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   
 49  # TODO: get rid of this routine or replace with Exec 
 50 -def run(config, cmd, stdout=True): 
 51      """ 
 52      Run the specified command using the current ROS configuration. 
 53      """ 
 54      env = os.environ.copy() 
 55      env[roslib.rosenv.ROS_MASTER_URI] = config.master.master_uri 
 56       
 57      if 0: 
 58          print "CMD", cmd 
 59   
 60      # TODO: added Exec objects to roslaunch that are only accessible via scriptapi 
 61      if stdout: 
 62          p = Popen(cmd, stderr=PIPE, env=env) 
 63      else: 
 64          p = Popen(cmd, stdout=PIPE, stderr=PIPE, env=env) 
 65       
 66      p.poll() 
 67      return p.returncode in [None, 0] 
 68   
 69 -def _init_ctx(ctx): 
 70      """ 
 71      Add shared roslaunch instance to ctx if not already initialized. 
 72       
 73      @param ctx: ROSH context 
 74      @type  ctx: Contextj 
 75      """ 
 76      if not ctx._roslaunch.started: 
 77          ctx._roslaunch.start() 
 78       
 79  #TODO: __str__ debugging info 
 80 -class Process(object): 
 81      """ 
 82      ROSH wrapper for processes to make them kill-able 
 83      """ 
 84       
 85 -    def __init__(self, roslaunch_process): 
 86          self.roslaunch_process = roslaunch_process 
 87           
 88 -    def _kill(self): 
 89          self.roslaunch_process.stop() 
 90       
 91 -def launch_node(ctx, pkg, type_, args=[], remap={}, stdout=False): 
 92      """ 
 93      Low-level launch() API for internal ROSH and ROSH plugin use. 
 94       
 95      @param ctx: ROSH context 
 96      @type  ctx: Context 
 97      @param pkg: package name 
 98      @param type_: node type 
 99      @return: Node and Process instance 
100      @rtype: (roslaunch.Node, roslaunch.Process) 
101      """ 
102      output = 'screen' if stdout else None 
103      if type(args) in (list, tuple): 
104          args = ' '.join([str(x) for x in args]) 
105      if remap: 
106          args = args + ' '.join(['%s:=%s'%(k, v) for k, v in remap.iteritems()]) 
107   
108      return launch_roslaunch_Node(ctx, roslaunch.Node(pkg, type_, args=args, output=output, filename='<rosh>')) 
109   
110 -def launch_roslaunch_file(ctx, roslaunch_filename): 
111      # TODO: use roshlaunch API 
112      raise NotImplemented 
113   
114 -def launch_roslaunch_Node(ctx, node): 
115      """ 
116      Launch a Node instance. This is a low-level launch() API for 
117      internal ROSH and ROSH plugin use. 
118       
119      @param ctx: ROSH context 
120      @type  ctx: Context 
121      @param node: node instance. The name attribute may be overwritten. 
122      @type  node: roslaunch.Node 
123      @return: Node instance 
124      @rtype: Node 
125      """ 
126      _init_ctx(ctx) 
127      p = ctx._roslaunch.launch(node) 
128      return node, Process(p) 
129