def boot_spec_from_ros_message(msg):
''' Infers the boot spec from a ROS message. '''
# Previously, we used to write only the range as a string
# for example, '[[0,1],[0,1],[0,1]]'
# But now, we use the YAML spec directly.
spec_string = msg.commands_spec
if spec_string[0] == '[':
commands_spec = eval(spec_string) # XXX: not safe
sensels_shape = msg.sensel_shape # TODO: check coherence
nu = len(commands_spec)
spec = {
'observations': {
'shape': list(sensels_shape),
'range': [0, 1], # XXX: we need something else here
'format': 'C'
},
'commands': {
'shape': [nu],
'range': map(list, commands_spec),
'format': ['C'] * nu
}
}
return BootSpec.from_yaml(spec)
elif spec_string[0] == '{':
return BootSpec.from_yaml(yaml_load(spec_string))
else:
raise ValueError('Cannot interpret spec for msg:\n%s' % spec_string)
def load_extra(extra_table, index):
extra_string = str(extra_table[index])
extra_string = zlib.decompress(extra_string)
extra = yaml_load(extra_string)
if not isinstance(extra, dict):
msg = ('Expected to deserialize a dict, obtained %r'
% describe_type(extra))
raise Exception(msg)
return extra
def spec_from_group(group):
data_table = group.boot_stream
if 'boot_spec' in data_table.attrs:
# Old version
specs = str(data_table.attrs['boot_spec'])
else:
specs = str(group.boot_spec[0])
spec = BootSpec.from_yaml(yaml_load(specs))
return spec