RobotRaconteurCompanion.Util.InfoFileLoader

Utility class for loading Robot Raconteur device info structure from YAML files. These info structures contain metadata and are passed to clients to describe the device.

The following types are supported:

  • com.robotraconteur.actuator.ActuatorInfo

  • com.robotraconteur.clock.ClockDeviceInfo

  • com.robotraconteur.isoch.IsochDeviceInfo

  • com.robotraconteur.device.DeviceInfo

  • com.robotraconteur.eventlog.EventLogInfo

  • com.robotraconteur.fiducial.FiducialInfo

  • com.robotraconteur.fiducial.FiducialSensorInfo

  • com.robotraconteur.hid.joystick.JoystickInfo

  • com.robotraconteur.image.ImageInfo

  • com.robotraconteur.image.FreeformImageInfo

  • com.robotraconteur.imaging.camerainfo.PlumbBobDistortionInfo

  • com.robotraconteur.imaging.camerainfo.CameraInfo

  • com.robotraconteur.imaging.camerainfo.MultiCameraInfo

  • com.robotraconteur.laserscan.LaserScanInfo

  • com.robotraconteur.laserscan.LaserScanInfof

  • com.robotraconteur.laserscan.LaserScanSensorInfo

  • com.robotraconteur.lighting.LightInfo

  • com.robotraconteur.objectrecognition.ObjectRecognitionSensorInfo

  • com.robotraconteur.octree.OcTreeInfo

  • com.robotraconteur.param.ParameterInfo

  • com.robotraconteur.pointcloud.sensor.PointCloudSensorInfo

  • com.robotraconteur.resource.BucketInfo

  • com.robotraconteur.resource.ResourceInfo

  • com.robotraconteur.robotics.joint.JointInfo

  • com.robotraconteur.robotics.payload.PayloadInfo

  • com.robotraconteur.robotics.robot.RobotInfo

  • com.robotraconteur.robotics.robot.RobotKinChainInfo

  • com.robotraconteur.robotics.tool.ToolInfo

  • com.robotraconteur.sensor.SensorInfo

  • com.robotraconteur.sensordata.SensorDataSourceInfo

  • com.robotraconteur.servo.ServoInfo

  • com.robotraconteur.signal.SignalInfo

  • com.robotraconteur.signal.SignalGroupInfo

import RobotRaconteur as RR
RRN = RR.RobotRaconteurNode.s
import RobotRaconteurCompanion as RRC
from RobotRaconteurCompanion.Util.InfoFileLoader import InfoFileLoader
from RobotRaconteurCompanion.Util.AttributesUtil import AttributesUtil

RRC.RegisterStdRobDefServiceTypes(RRN)
info_loader = InfoFileLoader(RRN)
camera_info, camera_ident_fd = info_loader.LoadInfoFileFromString(camera_info_text, "com.robotraconteur.imaging.camerainfo.CameraInfo", "camera")
attributes_util = AttributesUtil(RRN)
camera_attributes = attributes_util.GetDefaultServiceAttributesFromDeviceInfo(camera_info.device_info)

# Register a service and set attributes
service_ctx = RRN.RegisterService("camera","com.robotraconteur.imaging.Camera",camera)
service_ctx.SetServiceAttributes(camera_attributes)

InfoFileLoader

class RobotRaconteurCompanion.Util.InfoFileLoader.InfoFileLoader(node=None, client_obj=None)

Utility class to load device info Yaml structures from file

See the Robot Raconteur camera driver for an example of using this class.

Parameters:

  • node (RobotRaconteur.RobotRaconteurNode) – (optional) The Robot Raconteur node to use for parsing. Defaults to RobotRaconteurNode.s

  • client_obj (RobotRaconteur.ClientObject) – (optional) The client object to use for finding types. Defaults to None

LoadInfoFile(file_name, info_type_name, category='unspecified')

Load a device info Yaml structure from a file and assign a device identifier

In most cases the category should be set to “device”.

Parameters:

  • file_name (str) – The file name of the info Yaml structure to load

  • info_type_name (str) – The type name of the info Yaml structure

  • category (str) – (optional) The category of the device identifier. Defaults to “unspecified”.

Returns:

The loaded info Yaml structure and the device identifier lock file descriptor

Return type:

tuple

LoadInfoFileFromDict(info_dict, info_type_name, category='unspecified')

Load a device info Yaml structure from a dictionary and assign a device identifier

In most cases the category should be set to “device”.

Parameters:

  • info_dict (dict) – The dictionary containing the info parsed from a Yaml file

  • info_type_name (str) – The type name of the info Yaml structure

  • category (str) – (optional) The category of the device identifier. Defaults to “unspecified”.

Returns:

The loaded info Yaml structure and the device identifier lock file descriptor

Return type:

tuple

LoadInfoFileFromString(info_text, info_type_name, category='unspecified')

Load a device info Yaml structure from a string and assign a device identifier

In most cases the category should be set to “device”.

Parameters:

  • info_text (str) – The info Yaml structure to load

  • info_type_name (str) – The type name of the info Yaml structure

  • category (str) – (optional) The category of the device identifier. Defaults to “unspecified”.

Returns:

The loaded info Yaml structure and the device identifier lock file descriptor

Return type:

tuple