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<!DOCTYPE html>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/service_faults/README.html">Faults</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/world_object_with_image_coordinates/README.html">World Object With Image Coordinates</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/world_object_mutations/README.html">World Object Mutations</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/visualizer/README.html">Visualizer</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/ricoh_theta/README.html">Ricoh Theta</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/gripper_camera_params/README.html">Gripper Camera Parameters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/spot_cam/README.html">Spot CAM</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/stitch_front_images/README.html">Stitch Front Images</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../python/README.html">Python Reference Guide</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/area_callback_service_servicer.html">Area Callback Servicer</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_acquisition.html">Data Acquisition</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_acquisition_helpers.html">Data Acquisition Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_acquisition_plugin.html">Data Acquisition Plugin</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_acquisition_plugin_service.html">Data Acquisition Plugin Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_acquisition_store.html">Data Acquisition Store</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html">Frame Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/graph_nav.html">Graph Nav</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/gripper_camera_param.html">Gripper Camera Params</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/image.html">Image</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/image_service_helpers.html">Image Service Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/ir_enable_disable.html">IR Enable/Disable</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/lease.html">Lease</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/lease_resource_hierarchy.html">Lease Resource Hierarchy</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/lease_validator.html">Lease Validator</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/license.html">License</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/local_grid.html">Local Grid</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/log_annotation.html">Log Annotation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/math_helpers.html">Math Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/manipulation_api_client.html">Manipulation API</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/map_processing.html">Map Processing</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/network_compute_bridge_client.html">Network Compute Bridge</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/payload_registration.html">Payload Registration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/payload.html">Payload</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/point_cloud.html">Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/power.html">Power</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/processors.html">Processors</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/ray_cast.html">Ray casting</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/recording.html">Recording</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot_command.html">Robot Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot_id.html">Robot ID</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot.html">Robot</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot_state.html">Robot State</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/sdk.html">SDK</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/server_util.html">Server Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/README.html">Spot CAM</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/audio.html">Audio</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/compositor.html">Compositor</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/health.html">Health</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/lighting.html">Lighting</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/lights_helper.html">Lights Helper</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/media_log.html">Media Log</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/network.html">Network</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/power.html">Power</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/ptz.html">PTZ</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/streamquality.html">Stream Quality</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/version.html">Version</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_check.html">Spot Check</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html">Time Sync</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/token_cache.html">Token Cache</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/token_manager.html">Token Manager</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/util.html">Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/world_object.html">World Object</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/README.html">Core</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/README.html">BDDF</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/base_data_reader.html">Base Data Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/block_writer.html">Block Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/bosdyn.html">BDDF Conventions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/common.html">Common</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/data_reader.html">Data Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/data_writer.html">Data Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/file_indexer.html">File Indexer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_proto_reader.html">GRPC Proto Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_reader.html">GRPC Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_reader.html">GRPC Service Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_writer.html">GRPC Service Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/message_reader.html">Message Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/pod_series_reader.html">POD Series Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/pod_series_writer.html">POD Series Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/protobuf_channel_reader.html">Protobuf Channel Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/protobuf_reader.html">Protobuf Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/protobuf_series_writer.html">Protobuf Series Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/stream_data_reader.html">Stream Data