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# Revision $Id: rospack.py 8009 2010-01-21 18:19:41Z kwc $
# $Author: kwc $

"""
Wrappers for calling an processing return values from rospack and rosstack
"""

import os
import subprocess
import roslib.exceptions
import roslib.rosenv

def rospackexec(args):
    """
    @return: result of executing rospack command (via subprocess). string will be strip()ed.
    @rtype: str
    @raise roslib.exceptions.ROSLibException: if rospack command fails
    """
    rospack_bin = os.path.join(roslib.rosenv.get_ros_root(), 'bin', 'rospack')
    val = (subprocess.Popen([rospack_bin] + args, stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] or '').strip()
    if val.startswith('rospack:'): #rospack error message
        raise roslib.exceptions.ROSLibException(val)
    return val

def rospack_depends_on_1(pkg):
    """
    @param pkg: package name
    @type  pkg: str
    @return: A list of the names of the packages which depend directly on pkg
    @rtype: list
    """
    return rospackexec(['depends-on1', pkg]).split()

def rospack_depends_on(pkg):
    """
    @param pkg: package name
    @type  pkg: str
    @return: A list of the names of the packages which depend on pkg
    @rtype: list
    """
    return rospackexec(['depends-on', pkg]).split()

def rospack_depends_1(pkg):
    """
    @param pkg: package name
    @type  pkg: str
    @return: A list of the names of the packages which pkg directly depends on
    @rtype: list    
    """
    return rospackexec(['deps1', pkg]).split()

def rospack_depends(pkg):
    """
    @param pkg: package name
    @type  pkg: str
    @return: A list of the names of the packages which pkg depends on
    @rtype: list    
    """
    return rospackexec(['deps', pkg]).split()

def rospack_plugins(pkg):
    """
    @param pkg: package name
    @type  pkg: str
    @return: A list of the names of the packages which provide a plugin for pkg
    @rtype: list    
    """
    val = rospackexec(['plugins', '--attrib=plugin', pkg])
    if val:
      return [tuple(x.split(' ')) for x in val.split('\n')]
    else:
      return []

def rosstackexec(args):
    """
    @return: result of executing rosstack command (via subprocess). string will be strip()ed.
    @rtype:  str
    @raise roslib.exceptions.ROSLibException: if rosstack command fails
    """
    rosstack_bin = os.path.join(roslib.rosenv.get_ros_root(), 'bin', 'rosstack')
    val = (subprocess.Popen([rosstack_bin] + args, stdout=subprocess.PIPE).communicate()[0] or '').strip()
    if val.startswith('rosstack:'): #rospack error message
        raise roslib.exceptions.ROSLibException(val)
    return val

def rosstack_depends_on(s):
    """
    @param s: stack name
    @type  s: str
    @return: A list of the names of the stacks which depend on s
    @rtype: list
    """
    return rosstackexec(['depends-on', s]).split()

def rosstack_depends_on_1(s):
    """
    @param s: stack name
    @type  s: str
    @return: A list of the names of the stacks which depend directly on s
    @rtype: list
    """
    return rosstackexec(['depends-on1', s]).split()

def rosstack_depends(s):
    """
    @param s: stack name
    @type  s: str
    @return: A list of the names of the stacks which s depends on 
    @rtype: list
    """
    return rosstackexec(['depends', s]).split()

def rosstack_depends_1(s):
    """
    @param s: stack name
    @type  s: str
    @return: A list of the names of the stacks which s depends on directly
    @rtype: list
    """
    return rosstackexec(['depends1', s]).split()
