Add ros2plugin

ros2plugin/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>ros2plugin</name>
+  <version>0.7.4</version>
+  <description>
+    The plugin command for ROS 2 command line tools.
+  </description>
+  <maintainer email="[email protected]">Jeremie Deray</maintainer>
+  <license>Apache License 2.0</license>
+
+  <exec_depend>ament_index_python</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>ros2cli</exec_depend>
+  <exec_depend>ros2pkg</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>ament_xmllint</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros2plugin/ros2plugin/api/__init__.py

@@ -0,0 +1,81 @@
+# Copyright 2019 Canonical Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_index_python.resources import get_resource
+from ament_index_python.resources import get_resource_types
+from ament_index_python.resources import get_resources
+from ament_index_python.resources import has_resource
+
+PLUGIN_RESOURCE_TYPE = '__pluginlib__plugin'
+
+
+def is_plugin_ressource_type(resource_type):
+    """
+    Check if resource_type has the plugin extension.
+
+    :param str resource_type: the ressource type name to be evaluated.
+
+    :return: a boolean, True if resource_type has the plugin extension.
+    """
+    assert resource_type, 'The resource type must not be empty'
+    return PLUGIN_RESOURCE_TYPE in resource_type
+
+
+def get_registered_plugin_ressource_list():
+    """
+    Get all plugin ressources registered in the ament index.
+
+    :return: a filtered list containing the plugin ressouce types.
+    """
+    return filter(is_plugin_ressource_type, get_resource_types())
+
+
+def get_package_names_with_plugin_ressource_types():
+    """
+    Get the names of all packages that register a plugin ressource in the ament index.
+
+    :return: a list of packages exporting plugins.
+    """
+    packages = []
+    for plugin in get_registered_plugin_ressource_list():
+        packages += list(get_resources(plugin).keys())
+    return packages
+
+
+def get_package_plugin_ressource(*, package_name=None):
+    """
+    Get all plugin ressources registered in the ament index for the given package.
+
+    :param package_name: whose component types are to be retrieved.
+    :return: a list of plugin ressources relative path.
+    """
+    plugin_ressources = get_registered_plugin_ressource_list()
+    package_plugins = []
+    for plugin_ressource in plugin_ressources:
+        if has_resource(plugin_ressource, package_name):
+            component_registry, _ = get_resource(plugin_ressource, package_name)
+            package_plugins += [line.split(';')[0] for line in component_registry.splitlines()]
+    return package_plugins
+
+
+def get_registered_plugin_ressources():
+    """
+    Get all plugin ressources registered in the ament index.
+
+    :return: a list of (package name, plugin type names) tuples.
+    """
+    return [
+        (package_name, get_package_plugin_ressource(package_name=package_name))
+        for package_name in get_package_names_with_plugin_ressource_types()
+    ]

ros2plugin/ros2plugin/command/plugin.py

@@ -0,0 +1,39 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ros2cli.command import add_subparsers
+from ros2cli.command import CommandExtension
+from ros2cli.verb import get_verb_extensions
+
+
+class PluginCommand(CommandExtension):
+    """Various plugin related sub-commands."""
+
+    def add_arguments(self, parser, cli_name):
+        self._subparser = parser
+        # get verb extensions and let them add their arguments
+        verb_extensions = get_verb_extensions('ros2plugin.verb')
+        add_subparsers(
+            parser, cli_name, '_verb', verb_extensions, required=False)
+
+    def main(self, *, parser, args):
+        if not hasattr(args, '_verb'):
+            # in case no verb was passed
+            self._subparser.print_help()
+            return 0
+
+        extension = getattr(args, '_verb')
+
+        # call the verb's main method
+        return extension.main(args=args)

ros2plugin/ros2plugin/verb/__init__.py

@@ -0,0 +1,44 @@
+# Copyright 2019 Canonical Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ros2cli.plugin_system import PLUGIN_SYSTEM_VERSION
+from ros2cli.plugin_system import satisfies_version
+
+
+class VerbExtension:
+    """
+    The extension point for 'plugin' verb extensions.
+
+    The following properties must be defined:
+    * `NAME` (will be set to the entry point name)
+
+    The following methods must be defined:
+    * `main`
+
+    The following methods can be defined:
+    * `add_arguments`
+    """
+
+    NAME = None
+    EXTENSION_POINT_VERSION = '0.1'
+
+    def __init__(self):
+        super(VerbExtension, self).__init__()
+        satisfies_version(PLUGIN_SYSTEM_VERSION, '^0.1')
+
+    def add_arguments(self, parser, cli_name):
+        pass
+
+    def main(self, *, args):
+        raise NotImplementedError()

