text: """NOTE: These are Not actually constants.
  If referenced in another file, the values can
  be reassigned in the scope of that specific project.
  
  CAN_to_URI_to_ROStopic.py
  
  A giant nested dictionary containing the attributes of all
  the data that is sent to the NUC. This file uses data from
  all the imported files below so take a look at those. Some
  of these data frames come from the CAN bus and some from
  the AIS (which is attached to the AIS listener).
  An explanation of the entries in the dictionary is provided
  below:
  
  'WS1_SPEED' ... 'ACCELEROMETER_Z' - The sensor ID tag. These
  are sort of a reference to the sensor tags given in
  frame_parser.h and indicates which sensor we're dealing with
  and what its attributes are.
  
  'id' - The CAN bus ID corresponding to the sensor tag. These
  are referenced in frame_parser.h/frame_parser.py.
  
  'rostopic' - The NUC ROStopic corresponding to the sensor tag.
  These are referenced in uri.py.
  
  'data' - The data field to be filled in when running dummy
  tests. These fields get filled in with whatever you decide it
  to be. For datapath testing, we fill this value in with dummy
  data that is found in the dummy_data.py file.
  
  'parser' - The callback function that does pre-parsing on the
  data you are trying to send through the CAN bus. This is
  referenced in frame_parser.py and made use of in the
  make_dummy_tests function in dummy_data.py
  
  'parsed_data' - The pre-parsed CAN data that is filled in after
  running the parser function in the dictionary. This data is made
  use of in the make_dummy_tests function of dummy_data.py.
  
  
  The CAN_bus_sensor list acts as a filter when making dummy_tests
  for the CAN_BBB_NUC datapath test
  
  
  """
  
