Source Code for Module rosh.impl.msg

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 33  # Revision $Id: msg.py 11427 2010-10-06 23:39:08Z kwc $ 
 34   
 35  from __future__ import with_statement 
 36   
 37  import sys 
 38   
 39  import roslib_electric.packages 
 40  import roslib_electric.srvs 
 41  import rospy 
 42   
 43  import rosmsg 
 44   
 45  from rosh.impl.namespace import Namespace, Concept 
 46  from rosh.impl.bagy import create 
 47       
 48 -class MsgPackage(Namespace): 
 49   
 50 -    def __init__(self, name, config): 
 51          """ 
 52          ctor. 
 53          @param config: Namespace configuration instance with additional 'listener' attribute.  
 54          @type  config: L{NamespaceConfig} 
 55          """ 
 56          super(MsgPackage, self).__init__(name, config) 
 57   
 58          # an artifact of reusing the Namespace class is that we have to strip slashes 
 59          if self._ns == '/': 
 60              self._ns = '' 
 61               
 62          self._msg_cache = {} 
 63   
 64 -    def _list(self): 
 65          """ 
 66          Override Namespace._list() 
 67          """ 
 68          try: 
 69              if not self._ns: 
 70                  return rosmsg.list_packages(mode=self._config.mode) 
 71              else: 
 72                  return rosmsg.list_types(self._name, mode=self._config.mode) 
 73          except: 
 74              return [] 
 75   
 76 -    def _getAttributeNames(self): 
 77          return list(set([s[len(self._ns):].split('/')[0] for s in self._list()])) 
 78   
 79 -    def __repr__(self): 
 80          return self.__str__() 
 81           
 82 -    def __str__(self): 
 83          return self._name 
 84   
 85 -    def __getitem__(self, key): 
 86          if not self._ns: 
 87              return super(MsgPackage, self).__getitem__(key) 
 88          elif key in self._msg_cache: 
 89              return self._msg_cache[key] 
 90          else: 
 91              if self._config.mode == roslib_electric.msgs.EXT: 
 92                  v = self._type = get_message_class(self._ns + key) 
 93              else: 
 94                  v = self._type = get_service_class(self._ns + key) 
 95              if v is not None: 
 96                  self._msg_cache[key] = v 
 97              return v 
 98   
 99 -def get_message_class(type_name): 
100      val = roslib_electric.message.get_message_class(type_name, reload_on_error=True) 
101      if not val: 
102          pkg, base_type = roslib_electric.names.package_resource_name(type_name) 
103          if '(' not in type_name: 
104              # ipython has an introspection bug where it forwards the 
105              # actual method call to the getattr. 
106              print >> sys.stderr, """Cannot retrieve type [%s]. 
107  Please type 'rosmake %s' 
108  """%(type_name, pkg) 
109          return None 
110      else: 
111          return val 
112   
113 -def get_service_class(type_name): 
114      val = roslib_electric.message.get_service_class(type_name, reload_on_error=True) 
115      if not val: 
116          pkg, base_type = roslib_electric.names.package_resource_name(type_name) 
117          if '(' not in type_name: 
118              # ipython has an introspection bug where it forwards the 
119              # actual method call to the getattr. 
120              print >> sys.stderr, """Cannot retrieve type [%s]. 
121  Please type 'rosmake %s' 
122  """%(type_name, pkg) 
123          return None 
124      else: 
125          return val 
126       
127 -class Msgs(Concept): 
128   
129 -    def __init__(self, ctx, lock): 
130          super(Msgs, self).__init__(ctx, lock, MsgPackage) 
131          self._config.mode = roslib_electric.msgs.EXT 
132   
133 -    def __contains__(self, key): 
134          """ 
135          Test if the key (package name) has msgs. 
136          """ 
137          # right now only supports key tests 
138          return key in self._root._list() 
139   
140 -    def __call__(self, msg_repr, msg_class): 
141          """ 
142          Instantiate msg from a dictionary or YAML representation. 
143          """ 
144          return create(msg_repr, msg_class) 
145   
146 -class Srvs(Concept): 
147   
148 -    def __init__(self, ctx, lock): 
149          super(Srvs, self).__init__(ctx, lock, MsgPackage) 
150          self._config.mode = roslib_electric.srvs.EXT 
151   
152 -    def __contains__(self, key): 
153          """ 
154          Test if the key (package name) has srvs. 
155          """ 
156          # right now only supports key tests 
157          return key in self._root._list() 
158