merging r15310

core/roslib/src/roslib/stacks.py

@@ -93,80 +93,24 @@ def get_stack_dir(stack, env=None):
     @rtype: str
     @raise InvalidROSStackException: if stack cannot be located.
     """
+    _init_rosstack(env=env)
+    try:
+        return _rosstack.get_path(stack)
+    except rospkg.ResourceNotFound:
+        # preserve old signature
+        raise InvalidROSStackException(stack)
 
-    # it's possible to get incorrect results from this cache
+_rosstack = None
-    # implementation by manipulating the environment and calling this
+_ros_paths = None
-    # from multiple threads.  as that is an unusual use case and would
-    # require a slower implmentation, it's not supported. the
-    # interpretation of this routine is get_stack_dir for the
-    # environment this process was launched in.
-    global _dir_cache_marker 
 
+def _init_rosstack(env=None):
+    global _rosstack, _ros_paths
     if env is None:
         env = os.environ
-    if stack in _dir_cache:
+    ros_paths = rospkg.get_ros_paths(env)
-        ros_root = env[ROS_ROOT]
+    if ros_paths != _ros_paths:
-        ros_package_path = env.get(ROS_PACKAGE_PATH, '')
+        _ros_paths = ros_paths
-
+        _rosstack = rospkg.RosStack(ros_paths)
-        # we don't attempt to be thread-safe to environment changes,
-        # however we do need to be threadsafe to cache invalidation.
-        try:
-            if _dir_cache_marker == (ros_root, ros_package_path):
-                d = _dir_cache[stack]
-                if os.path.isfile(os.path.join(d, STACK_FILE)):
-                    return d
-                else:
-                    # invalidate the cache
-                    _dir_cache_marker = None
-                    _dir_cache.clear()
-        except KeyError:
-            pass
-    _update_stack_cache(env=env) #update cache
-    try:
-        val = _dir_cache[stack]
-    except KeyError:
-        raise InvalidROSStackException("Cannot location installation of stack %s. ROS_ROOT[%s] ROS_PACKAGE_PATH[%s]"%(stack, env[ROS_ROOT], env.get(ROS_PACKAGE_PATH, '')))
-    return val
-
-# rosstack directory cache
-_dir_cache = {}
-# stores ROS_ROOT, ROS_PACKAGE_PATH of _dir_cache
-_dir_cache_marker = None
-
-def _update_stack_cache(force=False, env=None):
-    """
-    Update _dir_cache if environment has changed since last cache build.
-    
-    @param env: override environment variables
-    @type  env: {str: str}
-    @param force: force cache rebuild regardless of environment variables
-    @type  force: bool
-    """
-    global _dir_cache_marker
-    if env is None:
-        env = os.environ
-    ros_root = env[ROS_ROOT]
-    ros_package_path = env.get(ROS_PACKAGE_PATH, '')
-    
-    if _dir_cache_marker == (ros_root, ros_package_path):
-        return
-    _dir_cache.clear()
-    _dir_cache_marker = ros_root, ros_package_path
-
-    pkg_dirs = rospkg.environment.compute_package_paths(ros_root, ros_package_path)
-    pkg_dirs.reverse() # cpp has reverse precedence order
-    # ros is assumed to be at ROS_ROOT
-    if os.path.exists(os.path.join(ros_root, 'stack.xml')):
-        _dir_cache['ros'] = ros_root
-        pkg_dirs.remove(ros_root)
-
-    # pass in accumulated stacks list to each call. This ensures
-    # precedence (i.e. that stacks first on pkg_dirs path win). 
-    stacks = []
-    for pkg_root in pkg_dirs:
-        # list_stacks_by_path will append list into stacks, so that
-        # each call accumulates in it.
-        list_stacks_by_path(pkg_root, stacks, cache=_dir_cache)
     
 def list_stacks(env=None):
     """
@@ -179,8 +123,8 @@ def list_stacks(env=None):
     @return: complete list of stacks names in ROS environment
     @rtype: [str]
     """
-    _update_stack_cache(env=env)
+    _init_rosstack(env=env)
-    return list(_dir_cache.keys()) #py3k
+    return _rosstack.list()
 
 def list_stacks_by_path(path, stacks=None, cache=None):
     """
@@ -243,8 +187,9 @@ def expand_to_packages(names, env=None):
     """
     if env is None:
         env = os.environ
-    rospack = rospkg.RosPack(ros_root=rospkg.get_ros_root(env), ros_package_path=rospkg.get_ros_package_path(env))
+    ros_paths = rospkg.get_ros_paths(env)
-    rosstack = rospkg.RosStack(ros_root=rospkg.get_ros_root(env), ros_package_path=rospkg.get_ros_package_path(env))
+    rospack = rospkg.RosPack(ros_paths)
+    rosstack = rospkg.RosStack(ros_paths)
     return rospkg.expand_to_packages(names, rospack, rosstack)
 
