84 lines
3.0 KiB
Python
84 lines
3.0 KiB
Python
"""Vehicle-installation configuration loading and light validation."""
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from __future__ import annotations
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from collections.abc import Mapping
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from pathlib import Path
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from typing import Any
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REQUIRED_TOP_LEVEL_KEYS = frozenset({"schema_version", "vehicle", "installation", "sensors", "time"})
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def validate_config_shape(config: Mapping[str, object]) -> list[str]:
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"""Return missing top-level keys without inventing default values."""
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return sorted(REQUIRED_TOP_LEVEL_KEYS.difference(config))
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def validate_config_semantics(config: Mapping[str, Any]) -> list[str]:
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"""Return semantic issues that block calibration interpretation."""
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issues: list[str] = []
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sensors = config.get("sensors")
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if not isinstance(sensors, Mapping):
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return ["sensors must be a mapping"]
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imu = sensors.get("imu")
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lidar = sensors.get("lidar")
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if not isinstance(imu, Mapping):
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issues.append("sensors.imu missing")
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else:
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axes = ((imu.get("raw_frame") or {}) if isinstance(imu.get("raw_frame"), Mapping) else {}).get("axes")
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if not axes:
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issues.append("sensors.imu.raw_frame.axes is empty (declare axis meaning even if approximate)")
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if not isinstance(lidar, Mapping):
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issues.append("sensors.lidar missing")
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else:
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axes = ((lidar.get("raw_frame") or {}) if isinstance(lidar.get("raw_frame"), Mapping) else {}).get("axes")
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if not axes:
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issues.append("sensors.lidar.raw_frame.axes is empty (declare axis meaning even if approximate)")
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time_cfg = config.get("time")
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if not isinstance(time_cfg, Mapping):
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issues.append("time missing")
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else:
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for key in ("imu_timestamp_source", "lidar_timestamp_source", "lidar_frame_time_definition"):
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if not time_cfg.get(key):
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issues.append(f"time.{key} is empty")
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return issues
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def load_vehicle_config(path: str | Path) -> dict[str, Any]:
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"""Load and lightly validate a YAML vehicle configuration."""
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try:
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import yaml
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except ImportError as exc: # pragma: no cover
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raise ImportError("PyYAML is required to load vehicle configuration files") from exc
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config_path = Path(path)
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with config_path.open("r", encoding="utf-8") as handle:
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loaded = yaml.safe_load(handle)
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if not isinstance(loaded, dict):
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raise ValueError(f"vehicle config must be a mapping: {config_path}")
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missing = validate_config_shape(loaded)
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if missing:
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raise ValueError(f"vehicle config missing keys {missing}: {config_path}")
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semantic = validate_config_semantics(loaded)
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if semantic:
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raise ValueError("vehicle config semantic issues:\n- " + "\n- ".join(semantic))
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return loaded
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def prior_enabled(config: Mapping[str, Any], name: str) -> bool:
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"""Return whether an optional prior is enabled."""
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init = config.get("initialization")
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if not isinstance(init, Mapping):
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return False
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prior = init.get(name)
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if not isinstance(prior, Mapping):
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return False
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return bool(prior.get("enabled", False))
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