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"""
Library for listing ROS filesystem resources. This is mainly used by
higher-level libraries like L{roslib.msgs}.
"""

import os
import itertools

import roslib.manifest
import roslib.names
import roslib.packages

def _get_manifest_by_dir(package_dir):
    """
    Helper routine for loading Manifest instances
    @param package_dir: package directory location
    @type  package_dir: str
    @return: manifest for package
    @rtype: Manifest
    """
    f = os.path.join(package_dir, roslib.manifest.MANIFEST_FILE)
    if f:
        return roslib.manifest.parse_file(f)
    else:
        return None

def list_package_resources_by_dir(package_dir, include_depends, subdir, rfilter=os.path.isfile):
    """
    List resources in a package directory within a particular
    subdirectory. This is useful for listing messages, services, etc...
    @param package_dir: package directory location
    @type  package_dir: str
    @param subdir: name of subdirectory
    @type  subdir: str
    @param include_depends: if True, include resources in dependencies as well    
    @type  include_depends: bool
    @param rfilter: resource filter function that returns true if filename is the desired resource type
    @type  rfilter: fn(filename)->bool
    """
    package = os.path.basename(package_dir)
    resources = []
    dir = roslib.packages._get_pkg_subdir_by_dir(package_dir, subdir, False)
    if os.path.isdir(dir):
        resources = [roslib.names.resource_name(package, f, my_pkg=package) \
                     for f in os.listdir(dir) if rfilter(os.path.join(dir, f))]
    else:
        resources = []
    if include_depends:
        depends = _get_manifest_by_dir(package_dir).depends
        dirs = [roslib.packages.get_pkg_subdir(d.package, subdir, False) for d in depends]
        dirs = filter(lambda dir: dir and os.path.isdir(dir), dirs)
        for (dep, dir) in itertools.izip(depends, dirs):
            resources.extend(\
                [roslib.names.resource_name(dep.package, f, my_pkg=package) \
                 for f in os.listdir(dir) if rfilter(os.path.join(dir, f))])
    return resources

def list_package_resources(package, include_depends, subdir, rfilter=os.path.isfile):
    """
    List resources in a package within a particular subdirectory. This is useful for listing
    messages, services, etc...    
    @param package: package name
    @type  package: str
    @param subdir: name of subdirectory
    @type  subdir: str
    @param include_depends: if True, include resources in dependencies as well    
    @type  include_depends: bool
    @param rfilter: resource filter function that returns true if filename is the desired resource type
    @type  rfilter: fn(filename)->bool
    """    
    package_dir = roslib.packages.get_pkg_dir(package)
    return list_package_resources_by_dir(package_dir, include_depends, subdir, rfilter)

