Source Code for Module roshlaunch.scriptapi

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 33  # Revision $Id: scriptapi.py 9676 2010-05-11 23:23:07Z kwc $ 
 34   
 35  """ 
 36  Scripting interface for roslaunch 
 37  """ 
 38   
 39  from roslaunch.core import Node, Test, Master, RLException 
 40   
 41  import roslaunch.config 
 42  import roslaunch.parent 
 43  import roslaunch.xmlloader  
 44   
 45 -class ROSLaunch(object): 
 46      """ 
 47      Scripting interface to roslaunch. 
 48       
 49      This must be called from the Python Main thread due to signal registration.     
 50      """ 
 51   
 52 -    def __init__(self): 
 53          """ 
 54          @raise RLException: if fails to initialize 
 55          """ 
 56          import rosgraph.masterapi 
 57          master = rosgraph.masterapi.Master('/roslaunch_script') 
 58          uuid = master.getParam('/run_id') 
 59          self.parent = roslaunch.parent.ROSLaunchParent(uuid, [], is_core=False) 
 60   
 61          # should manage our own config separately of parent? 
 62          self.parent._load_config() 
 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   
 73          # TODO: clone base config, load new config, load machine defs back to original config, launch new config 
 74          raise NotImplemented 
 75   
 76 -    def load_str(self, s): 
 77          """ 
 78          Load roslaunch string 
 79           
 80          @param s: string representation of roslaunch config 
 81          @type  s: str 
 82          """ 
 83          raise NotImplemented 
 84           
 85 -    def launch(self, node): 
 86          """ 
 87          Launch a roslaunch node instance 
 88           
 89          @param node: roslaunch Node instance 
 90          @type  node: roslaunch.Node 
 91          @return: node process 
 92          @rtype: roslaunch.Process 
 93          @raise RLException: if launch fails 
 94          """ 
 95          if not self.started: 
 96              raise RLException("please start ROSLaunch first") 
 97          elif not isinstance(node, Node): 
 98              raise ValueError("arg must be of type Node") 
 99   
100          proc, success = self.parent.runner.launch_node(self.parent.config, node) 
101          if not success: 
102              raise RLException("failed to launch") 
103          return proc 
104   
105 -    def start(self): 
106          """ 
107          Start roslaunch. This will launch any pre-configured launches and spin up the process monitor thread. 
108          """ 
109          self.parent.start(auto_terminate=False) 
110          self.started = True 
111           
112 -    def spin(self): 
113          self.parent.spin() 
114   
115 -    def spin_once(self): 
116          self.parent.spin_once()         
117           
118 -    def stop(self): 
119          self.parent.shutdown() 
120