class BehaviorLibrary(object):
'''
Provides access to all known behaviors.
'''
def __init__(self):
self._rp = RosPack()
self._behavior_lib = dict()
self.parse_packages()
def parse_packages(self):
"""
Parses all ROS packages to update the internal behavior library.
"""
self._behavior_lib = dict()
for pkg in self._rp.list():
for export in self._rp._load_manifest(pkg).exports:
if export.tag == "flexbe_behaviors":
self._add_behavior_manifests(self._rp.get_path(pkg), pkg)
def _add_behavior_manifests(self, path, pkg=None):
"""
Recursively add all behavior manifests in the given folder to the internal library.
If a package name is specified, only manifests referring to this package are added.
@type path: string
@param path: Path of the folder to be traversed.
@type pkg: string
@param pkg: Optional name of a package to only add manifests referring to this package.
"""
for entry in os.listdir(path):
entry_path = os.path.join(path, entry)
if os.path.isdir(entry_path):
self._add_behavior_manifests(entry_path, pkg)
elif entry.endswith(".xml") and not entry.startswith("#"):
m = ET.parse(entry_path).getroot()
# structure sanity check
if m.tag != "behavior" \
or len(m.findall(".//executable")) == 0 \
or m.find("executable").get("package_path") is None \
or len(m.find("executable").get("package_path").split(".")) != 2:
continue
e = m.find("executable")
if pkg is not None and e.get("package_path").split(
".")[0] != pkg:
continue # ignore if manifest not in specified package
be_id = zlib.adler32(e.get("package_path"))
self._behavior_lib[be_id] = {
"name": m.get("name"),
"package": e.get("package_path").split(".")[0],
"file": e.get("package_path").split(".")[1],
"class": e.get("class")
}
def get_behavior(self, be_id):
"""
Provides the library entry corresponding to the given ID.
@type be_id: int
@param be_id: Behavior ID to look up.
@return Corresponding library entry or None if not found.
"""
try:
return self._behavior_lib[be_id]
except KeyError:
rospy.logwarn("Did not find ID %d in libary, updating..." % be_id)
self.parse_packages()
return self._behavior_lib.get(be_id, None)
def find_behavior(self, be_name):
"""
Searches for a behavior with the given name and returns it along with its ID.
@type be_name: string
@param be_name: Behavior ID to look up.
@return Tuple (be_id, be_entry) corresponding to the name or (None, None) if not found.
"""
find = lambda: next((id, be)
for (id, be) in self._behavior_lib.items()
if be["name"] == be_name)
try:
return find()
except StopIteration:
rospy.logwarn("Did not find behavior '%s' in libary, updating..." %
be_name)
self.parse_packages()
return find()
def count_behaviors(self):
"""
Counts the available behaviors.
@return Number of behaviors.
"""
return len(self._behavior_lib)
def get_sourcecode_filepath(self, be_id, add_tmp=False):
"""
Constructs a file path to the source code of corresponding to the given ID.
@type be_id: int
@param be_id: Behavior ID to look up.
@type add_tmp: bool
@param add_tmp: Append "_tmp" to the file to consider a temporary version.
@return String containing the absolute path to the source code file.
"""
be_entry = self.get_behavior(be_id)
if be_entry is None:
# rely on get_behavior to handle/log missing package
return None
try:
module_path = __import__(be_entry["package"]).__path__[-1]
except ImportError:
rospy.logwarn(
"Cannot import behavior package '%s', using 'rospack find' instead"
% be_entry["package"])
# rp can find it because otherwise, the above entry would not exist
module_path = os.path.join(self._rp.get_path(be_entry["package"]),
"src", be_entry["package"])
filename = be_entry["file"] + '.py' if not add_tmp else '_tmp.py'
return os.path.join(module_path, filename)
class BehaviorLibrary(object):
'''
Provides a list of all known behavior manifests.
'''
def __init__(self):
self._rp = RosPack()
self._behavior_lib = dict()
self.parse_packages()
def parse_packages(self):
"""
Parses all ROS packages to update the internal behavior library.
"""
self._behavior_lib = dict()
for pkg in self._rp.list():
for export in self._rp._load_manifest(pkg).exports:
if export.tag == "flexbe_behaviors":
self._add_behavior_manifests(self._rp.get_path(pkg), pkg)
def _add_behavior_manifests(self, path, pkg=None):
"""
Recursively add all behavior manifests in the given folder to the internal library.
If a package name is specified, only manifests referring to this package are added.
@type path: string
@param path: Path of the folder to be traversed.
@type pkg: string
@param pkg: Optional name of a package to only add manifests referring to this package.
"""
for entry in os.listdir(path):
entry_path = os.path.join(path, entry)
if os.path.isdir(entry_path):
self._add_behavior_manifests(entry_path, pkg)
elif entry.endswith(".xml") and not entry.startswith("#"):
m = ET.parse(entry_path).getroot()
# structure sanity check
if m.tag != "behavior" \
or len(m.findall(".//executable")) == 0 \
or m.find("executable").get("package_path") is None \
or len(m.find("executable").get("package_path").split(".")) != 2:
continue
e = m.find("executable")
if pkg is not None and e.get("package_path").split(
".")[0] != pkg:
continue # ignore if manifest not in specified package
be_id = zlib.adler32(e.get("package_path"))
self._behavior_lib[be_id] = {
"name": m.get("name"),
"package": e.get("package_path").split(".")[0],
"file": e.get("package_path").split(".")[1],
"class": e.get("class")
}
def get_behavior(self, be_id):
"""
Provides the library entry corresponding to the given ID.
@type be_id: int
@param be_id: Behavior ID to look up.
@return Corresponding library entry or None if not found.
"""
try:
return self._behavior_lib[be_id]
except KeyError:
rospy.logwarn("Did not find ID %d in libary, updating..." % be_id)
self.parse_packages()
return self._behavior_lib.get(be_id, None)
def find_behavior(self, be_name):
"""
Searches for a behavior with the given name and returns it along with its ID.
@type be_name: string
@param be_name: Behavior ID to look up.
@return Tuple (be_id, be_entry) corresponding to the name or (None, None) if not found.
"""
find = lambda: next((id, be)
for (id, be) in self._behavior_lib.items()
if be["name"] == be_name)
try:
return find()
except StopIteration:
rospy.logwarn("Did not find behavior '%s' in libary, updating..." %
be_name)
self.parse_packages()
return find()
def count_behaviors(self):
"""
Counts the available behaviors.
@return Number of behaviors.
"""
return len(self._behavior_lib)
