cleanedup completion function local vars, aligned zsh with bash, more unit tests

tools/rosbash/rosbash

@@ -1,3 +1,7 @@
+# rosbash - functions to support ROS users
+# Useful things to know:
+# 'local' variables get unset after function, all others stay forever
+# COMPREPLY is the var used by bash complete builtin
 
 function _rossed {
     if [[ `uname` == Darwin || `uname` == FreeBSD ]]; then
@@ -7,9 +11,13 @@ function _rossed {
     fi
 }
 
-
+# _ros_location_find
-
+# based on $ROS_LOCATIONS, which the user can set to any colon
+# separated of key=folder pairs also resolves keys 'log' and
+# 'test_results' to ROS defaults finally resolves to package, then
+# stack echoes its result
 function _ros_location_find {
+    local homedir ROS_LOCATION_KEYS_ARR ROS_LOCATIONS_ARR loc
     homedir=`echo $HOME | sed -e "s/\//\t\//g" -e "s/\t/\\\\\/g"`
     ROS_LOCATION_KEYS_ARR=(`echo $ROS_LOCATIONS | _rossed -e 's/([^:=]*)=([^:=]*)(:*[^=])*(:|$)/\1 /g'`)
     ROS_LOCATIONS_ARR=(`echo $ROS_LOCATIONS | _rossed -e 's/([^:=]*)=([^:=]*)(:*[^=])*(:|$)/\2 /g' -e "s/~/${homedir}/g"`)
@@ -43,6 +51,7 @@ function _ros_location_find {
 }
 
 function _ros_list_locations {
+    local ROS_LOCATION_KEYS packages stacks
     ROS_LOCATION_KEYS=`echo $ROS_LOCATIONS | _rossed -e 's/([^:=]*)=([^:=]*)(:*[^=])*(:|$)/\1 /g'`
     packages=`export ROS_CACHE_TIMEOUT=-1.0 && rospack list-names`
     stacks=`export ROS_CACHE_TIMEOUT=-1.0 && rosstack list-names`
@@ -51,6 +60,7 @@ function _ros_list_locations {
 }
 
 function _ros_package_find {
+    local loc
     loc=`export ROS_CACHE_TIMEOUT=-1.0 && rospack find $1 2> /dev/null`
     if [[ $? != 0 ]]; then
         return 1
@@ -60,20 +70,25 @@ function _ros_package_find {
 }
 
 function _ros_list_packages {
+    local packages
     packages=`export ROS_CACHE_TIMEOUT=-1.0 && rospack list-names`
     echo $packages | tr ' ' '\n'
     return 0
 }
 
 function _ros_list_stacks {
+    local stacks
     stacks=`export ROS_CACHE_TIMEOUT=-1.0 && rosstack list-names`
     echo $stacks | tr ' ' '\n'
     return 0
 }
 
+# takes as argument either just a package-path or just a pkgname
+# returns 0 for no argument or if package (+ path) exist, 1 else
+# on success with arguments returns [pkgname, abspath, relpath basename] 
 function _ros_decode_path {
     local rosname rosdir reldir last
-
+    rosvals=()
     if [[ -z $1 ]]; then
         return 0
     fi
@@ -101,6 +116,7 @@ function _ros_decode_path {
 }
 
 function rospython {
+  local pkgname
   if [[ $1 = "--help" ]]; then
     echo -e "usage: rospython [package] \n\nRun python loading package manifest first."
     return 0
@@ -193,7 +209,7 @@ function rosls {
 }
 
 function _roscmd {
-    local pkgdir exepath opt catkin_source_dir catkin_binary_dir
+    local pkgdir exepath opt catkin_source_dir catkin_binary_dir opts arg
     if [[ -n $CATKIN_SOURCE_DIR ]]; then
         catkin_source_dir=`ROS_ROOT=$CATKIN_SOURCE_DIR ROS_PACKAGE_PATH= _ros_package_find $1`
     fi 
@@ -309,9 +325,6 @@ function _msg_opts {
         pkgname=${1}
     fi
 
-    echo Pkg: $pkgname
-    echo Msg: $msgname
-
     if [[ -z ${searchmsg} ]]; then
         pkgs=(`rospack list`)
         
