def standalone(name, script, plugins):
"""
Execute roshlet standalone. This method blocks until roshlet exits.
@param name: roshlet name
@type name: str
@param package: roshlet package
@type package: str
@param type_: roshlet type
@type type_: str
@param plugins: list of roshlet plugins to load for roshlet
@type plugins: [str]
@raise roslib.packages.InvalidROSPkgException: If package does not exist
@raise IOError: If roshlet cannot be located
"""
# clean plugin list
plugins = [p for p in plugins if p]
# load rosh symbols
rosh.rosh_init()
# Load roshlet and execute blocking in this thread
pc = rosh.get_default_plugin_context()
args = rosh.impl.roshlets.load_roshlet(script, pc, plugins)
rosh.impl.roshlets.exec_roshlet(*args)
def __init__(self, *args, **kwds):
"""
Constructor is the same as rosbag.Bag, with the addition of the 'ctx' keyword argument.
@param ctx: ROSH Context
@type ctx: Context
"""
if "ctx" in kwds:
self._ctx = kwds["ctx"]
del kwds["ctx"]
else:
self._ctx = rosh.get_default_plugin_context().ctx
super(Bag, self).__init__(*args, **kwds)
self._lock = threading.Lock()
self._record_topics = None
self._state = ZERO_STATE
def record(self, topic):
if self.closed:
raise ROSHException("closed")
if self._record is not None:
raise ROSHException("already recording topic %s"%(self._record._name))
if isinstance(topic, TopicNS):
pass
elif type(topic) == str:
ctx = rosh.get_default_plugin_context().ctx
topic = ctx.topics[topic]
# TODO: clean this up once I add proper subscribe() to topic
topic._add_subscriber_callback(self.write)
self._record = topic
self._state = RECORD_STATE
