Source Code for Module roslib.scriptutil

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 33  # Revision $Id: scriptutil.py 14631 2011-08-10 03:37:14Z 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      try: 
132          import xmlrpc.client as xmlrpcclient  #Python 3.x 
133      except ImportError: 
134          import xmlrpclib as xmlrpcclient #Python 2.x 
135       
136      # #1730 validate URL for better error messages 
137      uri = roslib.rosenv.get_master_uri() 
138      try: 
139          roslib.network.parse_http_host_and_port(uri) 
140      except ValueError: 
141          raise roslib.exceptions.ROSLibException("invalid master URI: %s"%uri) 
142      return xmlrpcclient.ServerProxy(uri) 
143   
144   
145 -def get_param_server(): 
146      """ 
147      @return: ServerProxy XML-RPC proxy to ROS parameter server 
148      @rtype: xmlrpclib.ServerProxy 
149      """ 
150      return get_master() 
151   
152 -def is_subscriber(topic, subscriber_id): 
153      """ 
154      Check whether or not master think subscriber_id subscribes to topic 
155      @return: True if still register as a subscriber 
156      @rtype: bool 
157      @raise roslib.exceptions.ROSLibException: if communication with master fails 
158      """ 
159      m = get_master() 
160      code, msg, state = m.getSystemState(_GLOBAL_CALLER_ID) 
161      if code != 1: 
162          raise roslib.exceptions.ROSLibException("Unable to retrieve master state: %s"%msg) 
163      _, subscribers, _ = state 
164      for t, l in subscribers: 
165          if t == topic: 
166              return subscriber_id in l 
167      else: 
168          return False 
169   
170 -def is_publisher(topic, publisher_id): 
171      """ 
172      Predicate to check whether or not master think publisher_id 
173      publishes topic 
174      @return: True if still register as a publisher 
175      @rtype: bool 
176      @raise roslib.exceptions.ROSLibException: if communication with master fails 
177      """ 
178      m = get_master() 
179      code, msg, state = m.getSystemState(_GLOBAL_CALLER_ID) 
180      if code != 1: 
181          raise roslib.exceptions.ROSLibException("Unable to retrieve master state: %s"%msg) 
182      pubs, _, _ = state 
183      for t, l in pubs: 
184          if t == topic: 
185              return publisher_id in l 
186      else: 
187          return False 
188   
189 -def ask_and_call(cmds, cwd=None): 
190      """ 
191      Pretty print cmds, ask if they should be run, and if so, runs 
192      them using subprocess.check_call. 
193   
194      @param cwd: (optional) set cwd of command that is executed 
195      @type  cwd: str 
196      @return: True if cmds were run. 
197      """ 
198      # Pretty-print a string version of the commands 
199      def quote(s): 
200          return '"%s"'%s if ' ' in s else s 
201      sys.stdout.write("Okay to execute:\n\n%s\n(y/n)?\n"%('\n'.join([' '.join([quote(s) for s in c]) for c in cmds]))) 
202      while 1: 
203          input = sys.stdin.readline().strip().lower() 
204          if input in ['y', 'n']: 
205              break 
206      accepted = input == 'y' 
207      if accepted: 
208          for c in cmds: 
209              if cwd: 
210                  subprocess.check_call(c, cwd=cwd) 
211              else: 
212                  subprocess.check_call(c)                 
213      return accepted 
214