rospkg_plugin_provider.py

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# Copyright (c) 2011, Dirk Thomas, Dorian Scholz, TU Darmstadt
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
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#     notice, this list of conditions and the following disclaimer.
#   * Redistributions in binary form must reproduce the above
#     copyright notice, this list of conditions and the following
#     disclaimer in the documentation and/or other materials provided
#     with the distribution.
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#     contributors may be used to endorse or promote products derived
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import os

from python_qt_binding.QtCore import qWarning

from rospkg import RosPack
from rospkg.common import MANIFEST_FILE, PACKAGE_FILE
from rospkg.manifest import parse_manifest_file, InvalidManifest

from .ros_plugin_provider import RosPluginProvider


class RospkgPluginProvider(RosPluginProvider):

    """`RosPluginProvider` using rospkg."""

    def __init__(self, export_tag, base_class_type):
        super(RospkgPluginProvider, self).__init__(export_tag, base_class_type)
        self.setObjectName('RospkgPluginProvider')

    def _find_plugins(self, export_tag):
        plugins = []
        r = RosPack()
        for package_name in r.list():
            package_path = r.get_path(package_name)
            manifest_file_path = os.path.join(package_path, MANIFEST_FILE)
            if os.path.isfile(manifest_file_path):
                try:
                    manifest = parse_manifest_file(package_path, MANIFEST_FILE)
                except InvalidManifest as e:
                    qWarning('Could not parse manifest "%s":\n%s' % (manifest_file_path, e))
                    continue
                exports = manifest.get_export(export_tag, 'plugin')
                for export in exports:
                    plugins.append([package_name, str(export)])
                continue

            package_file_path = os.path.join(package_path, PACKAGE_FILE)
            if os.path.isfile(package_file_path):
                # only try to import catkin if a PACKAGE_FILE is found
                try:
                    from catkin_pkg.package import parse_package, InvalidPackage
                except ImportError as e:
                    qWarning('Package "%s" has a package file, but import of parser failed:\n%s' % (package_path, e))
                    continue
                try:
                    package = parse_package(package_file_path)
                except InvalidPackage as e:
                    qWarning('Could not parse package file "%s":\n%s' % (package_file_path, e))
                    continue
                for export in package.exports:
                    if export.tagname != export_tag or 'plugin' not in export.attributes:
                        continue
                    plugin_path = export.attributes['plugin']
                    if plugin_path.startswith('${prefix}/'):
                        plugin_path = os.path.join(package_path, plugin_path[10:])
                    plugins.append([package_name, plugin_path])
                continue
        return plugins