def test_RosbinExecutable():
from roslaunch.core import RosbinExecutable, PHASE_SETUP, PHASE_RUN
e = RosbinExecutable('cmd', ('arg1', 'arg2'), PHASE_SETUP)
assert e.command == 'cmd'
assert e.args == ('arg1', 'arg2')
assert e.phase == PHASE_SETUP
assert 'cmd' in str(e)
assert 'arg2' in str(e)
assert 'cmd' in repr(e)
assert 'arg2' in repr(e)
assert 'ros/bin' in str(e)
assert 'ros/bin' in repr(e)
e = RosbinExecutable('cmd', ('arg1', 'arg2'))
assert e.phase == PHASE_RUN
def test_RosbinExecutable(self):
from roslaunch.core import RosbinExecutable, PHASE_SETUP, PHASE_RUN, PHASE_TEARDOWN
e = RosbinExecutable('ls', ['-alF'])
self.assertEquals('ls', e.command)
self.assertEquals(['-alF'], e.args)
self.assertEquals(PHASE_RUN, e.phase)
self.assertEquals('ros/bin/ls -alF', str(e))
self.assertEquals('ros/bin/ls -alF', repr(e))
e = RosbinExecutable('ls', ['-alF', 'b*'], PHASE_TEARDOWN)
self.assertEquals('ls', e.command)
self.assertEquals(['-alF', 'b*'], e.args)
self.assertEquals(PHASE_TEARDOWN, e.phase)
self.assertEquals('ros/bin/ls -alF b*', str(e))
self.assertEquals('ros/bin/ls -alF b*', repr(e))
def load_rosparam(self,
context,
ros_config,
cmd,
param,
file_,
text,
verbose=True):
"""
Load rosparam setting
@param context: Loader context
@type context: L{LoaderContext}
@param ros_config: launch configuration
@type ros_config: L{ROSLaunchConfig}
@param cmd: 'load', 'dump', or 'delete'
@type cmd: str
@param file_: filename for rosparam to use or None
@type file_: str
@param text: text for rosparam to load. Ignored if file_ is set.
@type text: str
@raise ValueError: if parameters cannot be processed into valid rosparam setting
"""
if not cmd in ('load', 'dump', 'delete'):
raise ValueError("command must be 'load', 'dump', or 'delete'")
if file_ is not None:
if cmd == 'load' and not os.path.isfile(file_):
raise ValueError("file does not exist [%s]" % file_)
if cmd == 'delete':
raise ValueError(
"'file' attribute is invalid with 'delete' command.")
full_param = ns_join(context.ns, param) if param else context.ns
if cmd == 'dump':
ros_config.add_executable(
RosbinExecutable('rosparam', (cmd, file_, full_param),
PHASE_SETUP))
elif cmd == 'delete':
ros_config.add_executable(
RosbinExecutable('rosparam', (cmd, full_param), PHASE_SETUP))
elif cmd == 'load':
# load YAML text
if file_:
with open(file_, 'r') as f:
text = f.read()
# parse YAML text
# - lazy import
global yaml
if yaml is None:
import yaml
# - lazy import: we have to import rosparam in oder to to configure the YAML constructors
global rosparam
if rosparam is None:
import rosparam
try:
data = yaml.load(text)
# #3162: if there is no YAML, load() will return an
# empty string. We want an empty dictionary instead
# for our representation of empty.
if data is None:
data = {}
except yaml.MarkedYAMLError as e:
if not file_:
raise ValueError(
"Error within YAML block:\n\t%s\n\nYAML is:\n%s" %
(str(e), text))
else:
raise ValueError("file %s contains invalid YAML:\n%s" %
(file_, str(e)))
except Exception as e:
if not file_:
raise ValueError("invalid YAML: %s\n\nYAML is:\n%s" %
(str(e), text))
else:
raise ValueError("file %s contains invalid YAML:\n%s" %
(file_, str(e)))
# 'param' attribute is required for non-dictionary types
if not param and type(data) != dict:
raise ValueError(
"'param' attribute must be set for non-dictionary values")
self.add_param(ros_config, full_param, data, verbose=verbose)
else:
raise ValueError("unknown command %s" % cmd)
def load_rosparam(self,
context,
ros_config,
cmd,
param,
file,
text,
verbose=True):
"""
Load rosparam setting
@param context: Loader context
@type context: L{LoaderContext}
@param ros_config: launch configuration
@type ros_config: L{ROSLaunchConfig}
@param cmd: 'load', 'dump', or 'delete'
@type cmd: str
@param file: filename for rosparam to use or None
@type file: str
@param text: text for rosparam to load. Ignored if file is set.
@type text: str
@raise ValueError: if parameters cannot be processed into valid rosparam setting
"""
if not cmd in ('load', 'dump', 'delete'):
raise ValueError("command must be 'load', 'dump', or 'delete'")
if file is not None:
if cmd == 'load' and not os.path.isfile(file):
raise ValueError("file does not exist [%s]" % file)
if cmd == 'delete':
raise ValueError(
"'file' attribute is invalid with 'delete' command.")
full_param = ns_join(context.ns, param) if param else context.ns
if cmd == 'dump':
ros_config.add_executable(
RosbinExecutable('rosparam', (cmd, file, full_param),
PHASE_SETUP))
elif cmd == 'delete':
ros_config.add_executable(
RosbinExecutable('rosparam', (cmd, full_param), PHASE_SETUP))
elif cmd == 'load':
# load YAML text
if file:
with open(file, 'r') as f:
text = f.read()
if not text:
if file:
raise ValueError("no YAML in file %s" % file)
else:
raise ValueError("no YAML to load")
# parse YAML text
# - lazy import
global yaml
if yaml is None:
import yaml
try:
data = yaml.load(text)
except yaml.MarkedYAMLError, e:
if not file:
raise ValueError(
"Error within YAML block:\n\t%s\n\nYAML is:\n%s" %
(str(e), text))
else:
raise ValueError("file %s contains invalid YAML:\n%s" %
(file, str(e)))
except Exception, e:
if not file:
raise ValueError("invalid YAML: %s\n\nYAML is:\n%s" %
(str(e), text))
else:
raise ValueError("file %s contains invalid YAML:\n%s" %
(file, str(e)))