attach_parameters() - Code Metrics - UC3MSocialRobots/rospy_utils - Measure and Improve Code Quality continuously with Scrutinizer

attach_parameters() B
last analyzed 2016-06-03 10:45 UTC

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Complexity

Conditions

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Total Lines

Duplication

Lines	0
Ratio	0 %

Importance

Changes	1
Bugs	0	Features	0

Metric	Value
cc	4
c	1
b	0
f	0
dl	0
loc	33
rs	8.5806

#!/usr/bin/env python


# :version:      0.1.0
# :copyright:    Copyright (C) 2014 Universidad Carlos III de Madrid.
#                Todos los derechos reservados.
# :license       LASR_UC3M v1.0, ver LICENCIA.txt

# Este programa es software libre: puede redistribuirlo y/o modificarlo
# bajo los terminos de la Licencia Academica Social Robotics Lab - UC3M
# publicada por la Universidad Carlos III de Madrid, tanto en su version 1.0
# como en una version posterior.

# Este programa se distribuye con la intencion de que sea util,
# pero SIN NINGUNA GARANTIA. Para mas detalles, consulte la
# Licencia Academica Social Robotics Lab - UC3M version 1.0 o posterior.

# Usted ha recibido una copia de la Licencia Academica Social
# Robotics Lab - UC3M en el fichero LICENCIA.txt, que tambien se encuentra
# disponible en <URL a la LASR_UC3Mv1.0>.

"""
Some utils to ease the use of loading parameters from ROS.

:author: Victor Gonzalez Pacheco (victor.gonzalez.pacheco at gmail.com)
:date: 2014-04
"""
# import roslib
# roslib.load_manifest('rospy_utils')
import rospy
# .scrutinizer.yml
before_commands:
    - sudo pip install abc # Python2
    - sudo pip3 install abc # Python3

from collections import namedtuple
# from itertools import imap

from .iter_utils import as_iter

Param = namedtuple('Param', 'name value')
# Param.__doc__ = """A struct defining a pair param_name, param_value."""
MASTER_PARAMS = ('/roslaunch', '/rosdistro', '/rosversion', '/run_id')


class ParamNotFoundError(Exception):

    """Error that occurs when is not possible to laod a param."""
    pass


def __get_parameter(pname):
    param_full_name = rospy.search_param(pname)
    if not param_full_name:
        raise ParamNotFoundError("'{}'".format(pname))
    p = Param(param_full_name, rospy.get_param(param_full_name))
    rospy.logdebug("Param '{}'. Value: '{}'".format(p.name, p.value))
    return p


def get_parameters(parameters):
    """
    Yield the params from Parameter Server that are in attribute 'parameters'

    :input: A list parameters to retrieve from the ParamServer
    :yields: A Param("name value) namedtuple
    :raises: ParamNotFoundError in case a parameter Error
    :raises: ValueError in case parameters is empty
    """
    params = as_iter(parameters)
    for pname in params:
        try:
            yield __get_parameter(pname)
        except ParamNotFoundError as pnf:
            pnf.message = pnf.message \
                + "Error when loading parameter '{}'!".format(pname)
            raise


def get_all_user_params():
    """
    Yield all user parameters loaded in the parameter server.

    It yields all parameters except the ones that are
    already loaded by the ROSMaster.

    Attributes:
    :param ns: The namespace where to look for.
    Yields:
    :return param(param_full_name, param_value): yields A param
    """

    all_param_names = rospy.get_param_names()

    for pn in all_param_names:
        if any(map(pn.__contains__, MASTER_PARAMS)):
            continue        # skip parameters that are loaded by rosmaster
        pvalue = rospy.get_param(pn)
        yield Param(pn, pvalue)


def load_params(params):
    """
    Generator that yields the values of the entered params.

    :raises: ParamNotFoundError in case a parameter Error
    :raises: ValueError in case parameters is empty
    """
    for _, pvalue in get_parameters(params):
        yield pvalue


def __attach_parameter(obj, param, create_new=False):
    """
    Modify obj by attaching to it a parameter.

