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<!DOCTYPE html>
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<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/web_cam_image_service/README.html">Web Cam Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/get_image/README.html">Test Image Service Implementation with Get Image</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/cloud_upload/README.html">Cloud Upload</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/tester_programs/README.html">Tester Programs</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../python/examples/docs/autonomy_and_missions_examples.html">Autonomy and Missions Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/graph_nav_command_line/README.html">Graph Nav Command Line</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/graph_nav_view_map/README.html">Graph Nav View Map</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/get_mission_state/README.html">Get Mission State</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/remote_mission_service/README.html">Remote Mission Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/mission_question_answerer/README.html">Mission Question Answerer</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/mission_recorder/README.html">Mission Recorder</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/replay_mission/README.html">Replay Mission</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/network_compute_bridge/README.html">Machine Learning with the Network Compute Bridge</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-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/pod_series_reader.html">POD Series Reader</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/geometry.html">Geometry</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/README.html">Mission</a><ul>
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<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>
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</ul>
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</li>
<li class="toctree-l1"><a class="reference internal" href="../../../docs/payload/README.html">Payloads</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/payload_configuration_requirements.html">Payload configuration requirements</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/mechanical_interfaces.html">Mechanical interfaces</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/robot_mounting_rails.html">Robot mounting rails</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/guidelines_for_robust_payload_design.html">Guidelines for robust payload design</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/robot_electrical_interface.html">Robot electrical interface</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/configuring_payload_software.html">Configuring payload software</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/docker_containers.html">Configuring Docker containers in SpotCORE</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/spot_core_cockpit.html">Spot CORE system management tool: Cockpit</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/spot_core_vnc.html">Spot CORE VNC</a></li>
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</li>
<li class="toctree-l1"><a class="reference internal" href="../../../docs/protos/README.html">API Protocol</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/protos/style_guide.html">Style Guide</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../protos/bosdyn/api/README.html">Proto Reference Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html">arm_command.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#arm-surface-contact-proto">arm_surface_contact.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#arm-surface-contact-service-proto">arm_surface_contact_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#auth-proto">auth.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#auth-service-proto">auth_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#basic-command-proto">basic_command.proto</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-acquisition-proto">data_acquisition.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-acquisition-plugin-service-proto">data_acquisition_plugin_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-acquisition-service-proto">data_acquisition_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-acquisition-store-proto">data_acquisition_store.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-acquisition-store-service-proto">data_acquisition_store_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-buffer-proto">data_buffer.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-buffer-service-proto">data_buffer_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-chunk-proto">data_chunk.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-index-proto">data_index.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#data-service-proto">data_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#directory-proto">directory.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#directory-registration-proto">directory_registration.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#directory-registration-service-proto">directory_registration_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#directory-service-proto">directory_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#docking-docking-proto">docking/docking.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#docking-docking-service-proto">docking/docking_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#estop-proto">estop.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#estop-service-proto">estop_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#fault-service-proto">fault_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#full-body-command-proto">full_body_command.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#geometry-proto">geometry.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#graph-nav-graph-nav-proto">graph_nav/graph_nav.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#graph-nav-graph-nav-service-proto">graph_nav/graph_nav_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#graph-nav-map-proto">graph_nav/map.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#graph-nav-nav-proto">graph_nav/nav.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#graph-nav-recording-proto">graph_nav/recording.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#graph-nav-recording-service-proto">graph_nav/recording_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#gripper-command-proto">gripper_command.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#header-proto">header.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#image-proto">image.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#image-service-proto">image_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#lease-proto">lease.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#lease-service-proto">lease_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#license-proto">license.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#license-service-proto">license_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#local-grid-proto">local_grid.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#local-grid-service-proto">local_grid_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#log-annotation-proto">log_annotation.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#log-annotation-service-proto">log_annotation_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#manipulation-api-proto">manipulation_api.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#manipulation-api-service-proto">manipulation_api_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#mission-mission-proto">mission/mission.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#mission-mission-service-proto">mission/mission_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#mission-nodes-proto">mission/nodes.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#mission-remote-proto">mission/remote.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#mission-remote-service-proto">mission/remote_service.proto</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html#mission-util-proto">mission/util.proto</a></li>