@@ -482,6 +495,7 @@ function _roscomplete_test {
 }
 
 function _roscomplete_rosbag {
+    local opts
     COMPREPLY=()
     arg="${COMP_WORDS[COMP_CWORD]}"
 
@@ -523,6 +537,7 @@ function _roscomplete_rosbag {
 }
 
 function _roscomplete_rospack {
+    local arg opts
     COMPREPLY=()
     arg="${COMP_WORDS[COMP_CWORD]}"
 
@@ -537,6 +552,7 @@ function _roscomplete_rospack {
 }
 
 function _roscomplete_rosnode {
+    local arg opts
     COMPREPLY=()
     arg="${COMP_WORDS[COMP_CWORD]}"
 
@@ -573,6 +589,7 @@ function _roscomplete_rosnode {
 
 }
 function _roscomplete_rosparam {
+    local arg opts
     COMPREPLY=()
     arg="${COMP_WORDS[COMP_CWORD]}"
 
@@ -602,6 +619,7 @@ function _roscomplete_rosparam {
 
 }
 function _roscomplete_rostopic {
+    local arg opts
     COMPREPLY=()
     arg="${COMP_WORDS[COMP_CWORD]}"
 
@@ -661,6 +679,7 @@ function _roscomplete_rostopic {
 }
 
 function _roscomplete_rosservice {
+    local arg opts
     COMPREPLY=()
     arg="${COMP_WORDS[COMP_CWORD]}"
 
@@ -732,6 +751,7 @@ function _msg_opts {
 }
 
 function _roscomplete_rosmsg {
+    local arg opts
     COMPREPLY=()
     arg="${COMP_WORDS[COMP_CWORD]}"
 
@@ -757,6 +777,7 @@ function _roscomplete_rosmsg {
 }
 
 function _roscomplete_roscreate_pkg {
+    local arg opts
     COMPREPLY=()
     arg="${COMP_WORDS[COMP_CWORD]}"
 
@@ -780,7 +801,7 @@ function _roscomplete_roswtf {
 }
 
 function _roscomplete_rosclean {
-    local arg
+    local arg opts
     COMPREPLY=()
     arg="${COMP_WORDS[COMP_CWORD]}"
     if [[ $COMP_CWORD == 1 ]]; then

tools/rosbash/roszsh

@@ -1,6 +1,67 @@
+# roszsh - functions to support ROS users
+# Useful things to know:
+# 'local' variables get unset after function, all others stay forever
+# 'reply' is the var used by zsh compctl builtin
+
+function _rossed {
+    if [[ `uname` == Darwin || `uname` == FreeBSD ]]; then
+        sed -E "$@"
+    else
+        sed -r "$@"
+    fi
+}
+
+# _ros_location_find
+# based on $ROS_LOCATIONS, which the user can set to any colon
+# separated of key=folder pairs also resolves keys 'log' and
+# 'test_results' to ROS defaults finally resolves to package, then
+# stack echoes its result
+function _ros_location_find {
+    local homedir ROS_LOCATION_KEYS_ARR ROS_LOCATIONS_ARR loc
+    homedir=`echo $HOME | sed -e "s/\//\t\//g" -e "s/\t/\\\\\/g"`
+    ROS_LOCATION_KEYS_ARR=(`echo $ROS_LOCATIONS | _rossed -e 's/([^:=]*)=([^:=]*)(:*[^=])*(:|$)/\1 /g'`)
+    ROS_LOCATIONS_ARR=(`echo $ROS_LOCATIONS | _rossed -e 's/([^:=]*)=([^:=]*)(:*[^=])*(:|$)/\2 /g' -e "s/~/${homedir}/g"`)
+
+    for (( i = 1 ; i <= ${#ROS_LOCATION_KEYS_ARR[@]} ; i++ )); do
+        if [[ $1 == ${ROS_LOCATION_KEYS_ARR[$i]} ]]; then
+            echo ${ROS_LOCATIONS_ARR[i]}
+            return 0
+        fi
+    done
+
+    if [[ $1 == log ]]; then
+        echo `roslaunch-logs`
+        return 0
+    elif [[ $1 == test_results ]]; then
+        echo `rosrun rosunit test_results_dir.py`
+        return 0
+    fi
+
+    loc=`export ROS_CACHE_TIMEOUT=-1.0 && rospack find $1 2> /dev/null`
+    if [[ $? != 0 ]]; then
+        loc=`export ROS_CACHE_TIMEOUT=-1.0 && rosstack find $1 2> /dev/null`
+        if [[ $? != 0 ]]; then
+            return 1
+        fi
+        echo $loc
+        return 0
+    fi
+    echo $loc
+    return 0
+}
+
+function _ros_list_locations {
+    local ROS_LOCATION_KEYS packages stacks
+    ROS_LOCATION_KEYS=`echo $ROS_LOCATIONS | _rossed -e 's/([^:=]*)=([^:=]*)(:*[^=])*(:|$)/\1 /g'`
+    packages=`export ROS_CACHE_TIMEOUT=-1.0 && rospack list-names`
+    stacks=`export ROS_CACHE_TIMEOUT=-1.0 && rosstack list-names`
+    echo $packages $stacks log test_results $ROS_LOCATION_KEYS | tr ' ' '\n'
+    return 0
+}
+
 function _ros_decode_path {
     local rosname rosdir reldir last rospackdir rosstack_result rosstackdir
-
+    rosvals=()
     if [[ -z $1 ]]; then
         return 0
     fi
@@ -138,7 +199,7 @@ function rosls {
 }
 
