Source Code for Module roslib.scriptutil

  1  # Software License Agreement (BSD License) 
  2  # 
  3  # Copyright (c) 2008, Willow Garage, Inc. 
  4  # All rights reserved. 
  5  # 
  6  # Redistribution and use in source and binary forms, with or without 
  7  # modification, are permitted provided that the following conditions 
  8  # are met: 
  9  # 
 10  #  * Redistributions of source code must retain the above copyright 
 11  #    notice, this list of conditions and the following disclaimer. 
 12  #  * Redistributions in binary form must reproduce the above 
 13  #    copyright notice, this list of conditions and the following 
 14  #    disclaimer in the documentation and/or other materials provided 
 15  #    with the distribution. 
 16  #  * Neither the name of Willow Garage, Inc. nor the names of its 
 17  #    contributors may be used to endorse or promote products derived 
 18  #    from this software without specific prior written permission. 
 19  # 
 20  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
 21  # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
 22  # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 
 23  # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 
 24  # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 
 25  # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 
 26  # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 
 27  # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
 28  # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 
 29  # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 
 30  # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
 31  # POSSIBILITY OF SUCH DAMAGE. 
 32  # 
 33  # Revision $Id: scriptutil.py 10609 2010-08-05 21:50:24Z kwc $ 
 34  # $Author: kwc $ 
 35   
 36  """ 
 37  Common ros script utilities, such as methods convenience methods for 
 38  creating master xmlrpc proxies and executing rospack. This library 
 39  is relatively immature and much of the functionality here will 
 40  likely be moved elsewhere as the API solidifies. 
 41  """ 
 42   
 43  import itertools 
 44  import os 
 45  import re 
 46  import string 
 47  import subprocess 
 48  import sys 
 49   
 50  import roslib.exceptions 
 51  import roslib.launcher 
 52  import roslib.message 
 53  import roslib.msgs  
 54  import roslib.names  
 55  import roslib.network 
 56  import roslib.packages 
 57  import roslib.rosenv  
 58   
 59  PRODUCT = 'ros' 
 60   
 61  ## caller ID for master calls where caller ID is not vital 
 62  _GLOBAL_CALLER_ID = '/script' 
 63   
 64  _is_interactive = False 
 65 -def set_interactive(interactive): 
 66      """ 
 67      General API for a script specifying that it is being run in an 
 68      interactive environment. Many libraries may wish to change their 
 69      behavior based on being interactive (e.g. disabling signal 
 70      handlers on Ctrl-C). 
 71   
 72      @param interactive: True if current script is being run in an interactive shell 
 73      @type  interactive: bool 
 74      """ 
 75      global _is_interactive 
 76      _is_interactive = interactive 
 77   
 78 -def is_interactive(): 
 79      """ 
 80      General API for a script specifying that it is being run in an 
 81      interactive environment. Many libraries may wish to change their 
 82      behavior based on being interactive (e.g. disabling signal 
 83      handlers on Ctrl-C). 
 84   
 85      @return: True if interactive flag has been set 
 86      @rtype: bool 
 87      """ 
 88      return _is_interactive 
 89   
 90 -def myargv(argv=None): 
 91      """ 
 92      Remove ROS remapping arguments from sys.argv arguments. 
 93      @return: copy of sys.argv with ROS remapping arguments removed 
 94      @rtype: [str] 
 95      """ 
 96      if argv is None: 
 97          argv = sys.argv 
 98      return [a for a in argv if not roslib.names.REMAP in a] 
 99   
100 -def script_resolve_name(script_name, name): 
101      """ 
102      Name resolver for scripts. Supports ROS_NAMESPACE.  Does not 
103      support remapping arguments. 
104      @param name: name to resolve 
105      @type  name: str 
106      @param script_name: name of script. script_name must not 
107      contain a namespace. 
108      @type  script_name: str 
109      @return: resolved name 
110      @rtype: str 
111      """ 
112      if not name: #empty string resolves to namespace 
113          return roslib.names.get_ros_namespace() 
114      #Check for global name: /foo/name resolves to /foo/name 
115      if roslib.names.is_global(name): 
116          return name 
117      #Check for private name: ~name resolves to /caller_id/name 
118      elif roslib.names.is_private(name): 
119          return ns_join(roslib.names.make_caller_id(script_name), name[1:]) 
120      return roslib.names.get_ros_namespace() + name 
121   
122 -def get_master(): 
123      """ 
124      Get an XMLRPC handle to the Master. It is recommended to use the 
125      `rosgraph.masterapi` library instead, as it provides many 
126      conveniences. 
127       
128      @return: XML-RPC proxy to ROS master 
129      @rtype: xmlrpclib.ServerProxy 
130      """ 
131      import xmlrpclib 
132      # #1730 validate URL for better error messages 
133      uri = roslib.rosenv.get_master_uri() 
134      try: 
135          roslib.network.parse_http_host_and_port(uri) 
136      except ValueError: 
137          raise roslib.exceptions.ROSLibException("invalid master URI: %s"%uri) 
138      return xmlrpclib.ServerProxy(uri) 
139   
140   
141 -def get_param_server(): 
142      """ 
143      @return: ServerProxy XML-RPC proxy to ROS parameter server 
144      @rtype: xmlrpclib.ServerProxy 
145      """ 
146      return get_master() 
147   
148 -def is_subscriber(topic, subscriber_id): 
149      """ 
150      Check whether or not master think subscriber_id subscribes to topic 
151      @return: True if still register as a subscriber 
152      @rtype: bool 
153      @raise roslib.exceptions.ROSLibException: if communication with master fails 
154      """ 
155      m = get_master() 
156      code, msg, state = m.getSystemState(_GLOBAL_CALLER_ID) 
157      if code != 1: 
158          raise roslib.exceptions.ROSLibException("Unable to retrieve master state: %s"%msg) 
159      _, subscribers, _ = state 
160      for t, l in subscribers: 
161          if t == topic: 
162              return subscriber_id in l 
163      else: 
164          return False 
165   
166 -def is_publisher(topic, publisher_id): 
167      """ 
168      Predicate to check whether or not master think publisher_id 
169      publishes topic 
170      @return: True if still register as a publisher 
171      @rtype: bool 
172      @raise roslib.exceptions.ROSLibException: if communication with master fails 
173      """ 
174      m = get_master() 
175      code, msg, state = m.getSystemState(_GLOBAL_CALLER_ID) 
176      if code != 1: 
177          raise roslib.exceptions.ROSLibException("Unable to retrieve master state: %s"%msg) 
178      pubs, _, _ = state 
179      for t, l in pubs: 
180          if t == topic: 
181              return publisher_id in l 
182      else: 
183          return False 
184   
185 -def ask_and_call(cmds, cwd=None): 
186      """ 
187      Pretty print cmds, ask if they should be run, and if so, runs 
188      them using subprocess.check_call. 
189   
190      @param cwd: (optional) set cwd of command that is executed 
191      @type  cwd: str 
192      @return: True if cmds were run. 
193      """ 
194      # Pretty-print a string version of the commands 
195      def quote(s): 
196          return '"%s"'%s if ' ' in s else s 
197      print "Okay to execute:\n\n%s\n(y/n)?"%('\n'.join([' '.join([quote(s) for s in c]) for c in cmds])) 
198      while 1: 
199          input = sys.stdin.readline().strip() 
200          if input in ['y', 'n']: 
201              break 
202      accepted = input == 'y' 
203      import subprocess 
204      if accepted: 
205          for c in cmds: 
206              if cwd: 
207                  subprocess.check_call(c, cwd=cwd) 
208              else: 
209                  subprocess.check_call(c)                 
210      return accepted 
211