mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-12 11:10:19 +08:00
86 lines
2.5 KiB
Python
86 lines
2.5 KiB
Python
import os
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import yaml
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import logging
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from ament_index_python.packages import get_package_share_directory
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logging.basicConfig(level=logging.INFO)
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logger = logging.getLogger(__name__)
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def load_yaml(file_path):
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try:
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with open(file_path, 'r') as f:
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return yaml.safe_load(f)
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except FileNotFoundError:
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logger.error(f"File {file_path} not found.")
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return {}
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except yaml.YAMLError as e:
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logger.error(f"Error parsing YAML file {file_path}: {e}")
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return {}
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def parse_yaml(data, prefix='', params=None):
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if params is None:
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params = {}
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if isinstance(data, dict):
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for key, value in data.items():
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new_prefix = f'{key}.' if prefix else key + '.'
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params = parse_yaml(value, prefix=new_prefix, params=params)
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elif isinstance(data, list):
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for index, item in enumerate(data):
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params = parse_yaml(item, prefix=f'[{index}].', params=params)
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else:
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params[prefix[:-1]] = data
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#print(f'{prefix}: {data}')
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return params
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def load_and_parse_yaml(file_path):
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data = load_yaml(file_path)
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return parse_yaml(data) if data else {}
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def update_params(default_params, yaml_params):
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default_params.update(yaml_params)
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return default_params
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def find_param(params, key, default_value=None):
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if isinstance(params, dict):
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return params.get(key, default_value)
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elif isinstance(params, list):
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for param_dict in params:
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if isinstance(param_dict, dict) and key in param_dict:
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return param_dict[key]
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return default_value
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def get_absolute_path(config_file_path, package_name):
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if not os.path.isabs(config_file_path):
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logger.info(f"not Absolute path: {config_file_path}")
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return os.path.join(get_package_share_directory(package_name), 'config', config_file_path)
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logger.info(f"Absolute path: {config_file_path}")
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return config_file_path
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def convert_value(value):
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if isinstance(value, str):
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try:
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return int(value)
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except ValueError:
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pass
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try:
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return float(value)
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except ValueError:
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pass
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if value.lower() == 'true':
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return True
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elif value.lower() == 'false':
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return False
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return value
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def print_params(default_params):
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print(f"\n----------------------------------------")
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for key, value in default_params.items():
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print(f"Key: {key}, Value: {value}")
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print(f"----------------------------------------\n") |