Source Code for Module roslib.rospack

  1  # Software License Agreement (BSD License) 
  2  # 
  3  # Copyright (c) 2008, Willow Garage, Inc. 
  4  # All rights reserved. 
  5  # 
  6  # Redistribution and use in source and binary forms, with or without 
  7  # modification, are permitted provided that the following conditions 
  8  # are met: 
  9  # 
 10  #  * Redistributions of source code must retain the above copyright 
 11  #    notice, this list of conditions and the following disclaimer. 
 12  #  * Redistributions in binary form must reproduce the above 
 13  #    copyright notice, this list of conditions and the following 
 14  #    disclaimer in the documentation and/or other materials provided 
 15  #    with the distribution. 
 16  #  * Neither the name of Willow Garage, Inc. nor the names of its 
 17  #    contributors may be used to endorse or promote products derived 
 18  #    from this software without specific prior written permission. 
 19  # 
 20  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
 21  # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
 22  # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 
 23  # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 
 24  # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 
 25  # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 
 26  # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 
 27  # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
 28  # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 
 29  # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 
 30  # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
 31  # POSSIBILITY OF SUCH DAMAGE. 
 32  # 
 33  # Revision $Id$ 
 34  # $Author$ 
 35   
 36  """ 
 37  Warning: do not use this library.  It is unstable and most of the routines 
 38  here have been superceded by other libraries (e.g. rospkg).  These 
 39  routines will likely be *deleted* in future releases. 
 40  """ 
 41   
 42  import os 
 43  import sys 
 44  import subprocess 
 45  import roslib.exceptions 
 46  import rospkg 
 47   
 48  if sys.hexversion > 0x03000000: #Python3 
 49      python3 = True 
 50  else: 
 51      python3 = False 
 52   
 53  import warnings 
 54  warnings.warn("roslib.rospack is deprecated, please use rospkg", stacklevel=2) 
 55   
 56 -def rospackexec(args): 
 57      """ 
 58      @return: result of executing rospack command (via subprocess). string will be strip()ed. 
 59      @rtype: str 
 60      @raise roslib.exceptions.ROSLibException: if rospack command fails 
 61      """ 
 62      rospack_bin = 'rospack' 
 63      if python3: 
 64          val = subprocess.Popen([rospack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] 
 65          val = val.decode().strip() 
 66      else: 
 67          val = (subprocess.Popen([rospack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] or '').strip()         
 68      if val.startswith('rospack:'): #rospack error message 
 69          raise roslib.exceptions.ROSLibException(val) 
 70      return val 
 71   
 72 -def rospack_depends_on_1(pkg): 
 73      """ 
 74      @param pkg: package name 
 75      @type  pkg: str 
 76      @return: A list of the names of the packages which depend directly on pkg 
 77      @rtype: list 
 78      """ 
 79      return rospackexec(['depends-on1', pkg]).split() 
 80   
 81 -def rospack_depends_on(pkg): 
 82      """ 
 83      @param pkg: package name 
 84      @type  pkg: str 
 85      @return: A list of the names of the packages which depend on pkg 
 86      @rtype: list 
 87      """ 
 88      return rospackexec(['depends-on', pkg]).split() 
 89   
 90 -def rospack_depends_1(pkg): 
 91      """ 
 92      @param pkg: package name 
 93      @type  pkg: str 
 94      @return: A list of the names of the packages which pkg directly depends on 
 95      @rtype: list     
 96      """ 
 97      return rospackexec(['deps1', pkg]).split() 
 98   
 99 -def rospack_depends(pkg): 
100      """ 
101      @param pkg: package name 
102      @type  pkg: str 
103      @return: A list of the names of the packages which pkg depends on 
104      @rtype: list     
105      """ 
106      return rospackexec(['deps', pkg]).split() 
107   
108 -def rospack_plugins(pkg): 
109      """ 
110      @param pkg: package name 
111      @type  pkg: str 
112      @return: A list of the names of the packages which provide a plugin for pkg 
113      @rtype: list     
114      """ 
115      val = rospackexec(['plugins', '--attrib=plugin', pkg]) 
116      if val: 
117        return [tuple(x.split(' ')) for x in val.split('\n')] 
118      else: 
119        return [] 
120   
121 -def rosstackexec(args): 
122      """ 
123      @return: result of executing rosstack command (via subprocess). string will be strip()ed. 
124      @rtype:  str 
125      @raise roslib.exceptions.ROSLibException: if rosstack command fails 
126      """ 
127      rosstack_bin = 'rosstack' 
128      if python3: 
129          val = subprocess.Popen([rosstack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] 
130          val = val.decode().strip() 
131      else: 
132          val = (subprocess.Popen([rosstack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] or '').strip() 
133      if val.startswith('rosstack:'): #rospack error message 
134          raise roslib.exceptions.ROSLibException(val) 
135      return val 
136   
137 -def rosstack_depends_on(s): 
138      """ 
139      @param s: stack name 
140      @type  s: str 
141      @return: A list of the names of the stacks which depend on s 
142      @rtype: list 
143      """ 
144      return rosstackexec(['depends-on', s]).split() 
145   
146 -def rosstack_depends_on_1(s): 
147      """ 
148      @param s: stack name 
149      @type  s: str 
150      @return: A list of the names of the stacks which depend directly on s 
151      @rtype: list 
152      """ 
153      return rosstackexec(['depends-on1', s]).split() 
154   
155 -def rosstack_depends(s): 
156      """ 
157      @param s: stack name 
158      @type  s: str 
159      @return: A list of the names of the stacks which s depends on  
160      @rtype: list 
161      """ 
162      return rosstackexec(['depends', s]).split() 
163   
164 -def rosstack_depends_1(s): 
165      """ 
166      @param s: stack name 
167      @type  s: str 
168      @return: A list of the names of the stacks which s depends on directly 
169      @rtype: list 
170      """ 
171      return rosstackexec(['depends1', s]).split() 
172