def _parse_launch(tags, launch_file, file_deps, verbose):
_, launch_file_pkg = roslib.packages.get_dir_pkg(
os.path.dirname(os.path.abspath(launch_file)))
# process group, include, node, and test tags from launch file
for tag in [t for t in tags if t.nodeType == DomNode.ELEMENT_NODE]:
if tag.tagName == 'group':
#descend group tags as they can contain node tags
_parse_launch(tag.childNodes, launch_file, file_deps, verbose)
elif tag.tagName == 'include':
try:
sub_launch_file = resolve_args(tag.attributes['file'].value)
except KeyError, e:
raise RoslaunchDepsException(
"Cannot load roslaunch <%s> tag: missing required attribute %s.\nXML is %s"
% (tag.tagName, str(e), tag.toxml()))
if verbose:
print "processing included launch %s" % sub_launch_file
# determine package dependency for included file
_, sub_pkg = roslib.packages.get_dir_pkg(
os.path.dirname(os.path.abspath(sub_launch_file)))
if sub_pkg is None:
print >> sys.stderr, "ERROR: cannot determine package for [%s]" % sub_launch_file
file_deps[launch_file].includes.append(sub_launch_file)
if launch_file_pkg != sub_pkg:
file_deps[launch_file].pkgs.append(sub_pkg)
# recurse
file_deps[sub_launch_file] = RoslaunchDeps()
try:
dom = parse(sub_launch_file).getElementsByTagName('launch')
if not len(dom):
print >> sys.stderr, "ERROR: %s is not a valid roslaunch file" % sub_launch_file
else:
launch_tag = dom[0]
_parse_launch(launch_tag.childNodes, sub_launch_file,
file_deps, verbose)
except IOError, e:
raise RoslaunchDepsException(
"Cannot load roslaunch include '%s' in '%s'" %
(sub_launch_file, launch_file))
def _parse_launch(tags, launch_file, file_deps, verbose):
_, launch_file_pkg = roslib.packages.get_dir_pkg(os.path.dirname(os.path.abspath(launch_file)))
# process group, include, node, and test tags from launch file
for tag in [t for t in tags if t.nodeType == DomNode.ELEMENT_NODE]:
if tag.tagName == "group":
# descend group tags as they can contain node tags
_parse_launch(tag.childNodes, launch_file, file_deps, verbose)
elif tag.tagName == "include":
try:
sub_launch_file = resolve_args(tag.attributes["file"].value)
except KeyError, e:
raise RoslaunchDepsException(
"Cannot load roslaunch <%s> tag: missing required attribute %s.\nXML is %s"
% (tag.tagName, str(e), tag.toxml())
)
if verbose:
print "processing included launch %s" % sub_launch_file
# determine package dependency for included file
_, sub_pkg = roslib.packages.get_dir_pkg(os.path.dirname(os.path.abspath(sub_launch_file)))
if sub_pkg is None:
print >> sys.stderr, "ERROR: cannot determine package for [%s]" % sub_launch_file
file_deps[launch_file].includes.append(sub_launch_file)
if launch_file_pkg != sub_pkg:
file_deps[launch_file].pkgs.append(sub_pkg)
# recurse
file_deps[sub_launch_file] = RoslaunchDeps()
try:
dom = parse(sub_launch_file).getElementsByTagName("launch")
if not len(dom):
print >> sys.stderr, "ERROR: %s is not a valid roslaunch file" % sub_launch_file
else:
launch_tag = dom[0]
_parse_launch(launch_tag.childNodes, sub_launch_file, file_deps, verbose)
except IOError, e:
raise RoslaunchDepsException(
"Cannot load roslaunch include '%s' in '%s'" % (sub_launch_file, launch_file)
)
def test_resolve_args(self):
from roslib.substitution_args import resolve_args, SubstitutionException
from roslib.packages import get_pkg_dir
roslib_dir = get_pkg_dir('roslib', required=True)
