Switch internal rospy module to PyObject

Author: jdlangs

src/RobotOS.jl

@@ -2,7 +2,7 @@ module RobotOS
 
 using PyCall
 const __rospy__ = try
-    pywrap(pyimport("rospy"))
+    pyimport("rospy")
 catch ex
     if ex.val[:args][1] == "No module named rospy"
         error("rospy not found!\nHas an environment setup script been run?")

src/gentypes.jl

@@ -3,6 +3,7 @@ using Compat
 
 export @rosimport, rostypegen, rostypereset, gentypes, cleartypes
 
+#Type definitions
 #Composite types for internal use. Keeps track of the imported types and helps
 #keep code generation orderly.
 abstract ROSModule

src/pubsub.jl

@@ -7,7 +7,7 @@ type Publisher{MsgType<:MsgT}
     function Publisher(topic::String; kwargs...)
         @debug("Creating <$(string(MsgType))> publisher on topic: '$topic'")
         rospycls = _get_rospy_class(MsgType)
-        return new(__rospy__.Publisher(topic, rospycls; kwargs...))
+        return new(__rospy__[:Publisher](topic, rospycls; kwargs...))
     end
 end
 Publisher{MsgType<:MsgT}(topic::String, ::Type{MsgType}; kwargs...) =
@@ -28,7 +28,7 @@ type Subscriber{MsgType<:MsgT}
         rospycls = _get_rospy_class(MsgType)
         jl_callback(msg::PyObject) = cb(convert(MsgType, msg), cb_args...)
         return new(
-            __rospy__.Subscriber(topic, rospycls, jl_callback; kwargs...),
+            __rospy__[:Subscriber](topic, rospycls, jl_callback; kwargs...),
             jl_callback
         )
     end

src/rospy.jl

@@ -4,46 +4,46 @@ export init_node, is_shutdown, spin,
        logdebug, loginfo, logwarn, logerr, logfatal
 
 #General rospy functions
-init_node(name::String; args...) = __rospy__.init_node(name; args...)
-spin()                 = __rospy__.spin()
-is_shutdown()          = __rospy__.is_shutdown()
-get_published_topics() = __rospy__.get_published_topics()
-get_ros_root()         = __rospy__.get_ros_root()
+init_node(name::String; args...) = __rospy__[:init_node](name; args...)
+spin()                 = __rospy__[:spin]()
+is_shutdown()          = __rospy__[:is_shutdown]()
+get_published_topics() = __rospy__[:get_published_topics]()
+get_ros_root()         = __rospy__[:get_ros_root]()
 
 #Parameter server API
 get_param(param_name::String, def=nothing) = begin
     try
         if def == nothing
-            __rospy__.get_param(param_name)
+            __rospy__[:get_param](param_name)
         else
-            __rospy__.get_param(param_name, def)
+            __rospy__[:get_param](param_name, def)
         end
     catch ex
         throw(KeyError(pycall(pybuiltin("str"), PyAny, ex.val)[2:end-1]))
     end
 end
-set_param(param_name::String, val) = __rospy__.set_param(param_name, val)
-has_param(param_name::String) = __rospy__.has_param(param_name)
+set_param(param_name::String, val) = __rospy__[:set_param](param_name, val)
+has_param(param_name::String) = __rospy__[:has_param](param_name)
 delete_param(param_name::String) = begin
     try
-        __rospy__.delete_param(param_name)
+        __rospy__[:delete_param](param_name)
     catch ex
         throw(KeyError(pycall(pybuiltin("str"), PyAny, ex.val)[2:end-1]))
     end
 end
 #Doesn't work for some reason
-#rospy_search_param(param_name::String) = __rospy__.rospy_search_param(param_name)
-get_param_names() = __rospy__.get_param_names()
+#rospy_search_param(param_name::String) = __rospy__[:rospy_search_param](param_name)
+get_param_names() = __rospy__[:get_param_names]()
 
 #Logging API
-logdebug(msg, args...) = __rospy__.logdebug(msg, args...)
-loginfo(msg, args...)  = __rospy__.loginfo(msg, args...)
-logwarn(msg, args...)  = __rospy__.logwarn(msg, args...)
-logerr(msg, args...)   = __rospy__.logerr(msg, args...)
-logfatal(msg, args...) = __rospy__.logfatal(msg, args...)
+logdebug(msg, args...) = __rospy__[:logdebug](msg, args...)
+loginfo(msg, args...)  = __rospy__[:loginfo](msg, args...)
+logwarn(msg, args...)  = __rospy__[:logwarn](msg, args...)
+logerr(msg, args...)   = __rospy__[:logerr](msg, args...)
+logfatal(msg, args...) = __rospy__[:logfatal](msg, args...)
 
