Source Code for Package rosh

  1  #!/usr/bin/env python 
  2  # Software License Agreement (BSD License) 
  3  # 
  4  # Copyright (c) 2010, 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: __init__.py 11676 2010-10-22 02:06:13Z kwc $ 
 35  """ 
 36  ROS Shell (rosh). 
 37   
 38  Higher-level, interactive scripting environment for ROS. 
 39  """ 
 40   
 41  from __future__ import with_statement 
 42  import roslib; roslib.load_manifest('rosh') 
 43   
 44  import os 
 45  import sys 
 46   
 47  import roslib.packages 
 48  import roslib.rosenv 
 49   
 50  # declare shell globals 
 51   
 52  # These are initialized by rosh.impl.ros_graph but declared here due 
 53  # to get_*() accessors 
 54  nodes = topics = services = parameters = msg = srv = None 
 55   
 56  # - by default, all publishers latch 
 57  latching = True 
 58   
 59  import rosh.plugin 
 60  import rosh.impl.ros_packages 
 61  import rosh.impl.ros_graph 
 62  import rosh.impl.ipy 
 63  import rosh.impl.namespace 
 64   
 65  from rosh.impl.namespace import rostype, info 
 66  from rosh.impl.show import show 
 67  from rosh.impl.props import props 
 68   
 69  # NOTE: this shadows the rosparam module. Is this an issue? 
 70  from rosh.impl.param import rosparam, rosparam_str 
 71   
 72  # client symbols 
 73  from rosh.impl.exceptions import ROSHException 
 74  from rosh.impl.library import findros 
 75  from rosh.impl.bagy import Bagy, MapBagy 
 76  from rosh.impl.bag import Bag 
 77   
 78  from rosh.impl.service import Service 
 79  from roslaunch.core import Node 
 80   
 81 -def kill(obj): 
 82      if hasattr(obj, '_kill'): 
 83          obj._kill() 
 84      elif type(obj) in (list, tuple): 
 85          for x in obj: 
 86              kill(x) 
 87      else: 
 88          raise ValueError("Not a kill-able object") 
 89   
 90 -def load(name, globals_=None): 
 91      """ 
 92      Load plugin. This loads the plugin into the rosh global symbol 
 93      table. If globals_ is specified, plugin symbols will also be 
 94      loaded into the provided dictionary. Common usage is:: 
 95       
 96          load_plugin('plugin_name', globals()) 
 97   
 98      @param globals_: global symbol table to additionally load plugin to. 
 99      @type  globals_: dict 
100      """ 
101      rosh.plugin.load_plugin(name, _plugin_context, globals_) 
102           
103  _plugin_context = None 
104 -def get_default_plugin_context(): 
105      return _plugin_context 
106   
107 -def ok(): 
108      """ 
109      @return: True if ok to keep executing, False if script should exit. 
110      """ 
111      return rosh.impl.ros_graph.ok() 
112   
113 -def rosh_init(): 
114      # context is the heart of the rosh namespace logic 
115      global _ctx, _rosh_lock 
116   
117      _ctx = rosh.impl.namespace.Context() 
118   
119      import threading 
120      _rosh_lock = threading.RLock()     
121   
122      # plugin context is the loading mechanism for ROSH plugins 
123      global _plugin_context 
124      _plugin_context = rosh.plugin.PluginContext(globals(), _ctx, _rosh_lock) 
125   
126      # load symbols for ROS packages layer 
127      rosh.impl.ros_packages.load_rosh_plugin('rosh.impl.ros_packages', _plugin_context) 
128       
129      # load symbols for ROS graph layer. Note: graph layer and package 
130      # layer are coupled by both msg/srv and roslaunch, which makes 
131      # separating rosh less than useful right now. 
132      rosh.impl.ros_graph.load_rosh_plugin('rosh.impl.ros_graph', _plugin_context) 
133   
134      # initialize IPython Magic 
135      rosh.impl.ipy.ipy_magic_init() 
136   
137  # initialize privates 
138   
139  # lock for member/global initialization 
140  _rosh_lock = None 
141  # ROSH shared context 
142  ctx = None 
143