Source Code for Module roslib.launcher

  1  #! /usr/bin/env python 
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 34  # Revision $Id: launcher.py 14291 2011-07-13 03:24:43Z kwc $ 
 35  # $Author: kwc $ 
 36   
 37  """ 
 38  Python path loader for python scripts and applications. Paths are 
 39  derived from dependency structure declared in ROS manifest files. 
 40  """ 
 41   
 42  import sys 
 43  import os 
 44   
 45  import roslib.manifest 
 46  import roslib.packages 
 47   
 48 -def get_manifest_file(package_name): 
 49      """ 
 50      @return: name of package to get manifest for 
 51      @rtype: str 
 52      @raise InvalidROSPkgException: if required is True and package cannot be located 
 53      """ 
 54      return roslib.manifest.manifest_file(package_name, required=True) 
 55           
 56  # bootstrapped keeps track of which packages we've loaded so we don't update the path multiple times 
 57  _bootstrapped = [] 
 58   
 59 -def load_manifest(package_name, bootstrap_version="0.7"): 
 60      """ 
 61      Update the Python sys.path with package's dependencies 
 62      @param package_name: name of the package that load_manifest() is being called from. 
 63      @type  package_name: str 
 64      @param bootstrap_version: (keyword argument) do not use. Soon to be deprecated 
 65      @type  bootstrap_version: str 
 66      """ 
 67      if package_name in _bootstrapped: 
 68          return 
 69      prefix = [] 
 70      if 'ROS_BUILD' in os.environ: 
 71          if os.environ['ROS_BUILD'] == os.environ['ROS_ROOT']: 
 72              return 
 73          prefix = [os.path.join(os.environ['ROS_BUILD'], 'gen', 'py'), 
 74                    os.path.join(os.environ['ROS_BUILD'], '..', 'rosidl', 'src')] 
 75      sys.path = prefix + _generate_python_path(package_name, [], os.environ) + sys.path 
 76       
 77 -def _append_package_paths(manifest_, paths, pkg_dir): 
 78      """ 
 79      Added paths for package to paths 
 80      @param manifest_: package manifest 
 81      @type  manifest_: Manifest 
 82      @param pkg_dir: package's filesystem directory path 
 83      @type  pkg_dir: str 
 84      @param paths: list of paths 
 85      @type  paths: [str] 
 86      """ 
 87      exports = manifest_.get_export('python','path') 
 88      if exports: 
 89          for export in exports: 
 90              if ':' in export: 
 91                  export = export.split(':') 
 92              else: 
 93                  export = [export] 
 94              for e in export: 
 95                  paths.append(e.replace('${prefix}', pkg_dir)) 
 96      else: 
 97          dirs = [os.path.join(pkg_dir, d) for d in ['src', 'lib']] 
 98          paths.extend(list(filter(os.path.isdir, dirs))) #py3k 
 99       
100 -def _generate_python_path(pkg, depends, env=os.environ): 
101      """ 
102      Recursive subroutine for building dependency list and python path 
103      @param manifest_file: manifest to parse for additional dependencies 
104      @param depends: current dependency set. Will be modified 
105      @return: list of directory paths to add to python path in order to include 
106        package and dependencies described in manifest file. 
107      @raise InvalidROSPkgException: if an error occurs while attempting to load package or dependencies 
108      """ 
109      if pkg in _bootstrapped: 
110          return [] 
111      manifest_file = roslib.manifest.manifest_file(pkg, True, env) 
112      if not manifest_file: 
113          raise roslib.packages.InvalidROSPkgException("cannot locate package [%s]"%pkg) 
114      _bootstrapped.append(pkg) 
115       
116      pkg_dir = os.path.dirname(os.path.abspath(manifest_file)) 
117      depends.append(pkg) 
118      m = roslib.manifest.parse_file(manifest_file) 
119       
120      paths = [] 
121      _append_package_paths(m, paths, pkg_dir) 
122   
123      try: 
124          for d in m.depends: 
125              if d.package in depends: 
126                  continue  
127              try: #add sub-dependencies to paths and depends 
128                  paths.extend(_generate_python_path(d.package, depends, env)) 
129              except roslib.packages.InvalidROSPkgException as e: 
130                  # translate error message to give more context 
131                  raise roslib.packages.InvalidROSPkgException("While loading package '%s': %s"%(d.package, str(e))) 
132              except: 
133                  import traceback 
134                  raise roslib.packages.InvalidROSPkgException("While loading package '%s': cannot load dependency '%s'\nLower level error was %s"%(pkg, d.package, traceback.format_exc())) 
135      except: 
136          if pkg in _bootstrapped: 
137              _bootstrapped.remove(pkg) 
138          raise 
139      return paths 
140