Source Code for Module rosh.impl.msg

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 33  # Revision $Id: msg.py 11427 2010-10-06 23:39:08Z kwc $ 
 34   
 35  from __future__ import with_statement 
 36   
 37  import sys 
 38   
 39  import roslib.packages 
 40  import rospy 
 41   
 42  import rosmsg 
 43   
 44  from rosh.impl.namespace import Namespace, Concept 
 45  from rosh.impl.bagy import create 
 46       
 47 -class MsgPackage(Namespace): 
 48   
 49 -    def __init__(self, name, config): 
 50          """ 
 51          ctor. 
 52          @param config: Namespace configuration instance with additional 'listener' attribute.  
 53          @type  config: L{NamespaceConfig} 
 54          """ 
 55          super(MsgPackage, self).__init__(name, config) 
 56   
 57          # an artifact of reusing the Namespace class is that we have to strip slashes 
 58          if self._ns == '/': 
 59              self._ns = '' 
 60               
 61          self._msg_cache = {} 
 62   
 63 -    def _list(self): 
 64          """ 
 65          Override Namespace._list() 
 66          """ 
 67          try: 
 68              if not self._ns: 
 69                  return rosmsg.list_packages(mode=self._config.mode) 
 70              else: 
 71                  return rosmsg.list_types(self._name, mode=self._config.mode) 
 72          except: 
 73              return [] 
 74   
 75 -    def _getAttributeNames(self): 
 76          return list(set([s[len(self._ns):].split('/')[0] for s in self._list()])) 
 77   
 78 -    def __repr__(self): 
 79          return self.__str__() 
 80           
 81 -    def __str__(self): 
 82          return self._name 
 83   
 84 -    def __getitem__(self, key): 
 85          if not self._ns: 
 86              return super(MsgPackage, self).__getitem__(key) 
 87          elif key in self._msg_cache: 
 88              return self._msg_cache[key] 
 89          else: 
 90              if self._config.mode == roslib.msgs.EXT: 
 91                  v = self._type = get_message_class(self._ns + key) 
 92              else: 
 93                  v = self._type = get_service_class(self._ns + key) 
 94              if v is not None: 
 95                  self._msg_cache[key] = v 
 96              return v 
 97   
 98 -def get_message_class(type_name): 
 99      val = roslib.message.get_message_class(type_name, reload_on_error=True) 
100      if not val: 
101          pkg, base_type = roslib.names.package_resource_name(type_name) 
102          if '(' not in type_name: 
103              # ipython has an introspection bug where it forwards the 
104              # actual method call to the getattr. 
105              print >> sys.stderr, """Cannot retrieve type [%s]. 
106  Please type 'rosmake %s' 
107  """%(type_name, pkg) 
108          return None 
109      else: 
110          return val 
111   
112 -def get_service_class(type_name): 
113      val = roslib.message.get_service_class(type_name, reload_on_error=True) 
114      if not val: 
115          pkg, base_type = roslib.names.package_resource_name(type_name) 
116          if '(' not in type_name: 
117              # ipython has an introspection bug where it forwards the 
118              # actual method call to the getattr. 
119              print >> sys.stderr, """Cannot retrieve type [%s]. 
120  Please type 'rosmake %s' 
121  """%(type_name, pkg) 
122          return None 
123      else: 
124          return val 
125       
126 -class Msgs(Concept): 
127   
128 -    def __init__(self, ctx, lock): 
129          super(Msgs, self).__init__(ctx, lock, MsgPackage) 
130          self._config.mode = roslib.msgs.EXT 
131   
132 -    def __contains__(self, key): 
133          """ 
134          Test if the key (package name) has msgs. 
135          """ 
136          # right now only supports key tests 
137          return key in self._root._list() 
138   
139 -    def __call__(self, msg_repr, msg_class): 
140          """ 
141          Instantiate msg from a dictionary or YAML representation. 
142          """ 
143          return create(msg_repr, msg_class) 
144   
145 -class Srvs(Concept): 
146   
147 -    def __init__(self, ctx, lock): 
148          super(Srvs, self).__init__(ctx, lock, MsgPackage) 
149          self._config.mode = roslib.srvs.EXT 
150   
151 -    def __contains__(self, key): 
152          """ 
153          Test if the key (package name) has srvs. 
154          """ 
155          # right now only supports key tests 
156          return key in self._root._list() 
157