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 38  here have been superceded by other libraries (e.g. rospkg).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 subprocess 
 43  import sys 
 44  import warnings 
 45   
 46  import roslib.exceptions 
 47   
 48  import rospkg  # noqa: F401 
 49   
 50  if sys.hexversion > 0x03000000:  # Python3 
 51      python3 = True 
 52  else: 
 53      python3 = False 
 54   
 55   
 56  warnings.warn('roslib.rospack is deprecated, please use rospkg', stacklevel=2) 
 57   
 58   
 59 -def rospackexec(args): 
 60      """ 
 61      @return: result of executing rospack command (via subprocess). string will be strip()ed. 
 62      @rtype: str 
 63      @raise roslib.exceptions.ROSLibException: if rospack command fails 
 64      """ 
 65      rospack_bin = 'rospack' 
 66      if python3: 
 67          val = subprocess.Popen([rospack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] 
 68          val = val.decode().strip() 
 69      else: 
 70          val = (subprocess.Popen([rospack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] or '').strip() 
 71      if val.startswith('rospack:'):  # rospack error message 
 72          raise roslib.exceptions.ROSLibException(val) 
 73      return val 
 74   
 75   
 76 -def rospack_depends_on_1(pkg): 
 77      """ 
 78      @param pkg: package name 
 79      @type  pkg: str 
 80      @return: A list of the names of the packages which depend directly on pkg 
 81      @rtype: list 
 82      """ 
 83      return rospackexec(['depends-on1', pkg]).split() 
 84   
 85   
 86 -def rospack_depends_on(pkg): 
 87      """ 
 88      @param pkg: package name 
 89      @type  pkg: str 
 90      @return: A list of the names of the packages which depend on pkg 
 91      @rtype: list 
 92      """ 
 93      return rospackexec(['depends-on', pkg]).split() 
 94   
 95   
 96 -def rospack_depends_1(pkg): 
 97      """ 
 98      @param pkg: package name 
 99      @type  pkg: str 
100      @return: A list of the names of the packages which pkg directly depends on 
101      @rtype: list 
102      """ 
103      return rospackexec(['deps1', pkg]).split() 
104   
105   
106 -def rospack_depends(pkg): 
107      """ 
108      @param pkg: package name 
109      @type  pkg: str 
110      @return: A list of the names of the packages which pkg depends on 
111      @rtype: list 
112      """ 
113      return rospackexec(['deps', pkg]).split() 
114   
115   
116 -def rospack_plugins(pkg): 
117      """ 
118      @param pkg: package name 
119      @type  pkg: str 
120      @return: A list of the names of the packages which provide a plugin for pkg 
121      @rtype: list 
122      """ 
123      val = rospackexec(['plugins', '--attrib=plugin', pkg]) 
124      if val: 
125          return [tuple(x.split(' ')) for x in val.split('\n')] 
126      else: 
127          return [] 
128   
129   
130 -def rosstackexec(args): 
131      """ 
132      @return: result of executing rosstack command (via subprocess). string will be strip()ed. 
133      @rtype:  str 
134      @raise roslib.exceptions.ROSLibException: if rosstack command fails 
135      """ 
136      rosstack_bin = 'rosstack' 
137      if python3: 
138          val = subprocess.Popen([rosstack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] 
139          val = val.decode().strip() 
140      else: 
141          val = (subprocess.Popen([rosstack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] or '').strip() 
142      if val.startswith('rosstack:'):  # rospack error message 
143          raise roslib.exceptions.ROSLibException(val) 
144      return val 
145   
146   
147 -def rosstack_depends_on(s): 
148      """ 
149      @param s: stack name 
150      @type  s: str 
151      @return: A list of the names of the stacks which depend on s 
152      @rtype: list 
153      """ 
154      return rosstackexec(['depends-on', s]).split() 
155   
156   
157 -def rosstack_depends_on_1(s): 
158      """ 
159      @param s: stack name 
160      @type  s: str 
161      @return: A list of the names of the stacks which depend directly on s 
162      @rtype: list 
163      """ 
164      return rosstackexec(['depends-on1', s]).split() 
165   
166   
167 -def rosstack_depends(s): 
168      """ 
169      @param s: stack name 
170      @type  s: str 
171      @return: A list of the names of the stacks which s depends on 
172      @rtype: list 
173      """ 
174      return rosstackexec(['depends', s]).split() 
175   
176   
177 -def rosstack_depends_1(s): 
178      """ 
179      @param s: stack name 
180      @type  s: str 
181      @return: A list of the names of the stacks which s depends on directly 
182      @rtype: list 
183      """ 
184      return rosstackexec(['depends1', s]).split() 
185