python-roslib 1.13.4-2 / usr / lib / python2.7 / dist-packages / roslib / scriptutil.py

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"""
Warning: do not use this library.  It is unstable and most of the routines
here have been superceded by other libraries (e.g. rospkg).  These
routines will likely be *deleted* in future releases.
"""

import os
import sys

import roslib.names 

## caller ID for master calls where caller ID is not vital
_GLOBAL_CALLER_ID = '/script'


import warnings
def deprecated(func):
    """This is a decorator which can be used to mark functions
    as deprecated. It will result in a warning being emmitted
    when the function is used."""
    def newFunc(*args, **kwargs):
        warnings.warn("Call to deprecated function %s." % func.__name__,
                      category=DeprecationWarning, stacklevel=2)
        return func(*args, **kwargs)
    newFunc.__name__ = func.__name__
    newFunc.__doc__ = func.__doc__
    newFunc.__dict__.update(func.__dict__)
    return newFunc

@deprecated
def script_resolve_name(script_name, name):
    """
    Name resolver for scripts. Supports ROS_NAMESPACE.  Does not
    support remapping arguments.
    @param name: name to resolve
    @type  name: str
    @param script_name: name of script. script_name must not
    contain a namespace.
    @type  script_name: str
    @return: resolved name
    @rtype: str
    """
    if not name: #empty string resolves to namespace
        return roslib.names.get_ros_namespace()
    #Check for global name: /foo/name resolves to /foo/name
    if roslib.names.is_global(name):
        return name
    #Check for private name: ~name resolves to /caller_id/name
    elif roslib.names.is_private(name):
        return ns_join(roslib.names.make_caller_id(script_name), name[1:])
    return roslib.names.get_ros_namespace() + name

@deprecated
def get_master():
    """
    Get an XMLRPC handle to the Master. It is recommended to use the
    `rosgraph.masterapi` library instead, as it provides many
    conveniences.
    
    @return: XML-RPC proxy to ROS master
    @rtype: xmlrpclib.ServerProxy
    @raises ValueError if master URI is invalid
    """
    try:
        import xmlrpc.client as xmlrpcclient  #Python 3.x
    except ImportError:
        import xmlrpclib as xmlrpcclient #Python 2.x
    
    # changed this to not look as sys args and remove dependency on roslib.rosenv for cleaner cleanup
    uri = os.environ['ROS_MASTER_URI']
    return xmlrpcclient.ServerProxy(uri)

@deprecated
def get_param_server():
    """
    @return: ServerProxy XML-RPC proxy to ROS parameter server
    @rtype: xmlrpclib.ServerProxy
    """
    return get_master()