From 639a4dc965b434cbd7072debfd2c2713db328c72 Mon Sep 17 00:00:00 2001
From: Gennaro Raiola <gennaro.raiola@gmail.com>
Date: Wed, 18 Dec 2013 12:29:13 +0100
Subject: [PATCH] Include runPythonFile service
This enables to directly launch a python file within any roslaunch file
Adapted by F.Keith for the extraction of the messages.
---
.../dynamic_graph_bridge/ros_interpreter.hh | 15 +++++++++++++
scripts/run_command | 16 +++++++-------
src/ros_interpreter.cpp | 21 ++++++++++++++++++-
srv/RunPythonFile.srv | 3 +++
4 files changed, 46 insertions(+), 9 deletions(-)
create mode 100644 srv/RunPythonFile.srv
diff --git a/include/dynamic_graph_bridge/ros_interpreter.hh b/include/dynamic_graph_bridge/ros_interpreter.hh
index b2877ee..df1047a 100644
--- a/include/dynamic_graph_bridge/ros_interpreter.hh
+++ b/include/dynamic_graph_bridge/ros_interpreter.hh
@@ -2,6 +2,7 @@
# define DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
# include <ros/ros.h>
# include <dynamic_graph_bridge_msgs/RunCommand.h>
+# include <dynamic_graph_bridge_msgs/RunPythonFile.h>
# include <dynamic-graph/python/interpreter.hh>
namespace dynamicgraph
@@ -20,6 +21,11 @@ namespace dynamicgraph
dynamic_graph_bridge_msgs::RunCommand::Response&)>
runCommandCallback_t;
+ typedef boost::function<
+ bool (dynamic_graph_bridge_msgs::RunPythonFile::Request&,
+ dynamic_graph_bridge_msgs::RunPythonFile::Response&)>
+ runPythonFileCallback_t;
+
explicit Interpreter (ros::NodeHandle& nodeHandle);
/// \brief Run a command and return result.
@@ -29,6 +35,10 @@ namespace dynamicgraph
void runCommand(const std::string & command, std::string &result,
std::string &out, std::string &err);
+ /// \brief Method to parse python scripts.
+ /// \param Input file name to parse.
+ void runPythonFile(std::string ifilename);
+
/// Initialize service run_command
void startRosService ();
@@ -37,10 +47,15 @@ namespace dynamicgraph
bool runCommandCallback (dynamic_graph_bridge_msgs::RunCommand::Request& req,
dynamic_graph_bridge_msgs::RunCommand::Response& res);
+ /// \brief Run a Python file.
+ bool runPythonFileCallback (dynamic_graph_bridge_msgs::RunPythonFile::Request& req,
+ dynamic_graph_bridge_msgs::RunPythonFile::Response& res);
+
private:
python::Interpreter interpreter_;
ros::NodeHandle& nodeHandle_;
ros::ServiceServer runCommandSrv_;
+ ros::ServiceServer runPythonFileSrv_;
};
} // end of namespace dynamicgraph.
diff --git a/scripts/run_command b/scripts/run_command
index f06cf1c..9615adc 100755
--- a/scripts/run_command
+++ b/scripts/run_command
@@ -19,7 +19,9 @@ class RosShell(InteractiveConsole):
rospy.wait_for_service('run_command')
self.client = rospy.ServiceProxy(
'run_command', dynamic_graph_bridge_msgs.srv.RunCommand, True)
-
+ rospy.wait_for_service('run_script')
+ self.scriptClient = rospy.ServiceProxy(
+ 'run_script', dynamic_graph_bridge_msgs.srv.RunPythonFile, True)
def runcode(self, code, retry = True):
source = self.cache[:-1]
@@ -69,6 +71,8 @@ class RosShell(InteractiveConsole):
if __name__ == '__main__':
import optparse
manifest = roslib.manifest.load_manifest('dynamic_graph_bridge')
+ rospy.init_node('run_command', argv=sys.argv)
+ sys.argv = rospy.myargv(argv=None)
parser = optparse.OptionParser(
usage='\n\t%prog [options]',
version='%%prog %s' % manifest.version)
@@ -82,12 +86,8 @@ if __name__ == '__main__':
if not sh.client:
print("Connection to remote server has been lost.")
sys.exit(1)
- response = sh.client(str(source))
- if response.stdout != "":
- print response.stdout[:-1]
- if response.stderr != "":
- print response.stderr[:-1]
- elif response.result != "None":
- print response.result
+ response = sh.scriptClient(infile)
+ if not response:
+ print("Error while file parsing ")
else:
sh.interact("Interacting with remote server.")
diff --git a/src/ros_interpreter.cpp b/src/ros_interpreter.cpp
index 4b5c528..edd13b5 100644
--- a/src/ros_interpreter.cpp
+++ b/src/ros_interpreter.cpp
@@ -7,7 +7,8 @@ namespace dynamicgraph
Interpreter::Interpreter (ros::NodeHandle& nodeHandle)
: interpreter_ (),
nodeHandle_ (nodeHandle),
- runCommandSrv_ ()
+ runCommandSrv_ (),
+ runPythonFileSrv_ ()
{
}
@@ -17,6 +18,11 @@ namespace dynamicgraph
boost::bind (&Interpreter::runCommandCallback, this, _1, _2);
runCommandSrv_ =
nodeHandle_.advertiseService ("run_command", runCommandCb);
+
+ runPythonFileCallback_t runPythonFileCb =
+ boost::bind (&Interpreter::runPythonFileCallback, this, _1, _2);
+ runPythonFileSrv_ =
+ nodeHandle_.advertiseService ("run_script", runPythonFileCb);
}
bool
@@ -28,6 +34,15 @@ namespace dynamicgraph
return true;
}
+ bool
+ Interpreter::runPythonFileCallback (dynamic_graph_bridge_msgs::RunPythonFile::Request& req,
+ dynamic_graph_bridge_msgs::RunPythonFile::Response& res)
+ {
+ interpreter_.runPythonFile(req.input);
+ res.result = "File parsed"; // FIX: It is just an echo, is there a way to have a feedback?
+ return true;
+ }
+
std::string
Interpreter::runCommand
(const std::string& command)
@@ -44,5 +59,9 @@ namespace dynamicgraph
interpreter_.python(command, result, out, err);
}
+ void Interpreter::runPythonFile( std::string ifilename ){
+ interpreter_.runPythonFile(ifilename);
+ }
+
} // end of namespace dynamicgraph.
diff --git a/srv/RunPythonFile.srv b/srv/RunPythonFile.srv
new file mode 100644
index 0000000..fa49f81
--- /dev/null
+++ b/srv/RunPythonFile.srv
@@ -0,0 +1,3 @@
+string input
+---
+string result
--
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