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March 20, 2012 15:00
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| # rosbash - functions to support ROS users | |
| # Useful things to know: | |
| # 'local' variables get unset after function, all others stay forever | |
| # COMPREPLY is the var used by bash complete builtin | |
| function _rossed { | |
| if [[ `uname` == Darwin || `uname` == FreeBSD ]]; then | |
| sed -E "$@" | |
| else | |
| sed -r "$@" | |
| fi | |
| } | |
| function _rosfind { | |
| if [[ `uname` == Darwin || `uname` == FreeBSD ]]; then | |
| # BSD find needs -E for extended regexp | |
| find -E "$@" | |
| else | |
| find "$@" | |
| fi | |
| } | |
| # _ros_location_find | |
| # based on $ROS_LOCATIONS, which the user can set to any colon | |
| # separated of key=folder pairs also resolves keys 'log' and | |
| # 'test_results' to ROS defaults finally resolves to package, then | |
| # stack echoes its result | |
| function _ros_location_find { | |
| local homedir ROS_LOCATION_KEYS_ARR ROS_LOCATIONS_ARR loc | |
| homedir=`echo $HOME | sed -e "s/\//\t\//g" -e "s/\t/\\\\\/g"` | |
| ROS_LOCATION_KEYS_ARR=(`echo $ROS_LOCATIONS | _rossed -e 's/([^:=]*)=([^:=]*)(:*[^=])*(:|$)/\1 /g'`) | |
| ROS_LOCATIONS_ARR=(`echo $ROS_LOCATIONS | _rossed -e 's/([^:=]*)=([^:=]*)(:*[^=])*(:|$)/\2 /g' -e "s/~/${homedir}/g"`) | |
| for (( i = 0 ; i < ${#ROS_LOCATION_KEYS_ARR[@]} ; i++ )); do | |
| if [[ $1 == ${ROS_LOCATION_KEYS_ARR[$i]} ]]; then | |
| echo ${ROS_LOCATIONS_ARR[i]} | |
| return 0 | |
| fi | |
| done | |
| if [[ $1 == log ]]; then | |
| echo `roslaunch-logs` | |
| return 0 | |
| elif [[ $1 == test_results ]]; then | |
| echo `rosrun rosunit test_results_dir.py` | |
| return 0 | |
| fi | |
| loc=`export ROS_CACHE_TIMEOUT=-1.0 && rospack find $1 2> /dev/null` | |
| if [[ $? != 0 ]]; then | |
| loc=`export ROS_CACHE_TIMEOUT=-1.0 && rosstack find $1 2> /dev/null` | |
| if [[ $? != 0 ]]; then | |
| return 1 | |
| fi | |
| echo $loc | |
| return 0 | |
| fi | |
| echo $loc | |
| return 0 | |
| } | |
| function _ros_list_locations { | |
| local ROS_LOCATION_KEYS packages stacks | |
| ROS_LOCATION_KEYS=`echo $ROS_LOCATIONS | _rossed -e 's/([^:=]*)=([^:=]*)(:*[^=])*(:|$)/\1 /g'` | |
| packages=`export ROS_CACHE_TIMEOUT=-1.0 && rospack list-names` | |
| stacks=`export ROS_CACHE_TIMEOUT=-1.0 && rosstack list-names` | |
| echo $packages $stacks log test_results $ROS_LOCATION_KEYS | tr ' ' '\n' | |
| return 0 | |
| } | |
| function _ros_package_find { | |
| local loc | |
| loc=`export ROS_CACHE_TIMEOUT=-1.0 && rospack find $1 2> /dev/null` | |
| if [[ $? != 0 ]]; then | |
| return 1 | |
| fi | |
| echo $loc | |
| return 0 | |
| } | |
| function _ros_list_packages { | |
| local packages | |
| packages=`export ROS_CACHE_TIMEOUT=-1.0 && rospack list-names` | |
| echo $packages | tr ' ' '\n' | |
| return 0 | |
| } | |
| function _ros_list_stacks { | |
| local stacks | |
