Source code for irsim.env.env_config

from __future__ import annotations

from typing import Any, Optional

import yaml

from irsim.config import env_param
from irsim.util.util import file_check




class EnvConfig:
    """
    The base class of environment parameters read from yaml file.
        basic categories: world, plot, robot, obstacle
    """

    def __init__(self, world_name: Optional[str]) -> None:
        world_file_path = file_check(world_name)

        self._kwargs_parse: dict[str, Any] = {
            "world": {},
            "plot": {},
            "keyboard": {},
            "robot": None,
            "obstacle": None,
        }

        if world_file_path is not None:
            with open(world_file_path) as file:
                com_list = yaml.load(file, Loader=yaml.FullLoader)

                for key in com_list:
                    if key in self._kwargs_parse:
                        self._kwargs_parse[key] = com_list[key]
                    else:
                        self.logger.error(
                            f"There are invalid key: '{key}' in {world_name} file!"
                        )
                        raise KeyError

        else:
            self.logger.warning(
                f"{world_name} YAML File not found!, using default world config."
            )

    @property
    def parse(self) -> dict[str, Any]:
        """
        The parsed kwargs from the yaml file.
        """
        return self._kwargs_parse

    @property
    def logger(self):
        """
        Get the logger of the env_param.
        """
        return env_param.logger