def __init__(self, ns, filename, parent=None, params=None, env_args=None, \
resolve_dict=None, include_resolve_dict=None, arg_names=None):
"""
@param ns: namespace
@type ns: str
@param filename: name of file this is being loaded from
@type filename: str
@param resolve_dict: (optional) resolution dictionary for substitution args
@type resolve_dict: dict
@param include_resolve_dict: special resolution dictionary for
<include> tags. Must be None if this is not an <include>
context.
@type include_resolve_dict: dict
@param arg_names: name of args that have been declared in this context
@type arg_names: [str]
"""
self.parent = parent
self.ns = make_global_ns(ns or '/')
self._remap_args = []
self.params = params or []
self.env_args = env_args or []
self.filename = filename
# for substitution args
self.resolve_dict = resolve_dict or {}
# arg names. Args that have been declared in this context
self.arg_names = arg_names or []
# special scoped resolve dict for processing in <include> tag
self.include_resolve_dict = include_resolve_dict or None
def __init__(self, ns, filename, parent=None, params=None, env_args=None, \
resolve_dict=None, include_resolve_dict=None, arg_names=None):
"""
@param ns: namespace
@type ns: str
@param filename: name of file this is being loaded from
@type filename: str
@param resolve_dict: (optional) resolution dictionary for substitution args
@type resolve_dict: dict
@param include_resolve_dict: special resolution dictionary for
<include> tags. Must be None if this is not an <include>
context.
@type include_resolve_dict: dict
@param arg_names: name of args that have been declared in this context
@type arg_names: [str]
"""
self.parent = parent
self.ns = make_global_ns(ns or '/')
self._remap_args = []
self.params = params or []
self.env_args = env_args or []
self.filename = filename
# for substitution args
self.resolve_dict = resolve_dict or {}
# arg names. Args that have been declared in this context
self.arg_names = arg_names or []
# special scoped resolve dict for processing in <include> tag
self.include_resolve_dict = include_resolve_dict or None
# when this context was created via include, was pass_all_args set?
self.pass_all_args = False
def _ns_clear_params_attr(self,
tag_name,
tag,
context,
ros_config,
node_name=None,
include_filename=None):
"""
Common processing routine for xml tags with NS and CLEAR_PARAMS attributes
@param tag: DOM Node
@type tag: Node
@param context: current namespace context
@type context: LoaderContext
@param clear_params: list of params to clear
@type clear_params: [str]
@param node_name: name of node (for use when tag_name == 'node')
@type node_name: str
@param include_filename: <include> filename if this is an <include> tag. If specified, context will use include rules.
@type include_filename: str
@return: loader context
@rtype: L{LoaderContext}
"""
if tag.hasAttribute(NS):
ns = self.resolve_args(tag.getAttribute(NS), context)
if not ns:
raise XmlParseException(
"<%s> tag has an empty '%s' attribute" % (tag_name, NS))
else:
ns = None
if include_filename is not None:
child_ns = context.include_child(ns, include_filename)
else:
child_ns = context.child(ns)
clear_p = self.resolve_args(tag.getAttribute(CLEAR_PARAMS), context)
if clear_p:
clear_p = _bool_attr(clear_p, False, 'clear_params')
if clear_p:
if tag_name == 'node':
if not node_name:
raise XmlParseException(
"<%s> tag must have a 'name' attribute to use '%s' attribute"
% (tag_name, CLEAR_PARAMS))
# use make_global_ns to give trailing slash in order to be consistent with XmlContext.ns
ros_config.add_clear_param(
make_global_ns(ns_join(child_ns.ns, node_name)))
else:
if not ns:
raise XmlParseException(
"'ns' attribute must be set in order to use 'clear_params'"
)
ros_config.add_clear_param(child_ns.ns)
return child_ns
def list_params(ns):
"""
Get list of parameters in ns
:param ns: namespace to match, ``str``
"""
try:
ns = make_global_ns(ns)
names = get_param_server().getParamNames()
names.sort()
return [n for n in names if n.startswith(ns)]
except socket.error:
raise RosParamIOException("Unable to communicate with master!")
def list_params(ns):
"""
Get list of parameters in ns
:param ns: namespace to match, ``str``
"""
try:
ns = make_global_ns(ns)
names = get_param_server().getParamNames()
names.sort()
return [n for n in names if n.startswith(ns)]
except socket.error:
raise RosParamIOException("Unable to communicate with master!")
def test_make_global_ns():
from rosgraph.names import make_global_ns
for n in ['~foo']:
try:
make_global_ns(n)
assert False, "make_global_ns should fail on %s"%n
except ValueError: pass
assert '/foo/' == make_global_ns('foo')
assert '/' == make_global_ns('')
assert '/foo/' == make_global_ns('/foo')
assert '/foo/' == make_global_ns('/foo/')
assert '/foo/bar/' == make_global_ns('/foo/bar')
assert '/foo/bar/' == make_global_ns('/foo/bar/')
def test_make_global_ns():
from rosgraph.names import make_global_ns
for n in ['~foo']:
try:
make_global_ns(n)
assert False, "make_global_ns should fail on %s" % n
except ValueError:
pass
assert '/foo/' == make_global_ns('foo')
assert '/' == make_global_ns('')
assert '/foo/' == make_global_ns('/foo')
assert '/foo/' == make_global_ns('/foo/')
assert '/foo/bar/' == make_global_ns('/foo/bar')
assert '/foo/bar/' == make_global_ns('/foo/bar/')
def _set_param(self, ctx, my_state, test_vals, param_server):
ctx = make_global_ns(ctx)
for type, vals in test_vals:
try:
caller_id = ns_join(ctx, "node")
count = 0
for val in vals:
key = ns_join(caller_id, "%s-%s"%(type,count))
param_server.set_param(key, val)
self.assert_(param_server.has_param(key))
true_key = ns_join(ctx, key)
my_state[true_key] = val
count += 1
except Exception:
assert "getParam failed on type[%s], val[%s]"%(type,val)
def _ns_clear_params_attr(self, tag_name, tag, context, ros_config, node_name=None, include_filename=None):
"""
Common processing routine for xml tags with NS and CLEAR_PARAMS attributes
@param tag: DOM Node
@type tag: Node
@param context: current namespace context
@type context: LoaderContext
@param clear_params: list of params to clear
@type clear_params: [str]
@param node_name: name of node (for use when tag_name == 'node')
@type node_name: str
@param include_filename: <include> filename if this is an <include> tag. If specified, context will use include rules.
@type include_filename: str
@return: loader context
@rtype: L{LoaderContext}
"""
if tag.hasAttribute(NS):
ns = self.resolve_args(tag.getAttribute(NS), context)
if not ns:
raise XmlParseException("<%s> tag has an empty '%s' attribute"%(tag_name, NS))
else:
ns = None
if include_filename is not None:
child_ns = context.include_child(ns, include_filename)
else:
child_ns = context.child(ns)
clear_p = self.resolve_args(tag.getAttribute(CLEAR_PARAMS), context)
if clear_p:
clear_p = _bool_attr(clear_p, False, 'clear_params')
if clear_p:
if tag_name == 'node':
if not node_name:
raise XmlParseException("<%s> tag must have a 'name' attribute to use '%s' attribute"%(tag_name, CLEAR_PARAMS))
# use make_global_ns to give trailing slash in order to be consistent with XmlContext.ns
ros_config.add_clear_param(make_global_ns(ns_join(child_ns.ns, node_name)))
else:
if not ns:
raise XmlParseException("'ns' attribute must be set in order to use 'clear_params'")
ros_config.add_clear_param(child_ns.ns)
return child_ns
