class MetisAppIndicator_Process:
def __init__(self, process_config_obj=None):
self.menulabel = process_config_obj.name
self.submenu = None
self.pobj = Process(
process_config_obj) if process_config_obj != None else None
#self.startuplvl = 0
#self.name = ""
#if self.pobj!=None:
#self.startuplvl = self.pobj.startuplvl
#self.name = self.pobj.name
def start(self):
if self.pobj != None:
self.pobj.start()
def output(self):
if self.pobj != None:
self.logwin = LogWindow(self.pobj)
self.logwin.resize(LOGWINDOW_W, LOGWINDOW_H)
self.logwin.show()
def terminate(self):
if self.pobj != None:
self.pobj.terminate()
def kill(self):
if self.pobj != None:
self.pobj.kill()
def is_running(self):
if self.pobj == None:
return False
return self.pobj.running()
class DeviceLaunchfile(Device):
def __init__(self, name, path, packageName, launchfile):
super(DeviceLaunchfile, self).__init__(name, path)
self._launchFile = self._getLaunchFile(packageName, launchfile)
self._process = None
def launch(self):
# Make sure launch file exists
if self._launchFile and os.path.exists(self._launchFile):
try:
popen = subprocess.Popen([
'roslaunch', self._launchFile,
'NAMESPACE:=' + rospy.get_namespace(),
'DEVICE:=' + self._path
])
self._process = Process(popen)
return True
except:
pass
return False
def kill(self):
if self._process:
self._process.kill()
@staticmethod
def _getLaunchFile(packageName, launchfile):
packageDir = None
rospack = rospkg.RosPack()
try:
packageDir = rospack.get_path(packageName)
except rospkg.ResourceNotFound:
pass
else:
return os.path.join(packageDir, 'launch', launchfile)
return None
class DeviceLaunchfile(Device):
def __init__(self, name, path , packageName, launchfile):
super(DeviceLaunchfile, self).__init__(name, path)
self._launchFile = self._getLaunchFile(packageName, launchfile)
self._process = None
def launch(self):
# Make sure launch file exists
if self._launchFile and os.path.exists(self._launchFile):
try:
popen = subprocess.Popen(['roslaunch',
self._launchFile,
'NAMESPACE:=' + rospy.get_namespace(),
'DEVICE:=' + self._path])
self._process = Process(popen)
return True
except:
pass
return False
def kill(self):
if self._process:
self._process.kill()
@staticmethod
def _getLaunchFile(packageName, launchfile):
packageDir = None
rospack = rospkg.RosPack()
try:
packageDir = rospack.get_path(packageName)
except rospkg.ResourceNotFound:
pass
else:
return os.path.join(packageDir, 'launch', launchfile)
return None
