Merge with OrbbecSDK_ROS2 v2.1.1

orbbec_camera/launch/utils_yaml.py

@@ -0,0 +1,86 @@
+import os
+import yaml
+import logging
+from ament_index_python.packages import get_package_share_directory
+
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
+
+def load_yaml(file_path):
+    try:
+        with open(file_path, 'r') as f:
+            return yaml.safe_load(f)
+    except FileNotFoundError:
+        logger.error(f"File {file_path} not found.")
+        return {}
+    except yaml.YAMLError as e:
+        logger.error(f"Error parsing YAML file {file_path}: {e}")
+        return {}
+
+
+def parse_yaml(data, prefix='', params=None):
+    if params is None:
+        params = {}
+    if isinstance(data, dict):
+        for key, value in data.items():
+            new_prefix = f'{key}.' if prefix else key + '.'
+            params = parse_yaml(value, prefix=new_prefix, params=params)
+    elif isinstance(data, list):
+        for index, item in enumerate(data):
+            params = parse_yaml(item, prefix=f'[{index}].', params=params)
+    else:
+        params[prefix[:-1]] = data
+        #print(f'{prefix}: {data}')
+    return params
+
+
+def load_and_parse_yaml(file_path):
+    data = load_yaml(file_path)
+    return parse_yaml(data) if data else {}
+
+
+def update_params(default_params, yaml_params):
+    default_params.update(yaml_params)
+    return default_params
+
+
+def find_param(params, key, default_value=None):
+    if isinstance(params, dict):
+        return params.get(key, default_value)
+    elif isinstance(params, list):
+        for param_dict in params:
+            if isinstance(param_dict, dict) and key in param_dict:
+                return param_dict[key]
+    return default_value
+
+
+def get_absolute_path(config_file_path, package_name):
+    if not os.path.isabs(config_file_path):
+        logger.info(f"not Absolute path: {config_file_path}")
+        return os.path.join(get_package_share_directory(package_name), 'config', config_file_path)
+    logger.info(f"Absolute path: {config_file_path}")
+    return config_file_path
+
+
+def convert_value(value):
+    if isinstance(value, str):
+        try:
+            return int(value)
+        except ValueError:
+            pass
+        try:
+            return float(value)
+        except ValueError:
+            pass
+        if value.lower() == 'true':
+            return True
+        elif value.lower() == 'false':
+            return False
+    return value
+
+def print_params(default_params):
+    print(f"\n----------------------------------------")
+    for key, value in default_params.items():
+        print(f"Key: {key}, Value: {value}")
+    print(f"----------------------------------------\n")