Source Code for Module roslaunch.node_args

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 33  # Revision $Id$ 
 34   
 35  """ 
 36  Utility module of roslaunch that computes the command-line arguments 
 37  for a node. 
 38  """ 
 39   
 40  import logging 
 41  import os 
 42  import shlex 
 43  import sys 
 44  import time 
 45   
 46  import rospkg 
 47  import rosgraph 
 48  import rosgraph.names 
 49  from rosgraph.names import script_resolve_name 
 50   
 51  import roslib.packages 
 52   
 53  from . import substitution_args 
 54   
 55  from roslaunch.core import setup_env, local_machine, RLException 
 56  from roslaunch.config import load_config_default 
 57  import roslaunch.xmlloader 
 58   
 59 -class NodeParamsException(Exception): 
 60      """ 
 61      Exception to indicate that node parameters were invalid 
 62      """ 
 63      pass 
 64   
 65 -def get_node_list(config): 
 66      """ 
 67      @param config: roslaunch config 
 68      @type  config: ROSLaunchConfig 
 69      @return: list of node names in config 
 70      @rtype: [str] 
 71      """ 
 72      l = [_resolved_name(node) for node in config.nodes] + [_resolved_name(test) for test in config.tests] 
 73      # filter out unnamed nodes 
 74      return [x for x in l if x] 
 75   
 76 -def print_node_list(roslaunch_files): 
 77      """ 
 78      Print list of nodes to screen. Will cause system exit if exception 
 79      occurs. This is a subroutine for the roslaunch main handler. 
 80   
 81      @param roslaunch_files: list of launch files to load 
 82      @type  roslaunch_files: str 
 83      """ 
 84      try: 
 85          loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False) 
 86          config = load_config_default(roslaunch_files, None, loader=loader, verbose=False, assign_machines=False) 
 87          node_list = get_node_list(config) 
 88          print '\n'.join(node_list) 
 89      except RLException as e: 
 90          print >> sys.stderr, str(e) 
 91          sys.exit(1) 
 92   
 93 -def print_node_args(node_name, roslaunch_files): 
 94      """ 
 95      Print arguments of node to screen. Will cause system exit if 
 96      exception occurs. This is a subroutine for the roslaunch main 
 97      handler. 
 98       
 99      @param node_name: node name 
100      @type  node_name: str 
101      @param roslaunch_files: list of launch files to load 
102      @type  roslaunch_files: str 
103      """ 
104      try: 
105          node_name = script_resolve_name('roslaunch', node_name) 
106          args = get_node_args(node_name, roslaunch_files) 
107          print ' '.join(args) 
108      except RLException as e: 
109          print >> sys.stderr, str(e) 
110          sys.exit(1) 
111       
112 -def _resolved_name(node): 
113      if node.name: 
114          # $(anon id) passthrough 
115          if node.name.startswith('$'): 
116              return node.name 
117          else: 
118              return rosgraph.names.ns_join(node.namespace, node.name) 
119      else: 
120          return None 
121   
122 -def print_node_filename(node_name, roslaunch_files): 
123      try: 
124          # #2309 
125          node_name = script_resolve_name('roslaunch', node_name) 
126           
127          loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False) 
128          config = load_config_default(roslaunch_files, None, loader=loader, verbose=False, assign_machines=False) 
129          nodes = [n for n in config.nodes if _resolved_name(n) == node_name] + \ 
130              [t for t in config.tests if _resolved_name(t) == node_name] 
131   
132          if len(nodes) > 1: 
133              raise RLException("ERROR: multiple nodes named [%s] in [%s].\nPlease fix the launch files as duplicate names are not allowed."%(node_name, ', '.join(roslaunch_files))) 
134          if not nodes: 
135              print >> sys.stderr, 'ERROR: cannot find node named [%s]. Run \n\troslaunch --nodes <files>\nto see list of node names.'%(node_name) 
136          else: 
137              print nodes[0].filename 
138           
139      except RLException as e: 
140          print >> sys.stderr, str(e) 
141          sys.exit(1) 
142   
143 -def get_node_args(node_name, roslaunch_files): 
144      """ 
145      Get the node arguments for a node in roslaunch_files.  
146   
147      @param node_name: name of node in roslaunch_files. 