Reader</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/geometry.html">Geometry</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/util.html">Util</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/README.html">Mission</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/client.html">Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/constants.html">Constants</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/exceptions.html">Exceptions</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/remote_client.html">Remote Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/server_util.html">Server Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/util.html">Util</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-choreography-client/src/bosdyn/choreography/client/README.html">Choreography</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-choreography-client/src/bosdyn/choreography/client/choreography.html">Choreography</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-choreography-client/src/bosdyn/choreography/client/animation_file_to_proto.html">Animation File to Proto</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-choreography-client/src/bosdyn/choreography/client/animation_file_conversion_helpers.html">Animation File to Proto Helpers</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch1.html">Fetch Tutorial</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch2.html">Part 2: Training the Model</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch3.html">Part 3: Evaluating the Model</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch4.html">Part 4: Autonomous Pick Up</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch5.html">Part 5: Detecting People and Playing Fetch</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch6.html">Part 6: Running the model on Core IO</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq1.html">Data Collection Tutorial</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq2.html">Part 2: Capturing images</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq3.html">Part 3: Capturing other data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq4.html">Part 4: Deploying to the CORE I/O</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq5.html">Part 5: Collecting data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq6.html">Part 6: Processing collected data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../../docs/payload/README.html">Payloads</a><ul>
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<h1>Source code for bosdyn.bddf.block_writer</h1><div class="highlight"><pre>
<span></span><span class="c1"># Copyright (c) 2022 Boston Dynamics, Inc. All rights reserved.</span>
<span class="c1">#</span>
<span class="c1"># Downloading, reproducing, distributing or otherwise using the SDK Software</span>
<span class="c1"># is subject to the terms and conditions of the Boston Dynamics Software</span>
<span class="c1"># Development Kit License (20191101-BDSDK-SL).</span>
<span class="sd">"""BlockWriter writes basic data structures in the bddf file."""</span>
<span class="kn">import</span> <span class="nn">struct</span>
<span class="kn">from</span> <span class="nn">hashlib</span> <span class="kn">import</span> <span class="n">sha1</span>
<span class="kn">import</span> <span class="nn">bosdyn.api.bddf_pb2</span> <span class="k">as</span> <span class="nn">bddf</span>
<span class="kn">from</span> <span class="nn">.common</span> <span class="kn">import</span> <span class="p">(</span><span class="n">BLOCK_HEADER_SIZE_MASK</span><span class="p">,</span> <span class="n">DATA_BLOCK_TYPE</span><span class="p">,</span> <span class="n">DESCRIPTOR_BLOCK_TYPE</span><span class="p">,</span> <span class="n">END_BLOCK_TYPE</span><span class="p">,</span>
<span class="n">END_MAGIC</span><span class="p">,</span> <span class="n">MAGIC</span><span class="p">,</span> <span class="n">SHA1_DIGEST_NBYTES</span><span class="p">,</span> <span class="n">DataFormatError</span><span class="p">)</span>
<div class="viewcode-block" id="BlockWriter"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/block_writer.html#bosdyn.bddf.block_writer.BlockWriter">[docs]</a><span class="k">class</span> <span class="nc">BlockWriter</span><span class="p">:</span>
<span class="sd">"""Writes data structures in the data file."""</span>
<span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">outfile</span><span class="p">):</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_outfile</span> <span class="o">=</span> <span class="n">outfile</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_hasher</span> <span class="o">=</span> <span class="n">sha1</span><span class="p">()</span>
<div class="viewcode-block" id="BlockWriter.tell"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/block_writer.html#bosdyn.bddf.block_writer.BlockWriter.tell">[docs]</a> <span class="k">def</span> <span class="nf">tell</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="sd">"""Return location from start of file."""</span>
<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_outfile</span><span class="o">.</span><span class="n">tell</span><span class="p">()</span></div>
<div class="viewcode-block" id="BlockWriter.write_descriptor_block"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/block_writer.html#bosdyn.bddf.block_writer.BlockWriter.write_descriptor_block">[docs]</a> <span class="k">def</span> <span class="nf">write_descriptor_block</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">block</span><span class="p">):</span>
<span class="sd">"""Write a DescriptorBlock to the file."""</span>
<span class="n">serialized</span> <span class="o">=</span> <span class="n">block</span><span class="o">.</span><span class="n">SerializeToString</span><span class="p">()</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_write_block_header</span><span class="p">(</span><span class="n">DESCRIPTOR_BLOCK_TYPE</span><span class="p">,</span> <span class="nb">len</span><span class="p">(</span><span class="n">serialized</span><span class="p">))</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_write</span><span class="p">(</span><span class="n">serialized</span><span class="p">)</span></div>
<div class="viewcode-block" id="BlockWriter.write_data_block"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/block_writer.html#bosdyn.bddf.block_writer.BlockWriter.write_data_block">[docs]</a> <span class="k">def</span> <span class="nf">write_data_block</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">desc_block</span><span class="p">,</span> <span class="n">data</span><span class="p">):</span>
<span class="sd">"""Write a block of data to the file."""</span>
<span class="n">serialized_desc</span> <span class="o">=</span> <span class="n">desc_block</span><span class="o">.</span><span class="n">SerializeToString</span><span class="p">()</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_write_block_header</span><span class="p">(</span><span class="n">DATA_BLOCK_TYPE</span><span class="p">,</span> <span class="nb">len</span><span class="p">(</span><span class="n">data</span><span class="p">)</span> <span class="o">+</span> <span class="nb">len</span><span class="p">(</span><span class="n">serialized_desc</span><span class="p">))</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_write</span><span class="p">(</span><span class="n">struct</span><span class="o">.</span><span class="n">pack</span><span class="p">(</span><span class="s1">'<I'</span><span class="p">,</span> <span class="nb">len</span><span class="p">(</span><span class="n">serialized_desc</span><span class="p">)))</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_write</span><span class="p">(</span><span class="n">serialized_desc</span><span class="p">)</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_write</span><span class="p">(</span><span class="n">data</span><span class="p">)</span></div>
