52 lines
1.6 KiB
Python
52 lines
1.6 KiB
Python
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from typing import Dict
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from typing import List
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from typing import Text
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from typing import Optional
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import yaml
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import tempfile
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import launch
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from nav2_common.launch import RewrittenYaml
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from rbs_launch_utils.launch_common import load_yaml_abs
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class MergedYaml:
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"""
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Apply RewrittenYaml for list of config files and combine it in one file
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"""
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def __init__(self, context: launch.LaunchContext,
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source_file: Text = "",
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root_keys: List = [],
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param_rewrites: Dict = {},
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convert_types = False,
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key_rewrites: Dict = {}):
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self.__root_keys = root_keys
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self.__context = context
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self.__param_rewrites = param_rewrites
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self.__convet_types = convert_types
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#TODO: work with multiple source files
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# for different robots
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self.__source_file = source_file
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self.__key_rewrites = key_rewrites
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def get_config_file(self) -> List[Text]:
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config_list = []
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for key in self.__root_keys:
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yaml = RewrittenYaml(
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self.__source_file,
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self.__param_rewrites,
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key,
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self.__key_rewrites,
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self.__convet_types)
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config_list.append(yaml.perform(self.__context))
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return config_list
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def merge_yamls(self) -> Text:
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configs = self.get_config_file()
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yamls = []
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for file in configs:
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yamls.append(load_yaml_abs(file))
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merged_yaml = tempfile.NamedTemporaryFile(mode='w', delete=False, suffix=".yaml")
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yaml.dump_all(yamls, merged_yaml)
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return merged_yaml.name
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