Added yaml launch frontend implementation

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

launch_yaml/launch_yaml/__init__.py

@@ -0,0 +1,23 @@
+# 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.
+
+"""Main entry point for the `launch_xml` package."""
+
+from .entity import Entity
+from .parser import Parser
+
+__all__ = [
+    'Entity',
+    'Parser',
+]

launch_yaml/launch_yaml/entity.py

@@ -0,0 +1,103 @@
+# 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.
+
+"""Module for YAML Entity class."""
+
+from typing import List
+from typing import Optional
+from typing import Text
+from typing import Tuple
+from typing import Union
+
+from launch_frontend import Entity as BaseEntity
+from launch_frontend.type_utils import check_type
+
+
+class Entity(BaseEntity):
+    """Single item in the intermediate YAML front_end representation."""
+
+    def __init__(
+        self,
+        element: dict,
+        *,
+        type_name: Optional[Text] = None,
+        parent: 'Entity' = None
+    ) -> Text:
+        """Construnctor."""
+        if type_name is None:
+            if len(element) != 1:
+                raise RuntimeError('Expected a len 1 dictionary')
+            self.__type_name = list(element.keys())[0]
+            self.__element = element[self.__type_name]
+        else:
+            self.__type_name = type_name
+            self.__element = element
+        self.__parent = parent
+
+    @property
+    def type_name(self) -> Text:
+        """Get Entity type."""
+        return self.__type_name
+
+    @property
+    def parent(self) -> Optional['Entity']:
+        """Get Entity parent."""
+        return self.__parent
+
+    @property
+    def children(self) -> List['Entity']:
+        """Get the Entity's children."""
+        if not isinstance(self.__element, list):
+            raise TypeError('Expected a list, got {}'.format(type(self.element)))
+        return [Entity(child) for child in self.__element]
+
+    def get_attr(
+        self,
+        name: Text,
+        *,
+        types: Union[Text, Tuple[Text]] = 'str',
+        optional: bool = False
+    ) -> Optional[Union[
+        Text,
+        int,
+        float,
+        List[Text],
+        List[int],
+        List[float],
+        List['Entity']
+    ]]:
+        """Access an attribute of the entity."""
+        if name not in self.__element:
+            if not optional:
+                raise AttributeError(
+                    'Can not find attribute {} in Entity {}'.format(
+                        name, self.type_name))
+            else:
+                return None
+        data = self.__element[name]
+        if types == 'list[Entity]':
+            if isinstance(data, list) and isinstance(data[0], dict):
+                return [Entity(child, type_name=name) for child in data]
+            raise TypeError(
+                'Attribute {} of Entity {} expected to be a list of dictionaries.'.format(
+                    name, self.type_name
+                )
+            )
+        if not check_type(data, types):
+            raise TypeError(
+                'Attribute {} of Entity {} expected to be of type {}, got {}'.format(
+                    name, self.type_name, types, type(data)
+                )
+            )
+        return data

launch_yaml/launch_yaml/parser.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.
+
+"""Module for YAML Parser class."""
+
+import io
+from typing import Union
+
+import launch_frontend
+
+import yaml
+
+from .entity import Entity
+
+
+class Parser(launch_frontend.Parser):
+    """YAML parser implementation."""
+
+    @classmethod
+    def load(
+        cls,
+        stream: Union[str, io.TextIOBase],
+    ) -> (Entity, 'Parser'):
+        """Load a YAML launch file."""
+        if isinstance(stream, str):
+            stream = open(stream, 'r')
+        """Return entity loaded with markup file."""
+        return (Entity(yaml.safe_load(stream)), cls)

launch_yaml/package.xml

@@ -0,0 +1,21 @@
+<?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>launch_yaml</name>
+  <version>0.7.3</version>
+  <description>The ROS launch YAML frontend.</description>
+  <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
+  <license>Apache License 2.0</license>
+
+  <depend>launch</depend>
+  <depend>launch_frontend</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

launch_yaml/setup.py

@@ -0,0 +1,34 @@
+from setuptools import find_packages
+from setuptools import setup
+
+setup(
+    name='launch_yaml',
+    version='0.7.3',
+    packages=find_packages(exclude=['test']),
+    install_requires=['setuptools'],
+    zip_safe=True,
+    author='Ivan Paunovic',
+    author_email='ivanpauno@ekumenlabs.com',
+    maintainer='Ivan Paunovic',
+    maintainer_email='ivanpauno@ekumenlabs.com',
+    url='https://github.com/ros2/launch',
+    download_url='https://github.com/ros2/launch/releases',
+    keywords=['ROS'],
+    classifiers=[
+        'Intended Audience :: Developers',
+        'License :: OSI Approved :: Apache Software License',
+        'Programming Language :: Python',
+        'Topic :: Software Development',
+    ],
+    description='YAML `launch` front-end extension.',
+    long_description=(
+        'This package provides YAML parsing ability to `launch-frontend` package.'
+    ),
+    license='Apache License, Version 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'launch_frontend.parser': [
+            'yaml = launch_yaml:Parser',
+        ],
+    }
+)

launch_yaml/test/launch_yaml/executable.yaml

@@ -0,0 +1,12 @@
+launch:
+  - executable:
+      cmd: ls
+      cwd: '/'
+      name: my_ls
+      args: -l -a -s
+      shell: true
+      output: log
+      launch_prefix: $(env LAUNCH_PREFIX)
+      env:
+        - name: var
+          value: '1'

launch_yaml/test/launch_yaml/test_executable.py

@@ -0,0 +1,48 @@
+# 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.
+
+"""Test parsing an executable action."""
+
+from pathlib import Path
+
+from launch import LaunchService
+
+from launch_frontend import Parser
+
+
+def test_executable():
+    """Parse executable yaml example."""
+    root_entity, parser = Parser.load(str(Path(__file__).parent / 'executable.yaml'))
+    ld = parser.parse_description(root_entity)
+    executable = ld.entities[0]
+    cmd = [i[0].perform(None) for i in executable.cmd]
+    assert(
+        cmd == ['ls', '-l', '-a', '-s'])
+    assert(executable.cwd[0].perform(None) == '/')
+    assert(executable.name[0].perform(None) == 'my_ls')
+    assert(executable.shell is True)
+    assert(executable.output == 'log')
+    key, value = executable.additional_env[0]
+    key = key[0].perform(None)
+    value = value[0].perform(None)
+    assert(key == 'var')
+    assert(value == '1')
+    # assert(executable.prefix[0].perform(None) == 'time')
+    ls = LaunchService()
+    ls.include_launch_description(ld)
+    assert(0 == ls.run())
+
+
+if __name__ == '__main__':
+    test_executable()

launch_yaml/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'

launch_yaml/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'

launch_yaml/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 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'