Source Code for Module roslaunch.scriptapi

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 33  # Revision $Id$ 
 34   
 35  """ 
 36  Scripting interface for roslaunch 
 37  """ 
 38   
 39  from roslaunch.core import Node, Master, RLException 
 40   
 41  import roslaunch.config 
 42  import roslaunch.parent 
 43  import roslaunch.xmlloader  
 44   
 45 -class ROSLaunch(object): 
 46      """ 
 47      ROSLaunchParent represents the main 'parent' roslaunch process. It 
 48      is responsible for loading the launch files, assigning machines, 
 49      and then starting up any remote processes. The __main__ method 
 50      delegates most of runtime to ROSLaunchParent. 
 51   
 52      This must be called from the Python Main thread due to signal registration.     
 53      """ 
 54   
 55 -    def __init__(self): 
 56          """ 
 57          @raise RLException: if fails to initialize 
 58          """ 
 59          import rosgraph.masterapi 
 60          master = rosgraph.masterapi.Master('/roslaunch_script') 
 61          uuid = master.getParam('/run_id') 
 62          self.parent = roslaunch.parent.ROSLaunchParent(uuid, [], is_core=False) 
 63          self.started = False 
 64   
 65 -    def load(self, f): 
 66          """ 
 67          Load roslaunch file 
 68           
 69          @param f: filename 
 70          @type  f: str 
 71          """ 
 72          raise NotImplemented 
 73   
 74 -    def load_str(self, s): 
 75          """ 
 76          Load roslaunch string 
 77           
 78          @param s: string representation of roslaunch config 
 79          @type  s: str 
 80          """ 
 81          raise NotImplemented 
 82           
 83 -    def launch(self, node): 
 84          """ 
 85          Launch a roslaunch node instance 
 86           
 87          @param node: roslaunch Node instance 
 88          @type  node: roslaunch.Node 
 89          @return: node process 
 90          @rtype: roslaunch.Process 
 91          @raise RLException: if launch fails 
 92          """ 
 93          if not self.started: 
 94              raise RLException("please start ROSLaunch first") 
 95          elif not isinstance(node, Node): 
 96              raise ValueError("arg must be of type Node") 
 97   
 98          proc, success = self.parent.runner.launch_node(node) 
 99          if not success: 
100              raise RLException("failed to launch %s/%s"%(node.package, node.type)) 
101          return proc 
102   
103 -    def start(self): 
104          """ 
105          Start roslaunch. This will launch any pre-configured launches and spin up the process monitor thread. 
106          """ 
107          self.parent.start(auto_terminate=False) 
108          self.started = True 
109           
110 -    def spin(self): 
111          self.parent.spin() 
112   
113 -    def spin_once(self): 
114          self.parent.spin_once()         
115           
116 -    def stop(self): 
117          self.parent.shutdown() 
118