def test_local_machine(self):
try:
env_copy = os.environ.copy()
if 'ROS_IP' in os.environ:
del os.environ['ROS_IP']
if 'ROS_HOSTNAME' in os.environ:
del os.environ['ROS_HOSTNAME']
from roslaunch.core import local_machine
lm = local_machine()
self.failIf(lm is None)
#singleton
self.assert_(lm == local_machine())
#verify properties
self.assertEquals(lm.ros_root, roslib.rosenv.get_ros_root())
self.assertEquals(lm.ros_package_path, roslib.rosenv.get_ros_package_path())
# #1051 important test: this caused regressions up the tree
self.assertEquals(lm.ros_ip, None)
self.assertEquals(lm.name, '')
self.assertEquals(lm.assignable, True)
self.assertEquals(lm.env_args, [])
self.assertEquals(lm.user, None)
self.assertEquals(lm.password, None)
finally:
os.environ = env_copy
def test_local_machine():
from roslaunch.core import local_machine
m = local_machine()
assert m is local_machine()
assert m == local_machine()
assert m.env_loader == None
assert m.name == ''
assert m.address == 'localhost'
assert m.ssh_port == 22
def test_local_machine():
from roslaunch.core import local_machine
m = local_machine()
assert m is local_machine()
assert m == local_machine()
assert m.env_loader == None
assert m.name == ''
assert m.address == 'localhost'
assert m.ssh_port == 22
def __init__(self):
"""
Initialize an empty config object. Master defaults to the environment's master.
"""
self.master = Master()
self.nodes_core = []
self.nodes = [] #nodes are unnamed
# list of resolved node names. This is so that we can check for naming collisions
self.resolved_node_names = []
self.tests = []
self.machines = {} #key is name
self.params = {} #key is name
self.clear_params = []
self.executables = []
# for tools like roswtf
self.config_errors = []
m = local_machine() #for local exec
self.machines[m.name] = m
self._assign_machines_complete = False
self._remote_nodes_present = None
self.logger = logging.getLogger('roslaunch')
def __init__(self):
"""
Initialize an empty config object. Master defaults to the environment's master.
"""
self.master = Master()
self.nodes_core = []
self.nodes = [] #nodes are unnamed
self.roslaunch_files = [] # metadata about files used to create config
# list of resolved node names. This is so that we can check for naming collisions
self.resolved_node_names = []
self.tests = []
self.machines = {} #key is name
self.params = {} #key is name
self.clear_params = []
self.executables = []
# for tools like roswtf
self.config_errors = []
m = local_machine() #for local exec
self.machines[m.name] = m
self._assign_machines_complete = False
self._remote_nodes_present = None
self.logger = logging.getLogger('roslaunch')
def test_local_machine(self):
try:
env_copy = os.environ.copy()
from roslaunch.core import local_machine
lm = local_machine()
self.failIf(lm is None)
#singleton
self.assert_(lm == local_machine())
self.assertEquals(lm.name, '')
self.assertEquals(lm.assignable, True)
self.assertEquals(lm.env_loader, None)
self.assertEquals(lm.user, None)
self.assertEquals(lm.password, None)
finally:
os.environ = env_copy
def test_local_machine(self):
try:
env_copy = os.environ.copy()
from roslaunch.core import local_machine
lm = local_machine()
self.failIf(lm is None)
#singleton
self.assert_(lm == local_machine())
self.assertEquals(lm.name, '')
self.assertEquals(lm.assignable, True)
self.assertEquals(lm.env_loader, None)
self.assertEquals(lm.user, None)
self.assertEquals(lm.password, None)
finally:
os.environ = env_copy
def get_node_args(node_name, roslaunch_files):
"""
Get the node arguments for a node in roslaunch_files.
@param node_name: name of node in roslaunch_files.
@type node_name: str
@param roslaunch_files: roslaunch file names
@type roslaunch_files: [str]
@return: list of command-line arguments used to launch node_name
@rtype: [str]
@raise RLException: if node args cannot be retrieved
"""
# we have to create our own XmlLoader so that we can use the same
# resolution context for substitution args
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False)
config = load_config_default(roslaunch_files,
None,
loader=loader,
verbose=False,
assign_machines=False)
(node_name) = substitution_args.resolve_args((node_name),
resolve_anon=False)
node_name = script_resolve_name(
'roslaunch', node_name) if not node_name.startswith('$') else node_name
node = [n for n in config.nodes if _resolved_name(n) == node_name] + \
[n for n in config.tests if _resolved_name(n) == node_name]
if not node:
node_list = get_node_list(config)
node_list_str = '\n'.join([" * %s" % x for x in node_list])
raise RLException(
"ERROR: Cannot find node named [%s] in [%s].\nNode names are:\n%s"
% (node_name, ', '.join(roslaunch_files), node_list_str))
elif len(node) > 1:
raise RLException(
"ERROR: multiple nodes named [%s] in [%s].\nPlease fix the launch files as duplicate names are not allowed."
% (node_name, ', '.join(roslaunch_files)))
node = node[0]
master_uri = rosgraph.get_master_uri()
machine = local_machine()
env = setup_env(node, machine, master_uri)
# remove setting identical to current environment for easier debugging
to_remove = []
for k in env.keys():
if env[k] == os.environ.get(k, None):
to_remove.append(k)
for k in to_remove:
del env[k]
# resolve node name for generating args
args = create_local_process_args(node, machine)
# join environment vars are bash prefix args
return ["%s=%s" % (k, v) for k, v in env.items()] + args
def get_node_args(node_name, roslaunch_files):
"""
Get the node arguments for a node in roslaunch_files.
@param node_name: name of node in roslaunch_files.
@type node_name: str
@param roslaunch_files: roslaunch file names
@type roslaunch_files: [str]
@return: list of command-line arguments used to launch node_name
@rtype: [str]
@raise RLException: if node args cannot be retrieved
"""
# we have to create our own XmlLoader so that we can use the same
# resolution context for substitution args
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False)
config = load_config_default(roslaunch_files, None, loader=loader, verbose=False, assign_machines=False)
(node_name) = substitution_args.resolve_args((node_name), resolve_anon=False)
node_name = script_resolve_name("roslaunch", node_name) if not node_name.startswith("$") else node_name
node = [n for n in config.nodes if _resolved_name(n) == node_name] + [
n for n in config.tests if _resolved_name(n) == node_name
]
if not node:
node_list = get_node_list(config)
node_list_str = "\n".join([" * %s" % x for x in node_list])
raise RLException(
"ERROR: Cannot find node named [%s] in [%s].\nNode names are:\n%s"
% (node_name, ", ".join(roslaunch_files), node_list_str)
)
elif len(node) > 1:
raise RLException(
"ERROR: multiple nodes named [%s] in [%s].\nPlease fix the launch files as duplicate names are not allowed."
% (node_name, ", ".join(roslaunch_files))
)
node = node[0]
master_uri = rosgraph.get_master_uri()
machine = local_machine()
env = setup_env(node, machine, master_uri)
# remove setting identical to current environment for easier debugging
to_remove = []
for k in env.iterkeys():
if env[k] == os.environ.get(k, None):
to_remove.append(k)
for k in to_remove:
del env[k]
# resolve node name for generating args
args = create_local_process_args(node, machine)
# join environment vars are bash prefix args
return ["%s=%s" % (k, v) for k, v in env.iteritems()] + args