| stacks=`export ROS_CACHE_TIMEOUT=-1.0 && rosstack list-names` | |
| echo $stacks | tr ' ' '\n' | |
| return 0 | |
| } | |
| # takes as argument either just a package-path or just a pkgname | |
| # returns 0 for no argument or if package (+ path) exist, 1 else | |
| # on success with arguments returns [pkgname, abspath, relpath basename] | |
| function _ros_decode_path { | |
| local rosname rosdir reldir last | |
| rosvals=() | |
| if [[ -z $1 ]]; then | |
| return 0 | |
| fi | |
| if [[ $1 =~ .+/.* ]]; then | |
| rosname=${1%%/*} | |
| reldir=/${1#*/} | |
| last=${reldir##*/} | |
| reldir=${reldir%/*}/ | |
| else | |
| rosname=$1 | |
| if [[ -z $2 || $2 != "forceeval" ]]; then | |
| rosvals=(${rosname}) | |
| return 1 | |
| fi | |
| fi | |
| rosdir=`_ros_location_find $rosname` | |
| if [[ $? != 0 ]]; then | |
| rosvals=(${rosname}) | |
| return 1 | |
| fi | |
| rosvals=(${rosname} ${rosdir} ${reldir} ${last}) | |
| } | |
| function rospython { | |
| local pkgname | |
| if [[ $1 = "--help" ]]; then | |
| echo -e "usage: rospython [package] \n\nRun python loading package manifest first." | |
| return 0 | |
| fi | |
| if [[ -z $1 ]]; then | |
| if [[ -f ./manifest.xml ]]; then | |
| pkgname=`basename \`pwd\`` | |
| python -i -c "import roslib; roslib.load_manifest('$pkgname')" | |
| else | |
| python | |
| fi | |
| else | |
| python -i -c "import roslib; roslib.load_manifest('$1')" | |
| fi | |
| } | |
| function roscd { | |
| local rosvals | |
| if [[ $1 = "--help" ]] | [[ $# -gt 1 ]]; then | |
| echo -e "usage: roscd package\n\nJump to target package." | |
| return 0 | |
| fi | |
| if [ -z $1 ]; then | |
| if [ -z $ROS_WORKSPACE ]; then | |
| echo -e "No ROS_WORKSPACE set. Please set ROS_WORKSPACE to use roscd with no arguments." | |
| return 1 | |
| fi | |
| cd ${ROS_WORKSPACE} | |
| return 0 | |
| fi | |
| _ros_decode_path $1 forceeval | |
| if [ $? != 0 ]; then | |
| echo "roscd: No such package/stack '$1'" | |
| return 1 | |
| elif [ -z $rosvals ]; then | |
| if [ -z $ROS_WORKSPACE ]; then | |
| echo -e "No ROS_WORKSPACE set. Please set ROS_WORKSPACE to use roscd with no arguments." | |
| return 1 | |
| fi | |
| cd ${ROS_WORKSPACE} | |
| return 0 | |
| else | |
| cd ${rosvals[1]}${rosvals[2]}${rosvals[3]} | |
| return 0 | |
| fi | |
| } | |
| function _is_integer { | |
| [ "$1" -eq "$1" ] > /dev/null 2>&1 | |
| return $? | |
| } | |
| function rosd { | |
| if [[ $1 = "--help" ]]; then | |
| echo -e "usage: rosd\n\nDisplays the list of currently remembered directories with indexes." | |
| return 0 | |
| fi | |
| let count=0; | |
| for items in `dirs`; | |
| do | |
| echo $count $items; | |
| let count=$((count+1)); | |
| done | |
| } | |
| function rospd { | |
| if [[ $1 = "--help" ]]; then | |
| echo -e "usage: rospd\n\nLike pushd, also accepts indexes from rosd." | |
| return 0 | |
| fi | |
| if _is_integer $1; then | |
| pushd +$1 > /dev/null ; | |
| else | |
| local rosvals | |