<span class="k">def</span> <span class="nf">_write</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">data</span><span class="p">):</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_hasher</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">data</span><span class="p">)</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_outfile</span><span class="o">.</span><span class="n">write</span><span class="p">(</span><span class="n">data</span><span class="p">)</span>
<div class="viewcode-block" id="BlockWriter.close"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/block_writer.html#bosdyn.bddf.block_writer.BlockWriter.close">[docs]</a> <span class="k">def</span> <span class="nf">close</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="sd">"""Close the file, if not already closed."""</span>
<span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">closed</span><span class="p">:</span>
<span class="k">return</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_outfile</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_outfile</span> <span class="o">=</span> <span class="kc">None</span></div>
<span class="nd">@property</span>
<span class="k">def</span> <span class="nf">closed</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="sd">"""Returns True if the writer has been closed."""</span>
<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_outfile</span> <span class="ow">is</span> <span class="kc">None</span>
<div class="viewcode-block" id="BlockWriter.write_header"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/block_writer.html#bosdyn.bddf.block_writer.BlockWriter.write_header">[docs]</a> <span class="k">def</span> <span class="nf">write_header</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">annotations</span><span class="p">):</span>
<span class="sd">"""Write the header of the data file, including annotations."""</span>
<span class="c1"># pylint: disable=no-member</span>
<span class="c1"># Magic bytes at the start of the file</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_write</span><span class="p">(</span><span class="n">MAGIC</span><span class="p">)</span>
<span class="n">header_block</span> <span class="o">=</span> <span class="n">bddf</span><span class="o">.</span><span class="n">DescriptorBlock</span><span class="p">()</span>
<span class="n">file_descriptor</span> <span class="o">=</span> <span class="n">header_block</span><span class="o">.</span><span class="n">file_descriptor</span>
<span class="n">file_descriptor</span><span class="o">.</span><span class="n">version</span><span class="o">.</span><span class="n">major_version</span> <span class="o">=</span> <span class="mi">1</span>
<span class="n">file_descriptor</span><span class="o">.</span><span class="n">version</span><span class="o">.</span><span class="n">minor_version</span> <span class="o">=</span> <span class="mi">0</span>
<span class="n">file_descriptor</span><span class="o">.</span><span class="n">version</span><span class="o">.</span><span class="n">patch_level</span> <span class="o">=</span> <span class="mi">0</span>
<span class="k">if</span> <span class="n">annotations</span><span class="p">:</span>
<span class="n">file_descriptor</span><span class="o">.</span><span class="n">annotations</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">annotations</span><span class="p">)</span>
<span class="n">file_descriptor</span><span class="o">.</span><span class="n">checksum_type</span> <span class="o">=</span> <span class="n">bddf</span><span class="o">.</span><span class="n">FileFormatDescriptor</span><span class="o">.</span><span class="n">CHECKSUM_TYPE_SHA1</span>
<span class="n">file_descriptor</span><span class="o">.</span><span class="n">checksum_num_bytes</span> <span class="o">=</span> <span class="n">SHA1_DIGEST_NBYTES</span>
<span class="bp">self</span><span class="o">.</span><span class="n">write_descriptor_block</span><span class="p">(</span><span class="n">header_block</span><span class="p">)</span></div>
<div class="viewcode-block" id="BlockWriter.write_file_end"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/block_writer.html#bosdyn.bddf.block_writer.BlockWriter.write_file_end">[docs]</a> <span class="k">def</span> <span class="nf">write_file_end</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">index_offset</span><span class="p">):</span>
<span class="sd">"""Write the end of the data file."""</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_write_block_header</span><span class="p">(</span><span class="n">END_BLOCK_TYPE</span><span class="p">,</span> <span class="mi">24</span><span class="p">)</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_write</span><span class="p">(</span><span class="n">struct</span><span class="o">.</span><span class="n">pack</span><span class="p">(</span><span class="s1">'<Q'</span><span class="p">,</span> <span class="n">index_offset</span><span class="p">))</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_outfile</span><span class="o">.</span><span class="n">write</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_hasher</span><span class="o">.</span><span class="n">digest</span><span class="p">())</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_outfile</span><span class="o">.</span><span class="n">write</span><span class="p">(</span><span class="n">END_MAGIC</span><span class="p">)</span></div>
<span class="k">def</span> <span class="nf">_write_block_header</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">block_type</span><span class="p">,</span> <span class="n">block_len</span><span class="p">):</span>
<span class="k">if</span> <span class="n">block_len</span> <span class="o">></span> <span class="n">BLOCK_HEADER_SIZE_MASK</span><span class="p">:</span>
<span class="k">raise</span> <span class="n">DataFormatError</span><span class="p">(</span><span class="s1">'block size (</span><span class="si">{}</span><span class="s1">) is too big (> </span><span class="si">{}</span><span class="s1">)'</span><span class="o">.</span><span class="n">format</span><span class="p">(</span>
<span class="n">block_len</span><span class="p">,</span> <span class="n">BLOCK_HEADER_SIZE_MASK</span><span class="p">))</span>
<span class="n">block_descriptor</span> <span class="o">=</span> <span class="n">block_type</span> <span class="o"><<</span> <span class="mi">56</span> <span class="o">|</span> <span class="n">block_len</span> <span class="c1"># mark this as a desc block</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_write</span><span class="p">(</span><span class="n">struct</span><span class="o">.</span><span class="n">pack</span><span class="p">(</span><span class="s1">'<Q'</span><span class="p">,</span> <span class="n">block_descriptor</span><span class="p">))</span></div>
</pre></div>
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