reimplemented roslib.find_resources and find_node. Need to move to roslaunch now
This commit is contained in:
Ken Conley
parent
6c28b0f4d8
commit
e62f78bfd5
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@ -386,25 +386,19 @@ def list_pkgs_by_path(path, packages=None, cache=None, env=None):
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return packages
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def find_node(pkg, node_type, ros_root=None, ros_package_path=None):
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def find_node(pkg, node_type, rospack=None, catkin_packages_cache=None):
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"""
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Locate the executable that implements the node
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@param node_type: type of node
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@type node_type: str
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@param ros_root: if specified, override ROS_ROOT
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@type ros_root: str
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@param ros_package_path: if specified, override ROS_PACKAGE_PATH
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@type ros_package_path: str
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@return: path to node or None if node is not in the package
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@rtype: str
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@raise roslib.packages.InvalidROSPkgException: If package does not exist
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:param node_type: type of node, ``str``
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:returns: path to node or None if node is not in the package ``str``
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:raises: :exc:rospkg.ResourceNotFound` If package does not exist
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"""
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d = get_pkg_dir(pkg, required=True, \
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ros_root=ros_root, ros_package_path=ros_package_path)
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#UNIXONLY: (partial) slowly supporting Windows here
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if rospack is None:
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rospack = rospkg.RosPack()
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# TODO: figure out how to generalize find_resource to take multiple resource name options
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if sys.platform in ['win32', 'cygwin']:
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# Windows logic requires more file patterns to resolve and is
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# not case-sensitive, so leave it separate
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@ -420,6 +414,8 @@ def find_node(pkg, node_type, ros_root=None, ros_package_path=None):
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# specified extension manually
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node_type = node_type.lower()
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matches = [node_type, node_type+'.exe', node_type+'.bat']
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d = rospack.get_path(pkg)
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for p, dirs, files in os.walk(d):
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# case insensitive
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files = [f.lower() for f in files]
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@ -430,101 +426,111 @@ def find_node(pkg, node_type, ros_root=None, ros_package_path=None):
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if (s.st_mode & (stat.S_IRUSR | stat.S_IXUSR) ==
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(stat.S_IRUSR | stat.S_IXUSR)):
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return test_path
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if '.svn' in dirs:
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dirs.remove('.svn')
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elif '.git' in dirs:
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dirs.remove('.git')
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to_prune = [x for x in dirs if x.startswith('.')]
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for x in to_prune:
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dirs.remove(x)
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else:
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#TODO: this could just execute find_resource with a filter_fn
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for p, dirs, files in os.walk(d):
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if node_type in files:
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test_path = os.path.join(p, node_type)
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s = os.stat(test_path)
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if (s.st_mode & (stat.S_IRUSR | stat.S_IXUSR) ==
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(stat.S_IRUSR | stat.S_IXUSR)):
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return test_path
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if '.svn' in dirs:
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dirs.remove('.svn')
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elif '.git' in dirs:
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dirs.remove('.git')
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return find_resource(pkg, node_type, filter_fn=_executable_filter,
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rospack=rospack, catkin_packages_cache=catkin_packages_cache)
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def find_resource(pkg, resource_name, filter_fn=None, ros_root=None, ros_package_path=None):
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def _executable_filter(test_path):
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s = os.stat(test_path)
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return (s.st_mode & (stat.S_IRUSR | stat.S_IXUSR) == (stat.S_IRUSR | stat.S_IXUSR))
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def _load_catkin_packages_cache(catkin_packages_cache, env=None):
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"""
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env[CATKIN_BINARY_DIR] *must* be set
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:param env: OS environment (defaults to os.environ if None/not set)
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:param catkin_packages_cache: dictionary to read cache into.
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Contents of dictionary will be replaced if cache is read. ``dict``
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:raises: :exc:`KeyError` if env[CATKIN_BINARY_DIR] is not set
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"""
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if env is None:
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env=os.environ
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prefix = env[CATKIN_BINARY_DIR]
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cache_file = os.path.join(prefix, 'etc', 'packages.list')
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if os.path.isfile(cache_file):
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catkin_packages_cache.clear()
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with open(cache_file, 'r') as f:
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for l in f.readlines():
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l = l.strip()
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# Example:
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# rosconsole ros_comm/tools/rosconsole\n
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if not l:
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continue
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idx = l.find(' ')
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catkin_packages_cache[l[:idx]] = l[idx+1:]
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def _find_resource(d, resource_name, filter_fn=None):
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"""
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subroutine of find_resource
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"""
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#UNIXONLY
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matches = []
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node_exe = None
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for p, dirs, files in os.walk(d):
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if resource_name in files:
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test_path = os.path.join(p, resource_name)
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if filter_fn is not None:
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if filter_fn(test_path):
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matches.append(test_path)
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else:
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matches.append(test_path)
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# remove .svn/.git/etc
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to_prune = [x for x in dirs if x.startswith('.')]
