def edit_custom_srv(self):
text.srv_var_list = ''
var_num = 0
text.var_type = 'int32'
seq = ''
while 1:
res = raw_input('\nDo you want to add'+seq+' a variable into your srv file? (y for yes, n/CR for no) ') or -1
seq = ' another'
if (res == -1) or (res[0]=='n') or (res[0] == 'N'):
print('OK, please do not forget to edit the .srv file before compile')
break
else:
while 1:
req = raw_input('Enter the type of request variable '+str(var_num+1)+', [default: '+text.var_type+'], (CR or n for stop)') or text.var_type
if (req[0]=='n') or (req[0] == 'N') or (req[0] == '\n'):
break
else:
var_num += 1
text.var_type = req
text.msv = 'my_request_var'+ str(var_num)
text.srv_var_list = text.srv_var_list + text.tagsub(text.srv_list_element)
text.srv_var_list = text.srv_var_list + '---\n'
var_num = 0
print '---'
while 1:
req = raw_input('Enter the type of response variable '+str(var_num+1)+', [default: '+text.var_type+'], (CR or n for stop)') or text.var_type
if (req[0]=='n') or (req[0] == 'N') or (req[0] == '\n'):
break
else:
var_num += 1
text.var_type = req
text.msv = 'my_response_var'+ str(var_num)
text.srv_var_list = text.srv_var_list + text.tagsub(text.srv_list_element)
break
def update_cmake_catkin(self):
print 'Updating CMakeLists.txt (catkin)'
#print 'msg_flag: '+str(self.msg_flag)+' srv_flag: '+str(self.srv_flag)
text.exe_list = ''
text.catkin_dependency_list = ''
for i in self.node_list:
text.node_name = i
text.exe_list = text.exe_list + text.tagsub(text.executable_catkin)
text.msg_list, text.srv_list = self.process_cmake_catkin()
if (self.msg_flag == 1) or (self.srv_flag == 1):
text.msg_gen = 'generate_messages(DEPENDENCIES std_msgs)'
if self.msg_flag == 1:
if not self.new_msg in text.msg_list:
text.msg_list = text.msg_list + self.new_msg
text.msg_add = text.tagsub(text.msg_add_file)
self.new_msg = ''
if self.srv_flag == 1:
if not self.new_srv in text.srv_list:
text.srv_list = text.srv_list + self.new_srv
text.srv_add = text.tagsub(text.srv_add_file)
self.new_srv = ''
else:
text.msg_gen = ''
text.msg_add = ''
text.srv_add = ''
for i in self.dependency_list:
print(i)
text.catkin_dependency_list = text.catkin_dependency_list + i +' '
self.gen_cmake()
def update_package_catkin(self):
print('start to update package.xml')
text.dependency_list = ''
for i in self.dependency_list:
if not i == self.package_name:
text.pkgd = i
text.dependency_list = text.dependency_list + text.tagsub(text.depend_pkg_catkin)
with open('templates/packageTemplate.xml', 'r') as mfile:
m_template = mfile.readlines()
with open(self.package_path+'/'+'package.xml', 'w') as outfile:
for line in m_template:
outfile.write(text.sectsub(text.tagsub(line)))
def gen_manifest(self):
with open('templates/manifestTemplate.xml', 'r') as mfile:
m_template = mfile.readlines()
with open(self.package_path+'/'+'manifest.xml', 'w') as outfile:
for line in m_template:
outfile.write(text.sectsub(text.tagsub(line)))
print('Created package file '+self.package_path+'/manifest.xml')
def gen_package_catkin(self):
text.pkg = self.package_name
with open('templates/packageTemplate.xml', 'r') as mfile:
m_template = mfile.readlines()
with open(self.package_path+'/'+'package.xml', 'w') as outfile:
for line in m_template:
outfile.write(text.sectsub(text.tagsub(line)))
print('Created package file '+self.package_path+'/package.xml')
def gen_cmake(self):
if self.build_system == 'ros_build':
with open('templates/CMakeListTemplate_rosbuild.txt', 'r') as cfile:
cm_template = cfile.readlines()
else: # Catkin version of CMakeLists
text.pkg = self.package_name
with open('templates/CMakeListTemplate_catkin.txt', 'r') as cfile:
cm_template = cfile.readlines()
with open(self.package_path+'/'+'CMakeLists.txt', 'w') as outfile:
for line in cm_template:
outfile.write(text.sectsub(text.tagsub(line)))
print('Created package file '+self.package_path+'/CMakeList.txt')
def gen_srv(self,srv_name): # generate a new service file
if not os.path.exists(self.srv_path):
os.makedirs(self.srv_path)
self.srv_list = os.listdir(self.srv_path)
while self.check_srv_name(srv_name):
srv_name = raw_input('Service file exists already, please use another name: ') or srv_name
print('Generating the '+srv_name+'.srv file')
