libLoader.py

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# MIT License
#
# Copyright (c) <2015> <Ikergune, Etxetar>
#
# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files
# (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge,
# publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so,
# subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE
# FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

import os
import re
import imp

regex = re.compile(ur'^(.*)(\b.msg\b)(.*)$')


class LibLoader:
    @staticmethod
    def loadFromFile(filepath):
        ## \brief Load file from path
        # \param File path
        mod_name, file_ext = os.path.splitext(os.path.split(filepath)[-1])

        if file_ext.lower() == '.py':
            py_mod = imp.load_source(mod_name, filepath)

        elif file_ext.lower() == '.pyc':
            py_mod = imp.load_compiled(mod_name, filepath)

        return py_mod

    @staticmethod
    def load3rdParty(filepath, className):
        ## \brief Load class from file
        # \param File path
        # \param Class name
        module = LibLoader.loadFromFile(filepath)
        return getattr(module, className)

    @staticmethod
    def loadFromSystem(lib):
        ## \brief Load library
        # \param library name
        module = None
        matches = re.search(regex, lib)
        if matches is not None:
            module_name = str(matches.group(1)) + str(matches.group(2))
            modules = str(matches.group(3)).split(".")
            modules = modules[1: len(modules)]
            module = __import__(module_name, globals(), locals(), [module_name.split('.')[-1]])
            for name in modules:
                module = getattr(module, name)
        return module


def generateRosDependencies():
    directories = os.environ["ROS_PACKAGE_PATH"].split(":")
    imports = """from include.logger import Log\n\n"""
    imports = """unloaded = 0\nlibs=[]\n"""
    for directory in directories:
        if os.path.isdir(directory):
            for folder in os.listdir(directory):
                if "msg" in folder:
                    imports += """try:\n    import {}.msg\nexcept Exception:\n    unloaded += 1\n    libs.append('{}')\n""".format(folder, folder)
    imports += "Log('WARNING', str(unloaded) + ' libraries not loaded: ' + str(libs))"
    path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "ros", "dependencies", "generated.py")
    f = open(path, 'w')
    f.write(imports)
    f.close()