Source Code for Package rosh

  1  #!/usr/bin/env python 
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 34  # Revision $Id: __init__.py 11676 2010-10-22 02:06:13Z kwc $ 
 35  """ 
 36  ROS Shell (rosh). 
 37   
 38  Higher-level, interactive scripting environment for ROS. 
 39  """ 
 40   
 41  from __future__ import with_statement 
 42  import roslib; roslib.load_manifest('rosh') 
 43   
 44  import os 
 45  import sys 
 46   
 47  import roslib.packages 
 48  import roslib.rosenv 
 49   
 50  # declare shell globals 
 51   
 52  # These are initialized by rosh.impl.ros_graph but declared here due 
 53  # to get_*() accessors 
 54  nodes = topics = services = parameters = msg = srv = None 
 55   
 56  # - by default, all publishers latch 
 57  latching = True 
 58   
 59  import rosh.plugin 
 60  import rosh.impl.ros_packages 
 61  import rosh.impl.ros_graph 
 62  import rosh.impl.ipy 
 63  import rosh.impl.namespace 
 64   
 65  from rosh.impl.namespace import rostype, info 
 66  from rosh.impl.show import show 
 67  from rosh.impl.props import props 
 68   
 69  # NOTE: this shadows the rosparam module. Is this an issue? 
 70  from rosh.impl.param import rosparam, rosparam_str 
 71   
 72  # client symbols 
 73  from rosh.impl.exceptions import ROSHException 
 74  from rosh.impl.library import findros 
 75  from rosh.impl.bagy import Bagy, MapBagy 
 76  from rosh.impl.bag import Bag 
 77   
 78  from rosh.impl.service import Service 
 79  # from roslaunch.core import Node 
 80   
 81 -def kill(obj): 
 82      if hasattr(obj, '_kill'): 
 83          obj._kill() 
 84      elif type(obj) in (list, tuple): 
 85          for x in obj: 
 86              kill(x) 
 87      else: 
 88          raise ValueError("Not a kill-able object") 
 89   
 90 -def load(name, globals_=None): 
 91      """ 
 92      Load plugin. This loads the plugin into the rosh global symbol 
 93      table. If globals_ is specified, plugin symbols will also be 
 94      loaded into the provided dictionary. Common usage is:: 
 95       
 96          load_plugin('plugin_name', globals()) 
 97   
 98      @param globals_: global symbol table to additionally load plugin to. 
 99      @type  globals_: dict 
100      """ 
101      rosh.plugin.load_plugin(name, _plugin_context, globals_) 
102           
103  _plugin_context = None 
104 -def get_default_plugin_context(): 
105      return _plugin_context 
106   
107 -def ok(): 
108      """ 
109      @return: True if ok to keep executing, False if script should exit. 
110      """ 
111      return rosh.impl.ros_graph.ok() 
112   
113 -def rosh_init(): 
114      # context is the heart of the rosh namespace logic 
115      global _ctx, _rosh_lock 
116   
117      _ctx = rosh.impl.namespace.Context() 
118   
119      import threading 
120      _rosh_lock = threading.RLock()     
121   
122      # plugin context is the loading mechanism for ROSH plugins 
123      global _plugin_context 
124      _plugin_context = rosh.plugin.PluginContext(globals(), _ctx, _rosh_lock) 
125   
126      # load symbols for ROS packages layer 
127      rosh.impl.ros_packages.load_rosh_plugin('rosh.impl.ros_packages', _plugin_context) 
128       
129      # load symbols for ROS graph layer. Note: graph layer and package 
130      # layer are coupled by both msg/srv and roslaunch, which makes 
131      # separating rosh less than useful right now. 
132      rosh.impl.ros_graph.load_rosh_plugin('rosh.impl.ros_graph', _plugin_context) 
133   
134      # initialize IPython Magic 
135      rosh.impl.ipy.ipy_magic_init() 
136   
137  # initialize privates 
138   
139  # lock for member/global initialization 
140  _rosh_lock = None 
141  # ROSH shared context 
142  ctx = None 
143