 #Node information
-get_name()             = __rospy__.get_name()
-get_namespace()        = __rospy__.get_namespace()
-get_node_uri()         = __rospy__.get_node_uri()
-get_caller_id()        = __rospy__.get_caller_id()
+get_name()             = __rospy__[:get_name]()
+get_namespace()        = __rospy__[:get_namespace]()
+get_node_uri()         = __rospy__[:get_node_uri]()
+get_caller_id()        = __rospy__[:get_caller_id]()

src/services.jl

@@ -13,7 +13,7 @@ type ServiceProxy{SrvType <: ServiceDefinition}
     function ServiceProxy(name::String; kwargs...)
         @debug("Creating <$SrvType> service proxy for '$name'")
         rospycls = _get_rospy_class(SrvType)
-        new(__rospy__.ServiceProxy(name, rospycls; kwargs...))
+        new(__rospy__[:ServiceProxy](name, rospycls; kwargs...))
     end
 end
 function ServiceProxy{SrvType<:ServiceDefinition}(
@@ -48,7 +48,7 @@ type Service{SrvType <: ServiceDefinition}
         jl_handler(req::PyObject) =
             convert(PyObject, handler(convert(ReqType,req)))
         try
-            new(__rospy__.Service(name, rospycls, jl_handler; kwargs...), 
+            new(__rospy__[:Service](name, rospycls, jl_handler; kwargs...),
                 jl_handler
             )
         catch err
@@ -71,7 +71,7 @@ end
 
 function wait_for_service(service::String; kwargs...)
     try
-        __rospy__.wait_for_service(service; kwargs...)
+        __rospy__[:wait_for_service](service; kwargs...)
     catch ex
         error("Timeout exceeded waiting for service '$service'")
     end

src/time.jl

@@ -54,8 +54,8 @@ end
 #PyObject conversions
 convert(::Type{Time},     o::PyObject) = Time(    o[:secs],o[:nsecs])
 convert(::Type{Duration}, o::PyObject) = Duration(o[:secs],o[:nsecs])
-convert(::Type{PyObject}, t::Time)     = __rospy__.Time(    t.secs,t.nsecs)
-convert(::Type{PyObject}, t::Duration) = __rospy__.Duration(t.secs,t.nsecs)
+convert(::Type{PyObject}, t::Time)     = __rospy__[:Time](    t.secs,t.nsecs)
+convert(::Type{PyObject}, t::Duration) = __rospy__[:Duration](t.secs,t.nsecs)
 
 #Real number conversions
 to_sec{T<:TVal}(t::T) = t.secs + 1e-9*t.nsecs
@@ -73,7 +73,7 @@ isless{T<:TVal}(t1::T, t2::T) = to_nsec(t1) < to_nsec(t2)
 type Rate
     o::PyObject
 end
-Rate(hz::Real) = Rate(__rospy__.Rate(hz))
+Rate(hz::Real) = Rate(__rospy__[:Rate](hz))
 Rate(d::Duration) = Rate(1.0/to_sec(d))
 
 type Timer
@@ -90,16 +90,16 @@ end
 
 function get_rostime()
     t = try
-        __rospy__.get_rostime()
+        __rospy__[:get_rostime]()
     catch ex
         error(pycall(pybuiltin("str"), PyAny, ex.val))
     end
     convert(Time, t)
 end
 now() = get_rostime()
 
-rossleep(t::Real) = __rospy__.sleep(t)
-rossleep(t::Duration) = __rospy__.sleep(convert(PyObject, t))
+rossleep(t::Real) = __rospy__[:sleep](t)
+rossleep(t::Duration) = __rospy__[:sleep](convert(PyObject, t))
 rossleep(r::Rate) = pycall(r.o["sleep"], PyAny)
 sleep(t::Duration) = rossleep(t)
 sleep(t::Rate) = rossleep(t)