    :param obj: Object to add the parameters
    :param param: parameter to add from the parameter server
    :type param: Param
    :param create_attribs:  (Defautl: False)
                            Wether to add new attributes to the object
                            in case they do not have (see example)
    """
    pname = param.name.rsplit('/', 1)[-1]  # Get rid of param namespace
    if not hasattr(obj, pname) and not create_new:
        raise AttributeError("'{}' does not have attribute '{}'"
                             .format(obj.__class__, pname))
    setattr(obj, pname, param.value)


def attach_parameters(obj, params, create_new=False):
    """
    Attach a list of parameters to a node.

    :param obj: Object to add the parameters
    :param params: name of the params to add from the parameter server
    :type params: a string or a list of strings
    :param create_attribs:  (Defautl: False)
                            Wether to add new attributes to the object
                            in case they do not have (see example)
    :return: obj with new attributes attached

    Example:

        >>> rospy.set_param('p',  'hi!')
        >>> rospy.set_param('p2', 'bye!')
        >>> my_obj = SomeClass(p='zzz')
        >>> print my_obj.p, my_obj.p2
        'zzz'
        AttributeError: 'SomeClass' object has no attribute 'p2'
        >>> my_obj = attach_parameters(my_obj, ['p', p2', create_new=True)
        >>> print my_obj.p, my_obj.p2
        'hi!', 'bye!
    """
    try:
        params = get_parameters(params)
        for p in params:
            __attach_parameter(obj, p, create_new)
        return obj
    except ValueError:
        return obj
    except Exception:
        raise