 function _roscmd {
-    local pkgdir exepath opt
+    local pkgdir exepath opt arg
     pkgdir=`export ROS_CACHE_TIMEOUT=-1.0 && rospack find $1 2> /dev/null`
     if [[ $? != 0 ]] ; then
         echo "Couldn't find package [$1]"
@@ -232,7 +293,7 @@ function _roscomplete_sub_dir {
 }
 
 function _roscomplete_search_dir {
-    local words arg opts pkgdir
+    local words arg opts pkgdir pkgdir_result stack_result
     reply=()
 		words=(${=BUFFER})
     pkgdir=`export ROS_CACHE_TIMEOUT=-1.0 && rospack find ${words[2]} 2> /dev/null`
@@ -264,6 +325,7 @@ function _roscomplete_launchfile {
 }
 
 function _roscomplete_rosbag {
+    local opts
     reply=()
 
     if [[ ${CURRENT} == 2 ]]; then
@@ -305,6 +367,7 @@ function _roscomplete_rosbag {
 }
 
 function _roscomplete_rospack {
+    local opts
     reply=()
     if [[ ${CURRENT} == 2 ]]; then
         opts="help find list list-names list-duplicates langs depends depends-manifests depends1 depends-indent depends-msgsrv depends-why rosdep rosdep0 vcs vcs0 depends-on depends-on1 export plugins cflags-only-I cflags-only-other libs-only-L libs-only-l libs-only-other profile"
@@ -316,6 +379,7 @@ function _roscomplete_rospack {
 }
 
 function _roscomplete_rosnode {
+    local opts
     reply=()
 
     if [[ ${CURRENT} == 2 ]]; then
@@ -348,11 +412,11 @@ function _roscomplete_rosnode {
                 ;;
         esac
     fi
-
 }
-function _roscomplete_rosparam {
-    reply=()
 
+function _roscomplete_rosparam {
+    local opts
+    reply=()
 
     if [[ ${CURRENT} == 2 ]]; then
         opts="set get load dump delete list"
@@ -446,6 +510,7 @@ function _roscomplete_rostopic {
 }
 
 function _roscomplete_rosservice {
+    local opts
     reply=()
 
 
@@ -478,6 +543,7 @@ function _roscomplete_rosservice {
 }
 
 function _msg_opts {
+    local pkgname msgname searchmsg pkgs count pkgname2 opts result
     unset searchmsg
 
     if [[ $1 =~ .+/.* ]]; then
@@ -517,6 +583,7 @@ function _msg_opts {
 }
 
 function _roscomplete_rosmsg {
+    local opts
     reply=()
 
 
@@ -541,6 +608,7 @@ function _roscomplete_rosmsg {
 }
 
 function _srv_opts {
+    local pkgname srvname searchsrv pkgs count opts pkgpath result
     unset searchsrv
 
     if [[ $1 =~ .+/.* ]]; then
@@ -580,9 +648,9 @@ function _srv_opts {
 }
 
 function _roscomplete_rossrv {
+    local opts
     reply=()
 