148      @type  node_name: str 
149      @param roslaunch_files: roslaunch file names 
150      @type  roslaunch_files: [str] 
151      @return: list of command-line arguments used to launch node_name 
152      @rtype: [str] 
153      @raise RLException: if node args cannot be retrieved 
154      """ 
155       
156      # we have to create our own XmlLoader so that we can use the same 
157      # resolution context for substitution args 
158   
159      loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False) 
160      config = load_config_default(roslaunch_files, None, loader=loader, verbose=False, assign_machines=False) 
161      (node_name) = substitution_args.resolve_args((node_name), resolve_anon=False) 
162      node_name = script_resolve_name('roslaunch', node_name) if not node_name.startswith('$') else node_name 
163       
164      node = [n for n in config.nodes if _resolved_name(n) == node_name] + \ 
165          [n for n in config.tests if _resolved_name(n) == node_name] 
166      if not node: 
167          node_list = get_node_list(config) 
168          node_list_str = '\n'.join([" * %s"%x for x in node_list]) 
169          raise RLException("ERROR: Cannot find node named [%s] in [%s].\nNode names are:\n%s"%(node_name, ', '.join(roslaunch_files), node_list_str)) 
170      elif len(node) > 1: 
171          raise RLException("ERROR: multiple nodes named [%s] in [%s].\nPlease fix the launch files as duplicate names are not allowed."%(node_name, ', '.join(roslaunch_files))) 
172      node = node[0] 
173       
174      master_uri = rosgraph.get_master_uri() 
175      machine = local_machine() 
176      env = setup_env(node, machine, master_uri) 
177   
178      # remove setting identical to current environment for easier debugging 
179      to_remove = [] 
180      for k in env.iterkeys(): 
181          if env[k] == os.environ.get(k, None): 
182              to_remove.append(k) 
183      for k in to_remove: 
184          del env[k] 
185   
186      # resolve node name for generating args 
187      args = create_local_process_args(node, machine) 
188      # join environment vars are bash prefix args 
189      return ["%s=%s"%(k, v) for k, v in env.iteritems()] + args 
190       
191 -def _launch_prefix_args(node): 
192      if node.launch_prefix: 
193          prefix = node.launch_prefix 
194          if type(prefix) == unicode: 
195              prefix = prefix.encode('UTF-8') 
196          return shlex.split(prefix) 
197      else: 
198          return [] 
199   
200 -def create_local_process_args(node, machine, env=None): 
201      """ 
202      Subroutine for creating node arguments. 
203   
204      :param env: override os.environ.  Warning, this does not override 
205        substitution args in node configuration (for now), ``dict`` 
206      :returns: arguments for node process, ``[str]`` 
207      :raises: :exc:`NodeParamsException` If args cannot be constructed for Node 
208        as specified (e.g. the node type does not exist) 
209      """ 
210      if not node.name: 
211          raise ValueError("node name must be defined") 
212      if env is None: 
213          env = os.environ 
214       
215      # - Construct rosrun command 
216      remap_args = ["%s:=%s"%(src,dst) for src, dst in node.remap_args] 
217      resolve_dict = {} 
218   
219      #resolve args evaluates substitution commands 
220      #shlex parses a command string into a list of args 
221      # - for the local process args, we *do* resolve the anon tag so that the user can execute 
222      # - the node name and args must be resolved together in case the args refer to the anon node name 
223      (node_name) = substitution_args.resolve_args((node.name), context=resolve_dict, resolve_anon=True) 
224      node.name = node_name 
225      remap_args.append('__name:=%s'%node_name) 
226           
227      resolved = substitution_args.resolve_args(node.args, context=resolve_dict, resolve_anon=True) 
228      if type(resolved) == unicode: 
229          resolved = resolved.encode('UTF-8') #attempt to force to string for shlex/subprocess 
230      args = shlex.split(resolved) + remap_args 
231      try: 
232          #TODO:fuerte: pass through rospack and catkin cache 
233          rospack = rospkg.RosPack(rospkg.get_ros_paths(env=env)) 
234          matches = roslib.packages.find_node(node.package, node.type, rospack) 
235      except rospkg.ResourceNotFound as e: 
236          # multiple nodes, invalid package 
237          raise NodeParamsException(str(e)) 
238      if not matches: 
239          raise NodeParamsException("can't locate node [%s] in package [%s]"%(node.type, node.package)) 
240      else: 
241          # old behavior was to take first, do we want to change this in Fuerte-style? 
242          cmd = matches[0] 
243      if not cmd: 
244          raise NodeParamsException("Cannot locate node of type [%s] in package [%s]"%(node.type, node.package)) 
245      cmd = [cmd] 
246      if sys.platform in ['win32']: 
247          if os.path.splitext(cmd[0])[1] == '.py': 
248              cmd = ['python'] + cmd 
249      return _launch_prefix_args(node) + cmd + args 
250