Source Code for Module rosh.impl.proc

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 33  # Revision $Id: proc.py 11427 2010-10-06 23:39:08Z kwc $ 
 34   
 35  """ 
 36  ROSH library for running processes.  
 37   
 38  This library is necessary as ROSH commands, like set_master, can 
 39  manipulate the environment in ways that would affect subprocesses. 
 40  """ 
 41   
 42  import os 
 43  from subprocess import Popen, PIPE 
 44   
 45  import roslib.rosenv 
 46  import roslaunch 
 47   
 48  # TODO: get rid of this routine or replace with Exec 
 49 -def run(config, cmd, stdout=True): 
 50      """ 
 51      Run the specified command using the current ROS configuration. 
 52      """ 
 53      env = os.environ.copy() 
 54      env[roslib.rosenv.ROS_MASTER_URI] = config.master.master_uri 
 55       
 56      if 0: 
 57          print "CMD", cmd 
 58   
 59      # TODO: added Exec objects to roslaunch that are only accessible via scriptapi 
 60      if stdout: 
 61          p = Popen(cmd, stderr=PIPE, env=env) 
 62      else: 
 63          p = Popen(cmd, stdout=PIPE, stderr=PIPE, env=env) 
 64       
 65      p.poll() 
 66      return p.returncode in [None, 0] 
 67   
 68 -def _init_ctx(ctx): 
 69      """ 
 70      Add shared roslaunch instance to ctx if not already initialized. 
 71       
 72      @param ctx: ROSH context 
 73      @type  ctx: Contextj 
 74      """ 
 75      if not ctx._roslaunch.started: 
 76          ctx._roslaunch.start() 
 77       
 78  #TODO: __str__ debugging info 
 79 -class Process(object): 
 80      """ 
 81      ROSH wrapper for processes to make them kill-able 
 82      """ 
 83       
 84 -    def __init__(self, roslaunch_process): 
 85          self.roslaunch_process = roslaunch_process 
 86           
 87 -    def _kill(self): 
 88          self.roslaunch_process.stop() 
 89       
 90 -def launch_node(ctx, pkg, type_, args=[], remap={}, stdout=False): 
 91      """ 
 92      Low-level launch() API for internal ROSH and ROSH plugin use. 
 93       
 94      @param ctx: ROSH context 
 95      @type  ctx: Context 
 96      @param pkg: package name 
 97      @param type_: node type 
 98      @return: Node and Process instance 
 99      @rtype: (roslaunch.Node, roslaunch.Process) 
100      """ 
101      output = 'screen' if stdout else None 
102      if type(args) in (list, tuple): 
103          args = ' '.join([str(x) for x in args]) 
104      if remap: 
105          args = args + ' '.join(['%s:=%s'%(k, v) for k, v in remap.iteritems()]) 
106   
107      return launch_roslaunch_Node(ctx, roslaunch.Node(pkg, type_, args=args, output=output, filename='<rosh>')) 
108   
109 -def launch_roslaunch_file(ctx, roslaunch_filename): 
110      # TODO: use roshlaunch API 
111      raise NotImplemented 
112   
113 -def launch_roslaunch_Node(ctx, node): 
114      """ 
115      Launch a Node instance. This is a low-level launch() API for 
116      internal ROSH and ROSH plugin use. 
117       
118      @param ctx: ROSH context 
119      @type  ctx: Context 
120      @param node: node instance. The name attribute may be overwritten. 
121      @type  node: roslaunch.Node 
122      @return: Node instance 
123      @rtype: Node 
124      """ 
125      _init_ctx(ctx) 
126      p = ctx._roslaunch.launch(node) 
127      return node, Process(p) 
128