def resolve_name(name, caller_id=None):
"""
Resolve a ROS name to its global, canonical form. Private ~names
are resolved relative to the node name.
@param name: name to resolve.
@type name: str
@param caller_id: node name to resolve relative to. To
resolve to local namespace, omit this parameter (or use None)
@type caller_id: str
@return: Resolved name. If name is empty/None, resolve_name
returns parent namespace. If namespace is empty/None,
@rtype: str
"""
if not caller_id:
caller_id = get_name()
if not name: #empty string resolves to namespace
return namespace(caller_id)
name = canonicalize_name(name)
if name[0] == SEP: #global name
resolved_name = name
elif is_private(name): #~name
resolved_name = ns_join(caller_id, name[1:])
else: #relative
resolved_name = namespace(caller_id) + name
#Mappings override general namespace-based resolution
# - do this before canonicalization as remappings are meant to
# match the name as specified in the code
if resolved_name in _resolved_mappings:
return _resolved_mappings[resolved_name]
else:
return resolved_name
def resolve_name(name, caller_id=None):
"""
Resolve a ROS name to its global, canonical form. Private ~names
are resolved relative to the node name.
@param name: name to resolve.
@type name: str
@param caller_id: node name to resolve relative to. To
resolve to local namespace, omit this parameter (or use None)
@type caller_id: str
@return: Resolved name. If name is empty/None, resolve_name
returns parent namespace. If namespace is empty/None,
@rtype: str
"""
if not caller_id:
caller_id = get_name()
if not name: #empty string resolves to namespace
return namespace(caller_id)
name = canonicalize_name(name)
if name[0] == SEP: #global name
resolved_name = name
elif is_private(name): #~name
resolved_name = ns_join(caller_id, name[1:])
else: #relative
resolved_name = namespace(caller_id) + name
#Mappings override general namespace-based resolution
# - do this before canonicalization as remappings are meant to
# match the name as specified in the code
if resolved_name in _resolved_mappings:
return _resolved_mappings[resolved_name]
else:
return resolved_name
def _set_caller_id(caller_id):
"""
Internal API.
Set the global name (i.e. caller_id) and namespace. Methods can
check what the name of the current node is by calling get_caller_id.
The caller_id is important as it is the first parameter to any API
call on a remote node. Invoked by ROSNode constructor
@param caller_id: new caller ID
@type caller_id: str
"""
global _caller_id, _caller_namespace
_caller_id = caller_id
_caller_namespace = namespace(caller_id)
def _set_caller_id(caller_id):
"""
Internal API.
Set the global name (i.e. caller_id) and namespace. Methods can
check what the name of the current node is by calling get_caller_id.
The caller_id is important as it is the first parameter to any API
call on a remote node. Invoked by ROSNode constructor
@param caller_id: new caller ID
@type caller_id: str
"""
global _caller_id, _caller_namespace
_caller_id = caller_id
_caller_namespace = namespace(caller_id)
def scoped_name(caller_id, name):
"""
Convert the global caller_id to a relative name within the namespace. For example, for
namespace '/foo' and name '/foo/bar/name', the return value will
be 'bar/name'
WARNING: scoped_name does not validate that name is actually within
the supplied namespace.
@param caller_id: caller ID, in canonical form
@type caller_id: str
@param name: name to scope
@type name: str
@return: name scoped to the caller_id's namespace.
@rtype: str
"""
if not is_global(caller_id):
raise ROSException("caller_id must be global")
return canonicalize_name(name)[len(namespace(caller_id)):]
def scoped_name(caller_id, name):
"""
Convert the global caller_id to a relative name within the namespace. For example, for
namespace '/foo' and name '/foo/bar/name', the return value will
be 'bar/name'
WARNING: scoped_name does not validate that name is actually within
the supplied namespace.
@param caller_id: caller ID, in canonical form
@type caller_id: str
@param name: name to scope
@type name: str
@return: name scoped to the caller_id's namespace.
@rtype: str
"""
if not is_global(caller_id):
raise ROSException("caller_id must be global")
return canonicalize_name(name)[len(namespace(caller_id)):]
def test_namespace(self):
from roslib.names import namespace
try:
namespace(1)
self.fail("1")
except TypeError:
pass
try:
namespace(None)
self.fail("None")
except ValueError:
pass
self.assertEquals('/', namespace(''))
self.assertEquals('/', namespace('/'))
self.assertEquals('/', namespace('/foo'))
self.assertEquals('/', namespace('/foo/'))
self.assertEquals('/foo/', namespace('/foo/bar'))
self.assertEquals('/foo/', namespace('/foo/bar/'))
self.assertEquals('/foo/bar/', namespace('/foo/bar/baz'))
self.assertEquals('/foo/bar/', namespace('/foo/bar/baz/'))
# unicode tests
self.assertEquals(u'/', namespace(u''))
self.assertEquals(u'/', namespace(u'/'))
self.assertEquals(u'/foo/bar/', namespace(u'/foo/bar/baz/'))
def test_namespace(self):
from roslib.names import namespace
try:
namespace(1)
self.fail("1")
except TypeError: pass
try:
namespace(None)
self.fail("None")
except ValueError: pass
self.assertEquals('/', namespace(''))
self.assertEquals('/', namespace('/'))
self.assertEquals('/', namespace('/foo'))
self.assertEquals('/', namespace('/foo/'))
self.assertEquals('/foo/', namespace('/foo/bar'))
self.assertEquals('/foo/', namespace('/foo/bar/'))
self.assertEquals('/foo/bar/', namespace('/foo/bar/baz'))
self.assertEquals('/foo/bar/', namespace('/foo/bar/baz/'))
# unicode tests
self.assertEquals(u'/', namespace(u''))
self.assertEquals(u'/', namespace(u'/'))
self.assertEquals(u'/foo/bar/', namespace(u'/foo/bar/baz/'))
