Source Code for Module roswtf.plugins

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34   
35  """ 
36  Plugin loader for roswtf. 
37  """ 
38   
39  from __future__ import print_function 
40   
41  import os 
42  import sys 
43   
44  import roslib 
45  import rospkg 
46   
47 -def load_plugins(): 
48      """ 
49      @return: list of static roswtf plugins, list of online 
50      roswtf plugins 
51      @rtype: [fn], [fn] 
52      """ 
53      rospack = rospkg.RosPack() 
54      to_check = rospack.get_depends_on('roswtf', implicit=False) 
55      static_plugins = [] 
56      online_plugins = [] 
57      for pkg in to_check: 
58          m = rospack.get_manifest(pkg) 
59          p_module = m.get_export('roswtf', 'plugin') 
60          if not p_module: 
61              continue 
62          elif len(p_module) != 1: 
63              print("Cannot load plugin [%s]: invalid 'plugin' attribute"%(pkg), file=sys.stderr) 
64              continue 
65          p_module = p_module[0] 
66          try: 
67              # load that packages namespace 
68              roslib.load_manifest(pkg) 
69               
70              # import the specified plugin module 
71              mod = __import__(p_module) 
72              for sub_mod in p_module.split('.')[1:]: 
73                  mod = getattr(mod, sub_mod) 
74   
75              # retrieve the roswtf_plugin_static and roswtf_plugin_online functions 
76              s_attr = o_attr = None 
77              try: 
78                  s_attr = getattr(mod, 'roswtf_plugin_static') 
79              except AttributeError: pass 
80              try: 
81                  o_attr = getattr(mod, 'roswtf_plugin_online') 
82              except AttributeError: pass 
83              if s_attr: 
84                  static_plugins.append(s_attr) 
85              if o_attr: 
86                  online_plugins.append(o_attr) 
87              if s_attr is None and o_attr is None: 
88                  print("Cannot load plugin [%s]: no 'roswtf_plugin_static' or 'roswtf_plugin_online' attributes [%s]"%(p_module), file=sys.stderr) 
89              else: 
90                  print("Loaded plugin", p_module) 
91   
92          except Exception: 
93              print("Unable to load plugin [%s] from package [%s]"%(p_module, pkg), file=sys.stderr) 
94      return static_plugins, online_plugins 
95