def encode_config(config, flat=True):
msg = ConfigMsg()
for k, v in config.items():
## @todo add more checks here?
if type(v) == int:
msg.ints.append(IntParameter(k, v))
elif type(v) == bool:
msg.bools.append(BoolParameter(k, v))
elif type(v) == str:
msg.strs.append(StrParameter(k, v))
elif sys.version_info.major < 3 and isinstance(v, unicode):
msg.strs.append(StrParameter(k, v))
elif type(v) == float:
msg.doubles.append(DoubleParameter(k, v))
elif type(v) == dict or isinstance(v, Config):
if flat is True:
def flatten(g):
groups = []
for _name, group in g['groups'].items():
groups.extend(flatten(group))
groups.append(GroupState(group['name'], group['state'], group['id'], group['parent']))
return groups
msg.groups.append(GroupState(v['name'], v['state'], v['id'], v['parent']))
msg.groups.extend(flatten(v))
else:
msg.groups = [GroupState(x['name'], x['state'], x['id'], x['parent']) for x in v]
return msg
def flatten(g):
groups = []
for _name, group in g['groups'].items():
groups.extend(flatten(group))
groups.append(
GroupState(group['name'], group['state'],
group['id'], group['parent']))
return groups
def generate_ros_msg(self):
msg = Config()
b = BoolParameter()
b.name = "antiwindup"
b.value = False
msg.bools = [b]
p = DoubleParameter()
p.name = "p"
p.value = self.p
i = DoubleParameter()
i.name = "i"
i.value = self.i
d = DoubleParameter()
d.name = "d"
d.value = self.d
msg.doubles = [p, i, d]
g = GroupState()
g.name = "Default"
g.state = True
g.id = 0
g.parent = 0
msg.groups = [g]
return msg