with open('templates/srvTemplate.srv', 'r') as sfile:
s_template = sfile.readlines()
with open(self.srv_path+'/'+srv_name+'.srv', 'w') as outfile:
for line in s_template:
outfile.write(text.sectsub(text.tagsub(line)))
self.new_srv = srv_name+'.srv'
def gen_msg(self,msg_name):
if not os.path.exists(self.msg_path):
os.makedirs(self.msg_path)
self.msg_list = os.listdir(self.msg_path)
while self.check_msg_name(msg_name):
msg_name = raw_input('Message file exists already, please use another name: ') or msg_name
print('Generating '+msg_name+'.msg file')
with open('templates/msgTemplate.msg', 'r') as mfile:
m_template = mfile.readlines()
with open(self.msg_path+'/'+msg_name+'.msg', 'w') as outfile:
for line in m_template:
outfile.write(text.sectsub(text.tagsub(line)))
self.new_msg = msg_name+'.msg'
def edit_custom_msg(self):
text.msg_var_list = ''
var_num = 0
text.var_type = 'int32'
seq = ''
while 1:
res = raw_input('\nDo you want to add'+seq+' a variable into your message file? (y for yes, n/CR for no) ') or -1
seq = ' another'
if (res == -1) or (res[0]=='n') or (res[0] == 'N'):
print('OK, do not forget to edit the .msg file before compile')
break
else:
var_num += 1
text.msv = 'my_message_var'+ str(var_num)
print 'New message variable: '+text.msv
text.var_type = raw_input('New message variable type? [ex: int32, string, float64] [default: '+text.var_type+']') or text.var_type
text.msg_var_list = text.msg_var_list + text.tagsub(text.msv_list_element)
def update_cmake_rosbuild(self):
print 'Updating CMakeLists.txt (rosbuild)'
text.exe_list = ''
for i in self.node_list:
text.node_name = i
text.exe_list = text.exe_list + text.tagsub(text.executable_rosbuild)
with open(self.package_path+'/'+'CMakeLists.txt', 'r') as cmfile:
cmfile = cmfile.readlines()
if (self.msg_flag == 1):
text.msg_gen = 'rosbuild_genmsg()'
else:
if 'rosbuild_genmsg()\n' in cmfile:
text.msg_gen = 'rosbuild_genmsg()'
else:
text.msg_gen = '#rosbuild_genmsg()'
if (self.srv_flag == 1):
text.srv_gen = 'rosbuild_gensrv()'
else:
if 'rosbuild_gensrv()\n' in cmfile:
text.srv_gen = 'rosbuild_gensrv()'
else:
text.srv_gen = '#rosbuild_gensrv()'
self.gen_cmake()
print 'Your package path is: '+ path
print 'Ros system working properly!'
rosOK = 1
except Exception as exc:
name_of_exception = type(exc).__name__
print 'Could not "rospack.get_path" of package: '+pkg
print ' in ROS workspace: '+rws
print 'Ros exception: '+name_of_exception
# here we try to fix up ROS environment using shell commands
# which are in rosstart_bash.txt
print ''' I'm trying to get ROS fixed ...'''
with open('templates/rosstart_bash.txt') as ros_script:
script = ros_script.readlines()
with open('tmpscript','w') as outfile:
for line in script:
outfile.write(text.tagsub(line))
os.chmod('tmpscript', 0775)
print 'running shell commands: > '
for l in script:
print ' '+l
subprocess.call('./tmpscript',shell=True)
if(not rosOK == 1):
# now try one more time after trying to fix ROS
try:
print 'Round2: Testing ros core setup.'
ros_root = rospkg.get_ros_root()
rp = rospkg.RosPack()
path = rp.get_path(pkg)
print 'Your package path is: '+ path
print 'Ros system working properly!'
print 'Your package path is: ' + path
print 'Ros system working properly!'
rosOK = 1
except Exception as exc:
name_of_exception = type(exc).__name__
print 'Could not "rospack.get_path" of package: ' + pkg
print ' in ROS workspace: ' + rws
print 'Ros exception: ' + name_of_exception
# here we try to fix up ROS environment using shell commands
# which are in rosstart_bash.txt
print ''' I'm trying to get ROS fixed ...'''
with open('templates/rosstart_bash.txt') as ros_script:
script = ros_script.readlines()
with open('tmpscript', 'w') as outfile:
for line in script:
outfile.write(text.tagsub(line))
os.chmod('tmpscript', 0775)
print 'running shell commands: > '
for l in script:
print ' ' + l
subprocess.call('./tmpscript', shell=True)
if (not rosOK == 1):
# now try one more time after trying to fix ROS
try:
print 'Round2: Testing ros core setup.'
ros_root = rospkg.get_ros_root()
rp = rospkg.RosPack()
path = rp.get_path(pkg)
print 'Your package path is: ' + path
print 'Ros system working properly!'