  
  from .uri import *
  from .rostopic import *
  from .frame_parser import *
  
  
  CAN_to_URI_to_ROStopic = {'WS1_FRAME': {'id': WIND_SENS1_FRAME_ID,
                                          'uri': [WIND1_SPEED,
                                                  WIND1_ANGLE],
                                          'rostopic': [WIND1_SPEED_TOPIC,
                                                       WIND1_ANGLE_TOPIC],
                                          'data': None,
                                          'parser': [GET_WIND_SPEED,
                                                     GET_WIND_ANGLE],
                                          'parsed_data': []},
                            'WS2_FRAME': {'id': WIND_SENS2_FRAME_ID,
                                          'uri': [WIND2_SPEED,
                                                  WIND2_ANGLE],
                                          'rostopic': [WIND2_SPEED_TOPIC,
                                                       WIND2_ANGLE_TOPIC],
                                          'data': None,
                                          'parser': [GET_WIND_SPEED,
                                                     GET_WIND_ANGLE],
                                          'parsed_data': []},
                            'WS3_FRAME': {'id': WIND_SENS3_FRAME_ID,
                                          'uri': [WIND3_SPEED,
                                                  WIND3_ANGLE],
                                          'rostopic': [WIND3_SPEED_TOPIC,
                                                       WIND3_ANGLE_TOPIC],
                                          'data': None,
                                          'parser': [GET_WIND_SPEED,
                                                     GET_WIND_ANGLE],
                                          'parsed_data': []},
                            'GPS_CAN_DATE_FRAME': {'id': GPS_DATE_FRAME_ID,
                                                   'uri': [GPS_CAN_TIME],
                                                   'rostopic': [GPS_CAN_TIME_TOPIC],
                                                   'data': None,
                                                   'parser': [GET_HOUR,
                                                              GET_MINUTE,
                                                              GET_SECOND,
                                                              GET_DAY,
                                                              GET_MONTH,
                                                              GET_YEAR],
                                                   'parsed_data': []},
                            'GPS_CAN_LAT_FRAME': {'id': GPS_LAT_FRAME_ID,
                                                  'uri': [GPS_CAN_LAT],
                                                  'rostopic': [GPS_CAN_LAT_TOPIC],
                                                  'data': None,
                                                  'parser': [GET_GPS_LAT],
                                                  'parsed_data': []},
                            'GPS_CAN_LON_FRAME': {'id': GPS_LONG_FRAME_ID,
                                                  'uri': [GPS_CAN_LON],
                                                  'rostopic': [GPS_CAN_LON_TOPIC],
                                                  'data': None,
                                                  'parser': [GET_GPS_LONG],
                                                  'parsed_data': []},
                            'GPS_CAN_OTHER_FRAME': {'id': GPS_OTHER_FRAME_ID,
                                                    'uri': [GPS_CAN_GNDSPEED,
                                                            GPS_CAN_MAGVAR,
                                                            GPS_CAN_TMG,
                                                            GPS_CAN_TRUE_HEADING],
                                                    'rostopic': [GPS_CAN_GNDSPEED_TOPIC,
                                                                 GPS_CAN_MAGVAR_TOPIC,
                                                                 GPS_CAN_TMG_TOPIC,
                                                                 GPS_CAN_TRUE_HEADING_TOPIC],
                                                    'data': None,
                                                    'parser': [GET_GPS_GND_SPEED,
                                                               GET_GPS_MAG_VAR,
                                                               GET_GPS_TMG,
                                                               GET_GPS_TRUE_HEADING],
                                                    'parsed_data': []},
                            # GPS is not connected to the CANBUS so ID is None
                            'GPS_AIS_DATE_FRAME': {'id': None,
                                                   'uri': [GPS_AIS_TIME],
                                                   'rostopic': [GPS_AIS_TIME_TOPIC],
                                                   'data': None,
                                                   'parser': [GET_HOUR,
                                                              GET_MINUTE,
                                                              GET_SECOND,
                                                              GET_DAY,
                                                              GET_MONTH,
                                                              GET_YEAR],
                                                   'parsed_data': []},
                            'GPS_AIS_LAT_FRAME': {'id': None,
                                                  'uri': [GPS_AIS_LAT],
                                                  'rostopic': [GPS_AIS_LAT_TOPIC],
                                                  'data': None,
                                                  'parser': [GET_GPS_LAT],
                                                  'parsed_data': []},
                            'GPS_AIS_LON_FRAME': {'id': None,
                                                  'uri': [GPS_AIS_LON],
                                                  'rostopic': [GPS_AIS_LON_TOPIC],
                                                  'data': None,
                                                  'parser': [GET_GPS_LONG],
                                                  'parsed_data': []},
                            'GPS_AIS_OTHER_FRAME': {'id': None,
                                                    'uri': [GPS_AIS_GNDSPEED,
                                                            GPS_AIS_MAGVAR,
                                                            GPS_AIS_TMG,
                                                            GPS_AIS_TRUE_HEADING],
                                                    'rostopic': [GPS_AIS_GNDSPEED_TOPIC,
                                                                 GPS_AIS_MAGVAR_TOPIC,
                                                                 GPS_AIS_TMG_TOPIC,
                                                                 GPS_AIS_TRUE_HEADING_TOPIC],
                                                    'data': None,
                                                    'parser': [GET_GPS_GND_SPEED,
                                                               GET_GPS_MAG_VAR,
                                                               GET_GPS_TMG,
                                                               GET_GPS_TRUE_HEADING],
                                                    'parsed_data': []},
                            'ACCEL_FRAME': {'id': ACCEL_FRAME_ID,
                                            'uri': [ACCELEROMETER_X,
                                                    ACCELEROMETER_Y,
                                                    ACCELEROMETER_Z],
                                            'rostopic': [ACCELEROMETER_X_TOPIC,
                                                         ACCELEROMETER_Y_TOPIC,
                                                         ACCELEROMETER_Z_TOPIC],
                                            'data': None,
                                            'parser': [GET_ACCEL_X_DATA,
                                                       GET_ACCEL_Y_DATA,
                                                       GET_ACCEL_Z_DATA],
                                            'parsed_data': []},
                            'GYRO_FRAME': {'id': GYRO_FRAME_ID,
                                           'uri': [GYROSCOPE_X,
                                                   GYROSCOPE_Y,
                                                   GYROSCOPE_Z],
                                           'rostopic': [GYROSCOPE_X_TOPIC,
                                                        GYROSCOPE_Y_TOPIC,
                                                        GYROSCOPE_Z_TOPIC],
                                           'data': None,
                                           'parser': [GET_GYRO_X_DATA,
                                                      GET_GYRO_Y_DATA,
                                                      GET_GYRO_Z_DATA],
                                           'parsed_data': []}
                            }
  
  CAN_bus_sensor = ['WS1_FRAME',
                    'WS2_FRAME',
                    'WS3_FRAME',
                    # 'GPS_CAN_DATE_FRAME',
                    'GPS_CAN_LAT_FRAME',
                    'GPS_CAN_LON_FRAME',
                    'GPS_CAN_OTHER_FRAME',
                    'ACCEL_FRAME',
                    'GYRO_FRAME'
                    ]
  