Source Code for Module roslib.launcher

  1  #! /usr/bin/env python 
  2  # Software License Agreement (BSD License) 
  3  # 
  4  # Copyright (c) 2008, Willow Garage, Inc. 
  5  # All rights reserved. 
  6  # 
  7  # Redistribution and use in source and binary forms, with or without 
  8  # modification, are permitted provided that the following conditions 
  9  # are met: 
 10  # 
 11  #  * Redistributions of source code must retain the above copyright 
 12  #    notice, this list of conditions and the following disclaimer. 
 13  #  * Redistributions in binary form must reproduce the above 
 14  #    copyright notice, this list of conditions and the following 
 15  #    disclaimer in the documentation and/or other materials provided 
 16  #    with the distribution. 
 17  #  * Neither the name of Willow Garage, Inc. nor the names of its 
 18  #    contributors may be used to endorse or promote products derived 
 19  #    from this software without specific prior written permission. 
 20  # 
 21  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
 22  # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
 23  # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 
 24  # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 
 25  # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 
 26  # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 
 27  # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 
 28  # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
 29  # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 
 30  # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 
 31  # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
 32  # POSSIBILITY OF SUCH DAMAGE. 
 33  # 
 34  # Revision $Id: launcher.py 6565 2009-10-21 20:53:37Z 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      sys.path = _generate_python_path(package_name, [], os.environ) + sys.path 
 70       
 71 -def _append_package_paths(manifest_, paths, pkg_dir): 
 72      """ 
 73      Added paths for package to paths 
 74      @param manifest_: package manifest 
 75      @type  manifest_: Manifest 
 76      @param pkg_dir: package's filesystem directory path 
 77      @type  pkg_dir: str 
 78      @param paths: list of paths 
 79      @type  paths: [str] 
 80      """ 
 81      exports = manifest_.get_export('python','path') 
 82      if exports: 
 83          for export in exports: 
 84              if ':' in export: 
 85                  export = export.split(':') 
 86              else: 
 87                  export = [export] 
 88              for e in export: 
 89                  paths.append(e.replace('${prefix}', pkg_dir)) 
 90      else: 
 91          dirs = [os.path.join(pkg_dir, d) for d in ['src', 'lib']] 
 92          paths.extend(filter(os.path.isdir, dirs)) 
 93       
 94 -def _generate_python_path(pkg, depends, env=os.environ): 
 95      """ 
 96      Recursive subroutine for building dependency list and python path 
 97      @param manifest_file: manifest to parse for additional dependencies 
 98      @param depends: current dependency set. Will be modified 
 99      @return: list of directory paths to add to python path in order to include 
100        package and dependencies described in manifest file. 
101      @raise InvalidROSPkgException: if an error occurs while attempting to load package or dependencies 
102      """ 
103      if pkg in _bootstrapped: 
104          return [] 
105      manifest_file = roslib.manifest.manifest_file(pkg, True, env) 
106      if not manifest_file: 
107          raise roslib.packages.InvalidROSPkgException("cannot locate package [%s]"%pkg) 
108      _bootstrapped.append(pkg) 
109       
110      pkg_dir = os.path.dirname(os.path.abspath(manifest_file)) 
111      depends.append(pkg) 
112      m = roslib.manifest.parse_file(manifest_file) 
113       
114      paths = [] 
115      _append_package_paths(m, paths, pkg_dir) 
116   
117      try: 
118          for d in m.depends: 
119              if d.package in depends: 
120                  continue  
121              try: #add sub-dependencies to paths and depends 
122                  paths.extend(_generate_python_path(d.package, depends, env)) 
123              except roslib.packages.InvalidROSPkgException, e: 
124                  # translate error message to give more context 
125                  raise roslib.packages.InvalidROSPkgException("While loading package '%s': %s"%(d.package, str(e))) 
126              except: 
127                  import traceback 
128                  raise roslib.packages.InvalidROSPkgException("While loading package '%s': cannot load dependency '%s'\nLower level error was %s"%(pkg, d.package, traceback.format_exc())) 
129      except: 
130          if pkg in _bootstrapped: 
131              _bootstrapped.remove(pkg) 
132          raise 
133      return paths 
134