def _rosparam_cmd_get_dump(cmd, argv):
"""
Process command line for rosparam get/dump, e.g.::
rosparam get param
rosparam dump file.yaml [namespace]
@param cmd: command ('get' or 'dump')
@type cmd: str
@param argv: command-line args
@type argv: str
"""
# get and dump are equivalent functionality, just different arguments
if cmd == 'dump':
parser = OptionParser(
usage="usage: %prog dump [options] file [namespace]", prog=NAME)
elif cmd == 'get':
parser = OptionParser(usage="usage: %prog get [options] parameter",
prog=NAME)
parser.add_option("-p",
dest="pretty",
default=False,
action="store_true",
help="pretty print. WARNING: not YAML-safe")
parser.add_option("-v",
dest="verbose",
default=False,
action="store_true",
help="turn on verbose output")
options, args = parser.parse_args(argv[2:])
arg = None
ns = ''
if len(args) == 0:
if cmd == 'dump':
parser.error("invalid arguments. Please specify a file name")
elif cmd == 'get':
parser.error("invalid arguments. Please specify a parameter name")
elif len(args) == 1:
arg = args[0]
elif len(args) == 2 and cmd == 'dump':
arg = args[0]
ns = args[1]
else:
parser.error("too many arguments")
if cmd == 'get':
_rosparam_cmd_get_param(script_resolve_name(NAME, arg),
pretty=options.pretty,
verbose=options.verbose)
else:
if options.verbose:
print "dumping namespace [%s] to file [%s]" % (ns, arg)
dump_params(arg,
script_resolve_name(NAME, ns),
verbose=options.verbose)
def _rosparam_cmd_delete(argv):
"""
Process command line for rosparam delete, e.g.::
rosparam delete param
@param cmd: command name
@type cmd: str
@param argv: command-line args
@type argv: str
"""
parser = OptionParser(usage="usage: %prog delete [options] parameter",
prog=NAME)
parser.add_option("-v",
dest="verbose",
default=False,
action="store_true",
help="turn on verbose output")
options, args = parser.parse_args(argv[2:])
arg2 = None
if len(args) == 0:
parser.error("invalid arguments. Please specify a parameter name")
elif len(args) == 1:
arg = args[0]
else:
parser.error("too many arguments")
delete_param(script_resolve_name(NAME, arg), verbose=options.verbose)
def rosnode_info(node_name):
"""
Print information about node, including subscriptions and other debugging information. This will query the node over the network.
@param node_name: name of ROS node
@type node_name: str
@raise ROSNodeIOException: if unable to communicate with master
"""
def topic_type(t, pub_topics):
matches = [t_type for t_name, t_type in pub_topics if t_name == t]
if matches:
return matches[0]
return 'unknown type'
master = scriptutil.get_master()
node_name = scriptutil.script_resolve_name('rosnode', node_name)
print('-'*80)
print(get_node_info_description(node_name))
node_api = get_api_uri(master, node_name)
if not node_api:
print("cannot contact [%s]: unknown node"%node_name, file=sys.stderr)
return
print("\ncontacting node %s ..."%node_api)
print(get_node_connection_info_description(node_api))
def rosnode_info(node_name):
"""
Print information about node, including subscriptions and other debugging information. This will query the node over the network.
@param node_name: name of ROS node
@type node_name: str
@raise ROSNodeIOException: if unable to communicate with master
"""
def topic_type(t, pub_topics):
matches = [t_type for t_name, t_type in pub_topics if t_name == t]
if matches:
return matches[0]
return 'unknown type'
master = scriptutil.get_master()
node_name = scriptutil.script_resolve_name('rosnode', node_name)
print '-' * 80
print get_node_info_description(node_name)
node_api = get_api_uri(master, node_name)
if not node_api:
print >> sys.stderr, "cannot contact [%s]: unknown node" % node_name
return
print "\ncontacting node %s ..." % node_api
print get_node_connection_info_description(node_api)
def _rosnode_cmd_list(argv):
"""
Implements rosnode 'list' command.
"""
args = argv[2:]
parser = OptionParser(usage="usage: %prog list", prog=NAME)
parser.add_option("-u",
dest="list_uri",
default=False,
action="store_true",
help="list XML-RPC URIs")
parser.add_option("-a",
"--all",
dest="list_all",
default=False,
action="store_true",
help="list all information")
(options, args) = parser.parse_args(args)
namespace = None
if len(args) > 1:
parser.error("invalid args: you may only specify one namespace")
elif len(args) == 1:
namespace = scriptutil.script_resolve_name('rostopic', args[0])
rosnode_listnodes(namespace=namespace,
list_uri=options.list_uri,
list_all=options.list_all)
def _rosnode_cmd_kill(argv):
"""
Implements rosnode 'kill' command.
