Source Code for Module rosh.impl.param

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 33  # Revision $Id: param.py 11680 2010-10-22 07:04:07Z kwc $ 
 34   
 35  from __future__ import with_statement 
 36   
 37  import roslib.packages 
 38  import rosparam as _rosparam 
 39  import rospy 
 40   
 41  from rosh.impl.exceptions import ROSHException 
 42  from rosh.impl.namespace import Namespace, Concept 
 43   
 44 -def rosparam(*args): 
 45      """ 
 46      Load rosparam YAML file. This can either be called with 
 47      rosparam(filename) or rosparam(pkg, filename) 
 48       
 49      @return: loaded data 
 50      """ 
 51      #TODO: should this do a search to find filename 
 52      if len(args) == 2: 
 53          pkg, filename = args 
 54          d = roslib.packages.get_pkg_dir(pkg) 
 55          matches = roslib.packages.find_resource(pkg, filename) 
 56          if matches: 
 57              filename = matches[0] 
 58          else: 
 59              filename = None 
 60      elif len(args) == 1: 
 61          filename = args[0] 
 62      else: 
 63          raise ValueError(args) 
 64       
 65      if not filename: 
 66          #TODO: what should the error behavior of ROSH be? 
 67          return None 
 68   
 69      #TODO: this strip any namespace in the file 
 70      return _rosparam.load_file(filename)[0][0] 
 71   
 72 -def rosparam_str(yaml_str): 
 73      """ 
 74      Load rosparam YAML string  
 75      @return: loaded data 
 76      """ 
 77      return _rosparam.load_str(yaml_str, 'rosh') 
 78       
 79 -class ParamNS(Namespace): 
 80   
 81 -    def __init__(self, name, config): 
 82          """ 
 83          ctor. 
 84          @param config: Namespace configuration instance.  
 85          @type  config: L{NamespaceConfig} 
 86          """ 
 87          super(ParamNS, self).__init__(name, config) 
 88          self._master = config.master 
 89   
 90 -    def _list(self): 
 91          """ 
 92          Override Namespace._list() 
 93          """ 
 94          try: 
 95              val = self._master.getParam(self._ns) 
 96              return [self._ns+k for k in val.iterkeys()] 
 97          except: 
 98              return [] 
 99   
100 -    def __repr__(self): 
101          return self.__str__() 
102           
103 -    def __str__(self): 
104          try: 
105              return "Boxed[%s]"%str(self._master.getParam(self._ns)) 
106          except: 
107              return '<uninitialized>' 
108   
109 -    def __getitem__(self, key): 
110          if type(key) == int: 
111              raise ROSHException("cannot index a ParamNS object. Are you missing a () call to get the value?") 
112          return super(ParamNS, self).__getitem__(key) 
113   
114 -    def __setitem__(self, key, value): 
115          if key.startswith('_'): 
116              return object.__setitem__(key, value) 
117          else: 
118              key = roslib.names.ns_join(self._ns, key) 
119              try: 
120                  self._master.setParam(key, value) 
121                  return True 
122              except: 
123                  return False 
124           
125 -    def __delitem__(self, key): 
126          if key.startswith('_'): 
127              return object.__delitem__(key) 
128          else: 
129              key = roslib.names.ns_join(self._ns, key) 
130              try: 
131                  self._master.deleteParam(key) 
132                  return True 
133              except: 
134                  raise KeyError(key) 
135   
136 -    def __setattr__(self, key, value): 
137          if key.startswith('_'): 
138              return object.__setattr__(self, key, value) 
139          else: 
140              return self.__setitem__(key, value) 
141           
142 -    def __delattr__(self, key): 
143          if key.startswith('_'): 
144              return object.__delattr__(self, key) 
145          else: 
146              return self.__delitem__(key) 
147   
148 -    def __contains__(self, key): 
149          key = roslib.names.ns_join(self._ns, key) 
150          return self._master.hasParam(key) 
151   
152 -    def __call__(self): 
153          """ 
154          @return: current parameter value 
155          """ 
156          try: 
157              return self._master.getParam(self._ns) 
158          except: 
159              raise KeyError(self._ns) 
160       
161 -class Parameters(Concept): 
162   
163 -    def __init__(self, ctx, lock): 
164          super(Parameters, self).__init__(ctx, lock, ParamNS) 
165           
166 -    def __setattr__(self, key, value): 
167          if key.startswith('_'): 
168              return object.__setattr__(self, key, value) 
169          else: 
170              return self._root.__setitem__(key, value) 
171           
172 -    def __call__(self): 
173          return self._root.__call__() 
174   
175 -    def __delitem__(self, key): 
176          if key.startswith('_'): 
177              return object.__delitem__(key) 
178          else: 
179              return self._root.__delitem__(key) 
180   
181 -    def __delattr__(self, key): 
182          if key.startswith('_'): 
183              return object.__delattr__(self, key) 
184          else: 
185              return self._root.__delitem__(key) 
186   
187 -    def __contains__(self, key): 
188          return self._root.__contains__(key) 
189