add roscd, rosls support (#210)

* Add roscd, rosls support (#16)

* refactor findpath.py, remove error msg from ros_location_find

* rename findpath.py to rosfindpath.py

tools/rosbash/CMakeLists.txt

@@ -8,6 +8,9 @@ install(FILES rosbash rosfish rostcsh roszsh
 if (WIN32)
   install(PROGRAMS scripts/rosrun.bat
     DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+
+  install(PROGRAMS scripts/rosfindpath.py scripts/roscd.bat scripts/rosls.bat
+    DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 else()
   install(PROGRAMS scripts/rosrun
     DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})

tools/rosbash/scripts/roscd.bat

@@ -0,0 +1,52 @@
+@echo off
+
+if "%1" equ "--help" goto :usage
+if not "%2" equ "" goto :usage
+
+if "%1" equ "" (
+    if not "%ROS_WORKSPACE%" equ "" (
+        cd /d %ROS_WORKSPACE%
+        exit /b 0
+    )
+
+    if not "%CMAKE_PREFIX_PATH%" equ "" (
+        for %%a in ("%CMAKE_PREFIX_PATH:;=";"%") do (
+            if exist %%a\.catkin (
+                cd /d %%a
+                exit /b 0
+            )
+        )
+    )
+
+    echo Neither ROS_WORKSPACE is set nor a catkin workspace is listed in CMAKE_PREFIX_PATH.  Please set ROS_WORKSPACE or source a catkin workspace to use roscd with no arguments.
+    exit /b 1
+)
+
+for /f "tokens=*" %%g in ('call python %~dp0\findpath.py %1 forceeval') do (
+    set target_path=%%~g
+)
+
+if /i "%target_path:~0,7%"=="Error: " (
+    echo roscd: %target_path:~7%
+    exit /b 1
+)
+
+if "%target_path%" equ "" (
+    if not "%ROS_WORKSPACE%" equ "" (
+        cd /d %ROS_WORKSPACE%
+        exit /b 0
+    )
+
+    echo No ROS_WORKSPACE set.  Please set ROS_WORKSPACE to use roscd with no arguments.
+    exit /b 1
+)
+
+cd /d "%target_path%"
+exit /b 0
+
+:usage
+echo usage: roscd package
+echo.
+echo.
+echo Jump to target package.
+exit /b 0

tools/rosbash/scripts/rosfindpath.py

@@ -0,0 +1,79 @@
+from __future__ import print_function
+
+import os
+import subprocess
+import sys
+
+ROS_CACHE_TIMEOUT_ENV_NAME = 'ROS_CACHE_TIMEOUT'
+ROS_LOCATIONS_ENV_NAME = 'ROS_LOCATIONS'
+ROS_LOCATION_SEP = ';'
+ERROR_PREFIX = 'Error: '
+
+def ros_location_find(package_name):
+    # process ROS_LOCATION and return if found
+    ros_location = os.environ.get(ROS_LOCATIONS_ENV_NAME)
+    if ros_location is not None:
+        locations = ros_location.split(ROS_LOCATION_SEP)
+        for loc in locations:
+            index = loc.find('=')
+            if index != -1:
+                if package_name == loc[:index]:
+                    return 0, loc[index + 1:]
+
+    if package_name == 'log':
+        p = subprocess.Popen('roslaunch-logs', stdout=subprocess.PIPE)
+        result_location = p.communicate()[0].strip()
+        result_code = p.returncode
+        return result_code, result_location if result_code == 0 else ''
+
+    if package_name == 'test_results':
+        p = subprocess.Popen('rosrun.bat rosunit test_results_dir.py', stdout=subprocess.PIPE)
+        result_location = p.communicate()[0].strip()
+        result_code = p.returncode
+        return result_code, result_location if result_code == 0 else ''
+
+    # process package_name and return
+    env = os.environ
+    env[ROS_CACHE_TIMEOUT_ENV_NAME] = '-1.0'
+    p = subprocess.Popen(['rospack', 'find', package_name], stdout=subprocess.PIPE)
+    result_location = p.communicate()[0].strip()
+    result_code = p.returncode
+    if result_code == 0:
+        return result_code, result_location
+
+    p = subprocess.Popen(['rosstack', 'find', package_name], stdout=subprocess.PIPE)
+    result_location = p.communicate()[0].strip()
+    result_code = p.returncode
+    if result_code == 0:
+        return result_code, result_location
+
+    # package <package_name> not found
+    return result_code, ''
+
+# 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 print result_path or Error: error message
+def findpathmain(argv):
+    reldir = ''
+    parameters = os.path.normpath(argv[0]).split(os.path.sep)
+    package_name = parameters[0]
+    if len(parameters) > 1:
+        reldir = os.path.sep.join(parameters[1:])
+    else:
+        if len(argv) < 2 or argv[1] != 'forceeval':
+            print(ERROR_PREFIX + '[' + package_name + '] is not a valid argument!', file=sys.stderr)
+            return 1
+
+    error_code, package_dir = ros_location_find(package_name)
+    if error_code != 0:
+        print(ERROR_PREFIX + '[' + package_name + '] not found!', file=sys.stderr)
+        return error_code
+    else:
+        rosdir = os.path.normpath(os.path.sep.join([package_dir, reldir]))
+        print(rosdir)
+        return 0
+
+if __name__ == '__main__':
+    if len(sys.argv) < 2:
+        sys.exit(1)
+    sys.exit(findpathmain(sys.argv[1:]))

tools/rosbash/scripts/rosls.bat

@@ -0,0 +1,21 @@
+@echo off
+
+if "%1" equ "--help" goto :usage
+for /f "tokens=*" %%g in ('call python %~dp0\findpath.py %1 forceeval') do (
+    set target_path=%%~g
+)
+
+if /i "%target_path:~0,7%"=="Error: " (
+    echo rosls: %target_path:~7%
+    exit /b 1
+)
+
+dir "%target_path%"
+exit /b 0
+
+:usage
+echo usage: rosls [package]
+echo.
+echo.
+echo Lists contents of a package directory.
+exit /b 0