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# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
import configparser
from configparser import ConfigParser
from pathlib import Path
from typing import Any
class StateFile:
"""A class to manage state variables parsed from a configuration file.
This class provides a simple interface to set, get, and delete variables from a configuration
object. It also provides the ability to save the configuration object to a file.
It thinly wraps around the ConfigParser class from the configparser module.
"""
def __init__(self, path: Path, namespace: str | None = None):
"""Initialize the class instance and load the configuration file.
Args:
path: The path to the configuration file.
namespace: The default namespace to use when setting and getting variables.
Namespace corresponds to a section in the configuration file. Defaults to None,
meaning all member functions will have to specify the section explicitly,
or :attr:`StateFile.namespace` must be set manually.
"""
self.path = path
self.namespace = namespace
# load the configuration file
self.load()
def __del__(self):
"""
Save the loaded configuration to the initial file path upon deconstruction. This helps
ensure that the configuration file is always up to date.
"""
# save the configuration file
self.save()
"""
Operations.
"""
def set_variable(self, key: str, value: Any, section: str | None = None):
"""Set a variable into the configuration object.
Note:
Since we use the ConfigParser class, the section names are case-sensitive but the keys are not.
Args:
key: The key of the variable to be set.
value: The value of the variable to be set.
section: The section of the configuration object to set the variable in.
Defaults to None, in which case the default section is used.
Raises:
configparser.Error: If no section is specified and the default section is None.
"""
# resolve the section
if section is None:
if self.namespace is None:
raise configparser.Error("No section specified. Please specify a section or set StateFile.namespace.")
section = self.namespace
# create section if it does not exist
if section not in self.loaded_cfg.sections():
self.loaded_cfg.add_section(section)
# set the variable
self.loaded_cfg.set(section, key, value)
def get_variable(self, key: str, section: str | None = None) -> Any:
"""Get a variable from the configuration object.
Note:
Since we use the ConfigParser class, the section names are case-sensitive but the keys are not.
Args:
key: The key of the variable to be loaded.
section: The section of the configuration object to read the variable from.
Defaults to None, in which case the default section is used.
Returns:
The value of the variable. It is None if the key does not exist.
Raises:
configparser.Error: If no section is specified and the default section is None.
"""
# resolve the section
if section is None:
if self.namespace is None:
raise configparser.Error("No section specified. Please specify a section or set StateFile.namespace.")
section = self.namespace
return self.loaded_cfg.get(section, key, fallback=None)
def delete_variable(self, key: str, section: str | None = None):
"""Delete a variable from the configuration object.
Note:
Since we use the ConfigParser class, the section names are case-sensitive but the keys are not.
Args:
key: The key of the variable to be deleted.
section: The section of the configuration object to remove the variable from.
Defaults to None, in which case the default section is used.
Raises:
configparser.Error: If no section is specified and the default section is None.
configparser.NoSectionError: If the section does not exist in the configuration object.
configparser.NoOptionError: If the key does not exist in the section.
"""
# resolve the section
if section is None:
if self.namespace is None:
raise configparser.Error("No section specified. Please specify a section or set StateFile.namespace.")
section = self.namespace
# check if the section exists
if section not in self.loaded_cfg.sections():
raise configparser.NoSectionError(f"Section '{section}' does not exist in the file: {self.path}")
# check if the key exists
if self.loaded_cfg.has_option(section, key):
self.loaded_cfg.remove_option(section, key)
else:
raise configparser.NoOptionError(option=key, section=section)
"""
Operations - File I/O.
"""
def load(self):
"""Load the configuration file into memory.
This function reads the contents of the configuration file into memory.
If the file does not exist, it creates an empty file.
"""
self.loaded_cfg = ConfigParser()
self.loaded_cfg.read(self.path)
def save(self):
"""Save the configuration file to disk."""
with open(self.path, "w+") as f:
self.loaded_cfg.write(f)
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