camera_config.py

# Copyright 2023 usb_cam Authors
#
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# modification, are permitted provided that the following conditions are met:
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#    * Redistributions of source code must retain the above copyright
#      notice, this list of conditions and the following disclaimer.
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#      contributors may be used to endorse or promote products derived from
#      this software without specific prior written permission.
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from pathlib import Path
from typing import List, Optional

from ament_index_python.packages import get_package_share_directory
from pydantic import BaseModel, root_validator, validator

USB_CAM_DIR = get_package_share_directory('usb_cam')


class CameraConfig(BaseModel):
    name: str = 'camera1'
    param_path: Path = Path(USB_CAM_DIR, 'config', 'params_1.yaml')
    remappings: Optional[List]
    namespace: Optional[str]

    @validator('param_path')
    def validate_param_path(cls, value):
        if value and not value.exists():
            raise FileNotFoundError(f'Could not find parameter file: {value}')
        return value

    @root_validator
    def validate_root(cls, values):
        name = values.get('name')
        remappings = values.get('remappings')
        if name and not remappings:
            # Automatically set remappings if name is set
            remappings = [
                ('image_raw', f'{name}/image_raw'),
                ('image_raw/compressed', f'{name}/image_compressed'),
                ('image_raw/compressedDepth', f'{name}/compressedDepth'),
                ('image_raw/theora', f'{name}/image_raw/theora'),
                ('camera_info', f'{name}/camera_info'),
            ]
        values['remappings'] = remappings
        return values