# Copyright 2019 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""Python package utility functions related to loading Frontend Launch Files."""
import os
from typing import Callable
from typing import List
from typing import Text
from typing import Type
from .frontend_launch_file_utilities import get_launch_description_from_frontend_launch_file
from .python_launch_file_utilities import get_launch_description_from_python_launch_file
from ..frontend import Parser
from ..invalid_launch_file_error import InvalidLaunchFileError
from ..launch_description import LaunchDescription
[docs]
def get_launch_description_from_any_launch_file(
launch_file_path: Text,
*,
parser: Type[Parser] = Parser
) -> LaunchDescription:
"""
Load a given launch file (by path), and return the launch description from it.
:raises `launch.invalid_launch_file_error.InvalidLaunchFileError`: Failed to load launch file.
It's only showed with launch files without extension (or not recognized extensions).
:raises `SyntaxError`: Invalid file. The file may have a syntax error in it.
:raises `ValueError`: Invalid file. The file may not be a text file.
"""
loaders: List[Callable[[str], LaunchDescription]] =\
[get_launch_description_from_frontend_launch_file]
launch_file_name = os.path.basename(launch_file_path)
extension = os.path.splitext(launch_file_name)[1]
if extension:
extension = extension[1:]
if extension == 'py':
loaders.insert(0, get_launch_description_from_python_launch_file)
else:
loaders.append(get_launch_description_from_python_launch_file)
extension = '' if not Parser.is_filename_valid(launch_file_name) else extension
exceptions = []
for loader in loaders:
try:
return loader(launch_file_path)
except Exception as ex:
exceptions.append(ex)
raise InvalidLaunchFileError(extension, likely_errors=exceptions)