| _ros_decode_path $1 forceeval | |
| pushd ${rosvals[1]}${rosvals[2]}${rosvals[3]} > /dev/null ; | |
| fi | |
| rosd | |
| } | |
| function rosls { | |
| local rosvals | |
| if [[ $1 = "--help" ]]; then | |
| echo -e "usage: rosls [package]\n\nLists contents of a package directory." | |
| return 0 | |
| fi | |
| _ros_decode_path $1 forceeval | |
| ls ${rosvals[1]}${rosvals[2]}${rosvals[3]} $2 | |
| } | |
| # sets arg as return value | |
| function _roscmd { | |
| local pkgdir exepath opt catkin_source_dir catkin_binary_dir opts | |
| if [[ -n $CATKIN_SOURCE_DIR ]]; then | |
| catkin_source_dir=`ROS_ROOT=$CATKIN_SOURCE_DIR ROS_PACKAGE_PATH= _ros_package_find $1` | |
| fi | |
| if [[ -n $CATKIN_BINARY_DIR && -f $CATKIN_BINARY_DIR/etc/packages.list ]]; then | |
| cbd=`grep $1 $CATKIN_BINARY_DIR/etc/packages.list | cut -d " " -f 2` | |
| if [[ -n $cbd ]]; then | |
| catkin_binary_dir=$CATKIN_BINARY_DIR/$cbd | |
| fi | |
| fi | |
| pkgdir=`_ros_package_find $1` | |
| if [[ -z $catkin_source_dir && -z $catkin_binary_dir && -z $pkgdir ]]; then | |
| echo "Couldn't find package [$1]" | |
| return 1 | |
| fi | |
| exepath=(`find -L $catkin_source_dir $catkin_binary_dir $pkgdir -name $2 -type f ! -regex .*/[.].* ! -regex .*$pkgdir\/build\/.* | uniq`) | |
| if [[ ${#exepath[@]} == 0 ]] ; then | |
| echo "That file does not exist in that package." | |
| return 1 | |
| elif [[ ${#exepath[@]} -gt 1 ]] ; then | |
| echo "You have chosen a non-unique filename, please pick one of the following:" | |
| select opt in ${exepath[@]}; do | |
| echo $opt | |
| break | |
| done | |
| else | |
| opt=${exepath[0]} | |
| fi | |
| arg=${opt} | |
| } | |
| function rosed { | |
| local arg | |
| if [[ $1 = "--help" ]]; then | |
| echo -e "usage: rossed [package] [file]\n\nEdit a file within a package." | |
| return 0 | |
| fi | |
| _roscmd ${1} ${2} | |
| if [[ -n ${arg} ]]; then | |
| if [[ -z $EDITOR ]]; then | |
| vim ${arg} | |
| else | |
| $EDITOR ${arg} | |
| fi | |
| fi | |
| } | |
| function roscp { | |
| local arg | |
| if [[ $1 = "--help" ]] | [[ $# -ne 3 ]]; then | |
| echo -e "usage: roscp package filename target\n\nCopy a file from a package to target location." | |
| return 0 | |
| fi | |
| _roscmd ${1} ${2} | |
| cp ${arg} ${3} | |
| } | |
| function rosawesome { | |
| alias megamaid=rosrecord | |
| alias suck2blow=rosplay | |
| alias botherder=roscore | |
| } | |
| function _roscomplete { | |
| local arg opts | |
| COMPREPLY=() | |
| arg="${COMP_WORDS[COMP_CWORD]}" | |
| opts="`_ros_list_packages` `_ros_list_stacks`" | |
| IFS=$'\n' | |
| COMPREPLY=($(compgen -W "${opts}" -- ${arg})) | |
| unset IFS | |
| } | |
| function _roscomplete_rosmake { | |
| local arg | |
| COMPREPLY=() | |
| arg="${COMP_WORDS[COMP_CWORD]}" | |
| _roscomplete | |
| if [[ ${arg} =~ \-\-.* ]]; then | |