 def get_stack_version(stack, env=None):
@@ -255,7 +200,8 @@ def get_stack_version(stack, env=None):
     @return: version number of stack, or None if stack is unversioned.
     @rtype: str
     """
-    return get_stack_version_by_dir(get_stack_dir(stack, env=env))
+    _init_rosstack(env=env)
+    return _rosstack.get_stack_version(stack)
 
 def get_stack_version_by_dir(stack_dir):
     """

test/test_roslib/test/test_roslib_stacks.py

@@ -235,6 +235,7 @@ class RoslibStacksTest(unittest.TestCase):
     def test_get_stack_version(self):
         from roslib.stacks import get_stack_version
         
+
         test_dir = os.path.join(roslib.packages.get_pkg_dir('test_roslib'), 'test', 'stack_tests', 's1')
         env = os.environ.copy()
         env[rospkg.environment.ROS_PACKAGE_PATH] = test_dir

tools/rosbash/rosbash

@@ -274,6 +274,68 @@ function _msg_opts {
     fi
 }
 
+function _srv_opts {
+    local arg pkgs pkgname srvname searchsrv path count opts
+
+    if [[ $1 =~ .+/.* ]]; then
+        pkgname=${1%%/*}
+        srvname=${1#*/}
+        searchsrv=1
+    else
+        pkgname=${1}
+    fi
+
+    if [[ -z ${searchsrv} ]]; then
+        pkgs=(`rospack list | grep "^${pkgname}"`)
+        count=0
+
+        opts=""
+
+        for (( i = 0 ; i < ${#pkgs[@]} ; i=i+2 )); do
+            if [[ -d ${pkgs[i+1]}/srv ]]; then
+                opts="$opts ${pkgs[i]}/"
+                pkgname=${pkgs[i]}
+                count=$((count+1))
+            fi
+        done
+
+        if [[ $count -gt 1 ]]; then
+            echo $opts
+            return 0
+        fi
+    fi
+
+    path=`rospack find ${pkgname} 2> /dev/null`
+
+    if [ $? -eq 0 ] && [ -d ${path}/srv ]; then
+        echo `find -L ${path}/srv -maxdepth 1 -mindepth 1 -name *.srv ! -regex ".*/[.].*" -print0 | tr '\000' '\n' | sed -e "s/.*\/\(.*\)\.srv/${pkgname}\/\1/g"`
+    fi
+}
+
+function _roscomplete_rossrv {
+    COMPREPLY=()
+    arg="${COMP_WORDS[COMP_CWORD]}"
+
+    if [[ $COMP_CWORD == 1 ]]; then
+        opts="show users md5 package packages"
+        COMPREPLY=($(compgen -W "$opts" -- ${arg}))
+    elif [[ $COMP_CWORD == 2 ]]; then
+        case ${COMP_WORDS[1]} in
+            show|users|md5)
+                opts=`_srv_opts ${COMP_WORDS[$COMP_CWORD]}`
+                COMPREPLY=($(compgen -W "$opts" -- ${arg}))                
+                ;;
+            package)
+                opts=`rospack list-names`
+                COMPREPLY=($(compgen -W "$opts" -- ${arg}))                
+                ;;
+            packages)
+                # This shouldn't really have a completion rule
+                ;;
+        esac
+    fi
+}
+
 function _roscomplete_search_dir {
     local arg opts pkgdir
     COMPREPLY=()
@@ -567,4 +629,5 @@ complete -F "_roscomplete_rosparam" "rosparam"
 complete -F "_roscomplete_rostopic" "rostopic"
 complete -F "_roscomplete_rosservice" "rosservice"
 complete -F "_roscomplete_rosmsg" "rosmsg"
+complete -F "_roscomplete_rossrv" "rossrv"
 complete -F "_roscomplete_roscreate_pkg" "roscreate-pkg"

tools/rosbash/rostcsh

@@ -33,6 +33,11 @@ complete rosmsg \
    'n@{show,users}@`rostopic list -v | grep " \* " | cut -f 4 -d " " | grep -v unknown | sed -e "s/[\d93\d91]//g"`@' \
    'n/{package,packages}/`rospack list-names`/'
 
+complete rossrv \
+   'p/1/(show users package packages)/' \
+   'n@{show,users}@`rostopic list -v | grep " \* " | cut -f 4 -d " +" | grep -v unknown | sed -e "s/[\d93\d91]//g"`@' \
+   'n/{package,packages}/`rospack list-names`/'
+
 complete rosrun \
    'p/1/`rospack list-names`/' \
    'p@2@`rospack find $:1 | xargs -I 1 find 1 -perm /a+x -type f -printf "%f\n"`@'