reducing sub-module interdependence for easier refactoring

core/roslib/src/roslib/msgs.py

@@ -70,8 +70,8 @@ def set_verbose(v):
     global VERBOSE
     VERBOSE = v
 
-EXT = roslib.names.MSG_EXT #alias
-SEP = roslib.names.PRN_SEPARATOR #e.g. std_msgs/String
+EXT = '.msg'
+SEP = '/' #e.g. std_msgs/String
 ## character that designates a constant assignment rather than a field
 CONSTCHAR   = '='
 COMMENTCHAR = '#'
@@ -378,7 +378,7 @@ def _init():
     if std_msgs_dir is None:
         raise MsgSpecException("Unable to locate roslib: %s files cannot be loaded"%EXT)
     
-    header = os.path.join(std_msgs_dir, roslib.packages.MSG_DIR, fname)
+    header = os.path.join(std_msgs_dir, 'msg', fname)
     if not os.path.isfile(header):
         sys.stderr.write("ERROR: cannot locate %s. Expected to find it at '%s'\n"%(fname, header))
         return False
@@ -412,7 +412,7 @@ def list_msg_types(package, include_depends):
     @param include_depends bool: if True, will also list messages in package dependencies
     @return [str]: message type names
     """
-    types = roslib.resources.list_package_resources(package, include_depends, roslib.packages.MSG_DIR, _msg_filter)
+    types = roslib.resources.list_package_resources(package, include_depends, 'msg', _msg_filter)
     return [x[:-len(EXT)] for x in types]
 
 def msg_file(package, type_):
@@ -427,7 +427,7 @@ def msg_file(package, type_):
     @return: file path of .msg file in specified package
     @rtype: str
     """
-    return roslib.packages.resource_file(package, roslib.packages.MSG_DIR, type_+EXT)
+    return roslib.packages.resource_file(package, 'msg', type_+EXT)
 
 def get_pkg_msg_specs(package):
     """

core/roslib/src/roslib/names.py

@@ -39,10 +39,6 @@ Library for manipulating ROS Names. See U{http://ros.org/wiki/Names}.
 import os
 import sys
 
-#TODO: why are these here?
-MSG_EXT = '.msg'
-SRV_EXT = '.srv'
-
 #TODO: deprecate PRN_SEPARATOR
 PRN_SEPARATOR = '/'
 TYPE_SEPARATOR = PRN_SEPARATOR #alias

core/roslib/src/roslib/os_detect.py

@@ -36,7 +36,6 @@ The APIs of this library are still very coupled with the rosdep
 command-line tool.
 """
 
-import roslib.exceptions
 import os
 import sys
 import subprocess
@@ -117,7 +116,7 @@ class OSOverride:
         return self._os_name
 
 
-class OSDetectException(roslib.exceptions.ROSLibException): pass
+class OSDetectException(Exception): pass
 
 class OSBase:
     """

core/roslib/src/roslib/packages.py

@@ -54,8 +54,6 @@ import roslib.names
 import roslib.rosenv
 import roslib.os_detect
 
-MSG_DIR = 'msg'
-SRV_DIR = 'srv'
 SRC_DIR = 'src'
 
 # aliases

core/roslib/src/roslib/srvs.py

@@ -46,7 +46,6 @@ try:
 except ImportError:
     from io import StringIO # Python 3.x
 
-import roslib.exceptions
 import roslib.msgs
 import roslib.names
 import roslib.packages
@@ -57,8 +56,8 @@ import roslib.resources
 import roslib.manifest
 
 ## file extension
-EXT = roslib.names.SRV_EXT #alias
-SEP = roslib.names.PRN_SEPARATOR #e.g. std_msgs/String
+EXT = '.srv' #alias
+SEP = '/' #e.g. std_msgs/String
 ## input/output deliminator
 IODELIM   = '---'
 COMMENTCHAR = roslib.msgs.COMMENTCHAR
@@ -73,7 +72,7 @@ def set_verbose(v):
     global VERBOSE
     VERBOSE = v
 
-class SrvSpecException(roslib.exceptions.ROSLibException): pass
+class SrvSpecException(Exception): pass
 
 # msg spec representation ##########################################
 
@@ -123,7 +122,7 @@ def list_srv_types(package, include_depends):
     @return: service type names
     @rtype: [str]
     """
-    types = roslib.resources.list_package_resources(package, include_depends, roslib.packages.SRV_DIR, _srv_filter)
+    types = roslib.resources.list_package_resources(package, include_depends, 'srv', _srv_filter)
     return [x[:-len(EXT)] for x in types]
 
 def srv_file(package, type_):
@@ -135,7 +134,7 @@ def srv_file(package, type_):
     @return: file path of .srv file in specified package
     @rtype: str
     """
-    return roslib.packages.resource_file(package, roslib.packages.SRV_DIR, type_+EXT)
+    return roslib.packages.resource_file(package, 'srv', type_+EXT)
 
 def get_pkg_srv_specs(package):
     """