Merge pull request #52 from stonier/stonier/drop_termcolor

[mock] drop termcolor dependency

package.xml

@@ -33,7 +33,6 @@
   <doc_depend>python-sphinx-rtd-theme</doc_depend>
   <doc_depend>python-catkin-pkg</doc_depend>
   <doc_depend>python-rospkg</doc_depend>
-  <doc_depend>python-termcolor</doc_depend>
   <doc_depend>python_qt_binding</doc_depend>
   <doc_depend>py_trees</doc_depend>
   <doc_depend>py_trees_msgs</doc_depend>
@@ -46,7 +45,6 @@
   -->
 
   <!-- mocking & simulation dependencies -->
-  <exec_depend>python-termcolor</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
   <!--
   <exec_depend>dynamic_reconfigure</exec_depend>

py_trees_ros/__init__.py

@@ -14,17 +14,17 @@
 # Imports
 ##############################################################################
 
-from . import blackboard
-from . import exceptions
+# from . import blackboard
+# from . import exceptions
+from . import mock
 from . import programs
-from . import trees
-from . import tutorials
+# from . import trees
+# from . import tutorials
 from . import utilities
 
 # from . import actions
 # from . import battery
 # from . import conversions
-# from . import mock
 # from . import subscribers
 # from . import visitors
 

py_trees_ros/mock/led_strip.py

@@ -20,11 +20,11 @@
 import argparse
 import functools
 import math
+import py_trees.console as console
 import py_trees_ros
 import rclpy
 import std_msgs.msg as std_msgs
 import sys
-import termcolor  # TODO: replace this with py_trees.console
 import threading
 import uuid
 
@@ -50,8 +50,6 @@ class LEDStrip(object):
     _pattern = '*'
     _pattern_width = 60  # total width of the pattern to be output
     _pattern_name_spacing = 4  # space between pattern and the name of the pattern
-    # map colour names in message to termcolor names
-    _valid_colours = {'red': 'red', 'green': 'green', 'yellow': 'yellow', 'blue': 'blue', 'purple': 'magenta', 'white': 'white'}
 
     def __init__(self):
         self.node = rclpy.create_node("led_strip")
@@ -63,7 +61,7 @@ def __init__(self):
         self.display_publisher = self.node.create_publisher(
             msg_type=std_msgs.String,
             topic="~/display",
-            qos_profile = py_trees_ros.utilities.qos_profile_latched_topic()
+            qos_profile=py_trees_ros.utilities.qos_profile_latched_topic()
         )
         self.duration_sec = 3.0
         self.last_text = ''
@@ -109,10 +107,19 @@ def generate_led_text(self, colour):
             return ""
         else:
             text = self.get_display_string(self._pattern_width, label=colour)
-            return termcolor.colored(text,
-                                     colour,
-                                     attrs=['blink']
-                                     )
+
+            # map colour names in message to console colour escape sequences
+            console_colour_map = {
+                'red': console.red,
+                'green': console.green,
+                'yellow': console.yellow,
+                'blue': console.blue,
+                'purple': console.magenta,
+                'white': console.white
+            }
+
+            coloured_text = console_colour_map[colour] + console.blink + text + console.reset
+            return coloured_text
 
     def command_callback(self, msg):
         with self.lock:
@@ -152,6 +159,7 @@ def spin(self):
             pass
         self.node.destroy_node()
 
+
 def main():
     """
     Entry point for the mock led strip.

setup.cfg

@@ -1,4 +1,7 @@
 [develop]
 script-dir=$base/lib/py_trees_ros
 [install]
-install-scripts=$base/lib/py_trees_ros
+install-scripts=$base/lib/py_trees_ros
+
+[pep8]
+max-line-length=299