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<h1>Source code for bosdyn.bddf.common</h1><div class="highlight"><pre>
<span></span><span class="c1"># Copyright (c) 2021 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">"""Basic constants and structures for parsing/writing bddf."""</span>
<span class="kn">import</span> <span class="nn">logging</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="c1"># These are the first 4 bytes at the start of the file.</span>
<span class="n">MAGIC</span> <span class="o">=</span> <span class="sa">b</span><span class="s1">'BDDF'</span>
<span class="c1"># These are the last 4 bytes at the end of the file.</span>
<span class="c1"># The little-endian 8 byte offset of the FileIndex Descriptor Block is written</span>
<span class="c1"># immediately before this (-12 byte offset from the end of the file).</span>
<span class="n">END_MAGIC</span> <span class="o">=</span> <span class="sa">b</span><span class="s1">'FDDB'</span>
<span class="n">BLOCK_HEADER_SIZE_MASK</span> <span class="o">=</span> <span class="mh">0x00FFFFFFFFFFFFFF</span>
<span class="n">BLOCK_HEADER_TYPE_MASK</span> <span class="o">=</span> <span class="mh">0xFF00000000000000</span>
<span class="n">DATA_BLOCK_TYPE</span> <span class="o">=</span> <span class="mh">0x00</span> <span class="c1"># First 4 bits of the block-header for a data block</span>
<span class="n">DESCRIPTOR_BLOCK_TYPE</span> <span class="o">=</span> <span class="mh">0x01</span> <span class="c1"># First 4 bits of the block-header for a descriptor block</span>
<span class="n">END_BLOCK_TYPE</span> <span class="o">=</span> <span class="mh">0x02</span> <span class="c1"># First 4 bits of the block-header for end-of-file material</span>
<span class="c1"># Message series named by a 'channel_name'</span>
<span class="n">PROTOBUF_CONTENT_TYPE</span> <span class="o">=</span> <span class="s1">'application/protobuf'</span>
<span class="n">SHA1_DIGEST_NBYTES</span> <span class="o">=</span> <span class="mi">20</span>
<span class="n">INDEX_OFFSET_OFFSET</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">MAGIC</span><span class="p">)</span> <span class="o">+</span> <span class="n">SHA1_DIGEST_NBYTES</span> <span class="o">+</span> <span class="mi">8</span>
<span class="n">LOGGER</span> <span class="o">=</span> <span class="n">logging</span><span class="o">.</span><span class="n">getLogger</span><span class="p">(</span><span class="s1">'bddf'</span><span class="p">)</span>
<span class="n">POD_TYPE_TO_STRUCT</span> <span class="o">=</span> <span class="p">{</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_INT8</span><span class="p">:</span> <span class="s1">'b'</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_INT16</span><span class="p">:</span> <span class="s1">'h'</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_INT32</span><span class="p">:</span> <span class="s1">'i'</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_INT64</span><span class="p">:</span> <span class="s1">'q'</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_UINT8</span><span class="p">:</span> <span class="s1">'B'</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_UINT16</span><span class="p">:</span> <span class="s1">'H'</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_UINT32</span><span class="p">:</span> <span class="s1">'I'</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_UINT64</span><span class="p">:</span> <span class="s1">'Q'</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_FLOAT32</span><span class="p">:</span> <span class="s1">'f'</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_FLOAT64</span><span class="p">:</span> <span class="s1">'d'</span><span class="p">,</span>
<span class="p">}</span>
<span class="n">POD_TYPE_TO_NUM_BYTES</span> <span class="o">=</span> <span class="p">{</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_INT8</span><span class="p">:</span> <span class="mi">1</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_INT16</span><span class="p">:</span> <span class="mi">2</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_INT32</span><span class="p">:</span> <span class="mi">4</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_INT64</span><span class="p">:</span> <span class="mi">8</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_UINT8</span><span class="p">:</span> <span class="mi">1</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_UINT16</span><span class="p">:</span> <span class="mi">2</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_UINT32</span><span class="p">:</span> <span class="mi">4</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_UINT64</span><span class="p">:</span> <span class="mi">8</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_FLOAT32</span><span class="p">:</span> <span class="mi">4</span><span class="p">,</span>
<span class="n">bddf</span><span class="o">.</span><span class="n">TYPE_FLOAT64</span><span class="p">:</span> <span class="mi">8</span><span class="p">,</span>
<span class="p">}</span>
<div class="viewcode-block" id="DataError"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/common.html#bosdyn.bddf.common.DataError">[docs]</a><span class="k">class</span> <span class="nc">DataError</span><span class="p">(</span><span class="ne">Exception</span><span class="p">):</span>
<span class="sd">"""Errors related to the DataWriter/DataReader system."""</span></div>
<div class="viewcode-block" id="AddSeriesError"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/common.html#bosdyn.bddf.common.AddSeriesError">[docs]</a><span class="k">class</span> <span class="nc">AddSeriesError</span><span class="p">(</span><span class="ne">Exception</span><span class="p">):</span>
<span class="sd">"""Errors related to registering a series in a DataWriter."""</span></div>
<div class="viewcode-block" id="SeriesNotUniqueError"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/common.html#bosdyn.bddf.common.SeriesNotUniqueError">[docs]</a><span class="k">class</span> <span class="nc">SeriesNotUniqueError</span><span class="p">(</span><span class="n">AddSeriesError</span><span class="p">):</span>
<span class="sd">"""The series_spec is not unique within the file."""</span></div>
<div class="viewcode-block" id="ChecksumError"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/common.html#bosdyn.bddf.common.ChecksumError">[docs]</a><span class="k">class</span> <span class="nc">ChecksumError</span><span class="p">(</span><span class="n">DataError</span><span class="p">):</span>
<span class="sd">"""The file checksum does not match the computed value."""</span></div>
<div class="viewcode-block" id="DataFormatError"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/common.html#bosdyn.bddf.common.DataFormatError">[docs]</a><span class="k">class</span> <span class="nc">DataFormatError</span><span class="p">(</span><span class="n">DataError</span><span class="p">):</span>
<span class="sd">"""Data to be stored has the wrong format."""</span></div>
<div class="viewcode-block" id="ParseError"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/common.html#bosdyn.bddf.common.ParseError">[docs]</a><span class="k">class</span> <span class="nc">ParseError</span><span class="p">(</span><span class="n">DataError</span><span class="p">):</span>
<span class="sd">"""Data file has incorrect format."""</span></div>
<span class="c1"># pylint: disable=too-few-public-methods</span>
<div class="viewcode-block" id="SeriesIdentifier"><a class="viewcode-back" href="../../../python/bosdyn-core/src/bosdyn/bddf/common.html#bosdyn.bddf.common.SeriesIdentifier">[docs]</a><span class="k">class</span> <span class="nc">SeriesIdentifier</span><span class="p">:</span>
<span class="sd">"""Base class for series identifier names."""</span>
<span class="n">SERIES_TYPE</span> <span class="o">=</span> <span class="s1">''</span>
<span class="n">KEYS</span> <span class="o">=</span> <span class="p">()</span></div>
</pre></div>
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