roslib: continuing to unwind the ball of yarn of interdepends

core/roslib/src/roslib/msgs.py

@@ -52,12 +52,12 @@ import sys
 import re
 import string
 
-import roslib.exceptions
+import rospkg
+
 import roslib.manifest
 import roslib.packages
 import roslib.names
 import roslib.resources
-import roslib.rospack
 
 VERBOSE = False
 
@@ -76,7 +76,7 @@ SEP = '/' #e.g. std_msgs/String
 CONSTCHAR   = '='
 COMMENTCHAR = '#'
 
-class MsgSpecException(roslib.exceptions.ROSLibException): pass
+class MsgSpecException(Exception): pass
 
 #TODOXXX: unit test
 def base_msg_type(type_):
@@ -471,7 +471,7 @@ def load_package_dependencies(package, load_recursive=False):
         m = roslib.manifest.parse_file(manifest_file)
         depends = [d.package for d in m.depends] # #391
     else:
-        depends = roslib.rospack.rospack_depends(package)
+        depends = rospkg.RosPack().get_depends(package, implicit=True)
 
     msgs = []
     failures = []

core/roslib/src/roslib/network.py

@@ -61,8 +61,9 @@ try:
 except ImportError:
     import urlparse
 
-import roslib.exceptions
-import roslib.rosenv 
+#TODO: change this to rosgraph equivalents once we have ported this module
+ROS_IP = 'ROS_IP'
+ROS_HOSTNAME = 'ROS_HOSTNAME'
 
 SIOCGIFCONF = 0x8912
 SIOCGIFADDR = 0x8915
@@ -137,10 +138,10 @@ def get_address_override():
 
     # check ROS_HOSTNAME and ROS_IP environment variables, which are
     # aliases for each other
-    if roslib.rosenv.ROS_HOSTNAME in os.environ:
-        return os.environ[roslib.rosenv.ROS_HOSTNAME]
-    elif roslib.rosenv.ROS_IP in os.environ:
-        return os.environ[roslib.rosenv.ROS_IP]
+    if ROS_HOSTNAME in os.environ:
+        return os.environ[ROS_HOSTNAME]
+    elif ROS_IP in os.environ:
+        return os.environ[ROS_IP]
     return None
 
 def is_local_address(hostname):
@@ -298,7 +299,7 @@ def create_local_xmlrpc_uri(port):
 
 ## handshake utils ###########################################
 
-class ROSHandshakeException(roslib.exceptions.ROSLibException):
+class ROSHandshakeException(Exception):
     """
     Exception to represent errors decoding handshake
     """

core/roslib/src/roslib/roslogging.py

@@ -42,11 +42,10 @@ import sys
 import logging
 import logging.config
 
-import roslib.rosenv
-from roslib.rosenv import get_ros_root, ROS_LOG_DIR, ROS_HOME, makedirs_with_parent_perms
-import roslib.exceptions
+from rospkg import get_ros_root, get_log_dir
+from rospkg.environment import ROS_LOG_DIR
 
-get_log_dir = roslib.rosenv.get_log_dir
+import roslib.exceptions
     
 def configure_logging(logname, level=logging.INFO, filename=None, env=None):
     """
@@ -101,3 +100,26 @@ def configure_logging(logname, level=logging.INFO, filename=None, env=None):
     logging.config.fileConfig(config_file, disable_existing_loggers=False)
     return log_filename
 
+def makedirs_with_parent_perms(p):
+    """
+    Create the directory using the permissions of the nearest
+    (existing) parent directory. This is useful for logging, where a
+    root process sometimes has to log in the user's space.
+    @param p: directory to create
+    @type  p: str
+    """    
+    p = os.path.abspath(p)
+    parent = os.path.dirname(p)
+    # recurse upwards, checking to make sure we haven't reached the
+    # top
+    if not os.path.exists(p) and p and parent != p:
+        makedirs_with_parent_perms(parent)
+        s = os.stat(parent)
+        os.mkdir(p)
+
+        # if perms of new dir don't match, set anew
+        s2 = os.stat(p)
+        if s.st_uid != s2.st_uid or s.st_gid != s2.st_gid:
+            os.chown(p, s.st_uid, s.st_gid)
+        if s.st_mode != s2.st_mode:
+            os.chmod(p, s.st_mode)    

core/roslib/src/roslib/rospack.py

@@ -41,20 +41,23 @@ import os
 import sys
 import subprocess
 import roslib.exceptions
-import roslib.rosenv
+import rospkg
 
 if sys.hexversion > 0x03000000: #Python3
     python3 = True
 else:
     python3 = False
 
+import warnings
+warnings.warn("roslib.rospack is deprecated, please use rospkg", stacklevel=2)
+
 def rospackexec(args):
     """
     @return: result of executing rospack command (via subprocess). string will be strip()ed.
     @rtype: str
     @raise roslib.exceptions.ROSLibException: if rospack command fails
     """
-    rospack_bin = os.path.join(roslib.rosenv.get_ros_root(), 'bin', 'rospack')
+    rospack_bin = os.path.join(rospkg.get_ros_root(), 'bin', 'rospack')
     if python3:
         val = subprocess.Popen([rospack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0]
         val = val.decode().strip()
@@ -119,7 +122,7 @@ def rosstackexec(args):
     @rtype:  str
     @raise roslib.exceptions.ROSLibException: if rosstack command fails
     """
-    rosstack_bin = os.path.join(roslib.rosenv.get_ros_root(), 'bin', 'rosstack')
+    rosstack_bin = os.path.join(rospkg.get_ros_root(), 'bin', 'rosstack')
     if python3:
         val = subprocess.Popen([rosstack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0]
         val = val.decode().strip()

core/roslib/src/roslib/scriptutil.py

@@ -47,16 +47,8 @@ import string
 import subprocess
 import sys
 
-import roslib.exceptions
-import roslib.launcher
-import roslib.message
-import roslib.msgs 
 import roslib.names 
 import roslib.network
-import roslib.packages
-import roslib.rosenv 
-
-PRODUCT = 'ros'
 
 ## caller ID for master calls where caller ID is not vital
 _GLOBAL_CALLER_ID = '/script'
@@ -142,18 +134,20 @@ def get_master():
     
     @return: XML-RPC proxy to ROS master
     @rtype: xmlrpclib.ServerProxy
+    @raises ValueError if master URI is invalid
     """
     try:
         import xmlrpc.client as xmlrpcclient  #Python 3.x
     except ImportError:
         import xmlrpclib as xmlrpcclient #Python 2.x
     
+    # changed this to not look as sys args and remove dependency on roslib.rosenv for cleaner cleanup
+    uri = os.environ['ROS_MASTER_URI']
     # #1730 validate URL for better error messages
-    uri = roslib.rosenv.get_master_uri()
     try:
         roslib.network.parse_http_host_and_port(uri)
     except ValueError:
-        raise roslib.exceptions.ROSLibException("invalid master URI: %s"%uri)
+        raise ValueError("invalid master URI: %s"%uri)
     return xmlrpcclient.ServerProxy(uri)
 
 @deprecated

core/roslib/src/roslib/stack_manifest.py

@@ -42,10 +42,6 @@ import sys
 import os
 import getopt
 
-import roslib.exceptions
-import roslib.packages
-import roslib.rosenv
-
 STACK_FILE = 'stack.xml'
 
 import roslib.manifestlib