@raise ROSNodeException: if user enters in unrecognized nodes
"""
args = argv[2:]
parser = OptionParser(usage="usage: %prog kill [node]...", prog=NAME)
parser.add_option("-a","--all",
dest="kill_all", default=False,
action="store_true",
help="kill all nodes")
(options, args) = parser.parse_args(args)
if options.kill_all:
if args:
parser.error("invalid arguments with kill all (-a) option")
args = get_node_names()
args.sort()
elif not args:
node_list = get_node_names()
node_list.sort()
if not node_list:
print("No nodes running", file=sys.stderr)
return 0
sys.stdout.write('\n'.join(["%s. %s"%(i+1, n) for i,n in enumerate(node_list)]))
sys.stdout.write("\n\nPlease enter the number of the node you wish to kill.\n> ")
selection = ''
while not selection:
selection = sys.stdin.readline().strip()
try:
selection = int(selection)
if selection <= 0:
print("ERROR: invalid selection. Please enter a number (ctrl-C to cancel)")
except:
print("ERROR: please enter a number (ctrl-C to cancel)")
sys.stdout.flush()
selection = ''
args = [node_list[selection - 1]]
else:
# validate args
args = [scriptutil.script_resolve_name(ID, n) for n in args]
node_list = get_node_names()
unknown = [n for n in args if not n in node_list]
if unknown:
raise ROSNodeException("Unknown node(s):\n"+'\n'.join([" * %s"%n for n in unknown]))
if len(args) > 1:
print("killing:\n"+'\n'.join([" * %s"%n for n in args]))
else:
print("killing %s"%(args[0]))
success, fail = kill_nodes(args)
if fail:
print("ERROR: Failed to kill:\n"+'\n'.join([" * %s"%n for n in fail]), file=sys.stderr)
return 1
print("killed")
return 0
def _rosparam_cmd_get_dump(cmd, argv):
"""
Process command line for rosparam get/dump, e.g.::
rosparam get param
rosparam dump file.yaml [namespace]
@param cmd: command ('get' or 'dump')
@type cmd: str
@param argv: command-line args
@type argv: str
"""
# get and dump are equivalent functionality, just different arguments
if cmd == "dump":
parser = OptionParser(usage="usage: %prog dump [options] file [namespace]", prog=NAME)
elif cmd == "get":
parser = OptionParser(usage="usage: %prog get [options] parameter", prog=NAME)
parser.add_option(
"-p", dest="pretty", default=False, action="store_true", help="pretty print. WARNING: not YAML-safe"
)
parser.add_option("-v", dest="verbose", default=False, action="store_true", help="turn on verbose output")
options, args = parser.parse_args(argv[2:])
arg = None
ns = ""
if len(args) == 0:
if cmd == "dump":
parser.error("invalid arguments. Please specify a file name")
elif cmd == "get":
parser.error("invalid arguments. Please specify a parameter name")
elif len(args) == 1:
arg = args[0]
elif len(args) == 2 and cmd == "dump":
arg = args[0]
ns = args[1]
else:
parser.error("too many arguments")
if cmd == "get":
_rosparam_cmd_get_param(script_resolve_name(NAME, arg), pretty=options.pretty, verbose=options.verbose)
else:
if options.verbose:
print "dumping namespace [%s] to file [%s]" % (ns, arg)
dump_params(arg, script_resolve_name(NAME, ns), verbose=options.verbose)
def _rosnode_cmd_ping(argv):
"""
Implements rosnode 'ping' command.
