '/' + config.csettings['last_auv_config_xml']
logger.debug("Reading Mission Actions XML...")
self.configParser = XMLConfigParser(self.filename)
def get_actions(self):
"""
Get a list of action from xml structure configuration
:return: return a list of actions from a xml structure configuration
"""
# get misison actions
mission_actions = self.configParser.first_match(
self.configParser.root, "mission_actions")
# all actions
actions = self.configParser.all_matches(mission_actions, "action")
return actions
def get_name_from_param(self, param):
""" Get name from 'param'"""
return self.configParser.first_match(param, "param_name").text
def get_type_from_param(self, param):
""" Get type from 'param'"""
return self.configParser.first_match(param, "param_type").text
def __init__(self, config):
config_check_xml = ConfigCheckXML(config)
if not config_check_xml.exists():
config_check_xml.exec_()
# last auv config xml
self.configParser = XMLConfigParser(
config.csettings['configs_path'] + '/' +
config.csettings['last_auv_config_xml'])
class CheckListHandler(object):
def __init__(self, config):
self.filename = config.csettings[
'configs_path'] + '/' + config.csettings['last_auv_config_xml']
self.configParser = XMLConfigParser(self.filename)
def get_check_lists(self):
"""
Get check_lists
:return: return all lists from check_lists
"""
chk_lists = self.configParser.first_match(self.configParser.root,
"check_lists")
# all check_list in check_lists
lists = self.configParser.all_matches(chk_lists, "check_list")
return lists
def get_items_from_checklist(self, checklist_name):
"""
Get all items from a check_list with name 'checklist_name'
:param checklist_name: name of the check_list
:return: return a list of items from a check_list with name 'checklist_name'
"""
chk_lists = self.configParser.first_match(self.configParser.root,
"check_lists")
# get specific check_list by attribute chk_name
xml_check_list = self.configParser.first_match(
chk_lists, "check_list[@id='" + checklist_name + "']")
# all check_list items
check_items = self.configParser.all_matches(xml_check_list,
"check_item")
return check_items
def get_description_from_item(self, item):
""" Get description field from 'item'
:param item: item is a check_item from xml structure configuration
:return: return description field from 'item'
"""
description = self.configParser.first_match(item, "description")
return description
def get_check_topics_from_item(self, item):
"""
Get check_topics from 'item'
:param item: item is a check_item from xml structure configuration
:return: return a list of check_topics from 'item'
"""
check_topics = self.configParser.all_matches(item, "check_topic")
return check_topics
def get_check_actions_from_item(self, item):
"""
Get check_actions from 'item'
:param item: item is a check_item from xml structure configuration
:return: return a list of check_actions from 'item'
"""
check_actions = self.configParser.all_matches(item, "check_action")
return check_actions
class VehicleInfoHandler(object):
def __init__(self, config):
config_check_xml = ConfigCheckXML(config)
if not config_check_xml.exists():
config_check_xml.exec_()
# last auv config xml
self.configParser = XMLConfigParser(
config.csettings['configs_path'] + '/' +
config.csettings['last_auv_config_xml'])
def read_configuration(self):
# get Vehicle Info
xml_vehicle_info = self.configParser.first_match(
self.configParser.root, "vehicle_info")
return xml_vehicle_info
def write(self):
self.configParser.write()
class VehicleDataHandler(object):
def __init__(self, config):
self.filename = config.csettings['configs_path'] + '/' + config.csettings['last_auv_config_xml']
self.configParser = XMLConfigParser(self.filename)
def read_topics(self):
# get Vehicle Data topics
xml_vehicle_data_topics = self.configParser.first_match(self.configParser.root, "vehicle_data_topics")
return xml_vehicle_data_topics
def read_services(self):
# get Vehicle Data services
xml_vehicle_data_services = self.configParser.first_match(self.configParser.root, "vehicle_data_services")
return xml_vehicle_data_services
def read_launch_list(self):
# get Launch list
xml_launch_list = self.configParser.first_match(self.configParser.root, "launch_list")
return xml_launch_list
def __init__(self, config):
self.filename = config.csettings[
'configs_path'] + '/' + config.csettings['last_auv_config_xml']
self.configParser = XMLConfigParser(self.filename)
def read_configuration(self):
logger.debug("Reading ros_params XML...")
config_parser = XMLConfigParser(self.filename)
# get ros_params
ros_params = config_parser.first_match(config_parser.root,
"ros_params")
# all sections in ros_params
sections = config_parser.all_matches(ros_params, "section")
# initialize empty list of sections
section_list = list()
# fill section values by reading xml and corresponding param values in the param server
for section in sections:
sect = Section()
logger.debug("section.tag")
for value in section:
# description
if value.tag == 'description':
logger.debug(" {} {}".format(value.tag, value.text))
sect.set_description(value.text)
# param
if value.tag == 'param':
logger.debug(" {}".format(value.tag))
desc = config_parser.first_match(value, "description").text
param = Param(desc)
field = config_parser.first_match(value, "field")
if field is not None:
f_name = config_parser.first_match(
field, "field_name").text
f_type = config_parser.first_match(
field, "field_type").text
param.set_field(f_name, f_type)
else:
field_array = config_parser.first_match(
value, "field_array")
f_name = config_parser.first_match(
field_array, "field_array_name").text
f_type = config_parser.first_match(
field_array, "field_array_type").text
f_size = config_parser.first_match(
field_array, "field_array_size").text
param.set_field_array(f_name, f_type, f_size)
p_value = cola2_interface.get_ros_param(
self.ip, self.port,
self.vehicle_namespace + f_name)['value']
param.set_value(p_value)
logger.debug(" {}".format(desc))
logger.debug(" {}".format(f_name))
logger.debug(" {}".format(p_value))
logger.debug(" {}".format(f_type))
sect.add_param(param)
# action_id
if value.tag == 'action_id':
logger.debug(" {} {}".format(value.tag, value.text))
sect.set_action_id(value.text)
section_list.append(sect)
return section_list
def __init__(self, config):
self.filename = config.csettings[
'configs_path'] + '/' + config.csettings['last_auv_config_xml']
logger.debug("Reading Mission Actions XML...")
self.configParser = XMLConfigParser(self.filename)