#!/usr/bin/env python
# Software License Agreement (BSD)
#
# @author Mike Purvis <mpurvis@clearpathrobotics.com>
# @copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
#
# Redistribution and use in source and binary forms, with or without modification, are permitted provided that
# the following conditions are met:
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# following disclaimer.
# * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
# following disclaimer in the documentation and/or other materials provided with the distribution.
# * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or
# promote products derived from this software without specific prior written permission.
#
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# TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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# POSSIBILITY OF SUCH DAMAGE.
import argparse
import os
import robot_upstart
from catkin.find_in_workspaces import find_in_workspaces
import providers
DESC_PKGPATH = ("Make sure the path starts with the package name"
" (e.g. don't pass absolute path nor a path starting from"
" workspace top folder etc.)")
def get_argument_parser():
p = argparse.ArgumentParser(
description="""Use this tool to quickly and easily create system startup jobs which run one or more
ROS launch files as a daemonized background process on your computer. More advanced users will prefer
to access the Python API from their own setup scripts, but this exists as a simple helper, an example,
and a compatibility shim for previous versions of robot_upstart which were bash-based.""")
p.add_argument("pkgpath", type=str, nargs='+', metavar="pkg/path",
help="Package and path to install job launch files from. " +
DESC_PKGPATH)
p.add_argument("--job", type=str,
help="Specify job name. If unspecified, will be constructed from package name.")
p.add_argument("--interface", type=str, metavar="ethN",
help="Specify network interface name to associate job with.")
p.add_argument("--user", type=str, metavar="NAME",
help="Specify user to launch job as.")
p.add_argument("--setup", type=str, metavar="path/to/setup.bash",
help="Specify workspace setup file for the job launch context.")
p.add_argument("--rosdistro", type=str, metavar="DISTRO",
help="Specify ROS distro this is for.")
p.add_argument("--master", type=str, metavar="http://MASTER:11311",
help="Specify an alternative ROS_MASTER_URI for the job launch context.")
p.add_argument("--logdir", type=str, metavar="path/to/logs",
help="Specify an a value for ROS_LOG_DIR in the job launch context.")
p.add_argument("--augment", action='store_true',
help="Bypass creating the job, and only copy user files. Assumes the job was previously created.")
p.add_argument("--provider", type=str, metavar="[upstart|systemd]",
help="Specify provider if the autodetect fails to identify the correct provider")
p.add_argument("--symlink", action='store_true',
help="Create symbolic link to job launch files instead of copying them.")
return p
[docs]def main():
""" Implementation of the ``install`` script."""
args = get_argument_parser().parse_args()
pkg, pkgpath = args.pkgpath[0].split('/', 1)
job_name = args.job or pkg.split('_', 1)[0]
# Any unspecified arguments are on the args object as None. These are filled
# in by the Job constructor when passed as Nones.
j = robot_upstart.Job(
name=job_name, interface=args.interface, user=args.user,
workspace_setup=args.setup, rosdistro=args.rosdistro,
master_uri=args.master, log_path=args.logdir)
for this_pkgpath in args.pkgpath:
pkg, pkgpath = this_pkgpath.split('/', 1)
if not pkg:
print("Unable to locate package your job launch is in."
" Installation aborted. " + DESC_PKGPATH +
"\npkgpath passed: {}.".format(pkgpath))
return 1
found_path = find_in_workspaces(project=pkg, path=pkgpath, first_match_only=True)
if not found_path:
print "Unable to locate path %s in package %s. Installation aborted." % (pkgpath, pkg)
return 1
if os.path.isfile(found_path[0]):
# Single file, install just that.
j.add(package=pkg, filename=pkgpath)
else:
# Directory found, install everything within.
j.add(package=pkg, glob=os.path.join(pkgpath, "*"))
if args.augment:
j.generate_system_files = False
provider = providers.detect_provider()
if args.provider == 'upstart':
provider = providers.Upstart
if args.provider == 'systemd':
provider = providers.Systemd
if args.symlink:
j.symlink = True
j.install(Provider=provider)
return 0