launchtree_loader.py

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#!/usr/bin/env python
import sys

from roslaunch.xmlloader import XmlLoader, loader
from rosgraph.names import get_ros_namespace

from rqt_launchtree.launchtree_context import LaunchtreeContext

class LaunchtreeLoader(XmlLoader):

        def _include_tag(self, tag, context, ros_config, default_machine, is_core, verbose):
                inc_filename = self.resolve_args(tag.attributes['file'].value, context)
                ros_config.push_level(inc_filename, unique=True)
                result = super(LaunchtreeLoader, self)._include_tag(tag, context, ros_config, default_machine, is_core, verbose)
                ros_config.pop_level()
                return result

        def _node_tag(self, tag, context, ros_config, default_machine, is_test=False, verbose=True):
                try: 
                        if is_test: 
                                self._check_attrs(tag, context, ros_config, XmlLoader.TEST_ATTRS) 
                                (name,) = self.opt_attrs(tag, context, ('name',))  
                                test_name, time_limit, retry = self._test_attrs(tag, context) 
                                if not name: 
                                        name = test_name 
                        else: 
                                self._check_attrs(tag, context, ros_config, XmlLoader.NODE_ATTRS) 
                                (name,) = self.reqd_attrs(tag, context, ('name',))
                except Exception as e:
                        pass # will be handled in super

                ros_config.push_level(name)
                result = super(LaunchtreeLoader, self)._node_tag(tag, context, ros_config, default_machine, is_test, verbose)
                ros_config.pop_level()
                return result

        def _rosparam_tag(self, tag, context, ros_config, verbose):
                param_file = tag.attributes['file'].value \
                        if tag.attributes.has_key('file') else ''
                if param_file != '': 
                        param_filename = self.resolve_args(param_file, context)
                        level_name = ros_config.push_level(param_filename, unique=True)
                result = super(LaunchtreeLoader, self)._rosparam_tag(tag, context, ros_config, verbose)
                if param_file != '': 
                        ros_config.pop_level()
                        context.add_rosparam(tag.attributes.get('command', 'load'), param_filename, level_name)
                return result

        def _load_launch(self, launch, ros_config, is_core=False, filename=None, argv=None, verbose=True):
                if argv is None:
                        argv = sys.argv

                self._launch_tag(launch, ros_config, filename)
                self.root_context = LaunchtreeContext(get_ros_namespace(), filename, config=ros_config)
                loader.load_sysargs_into_context(self.root_context, argv)

                if len(launch.getElementsByTagName('master')) > 0:
                        print "WARNING: ignoring defunct <master /> tag"
                self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)