Source Code for Module roslib.rospack

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 33  # Revision $Id: rospack.py 16493 2012-03-08 19:25:32Z kwc $ 
 34  # $Author: kwc $ 
 35   
 36  """ 
 37  Wrappers for calling an processing return values from rospack and rosstack 
 38  """ 
 39   
 40  import os 
 41  import sys 
 42  import subprocess 
 43  import roslib.exceptions 
 44  import roslib.rosenv 
 45   
 46  if sys.hexversion > 0x03000000: #Python3 
 47      python3 = True 
 48  else: 
 49      python3 = False 
 50   
 51  import threading 
 52   
 53  rospack_lock = threading.Lock() 
 54   
 55 -def rospackexec(args): 
 56      """ 
 57      @return: result of executing rospack command (via subprocess). string will be strip()ed. 
 58      @rtype: str 
 59      @raise roslib.exceptions.ROSLibException: if rospack command fails 
 60      """ 
 61      rospack_bin = os.path.join(roslib.rosenv.get_ros_root(), 'bin', 'rospack') 
 62      with rospack_lock: 
 63          if python3: 
 64              val = subprocess.Popen([rospack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] 
 65              val = val.decode().strip() 
 66          else: 
 67              val = (subprocess.Popen([rospack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] or '').strip()         
 68      if val.startswith('rospack:'): #rospack error message 
 69          raise roslib.exceptions.ROSLibException(val) 
 70      return val 
 71   
 72 -def rospack_depends_on_1(pkg): 
 73      """ 
 74      @param pkg: package name 
 75      @type  pkg: str 
 76      @return: A list of the names of the packages which depend directly on pkg 
 77      @rtype: list 
 78      """ 
 79      return rospackexec(['depends-on1', pkg]).split() 
 80   
 81 -def rospack_depends_on(pkg): 
 82      """ 
 83      @param pkg: package name 
 84      @type  pkg: str 
 85      @return: A list of the names of the packages which depend on pkg 
 86      @rtype: list 
 87      """ 
 88      return rospackexec(['depends-on', pkg]).split() 
 89   
 90 -def rospack_depends_1(pkg): 
 91      """ 
 92      @param pkg: package name 
 93      @type  pkg: str 
 94      @return: A list of the names of the packages which pkg directly depends on 
 95      @rtype: list     
 96      """ 
 97      return rospackexec(['deps1', pkg]).split() 
 98   
 99 -def rospack_depends(pkg): 
100      """ 
101      @param pkg: package name 
102      @type  pkg: str 
103      @return: A list of the names of the packages which pkg depends on 
104      @rtype: list     
105      """ 
106      return rospackexec(['deps', pkg]).split() 
107   
108 -def rospack_plugins(pkg): 
109      """ 
110      @param pkg: package name 
111      @type  pkg: str 
112      @return: A list of the names of the packages which provide a plugin for pkg 
113      @rtype: list     
114      """ 
115      val = rospackexec(['plugins', '--attrib=plugin', pkg]) 
116      if val: 
117        return [tuple(x.split(' ')) for x in val.split('\n')] 
118      else: 
119        return [] 
120   
121 -def rosstackexec(args): 
122      """ 
123      @return: result of executing rosstack command (via subprocess). string will be strip()ed. 
124      @rtype:  str 
125      @raise roslib.exceptions.ROSLibException: if rosstack command fails 
126      """ 
127      rosstack_bin = os.path.join(roslib.rosenv.get_ros_root(), 'bin', 'rosstack') 
128      with rospack_lock: 
129          if python3: 
130              val = subprocess.Popen([rosstack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] 
131              val = val.decode().strip() 
132          else: 
133              val = (subprocess.Popen([rosstack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] or '').strip() 
134          if val.startswith('rosstack:'): #rospack error message 
135              raise roslib.exceptions.ROSLibException(val) 
136      return val 
137   
138 -def rosstack_depends_on(s): 
139      """ 
140      @param s: stack name 
141      @type  s: str 
142      @return: A list of the names of the stacks which depend on s 
143      @rtype: list 
144      """ 
145      return rosstackexec(['depends-on', s]).split() 
146   
147 -def rosstack_depends_on_1(s): 
148      """ 
149      @param s: stack name 
150      @type  s: str 
151      @return: A list of the names of the stacks which depend directly on s 
152      @rtype: list 
153      """ 
154      return rosstackexec(['depends-on1', s]).split() 
155   
156 -def rosstack_depends(s): 
157      """ 
158      @param s: stack name 
159      @type  s: str 
160      @return: A list of the names of the stacks which s depends on  
161      @rtype: list 
162      """ 
163      return rosstackexec(['depends', s]).split() 
164   
165 -def rosstack_depends_1(s): 
166      """ 
167      @param s: stack name 
168      @type  s: str 
169      @return: A list of the names of the stacks which s depends on directly 
170      @rtype: list 
171      """ 
172      return rosstackexec(['depends1', s]).split() 
173