@param argv: command-line args
@type argv: [str]
"""
args = argv[2:]
parser = OptionParser(usage="usage: %prog ping [options] <node>",
prog=NAME)
parser.add_option("--all",
"-a",
dest="ping_all",
default=False,
action="store_true",
help="ping all nodes")
parser.add_option("-c",
dest="ping_count",
default=None,
metavar="COUNT",
type="int",
help="number of pings to send. Not available with --all")
(options, args) = parser.parse_args(args)
node_name = None
if not options.ping_all:
if not args:
try:
parser.error(
"Please enter a node to ping. Available nodes are:\n" +
_sub_rosnode_listnodes())
except:
# master is offline, but user did have invalid usage, so display correct usage first
parser.error("Please enter a node to ping")
elif len(args) > 1:
parser.error("you may only specify one input node")
elif len(args) == 1:
node_name = scriptutil.script_resolve_name('rosnode', args[0])
print "rosnode: node is [%s]" % node_name
else:
if args:
parser.error("Invalid arguments '%s' used with --all" %
(' '.join(args)))
elif options.ping_count:
parser.error("-c may not be used with --all")
if options.ping_all:
rosnode_ping_all(verbose=True)
else:
rosnode_ping(node_name, verbose=True, max_count=options.ping_count)
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) = roslib.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 = roslib.rosenv.get_master_uri()
machine = local_machine()
# don't use create_local_process_env, which merges the env with the full env of the shell
env = setup_env(node, machine, master_uri)
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
def print_node_args(node_name, roslaunch_files):
"""
Print arguments of node to screen. Will cause system exit if
exception occurs. This is a subroutine for the roslaunch main
handler.
@param node_name: node name
@type node_name: str
@param roslaunch_files: list of launch files to load
@type roslaunch_files: str
"""
try:
node_name = script_resolve_name('roslaunch', node_name)
args = get_node_args(node_name, roslaunch_files)
print ' '.join(args)
except RLException, e:
print >> sys.stderr, str(e)
sys.exit(1)
def _rosparam_cmd_list(argv):
"""
Process command line for rosparam set/load, e.g.::
rosparam load file.yaml [namespace]
rosparam set param value
@param argv: command-line args
@type argv: str
"""
parser = OptionParser(usage="usage: %prog list [namespace]", prog=NAME)
options, args = parser.parse_args(argv[2:])
ns = GLOBALNS
if len(args) == 1:
ns = script_resolve_name(NAME, args[0])
elif len(args) == 2:
parser.error("too many arguments")
print "\n".join(list_params(ns))
def _rosparam_cmd_list(argv):
"""
Process command line for rosparam set/load, e.g.::
rosparam load file.yaml [namespace]
rosparam set param value
@param argv: command-line args
@type argv: str
"""
parser = OptionParser(usage="usage: %prog list [namespace]", prog=NAME)
options, args = parser.parse_args(argv[2:])
ns = GLOBALNS
if len(args) == 1:
ns = script_resolve_name(NAME, args[0])
elif len(args) == 2:
parser.error("too many arguments")
print '\n'.join(list_params(ns))
def print_node_filename(node_name, roslaunch_files):
try:
# #2309
node_name = script_resolve_name('roslaunch', node_name)
loader = roslaunch.xmlloader.XmlLoader(resolve_anon=False)
config = load_config_default(roslaunch_files, None, loader=loader, verbose=False, assign_machines=False)
nodes = [n for n in config.nodes if _resolved_name(n) == node_name] + \
[t for t in config.tests if _resolved_name(t) == node_name]
if len(nodes) > 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)))
if not nodes:
print >> sys.stderr, 'ERROR: cannot find node named [%s]. Run \n\troslaunch --nodes <files>\nto see list of node names.'%(node_name)
else:
print nodes[0].filename
except RLException, e:
print >> sys.stderr, str(e)
sys.exit(1)
def _rosnode_cmd_list(argv):
"""
Implements rosnode 'list' command.
"""
args = argv[2:]
parser = OptionParser(usage="usage: %prog list", prog=NAME)
parser.add_option("-u",
dest="list_uri", default=False,
action="store_true",
help="list XML-RPC URIs")
parser.add_option("-a","--all",
dest="list_all", default=False,
action="store_true",
help="list all information")
(options, args) = parser.parse_args(args)
namespace = None
if len(args) > 1:
parser.error("invalid args: you may only specify one namespace")
elif len(args) == 1:
namespace = scriptutil.script_resolve_name('rostopic', args[0])
rosnode_listnodes(namespace=namespace, list_uri=options.list_uri, list_all=options.list_all)
def _rosnode_cmd_ping(argv):
"""
Implements rosnode 'ping' command.
