Source Code for Module node_manager_fkie.common

  1  import os 
  2   
  3  MANIFEST_FILE = 'manifest.xml' 
  4  PACKAGE_FILE = 'package.xml' 
  5   
  6  try: 
  7    from catkin_pkg.package import parse_package 
  8    CATKIN_SUPPORTED = True 
  9  except ImportError: 
 10    CATKIN_SUPPORTED = False 
 11   
 12  PACKAGE_CACHE = {} 
 13   
 14 -def get_ros_home(): 
 15    ''' 
 16    Returns the ROS HOME depending on ROS distribution API. 
 17    @return: ROS HOME path 
 18    @rtype: C{str} 
 19    ''' 
 20    try: 
 21      import rospkg.distro 
 22      distro = rospkg.distro.current_distro_codename() 
 23      if distro in ['electric', 'diamondback', 'cturtle']: 
 24        import roslib.rosenv 
 25        return roslib.rosenv.get_ros_home() 
 26      else: 
 27        from rospkg import get_ros_home 
 28        return get_ros_home() 
 29    except: 
 30  #    import traceback 
 31  #    print traceback.format_exc(1) 
 32      from roslib import rosenv 
 33      return rosenv.get_ros_home() 
 34   
 35   
 36 -def masteruri_from_ros(): 
 37    ''' 
 38    Returns the master URI depending on ROS distribution API. 
 39    @return: ROS master URI 
 40    @rtype: C{str} 
 41    ''' 
 42    try: 
 43      import rospkg.distro 
 44      distro = rospkg.distro.current_distro_codename() 
 45      if distro in ['electric', 'diamondback', 'cturtle']: 
 46        import roslib.rosenv 
 47        return roslib.rosenv.get_master_uri() 
 48      else: 
 49        import rosgraph 
 50        return rosgraph.rosenv.get_master_uri() 
 51    except: 
 52      return os.environ['ROS_MASTER_URI'] 
 53   
 54 -def get_packages(path): 
 55    result = {} 
 56    if os.path.isdir(path): 
 57      fileList = os.listdir(path) 
 58      if MANIFEST_FILE in fileList: 
 59        return {os.path.basename(path) : path} 
 60      if CATKIN_SUPPORTED and PACKAGE_FILE in fileList: 
 61        try: 
 62          pkg = parse_package(path) 
 63          return {pkg.name : path} 
 64        except: 
 65          pass 
 66        return {} 
 67      for f in fileList: 
 68        ret = get_packages(os.path.join(path, f)) 
 69        result = dict(ret.items() + result.items()) 
 70    return result 
 71   
 72 -def resolve_paths(text): 
 73    ''' 
 74    Searches in text for $(find ...) statements and replaces it by the package path. 
 75    @return: text with replaced statements. 
 76    ''' 
 77    result = text 
 78    startIndex = text.find('$(') 
 79    if startIndex > -1: 
 80      endIndex = text.find(')', startIndex+2) 
 81      script = text[startIndex+2:endIndex].split() 
 82      if len(script) == 2 and (script[0] == 'find'): 
 83        pkg = '' 
 84        try: 
 85          from rospkg import RosPack 
 86          rp = RosPack() 
 87          pkg = rp.get_path(script[1]) 
 88        except: 
 89          import roslib 
 90          pkg = roslib.packages.get_pkg_dir(script[1]) 
 91        return result.replace(text[startIndex:endIndex+1], pkg) 
 92    return result 
 93   
 94 -def package_name(path): 
 95    ''' 
 96    Returns for given directory a tuple of package name and package path or None values. 
 97    The results are cached! 
 98    @rtype: C{(name, path)} 
 99    ''' 
100    if not (path is None) and path and path != os.path.sep and os.path.isdir(path): 
101      if PACKAGE_CACHE.has_key(path): 
102        return PACKAGE_CACHE[path] 
103      package = os.path.basename(path) 
104      fileList = os.listdir(path) 
105      for f in fileList: 
106        if f == MANIFEST_FILE: 
107          PACKAGE_CACHE[path] = (package, path) 
108          return (package, path) 
109        if CATKIN_SUPPORTED and f == PACKAGE_FILE: 
110          try: 
111            pkg = parse_package(os.path.join(path, f)) 
112            PACKAGE_CACHE[path] = (pkg.name, path) 
113            return (pkg.name, path) 
114          except: 
115            return (None,None) 
116      PACKAGE_CACHE[path] = package_name(os.path.dirname(path)) 
117      return PACKAGE_CACHE[path] 
118    return (None, None) 
119   
120 -def is_package(file_list): 
121    return (MANIFEST_FILE in file_list or (CATKIN_SUPPORTED and PACKAGE_FILE in file_list)) 
122