anon_context = {'foo': 'bar'}
arg_context = {'fuga': 'hoge', 'car': 'cdr'}
context = {'anon': anon_context, 'arg': arg_context }
tests = [
('$(find roslib)', roslib_dir),
('hello$(find roslib)', 'hello'+roslib_dir),
('$(find roslib )', roslib_dir),
('$$(find roslib )', '$'+roslib_dir),
('$( find roslib )', roslib_dir),
('$(find roslib )', roslib_dir),
('$(find roslib)$(find roslib)', roslib_dir+roslib_dir),
('$(find roslib)/foo/bar.xml', roslib_dir+os.sep+'foo'+os.sep+'bar.xml'),
(r'$(find roslib)\foo\bar.xml $(find roslib)\bar.xml', roslib_dir+os.sep+'foo'+os.sep+'bar.xml '+roslib_dir+os.sep+'bar.xml'),
('$(find roslib)\\foo\\bar.xml more/stuff\\here', roslib_dir+os.sep+'foo'+os.sep+'bar.xml more/stuff\\here'),
('$(env ROS_ROOT)', os.environ['ROS_ROOT']),
('$(env ROS_ROOT)', os.environ['ROS_ROOT']),
('$(env ROS_ROOT )', os.environ['ROS_ROOT']),
('$(optenv ROS_ROOT)', os.environ['ROS_ROOT']),
('$(optenv ROS_ROOT)$(optenv ROS_ROOT)', os.environ['ROS_ROOT']+os.environ['ROS_ROOT']),
('$(optenv ROS_ROOT alternate text)', os.environ['ROS_ROOT']),
('$(optenv NOT_ROS_ROOT)', ''),
('$(optenv NOT_ROS_ROOT)more stuff', 'more stuff'),
('$(optenv NOT_ROS_ROOT alternate)', 'alternate'),
('$(optenv NOT_ROS_ROOT alternate text)', 'alternate text'),
# #1776
('$(anon foo)', 'bar'),
('$(anon foo)/baz', 'bar/baz'),
('$(anon foo)/baz/$(anon foo)', 'bar/baz/bar'),
# arg
('$(arg fuga)', 'hoge'),
('$(arg fuga)$(arg fuga)', 'hogehoge'),
('$(arg car)$(arg fuga)', 'cdrhoge'),
('$(arg fuga)hoge', 'hogehoge'),
]
for arg, val in tests:
self.assertEquals(val, resolve_args(arg, context=context))
# more #1776
r = resolve_args('$(anon foo)/bar')
self.assert_('/bar' in r)
self.failIf('$(anon foo)' in r)
# test against strings that should not match
noop_tests = [
'$(find roslib', '$find roslib', '', ' ', 'noop', 'find roslib', 'env ROS_ROOT', '$$', ')', '(', '()',
None,
]
for t in noop_tests:
self.assertEquals(t, resolve_args(t))
failures = [
'$((find roslib))', '$(find $roslib)',
'$(find)', '$(find roslib roslib)', '$(export roslib)',
'$(env)', '$(env ROS_ROOT alternate)',
'$(env NOT_SET)',
'$(optenv)',
'$(anon)',
'$(anon foo bar)',
]
for f in failures:
try:
resolve_args(f)
self.fail("resolve_args(%s) should have failed"%f)
except SubstitutionException: pass
def test_resolve_args(self):
from roslib.substitution_args import resolve_args, SubstitutionException
from roslib.packages import get_pkg_dir
rospy_dir = get_pkg_dir('rospy', required=True)
anon_context = {'foo': 'bar'}
arg_context = {'fuga': 'hoge', 'car': 'cdr'}
context = {'anon': anon_context, 'arg': arg_context }
tests = [
('$(find rospy)', rospy_dir),
('hello$(find rospy)', 'hello'+rospy_dir),
('$(find rospy )', rospy_dir),
('$$(find rospy )', '$'+rospy_dir),
('$( find rospy )', rospy_dir),
('$(find rospy )', rospy_dir),
('$(find rospy)$(find rospy)', rospy_dir+rospy_dir),
('$(find rospy)/foo/bar.xml', rospy_dir+os.sep+'foo'+os.sep+'bar.xml'),
(r'$(find rospy)\foo\bar.xml $(find rospy)\bar.xml', rospy_dir+os.sep+'foo'+os.sep+'bar.xml '+rospy_dir+os.sep+'bar.xml'),
('$(find rospy)\\foo\\bar.xml more/stuff\\here', rospy_dir+os.sep+'foo'+os.sep+'bar.xml more/stuff\\here'),
('$(env ROS_ROOT)', os.environ['ROS_ROOT']),
('$(env ROS_ROOT)', os.environ['ROS_ROOT']),
('$(env ROS_ROOT )', os.environ['ROS_ROOT']),
('$(optenv ROS_ROOT)', os.environ['ROS_ROOT']),