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for x in to_prune:
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dirs.remove(x)
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return [os.path.abspath(m) for m in matches]
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def find_resource(pkg, resource_name, filter_fn=None, rospack=None, catkin_packages_cache=None):
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"""
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Locate the file named resource_name in package, optionally
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matching specified filter
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@param filter: function that takes in a path argument and
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returns True if the it matches the desired resource
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@type filter: fn(str)
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@param ros_root: if specified, override ROS_ROOT
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@type ros_root: str
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@param ros_package_path: if specified, override ROS_PACKAGE_PATH
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@type ros_package_path: str
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@return: lists of matching paths for resource
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@rtype: [str]
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@raise roslib.packages.InvalidROSPkgException: If package does not exist
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matching specified filter. find_resource() will return a list of
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matches, but only for a given scope. If the resource is found in
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the binary build directory, it will only return matches in that
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directory; it will not return matches from the ROS_PACKAGE_PATH as
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well in this case.
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:param filter: function that takes in a path argument and
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returns True if the it matches the desired resource, ``fn(str)``
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:param rospack: `rospkg.RosPack` instance to use
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:param catkin_packages_cache: dictionary for caching catkin packages.list
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:returns: lists of matching paths for resource within a given scope, ``[str]``
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:raises: :exc:`rospkg.ResourceNotFound` If package does not exist
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"""
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# New resource-location policy in Fuerte, induced by the new catkin
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# build system:
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# (1) If CATKIN_SOURCE_DIR is set, look recursively there. If the
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# (1) If CATKIN_BINARY_DIR is set, look recursively there. If the
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# resource is found, done. Else continue:
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# (2) If CATKIN_BINARY_DIR is set, look recursively there. If the
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# resource is found, done. Else continue:
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# (3) If the package was found in (1) or (2), then fail (i.e., if the
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# package exists in the source or build tree, don't go looking
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# somewhere else). Else continue:
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# (4) Do the traditional search (using ROS_ROOT:ROS_PACKAGE_PATH).
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# (2) If ROS_PACKAGE_PATH is set, look recursively there. If the
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# resource is found, done. Else raise
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#
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# NOTE: package *must* exist on ROS_PACKAGE_PATH no matter what
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rrs = []
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rpps = []
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if CATKIN_SOURCE_DIR in os.environ:
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rrs.append(None)
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rpps.append(os.environ[CATKIN_SOURCE_DIR])
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if CATKIN_BINARY_DIR in os.environ:
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rrs.append(None)
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rpps.append(os.environ[CATKIN_BINARY_DIR])
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if rospack is None:
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rospack = rospkg.RosPack()
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if catkin_packages_cache is None:
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catkin_packages_cache = {}
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#if CATKIN_SOURCE_DIR in os.environ:
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# rrs.append(None)
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# rpps.append(os.environ[CATKIN_SOURCE_DIR])
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rrs.append(ros_root)
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rpps.append(ros_package_path)
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# lookup package as it *must* exist
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pkg_path = rospack.get_path(pkg)
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# load catkin packages list, if necessary
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if CATKIN_BINARY_DIR in os.environ and not catkin_packages_cache:
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_load_catkin_packages_cache(catkin_packages_cache)
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found = False
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i = 0
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for rr, rpp in zip(rrs, rpps):
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on_last_search_step = (i == len(rrs) - 1)
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i += 1
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# If we've previously found the package, but not the resource, then
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# don't do the last search step.
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if on_last_search_step and found:
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return []
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try:
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d = get_pkg_dir(pkg, required=True, \
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ros_root=rr, ros_package_path=rpp)
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except roslib.packages.InvalidROSPkgException as e:
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if on_last_search_step:
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# If we're at the last search step, re-raise
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raise
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else:
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# Keep looking
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continue
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found = True
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#UNIXONLY
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matches = []
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node_exe = None
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for p, dirs, files in os.walk(d):
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if resource_name in files:
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test_path = os.path.join(p, resource_name)
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if filter_fn is not None:
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if filter_fn(test_path):
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matches.append(test_path)
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else:
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matches.append(test_path)
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if '.svn' in dirs:
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dirs.remove('.svn')
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elif '.git' in dirs:
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dirs.remove('.git')
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# If we found anything, or if we're on the last step, we're done
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if matches or on_last_search_step:
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# return matches from binary dir if found, otherwise ROS_PACKAGE_PATH
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if pkg in catkin_packages_cache:
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matches = _find_resource(catkin_packages_cache[pkg], resource_name)
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if matches:
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return matches
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else:
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return _find_resource(pkg_path, resource_name)
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