-
     if [[ ${CURRENT} == 2 ]]; then
         opts="show list md5 package packages"
         reply=(${=opts})
@@ -603,17 +671,16 @@ function _roscomplete_rossrv {
     fi
 }
 
-
-
 function _roscomplete_roscreate_pkg {
+    local opts
     reply=()
 
-
     if [[ ${CURRENT} > 2 ]]; then
         opts=`rospack list-names`
         reply=(${=opts})
     fi
 }
+
 compctl -K "_roscomplete_sub_dir" -S / "roscd" "rospd" "rosls"
 compctl -K "_roscomplete_rosmake" "rosmake"
 

tools/rosbash/test/test_rosbash.bash

@@ -7,12 +7,18 @@
 
 . ../rosbash
 
+echo Testing BASH
+
+. test_zshbash.sh
+
+# roslaunch completion
+
 export COMP_CWORD=1
 _roscomplete_launch roslaunch
 if [[ ! ${COMPREPLY[@]} =~ rosbash ]]; then
    echo "rosbash package missing from" ${COMPREPLY[@]} ; exit 1
 fi
-echo success 1
+echo success roslaunch pkg
 
 export COMP_WORDS=("roslaunch" "--")
 export COMP_CWORD=1
@@ -20,7 +26,7 @@ _roscomplete_launch roslaunch "--" roslaunch
 if [[ ! ${COMPREPLY[@]} == "--files --args --nodes --find-node --child --local --screen --server_uri --run_id --wait --port --core --pid --dump-params" ]]; then
    echo "roslaunch --options missing" from ${COMPREPLY[@]} ; exit 1
 fi
-echo success 2
+echo success roslaunch --option
 
 export COMP_WORDS=("roslaunch" "roslaunch")
 export COMP_CWORD=2
@@ -28,4 +34,10 @@ _roscomplete_launch roslaunch roslaunch
 if [[ ! ${COMPREPLY[@]} =~ "example.launch" ]]; then
    echo "example.launch missing from " ${COMPREPLY[@]} ; exit 1
 fi
-echo success 3
+echo success roslaunch launchfiles
+
+
+# if [[ ! ${COMPREPLY[@]} =~ "example.launch" ]]; then
+#    echo "example.launch missing from " ${COMPREPLY[@]} ; exit 1
+# fi
+# echo success 4

tools/rosbash/test/test_roszsh.zsh

@@ -0,0 +1,21 @@
+#! /usr/bin/env zsh
+
+# This script is supposed to be a unit test for rosbash, also used for manual checks against other operating systems.
+
+# TODO extend this script
+
+
+. ../roszsh
+
+echo "Testing ZSH"
+
+. ./test_zshbash.sh
+
+# roslaunch completion
+
+BUFFER=("foo roslaunch")
+_roscomplete_search_dir
+if [[ ! ${reply[@]} =~ "example.launch" ]]; then
+   echo "rosbash package missing from" ${reply[@]} ; exit 1
+fi
+echo success roslaunch launchfiles

tools/rosbash/test/test_scripts.py

@@ -10,9 +10,14 @@ TEST_PATH = os.path.join(PKG_PATH, 'test')
 class TestRosBash(unittest.TestCase):
 
     def setUp(self):
-        self.cmd = os.path.join(TEST_PATH, 'test_rosbash.bash')
+        self.cmdbash = os.path.join(TEST_PATH, 'test_rosbash.bash')
-        self.assertTrue(os.path.exists(self.cmd))
+        self.assertTrue(os.path.exists(self.cmdbash))
-    
+        
+        self.cmdzsh = os.path.join(TEST_PATH, 'test_roszsh.zsh')
+        self.assertTrue(os.path.exists(self.cmdzsh))
+        
     def test_rosbash_completion(self):
-        subprocess.check_call([self.cmd], cwd = TEST_PATH)
+        subprocess.check_call([self.cmdbash], cwd = TEST_PATH)
  
+    def test_roszsh_completion(self):
+        subprocess.check_call([self.cmdzsh], cwd = TEST_PATH)