cli.py

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# Copyright (c) 2015, Open Source Robotics Foundation, Inc.
# Copyright (c) 2013, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
#     * Redistributions of source code must retain the above copyright
#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
#       notice, this list of conditions and the following disclaimer in the
#       documentation and/or other materials provided with the distribution.
#     * Neither the name of the Open Source Robotics Foundation, Inc.
#       nor the names of its contributors may be used to endorse or promote
#       products derived from this software without specific prior
#       written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

# Authors: Stuart Glaser, William Woodall, Robert Haschke
# Maintainer: Morgan Quigley <morgan@osrfoundation.org>

import textwrap
from optparse import OptionParser, IndentedHelpFormatter
from .color import colorize, warning, message


class ColoredOptionParser(OptionParser):
    def error(self, message):
        msg = colorize(message, 'red')
        OptionParser.error(self, msg)


_original_wrap = textwrap.wrap


def wrap_with_newlines(text, width, **kwargs):
    result = []
    for paragraph in text.split('\n'):
        result.extend(_original_wrap(paragraph, width, **kwargs))
    return result


class IndentedHelpFormatterWithNL(IndentedHelpFormatter):
    def __init__(self, *args, **kwargs):
        IndentedHelpFormatter.__init__(self, *args, **kwargs)

    def format_option(self, text):
        textwrap.wrap, old = wrap_with_newlines, textwrap.wrap
        result = IndentedHelpFormatter.format_option(self, text)
        textwrap.wrap = old
        return result


def process_args(argv, require_input=True):
    parser = ColoredOptionParser(usage="usage: %prog [options] <input>",
                                 formatter=IndentedHelpFormatterWithNL())
    parser.add_option("-o", dest="output", metavar="FILE",
                      help="write output to FILE instead of stdout")
    parser.add_option("--inorder", "-i", action="store_true", dest="in_order",
                      help="use processing in read order [default]")
    parser.add_option("--legacy", action="store_false", dest="in_order",
                      help="use legacy processing order [deprecated]")
    parser.add_option("--check-order", action="store_true", dest="do_check_order",
                      help="check document for inorder processing", default=False)

    parser.add_option("--deps", action="store_true", dest="just_deps",
                      help="print file dependencies")
    parser.add_option("--includes", action="store_true", dest="just_includes",
                      help="only process includes [deprecated]")
    parser.add_option("--xacro-ns", action="store_false", default=True, dest="xacro_ns",
                      help="require xacro namespace prefix for xacro tags")

    # verbosity options
    parser.add_option("-q", action="store_const", dest="verbosity", const=0,
                      help="quiet operation suppressing warnings")
    parser.add_option("-v", action="count", dest="verbosity",
                      help="increase verbosity")
    parser.add_option("--verbosity", metavar='level', dest="verbosity", type='int',
                      help=textwrap.dedent("""\
                      set verbosity level
                      0: quiet, suppressing warnings
                      1: default, showing warnings and error locations
                      2: show stack trace
                      3: log property definitions and usage on top level
                      4: log property definitions and usage on all levels"""))

    # process substitution args
    try:
        from rosgraph.names import load_mappings, REMAP
        mappings = load_mappings(argv)
        filtered_args = [a for a in argv if REMAP not in a]  # filter-out REMAP args
    except ImportError as e:
        warning(e)
        mappings = {}
        filtered_args = argv

    parser.set_defaults(just_deps=False, just_includes=False, verbosity=1)
    (options, pos_args) = parser.parse_args(filtered_args)
    if options.in_order is None:
        # --inorder is default, but it's incompatible to --includes
        options.in_order = not options.just_includes
    elif options.in_order == True:
        message("xacro: in-order processing became default in ROS Melodic. You can drop the option.")
    if options.in_order == False:
        warning("xacro: Legacy processing is deprecated since ROS Jade and will be removed in N-turtle.")
        message("To check for compatibility of your document, use option --check-order.", color='yellow')
        message("For more infos, see http://wiki.ros.org/xacro#Processing_Order", color='yellow')

    if options.just_includes:
        warning("xacro: option --includes is deprecated")

    # --inorder is incompatible to --includes: --inorder processing starts evaluation
    # while --includes should return the unmodified document
    if options.in_order and options.just_includes:
        parser.error("options --inorder and --includes are mutually exclusive")

    if options.do_check_order:
        options.in_order = True  # check-order implies inorder

    if len(pos_args) != 1:
        if require_input:
            parser.error("expected exactly one input file as argument")
        else:
            pos_args = [None]

    options.mappings = mappings
    return options, pos_args[0]