('$(optenv ROS_ROOT)$(optenv ROS_ROOT)', os.environ['ROS_ROOT']+os.environ['ROS_ROOT']),
('$(optenv ROS_ROOT alternate text)', os.environ['ROS_ROOT']),
('$(optenv NOT_ROS_ROOT)', ''),
('$(optenv NOT_ROS_ROOT)more stuff', 'more stuff'),
('$(optenv NOT_ROS_ROOT alternate)', 'alternate'),
('$(optenv NOT_ROS_ROOT alternate text)', 'alternate text'),
# #1776
('$(anon foo)', 'bar'),
('$(anon foo)/baz', 'bar/baz'),
('$(anon foo)/baz/$(anon foo)', 'bar/baz/bar'),
# arg
('$(arg fuga)', 'hoge'),
('$(arg fuga)$(arg fuga)', 'hogehoge'),
('$(arg car)$(arg fuga)', 'cdrhoge'),
('$(arg fuga)hoge', 'hogehoge'),
]
for arg, val in tests:
self.assertEquals(val, resolve_args(arg, context=context))
# more #1776
r = resolve_args('$(anon foo)/bar')
self.assert_('/bar' in r)
self.failIf('$(anon foo)' in r)
# test against strings that should not match
noop_tests = [
'$(find rospy', '$find rospy', '', ' ', 'noop', 'find rospy', 'env ROS_ROOT', '$$', ')', '(', '()',
None,
]
for t in noop_tests:
self.assertEquals(t, resolve_args(t))
failures = [
'$((find rospy))', '$(find $rospy)',
'$(find)', '$(find rospy roslib)', '$(export rospy)',
'$(env)', '$(env ROS_ROOT alternate)',
'$(env NOT_SET)',
'$(optenv)',
'$(anon)',
'$(anon foo bar)',
]
for f in failures:
try:
resolve_args(f)
self.fail("resolve_args(%s) should have failed"%f)
except SubstitutionException: pass
dom = parse(sub_launch_file).getElementsByTagName('launch')
if not len(dom):
print >> sys.stderr, "ERROR: %s is not a valid roslaunch file" % sub_launch_file
else:
launch_tag = dom[0]
_parse_launch(launch_tag.childNodes, sub_launch_file,
file_deps, verbose)
except IOError, e:
raise RoslaunchDepsException(
"Cannot load roslaunch include '%s' in '%s'" %
(sub_launch_file, launch_file))
elif tag.tagName in ['node', 'test']:
try:
pkg, type = [
resolve_args(tag.attributes[a].value)
for a in ['pkg', 'type']
]
except KeyError, e:
raise RoslaunchDepsException(
"Cannot load roslaunch <%s> tag: missing required attribute %s.\nXML is %s"
% (tag.tagName, str(e), tag.toxml()))
file_deps[launch_file].nodes.append((pkg, type))
# we actually want to include the package itself if that's referenced
#if launch_file_pkg != pkg:
file_deps[launch_file].pkgs.append(pkg)
def parse_launch(launch_file, file_deps, verbose):
if verbose:
print "processing launch %s" % launch_file
file_deps[sub_launch_file] = RoslaunchDeps()
try:
dom = parse(sub_launch_file).getElementsByTagName("launch")
if not len(dom):
print >> sys.stderr, "ERROR: %s is not a valid roslaunch file" % sub_launch_file
else:
launch_tag = dom[0]
_parse_launch(launch_tag.childNodes, sub_launch_file, file_deps, verbose)
except IOError, e:
raise RoslaunchDepsException(
"Cannot load roslaunch include '%s' in '%s'" % (sub_launch_file, launch_file)
)
elif tag.tagName in ["node", "test"]:
try:
pkg, type = [resolve_args(tag.attributes[a].value) for a in ["pkg", "type"]]
except KeyError, e:
raise RoslaunchDepsException(
"Cannot load roslaunch <%s> tag: missing required attribute %s.\nXML is %s"
% (tag.tagName, str(e), tag.toxml())
)
file_deps[launch_file].nodes.append((pkg, type))
# we actually want to include the package itself if that's referenced
# if launch_file_pkg != pkg:
file_deps[launch_file].pkgs.append(pkg)
def parse_launch(launch_file, file_deps, verbose):
if verbose:
print "processing launch %s" % launch_file