ros2plugin/ros2plugin/verb/list.py

@@ -0,0 +1,82 @@
+# Copyright 2019 Canonical Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from collections import namedtuple
+
+import os
+import xml.etree.ElementTree as ET
+
+from ament_index_python import get_package_prefix
+from ament_index_python import PackageNotFoundError
+from ros2cli.node.strategy import add_arguments
+
+from ros2plugin.api import get_registered_plugin_ressources
+from ros2plugin.verb import VerbExtension
+
+
+PluginInfo = namedtuple('Plugin', ('name', 'type', 'base'))
+
+
+class ListVerb(VerbExtension):
+    """Output a list of plugins."""
+
+    def add_arguments(self, parser, cli_name):
+        add_arguments(parser)
+        parser.add_argument(
+            '--packages', action='store_true',
+            help='List the packages that register plugins')
+        parser.add_argument(
+            '--package', type=str,
+            help='Name of the package to list plugins from')
+
+    def main(self, *, args):
+        plugin_ressources = get_registered_plugin_ressources()
+
+        if args.package:
+            plugin_ressources
+
+        if args.packages:
+            for package_name, package_plugin_ressources in sorted(plugin_ressources):
+                print(package_name + ':')
+                if any(package_plugin_ressources):
+                    print(*['\t' + r for r in package_plugin_ressources], sep='\n')
+            return
+
+        for package_name, package_plugin_ressources in sorted(plugin_ressources):
+            plugins = []
+            print(package_name + ':')
+            for package_plugin_ressource in package_plugin_ressources:
+                try:
+                    package_prefix = get_package_prefix(package_name)
+                except PackageNotFoundError:
+                    print('Package ' + package_name + ' not found.')
+
+                plugin_xml = os.path.join(package_prefix, package_plugin_ressource)
+                if not os.path.isfile(plugin_xml):
+                    print('XML manifest ' + os.path.basename(plugin_xml) + ' not found.')
+
+                tree = ET.parse(plugin_xml)
+
+                for e in tree.iter():
+                    if e.tag == 'class':
+                        try:
+                            plugin_name = e.attrib['name']
+                        except KeyError:
+                            plugin_name = e.attrib['type']
+                        plugins.append(PluginInfo(
+                            plugin_name, e.attrib['type'], e.attrib['base_class_type'])
+                        )
+
+            if any(plugins):
+                print(*['\t' + str(p) for p in plugins], sep='\n')

ros2plugin/setup.py

@@ -0,0 +1,46 @@
+from setuptools import find_packages
+from setuptools import setup
+
+package_name = 'ros2plugin'
+
+setup(
+    name=package_name,
+    version='0.7.4',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/' + package_name, ['package.xml']),
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+    ],
+    install_requires=['ros2cli'],
+    zip_safe=True,
+    author='Jeremie Deray',
+    author_email='[email protected]',
+    maintainer='Jeremie Deray',
+    maintainer_email='[email protected]',
+    url='https://github.com/ros2/ros2cli/tree/master/ros2plugin',
+    download_url='https://github.com/ros2/ros2cli/releases',
+    keywords=[],
+    classifiers=[
+        'Environment :: Console',
+        'Intended Audience :: Developers',
+        'License :: OSI Approved :: Apache Software License',
+        'Programming Language :: Python',
+    ],
+    description='The plugin command for ROS 2 command line tools.',
+    long_description="""\
+The package provides the plugin command for the ROS 2 command line tools.""",
+    license='Apache License, Version 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'ros2cli.command': [
+            'plugin = ros2plugin.command.plugin:PluginCommand',
+        ],
+        'ros2cli.extension_point': [
+            'ros2plugin.verb = ros2plugin.verb:VerbExtension',
+        ],
+        'ros2plugin.verb': [
+            'list = ros2plugin.verb.list:ListVerb',
+        ],
+    }
+)

ros2plugin/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

ros2plugin/test/test_flake8.py

@@ -0,0 +1,23 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc = main(argv=[])
+    assert rc == 0, 'Found errors'

ros2plugin/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=[])
+    assert rc == 0, 'Found code style errors / warnings'