| COMPREPLY=(${COMPREPLY[@]} $(compgen -W "--test-only --all --mark-installed --unmark-installed --robust --build-everything --specified-only --buildtest --buildtest1 --output --pre-clean --bootstrap --disable-logging --target --pjobs= --threads --profile --skip-blacklist --status-rate" -- ${arg})) | |
| fi | |
| } | |
| function _roscomplete_sub_dir { | |
| local arg opts rosvals | |
| COMPREPLY=() | |
| arg="${COMP_WORDS[COMP_CWORD]}" | |
| _ros_decode_path ${arg} | |
| if [[ -z ${rosvals[2]} ]]; then | |
| opts=`_ros_list_locations` | |
| IFS=$'\n' | |
| COMPREPLY=($(compgen -W "${opts}" -S / -- ${rosvals[0]})) | |
| unset IFS | |
| else | |
| if [ -e ${rosvals[1]}${rosvals[2]} ]; then | |
| opts=`find -L ${rosvals[1]}${rosvals[2]} -maxdepth 1 -mindepth 1 -type d ! -regex ".*/[.].*" -print0 | tr '\000' '\n' | sed -e "s/.*\/\(.*\)/\1\//g"` | |
| else | |
| opts='' | |
| fi | |
| IFS=$'\n' | |
| COMPREPLY=($(compgen -P ${rosvals[0]}${rosvals[2]} -W "${opts}" -- ${rosvals[3]})) | |
| unset IFS | |
| fi | |
| } | |
| function _msg_opts { | |
| local arg pkgs pkgname msgname searchmsg path | |
| if [[ $1 =~ .+/.* ]]; then | |
| pkgname=${1%%/*} | |
| msgname=${1#*/} | |
| searchmsg=1 | |
| else | |
| pkgname=${1} | |
| fi | |
| if [[ -z ${searchmsg} ]]; then | |
| pkgs=(`rospack list`) | |
| for (( i = 0 ; i < ${#pkgs[@]} ; i=i+2 )); do | |
| if [[ -d ${pkgs[i+1]}/msg ]]; then | |
| echo ${pkgs[i]}/ | |
| fi | |
| done | |
| else | |
| path=`rospack find ${pkgname}` | |
| if [ -d ${path}/msg ]; then | |
| echo `find -L ${path}/msg -maxdepth 1 -mindepth 1 -name *.msg ! -regex ".*/[.].*" -print0 | tr '\000' '\n' | sed -e "s/.*\/\(.*\)\.msg/${pkgname}\/\1/g"` | |
| fi | |
| fi | |
| } | |
| function _srv_opts { | |
| local arg pkgs pkgname srvname searchsrv path count opts | |
| if [[ $1 =~ .+/.* ]]; then | |
| pkgname=${1%%/*} | |
| srvname=${1#*/} | |
| searchsrv=1 | |
| else | |
| pkgname=${1} | |
| fi | |
| if [[ -z ${searchsrv} ]]; then | |
| pkgs=(`rospack list | grep "^${pkgname}"`) | |
| count=0 | |
| opts="" | |
| for (( i = 0 ; i < ${#pkgs[@]} ; i=i+2 )); do | |
| if [[ -d ${pkgs[i+1]}/srv ]]; then | |
| opts="$opts ${pkgs[i]}/" | |
| pkgname=${pkgs[i]} | |
| count=$((count+1)) | |
| fi | |
| done | |
| if [[ $count -gt 1 ]]; then | |
| echo $opts | |
| return 0 | |
| fi | |
| fi | |
| path=`rospack find ${pkgname} 2> /dev/null` | |
| if [ $? -eq 0 ] && [ -d ${path}/srv ]; then | |
| echo `find -L ${path}/srv -maxdepth 1 -mindepth 1 -name *.srv ! -regex ".*/[.].*" -print0 | tr '\000' '\n' | sed -e "s/.*\/\(.*\)\.srv/${pkgname}\/\1/g"` | |
| fi | |
| } | |
| function _roscomplete_rossrv { | |
| COMPREPLY=() | |
| arg="${COMP_WORDS[COMP_CWORD]}" | |
| if [[ $COMP_CWORD == 1 ]]; then | |
| opts="show list md5 package packages" | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| elif [[ $COMP_CWORD == 2 ]]; then | |
| case ${COMP_WORDS[1]} in | |
| show|users|md5) | |
| opts=`_srv_opts ${COMP_WORDS[$COMP_CWORD]}` | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| ;; | |
| package) | |