@param argv: command-line args
@type argv: [str]
"""
args = argv[2:]
parser = OptionParser(usage="usage: %prog ping [options] <node>", prog=NAME)
parser.add_option("--all", "-a",
dest="ping_all", default=False,
action="store_true",
help="ping all nodes")
parser.add_option("-c",
dest="ping_count", default=None, metavar="COUNT",type="int",
help="number of pings to send. Not available with --all")
(options, args) = parser.parse_args(args)
node_name = None
if not options.ping_all:
if not args:
try:
parser.error("Please enter a node to ping. Available nodes are:\n"+_sub_rosnode_listnodes())
except:
# master is offline, but user did have invalid usage, so display correct usage first
parser.error("Please enter a node to ping")
elif len(args) > 1:
parser.error("you may only specify one input node")
elif len(args) == 1:
node_name = scriptutil.script_resolve_name('rosnode', args[0])
print("rosnode: node is [%s]"%node_name)
else:
if args:
parser.error("Invalid arguments '%s' used with --all"%(' '.join(args)))
elif options.ping_count:
parser.error("-c may not be used with --all")
if options.ping_all:
rosnode_ping_all(verbose=True)
else:
rosnode_ping(node_name, verbose=True, max_count=options.ping_count)
def _rosparam_cmd_delete(argv):
"""
Process command line for rosparam delete, e.g.::
rosparam delete param
@param cmd: command name
@type cmd: str
@param argv: command-line args
@type argv: str
"""
parser = OptionParser(usage="usage: %prog delete [options] parameter", prog=NAME)
parser.add_option("-v", dest="verbose", default=False, action="store_true", help="turn on verbose output")
options, args = parser.parse_args(argv[2:])
arg2 = None
if len(args) == 0:
parser.error("invalid arguments. Please specify a parameter name")
elif len(args) == 1:
arg = args[0]
else:
parser.error("too many arguments")
delete_param(script_resolve_name(NAME, arg), verbose=options.verbose)
def _rosparam_cmd_set_load(cmd, argv):
"""
Process command line for rosparam set/load, e.g.::
rosparam load file.yaml [namespace]
rosparam set param value
@param cmd: command name
@type cmd: str
@param argv: command-line args
@type argv: str
"""
if cmd == "load":
parser = OptionParser(usage="usage: %prog load [options] file [namespace]", prog=NAME)
elif cmd == "set":
parser = OptionParser(usage="usage: %prog set [options] parameter value", prog=NAME)
parser.add_option(
"-t",
"--textfile",
dest="text_file",
default=None,
metavar="TEXT_FILE",
help="set parameters to contents of text file",
)
parser.add_option(
"-b",
"--binfile",
dest="bin_file",
default=None,
metavar="BINARY_FILE",
help="set parameters to contents of binary file",
)
parser.add_option("-v", dest="verbose", default=False, action="store_true", help="turn on verbose output")
options, args = _set_optparse_neg_args(parser, argv)
if cmd == "set":
if options.text_file and options.bin_file:
parser.error("you may only specify one of --textfile or --binfile")
arg2 = None
if len(args) == 0:
if cmd == "load":
parser.error("invalid arguments. Please specify a file name")
elif cmd == "set":
parser.error("invalid arguments. Please specify a parameter name")
elif len(args) == 1:
arg = args[0]
if cmd == "set" and not (options.text_file or options.bin_file):
parser.error("invalid arguments. Please specify a parameter value")
elif len(args) == 2:
arg = args[0]
arg2 = args[1]
else:
parser.error("too many arguments")
if cmd == "set":
name = script_resolve_name(NAME, arg)
# #2647
if options.text_file:
if not os.path.isfile(options.text_file):
parser.error("file '%s' does not exist" % (options.text_file))
with open(options.text_file) as f:
arg2 = f.read()
set_param_raw(name, arg2, verbose=options.verbose)
elif options.bin_file:
import xmlrpclib
with open(options.bin_file, "rb") as f:
arg2 = xmlrpclib.Binary(f.read())
set_param_raw(name, arg2, verbose=options.verbose)
else:
