Source code for bosdyn.client.lease_resource_hierarchy

# Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.
# Downloading, reproducing, distributing or otherwise using the SDK Software
# is subject to the terms and conditions of the Boston Dynamics Software
# Development Kit License (20191101-BDSDK-SL).

"""Helper for managing hierarchy of lease resources."""

[docs]class ResourceHierarchy: """Helper for managing hierarchy of lease resources.""" def __init__(self, resource_tree_proto): self._resource_tree = resource_tree_proto # Map tracking sub hierarchies with the key: resource (string), # and value = ResourceHierarchy obj rooted at the key's resource. self._sub_hierarchies = {} # Set of the lease resources (strings) in this hierarchy. self._leaf_resources = set() if len(self._resource_tree.sub_resources) == 0: self._leaf_resources.add(self._resource_tree.resource) return for sub_tree in self._resource_tree.sub_resources: new_sub_hierarchy = ResourceHierarchy(sub_tree) self._sub_hierarchies[sub_tree.resource] = new_sub_hierarchy # Merge all sub resources/leaves from the new hierarchy so they are quickly accessible # from this hierarchy. for resc in new_sub_hierarchy._sub_hierarchies: self._sub_hierarchies[resc] = new_sub_hierarchy._sub_hierarchies[resc] for leaf in new_sub_hierarchy._leaf_resources: self._leaf_resources.add(leaf)
[docs] def has_resource(self, resource): """Return a boolean indicating if the resource is in this hierarchy.""" return resource == self._resource_tree.resource or resource in self._sub_hierarchies
[docs] def has_sub_resources(self): """Return a boolean indicating whether this hierarchy has sub-trees.""" return len(self._sub_hierarchies) > 0
[docs] def get_resource(self): """Get the root resource string for this hierarchy.""" return self._resource_tree.resource
[docs] def get_resource_tree(self): """Get the resource tree protobuf message corresponding with this hierarchy.""" return self._resource_tree
[docs] def leaf_resources(self): """Get a set of all leaf resources in this tree.""" return self._leaf_resources
[docs] def get_hierarchy(self, resource): """Get the sub-tree corresponding to the specified resource. Args: resource (string): The root resource for the hierarchy. Returns: The ResourceHierarchy object corresponding with this tree, or None if the resource is not within this tree. """ if resource == self.get_resource(): return self if resource in self._sub_hierarchies: return self._sub_hierarchies[resource] return None
def __eq__(self, other): return (self._resource_tree == other._resource_tree and self._leaf_resources == other._leaf_resources and self._sub_hierarchies == other._sub_hierarchies)