Source Code for Module roslib.scriptutil

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 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 38  here have been superceded by other libraries (e.g. rospkg).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   
 45  import roslib.names  
 46   
 47  ## caller ID for master calls where caller ID is not vital 
 48  _GLOBAL_CALLER_ID = '/script' 
 49   
 50   
 51  import warnings 
 52 -def deprecated(func): 
 53      """This is a decorator which can be used to mark functions 
 54      as deprecated. It will result in a warning being emmitted 
 55      when the function is used.""" 
 56      def newFunc(*args, **kwargs): 
 57          warnings.warn("Call to deprecated function %s." % func.__name__, 
 58                        category=DeprecationWarning, stacklevel=2) 
 59          return func(*args, **kwargs) 
 60      newFunc.__name__ = func.__name__ 
 61      newFunc.__doc__ = func.__doc__ 
 62      newFunc.__dict__.update(func.__dict__) 
 63      return newFunc 
 64   
 65  @deprecated 
 66 -def script_resolve_name(script_name, name): 
 67      """ 
 68      Name resolver for scripts. Supports ROS_NAMESPACE.  Does not 
 69      support remapping arguments. 
 70      @param name: name to resolve 
 71      @type  name: str 
 72      @param script_name: name of script. script_name must not 
 73      contain a namespace. 
 74      @type  script_name: str 
 75      @return: resolved name 
 76      @rtype: str 
 77      """ 
 78      if not name: #empty string resolves to namespace 
 79          return roslib.names.get_ros_namespace() 
 80      #Check for global name: /foo/name resolves to /foo/name 
 81      if roslib.names.is_global(name): 
 82          return name 
 83      #Check for private name: ~name resolves to /caller_id/name 
 84      elif roslib.names.is_private(name): 
 85          return ns_join(roslib.names.make_caller_id(script_name), name[1:]) 
 86      return roslib.names.get_ros_namespace() + name 
 87   
 88  @deprecated 
 89 -def get_master(): 
 90      """ 
 91      Get an XMLRPC handle to the Master. It is recommended to use the 
 92      `rosgraph.masterapi` library instead, as it provides many 
 93      conveniences. 
 94       
 95      @return: XML-RPC proxy to ROS master 
 96      @rtype: xmlrpclib.ServerProxy 
 97      @raises ValueError if master URI is invalid 
 98      """ 
 99      try: 
100          import xmlrpc.client as xmlrpcclient  #Python 3.x 
101      except ImportError: 
102          import xmlrpclib as xmlrpcclient #Python 2.x 
103       
104      # changed this to not look as sys args and remove dependency on roslib.rosenv for cleaner cleanup 
105      uri = os.environ['ROS_MASTER_URI'] 
106      return xmlrpcclient.ServerProxy(uri) 
107   
108  @deprecated 
109 -def get_param_server(): 
110      """ 
111      @return: ServerProxy XML-RPC proxy to ROS parameter server 
112      @rtype: xmlrpclib.ServerProxy 
113      """ 
114      return get_master() 
115