# #2237: the empty string is really hard to specify on the
# command-line due to bash quoting rules. We cheat here and
# let an empty Python string be an empty YAML string (instead
# of YAML null, which has no meaning to the Parameter Server
# anyway).
if arg2 == "":
arg2 = "!!str"
set_param(name, arg2, verbose=options.verbose)
else:
paramlist = load_file(arg, default_namespace=script_resolve_name(NAME, arg2), verbose=options.verbose)
for params, ns in paramlist:
upload_params(ns, params, verbose=options.verbose)
def _rosparam_cmd_set_load(cmd, argv):
"""
Process command line for rosparam set/load, e.g.::
rosparam load file.yaml [namespace]
rosparam set param value
@param cmd: command name
@type cmd: str
@param argv: command-line args
@type argv: str
"""
if cmd == 'load':
parser = OptionParser(
usage="usage: %prog load [options] file [namespace]", prog=NAME)
elif cmd == 'set':
parser = OptionParser(
usage="usage: %prog set [options] parameter value", prog=NAME)
parser.add_option("-t",
"--textfile",
dest="text_file",
default=None,
metavar="TEXT_FILE",
help="set parameters to contents of text file")
parser.add_option("-b",
"--binfile",
dest="bin_file",
default=None,
metavar="BINARY_FILE",
help="set parameters to contents of binary file")
parser.add_option("-v",
dest="verbose",
default=False,
action="store_true",
help="turn on verbose output")
options, args = _set_optparse_neg_args(parser, argv)
if cmd == 'set':
if options.text_file and options.bin_file:
parser.error("you may only specify one of --textfile or --binfile")
arg2 = None
if len(args) == 0:
if cmd == 'load':
parser.error("invalid arguments. Please specify a file name")
elif cmd == 'set':
parser.error("invalid arguments. Please specify a parameter name")
elif len(args) == 1:
arg = args[0]
if cmd == 'set' and not (options.text_file or options.bin_file):
parser.error("invalid arguments. Please specify a parameter value")
elif len(args) == 2:
arg = args[0]
arg2 = args[1]
else:
parser.error("too many arguments")
if cmd == 'set':
name = script_resolve_name(NAME, arg)
# #2647
if options.text_file:
if not os.path.isfile(options.text_file):
parser.error("file '%s' does not exist" % (options.text_file))
with open(options.text_file) as f:
arg2 = f.read()
set_param_raw(name, arg2, verbose=options.verbose)
elif options.bin_file:
import xmlrpclib
with open(options.bin_file, 'rb') as f:
arg2 = xmlrpclib.Binary(f.read())
set_param_raw(name, arg2, verbose=options.verbose)
else:
# #2237: the empty string is really hard to specify on the
# command-line due to bash quoting rules. We cheat here and
# let an empty Python string be an empty YAML string (instead
# of YAML null, which has no meaning to the Parameter Server
# anyway).
if arg2 == '':
arg2 = '!!str'
set_param(name, arg2, verbose=options.verbose)
else:
paramlist = load_file(arg,
default_namespace=script_resolve_name(
NAME, arg2),
verbose=options.verbose)
for params, ns in paramlist:
upload_params(ns, params, verbose=options.verbose)
def _rosparam_cmd_set_load(cmd, argv):
"""
Process command line for rosparam set/load, e.g.::
rosparam load file.yaml [namespace]
rosparam set param value
@param cmd: command name
@type cmd: str
@param argv: command-line args
@type argv: str
"""
if cmd == 'load':
parser = OptionParser(usage="usage: %prog load [options] file [namespace]", prog=NAME)
elif cmd == 'set':
parser = OptionParser(usage="usage: %prog set [options] parameter value", prog=NAME)
parser.add_option("-v", dest="verbose", default=False,
action="store_true", help="turn on verbose output")
# we don't use optparse to parse actual arguments, just options,
# due to the fact that optparse doesn't handle negative numbers as
# arguments.
args = []
optparse_args = []
for s in argv[2:]:
if s.startswith('-'):
if len(s) > 1 and ord(s[1]) >= ord('0') and ord(s[1]) <= ord('9'):
args.append(s)
else:
optparse_args.append(s)
else:
args.append(s)
options, _ = parser.parse_args(optparse_args)
arg2 = None
if len(args) == 0:
if cmd == 'load':
parser.error("invalid arguments. Please specify a file name")
elif cmd == 'set':
parser.error("invalid arguments. Please specify a parameter name")
elif len(args) == 1:
arg = args[0]
if cmd == 'set':
parser.error("invalid arguments. Please specify a parameter value")
elif len(args) == 2:
arg = args[0]
arg2 = args[1]
else:
parser.error("too many arguments")
if cmd == 'set':
# #2237: the empty string is really hard to specify on the
# command-line due to bash quoting rules. We cheat here and
# let an empty Python string be an empty YAML string (instead
# of YAML null, which has no meaning to the Parameter Server
# anyway).
if arg2 == '':
arg2 = '!!str'
set_param(script_resolve_name(NAME, arg), arg2, verbose=options.verbose)
else:
paramlist = load_file(arg, default_namespace=script_resolve_name(NAME, arg2), verbose=options.verbose)
for params,ns in paramlist:
upload_params(ns, params, verbose=options.verbose)