1			#!/usr/bin/env python
2
3
4			# :version: 0.1.0
5			# :copyright: Copyright (C) 2014 Universidad Carlos III de Madrid.
6			# Todos los derechos reservados.
7			# :license LASR_UC3M v1.0, ver LICENCIA.txt
8
9			# Este programa es software libre: puede redistribuirlo y/o modificarlo
10			# bajo los terminos de la Licencia Academica Social Robotics Lab - UC3M
11			# publicada por la Universidad Carlos III de Madrid, tanto en su version 1.0
12			# como en una version posterior.
13
14			# Este programa se distribuye con la intencion de que sea util,
15			# pero SIN NINGUNA GARANTIA. Para mas detalles, consulte la
16			# Licencia Academica Social Robotics Lab - UC3M version 1.0 o posterior.
17
18			# Usted ha recibido una copia de la Licencia Academica Social
19			# Robotics Lab - UC3M en el fichero LICENCIA.txt, que tambien se encuentra
20			# disponible en <URL a la LASR_UC3Mv1.0>.
21
22			"""
23			Some utils to ease the use of loading parameters from ROS.
24
25			:author: Victor Gonzalez Pacheco (victor.gonzalez.pacheco at gmail.com)
26			:date: 2014-04
27			"""
28			# import roslib
29			# roslib.load_manifest('rospy_utils')
30			import rospy
			0 ignored issues – show Configuration introduced 2016-06-03 10:22 UTC by Report Bug Copy Issue Report The import `rospy` could not be resolved. This can be caused by one of the following: 1. Missing Dependencies This error could indicate a configuration issue of Pylint. Make sure that your libraries are available by adding the necessary commands. # .scrutinizer.yml before_commands: - sudo pip install abc # Python2 - sudo pip3 install abc # Python3 Tip: We are currently not using virtualenv to run pylint, when installing your modules make sure to use the command for the correct version. 2. Missing __init__.py files This error could also result from missing `__init__.py` files in your module folders. Make sure that you place one file in each sub-folder. Loading history...
31
32			from collections import namedtuple
33			# from itertools import imap
34
35			from .iter_utils import as_iter
36
37			Param = namedtuple('Param', 'name value')
38			# Param.__doc__ = """A struct defining a pair param_name, param_value."""
39			MASTER_PARAMS = ('/roslaunch', '/rosdistro', '/rosversion', '/run_id')
40
41
42			class ParamNotFoundError(Exception):
43
44			"""Error that occurs when is not possible to laod a param."""
45			pass
46
47
48			def __get_parameter(pname):
49			param_full_name = rospy.search_param(pname)
50			if not param_full_name:
51			raise ParamNotFoundError("'{}'".format(pname))
52			p = Param(param_full_name, rospy.get_param(param_full_name))
53			rospy.logdebug("Param '{}'. Value: '{}'".format(p.name, p.value))
54			return p
55
56
57			def get_parameters(parameters):
58			"""
59			Yield the params from Parameter Server that are in attribute 'parameters'
60
61			:input: A list parameters to retrieve from the ParamServer
62			:yields: A Param("name value) namedtuple
63			:raises: ParamNotFoundError in case a parameter Error
64			:raises: ValueError in case parameters is empty
65			"""
66			params = as_iter(parameters)
67			for pname in params:
68			try:
69			yield __get_parameter(pname)
70			except ParamNotFoundError as pnf:
71			pnf.message = pnf.message \
72			+ "Error when loading parameter '{}'!".format(pname)
73			raise
74
75
76			def get_all_user_params():
77			"""
78			Yield all user parameters loaded in the parameter server.
79
80			It yields all parameters except the ones that are
81			already loaded by the ROSMaster.
82
83			Attributes:
84			:param ns: The namespace where to look for.
85			Yields:
86			:return param(param_full_name, param_value): yields A param
87			"""
88
89			all_param_names = rospy.get_param_names()
90
91			for pn in all_param_names:
92			if any(map(pn.__contains__, MASTER_PARAMS)):
93			continue # skip parameters that are loaded by rosmaster
94			pvalue = rospy.get_param(pn)
95			yield Param(pn, pvalue)
96
97
98			def load_params(params):
99			"""
100			Generator that yields the values of the entered params.
101
102			:raises: ParamNotFoundError in case a parameter Error
103			:raises: ValueError in case parameters is empty
104			"""
105			for _, pvalue in get_parameters(params):
106			yield pvalue
107
108
109			def __attach_parameter(obj, param, create_new=False):
110			"""
111			Modify obj by attaching to it a parameter.
112
113			:param obj: Object to add the parameters
114			:param param: parameter to add from the parameter server
115			:type param: Param
116			:param create_attribs: (Defautl: False)
117			Wether to add new attributes to the object
118			in case they do not have (see example)
119			"""
120			pname = param.name.rsplit('/', 1)[-1] # Get rid of param namespace
121			if not hasattr(obj, pname) and not create_new:
122			raise AttributeError("'{}' does not have attribute '{}'"
123			.format(obj.__class__, pname))
124			setattr(obj, pname, param.value)
125
126
127			def attach_parameters(obj, params, create_new=False):
128			"""
129			Attach a list of parameters to a node.
130
131			:param obj: Object to add the parameters
132			:param params: name of the params to add from the parameter server
133			:type params: a string or a list of strings
134			:param create_attribs: (Defautl: False)
135			Wether to add new attributes to the object
136			in case they do not have (see example)
137			:return: obj with new attributes attached
138
139			Example:
140
141			>>> rospy.set_param('p', 'hi!')
142			>>> rospy.set_param('p2', 'bye!')
143			>>> my_obj = SomeClass(p='zzz')
144			>>> print my_obj.p, my_obj.p2
145			'zzz'
146			AttributeError: 'SomeClass' object has no attribute 'p2'
147			>>> my_obj = attach_parameters(my_obj, ['p', p2', create_new=True)
148			>>> print my_obj.p, my_obj.p2
149			'hi!', 'bye!
150			"""
151			try:
152			params = get_parameters(params)
153			for p in params:
154			__attach_parameter(obj, p, create_new)
155			return obj
156			except ValueError:
157			return obj
158			except Exception:
159			raise
160

UC3MSocialRobots / rospy_utils

attach_parameters() B last analyzed 2016-06-03 10:45 UTC

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2. Missing __init__.py files

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attach_parameters() B
last analyzed 2016-06-03 10:45 UTC

2. Missing init.py files