| opts=`rospack list-names` | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| ;; | |
| packages|list) | |
| # This shouldn't really have a completion rule | |
| ;; | |
| esac | |
| fi | |
| } | |
| function _roscomplete_search_dir { | |
| local arg opts pkgdir catkin_source_dir catkin_binary_dir | |
| COMPREPLY=() | |
| arg="${COMP_WORDS[COMP_CWORD]}" | |
| if [[ $COMP_CWORD == 1 ]]; then | |
| opts=`_ros_list_packages` | |
| IFS=$'\n' | |
| COMPREPLY=($(compgen -W "${opts}" -- ${arg})) | |
| unset IFS | |
| elif [[ $COMP_CWORD == 2 ]]; then | |
| if [[ -n "$CATKIN_SOURCE_DIR" ]]; then | |
| catkin_source_dir=`ROS_ROOT=$CATKIN_SOURCE_DIR ROS_PACKAGE_PATH= _ros_package_find ${COMP_WORDS[1]}` | |
| fi | |
| if [[ -n $CATKIN_BINARY_DIR && -f $CATKIN_BINARY_DIR/etc/packages.list ]]; then | |
| cbd=`grep ${COMP_WORDS[1]} $CATKIN_BINARY_DIR/etc/packages.list | cut -d " " -f 2` | |
| if [[ -n $cbd ]]; then | |
| catkin_binary_dir=$CATKIN_BINARY_DIR/$cbd | |
| fi | |
| fi | |
| pkgdir=`_ros_package_find ${COMP_WORDS[1]}` | |
| if [[ -n "$catkin_source_dir" || -n "$catkin_binary_dir" || -n "$pkgdir" ]]; then | |
| opts=`_rosfind -L $catkin_source_dir $catkin_binary_dir $pkgdir ${1} ! -regex ".*/[.].*" ! -regex ".*$pkgdir\/build\/.*" -print0 | tr '\000' '\n' | sed -e "s/.*\/\(.*\)/\1/g"` | |
| else | |
| opts="" | |
| fi | |
| IFS=$'\n' | |
| COMPREPLY=($(compgen -W "${opts}" -- ${arg})) | |
| unset IFS | |
| else | |
| homedir=`echo $HOME | sed -e "s/\//\t\//g" -e "s/\t/\\\\\/g"` | |
| arg=`echo ${arg} | sed -e "s/~/${homedir}/g"` | |
| if [[ $arg =~ ^/*.+/.* ]]; then | |
| path=${arg%/*} | |
| else | |
| path=. | |
| fi | |
| if [[ -e ${path} ]]; then | |
| opts=`find -L $path -maxdepth 1 -type d ! -regex ".*/[.].*" ! -regex "^[.]/" -print0 | tr '\000' '\n' | sed -e "s/$/\//g" -e "s/^[.]\///g" -e "s/'/\\\\\'/g" -e "s/ /\\\\\ /g"`$'\n'`find -L $path -maxdepth 1 -type f ! -regex ".*/[.][^.]*" ! -regex "^[.]/" -print0 | tr '\000' '\n' | sed -e "s/^[.]\///g" -e "s/'/\\\\\'/g" -e "s/ /\\\\\ /g"` | |
| else | |
| opts="" | |
| fi | |
| IFS=$'\n' | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| unset IFS | |
| if [[ ${#COMPREPLY[*]} = 1 ]]; then | |
| newpath=${COMPREPLY[0]%/*} | |
| if [[ -d ${newpath} ]]; then | |
| opts=`find -L $newpath -maxdepth 1 -type d ! -regex ".*/[.].*" ! -regex "^[.]/" -print0 | tr '\000' '\n' | sed -e "s/$/\//g" -e "s/^[.]\///g" -e "s/'/\\\\\'/g" -e "s/ /\\\\\ /g"`$'\n'`find -L $newpath -maxdepth 1 -type f ! -regex ".*/[.][^.]*" ! -regex "^[.]/" -print0 | tr '\000' '\n' | sed -e "s/^[.]\///g" -e "s/'/\\\\\'/g" -e "s/ /\\\\\ /g"` | |
| IFS=$'\n' | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| unset IFS | |
| fi | |
| fi | |
| fi | |
| } | |
| function _roscomplete_exe { | |
| _roscomplete_search_dir "-type f -perm +111" | |
| } | |
| function _roscomplete_file { | |
| _roscomplete_search_dir "-type f ! -regex .*[.][oa]$" | |
| } | |
| function _roscomplete_launch { | |
| arg="${COMP_WORDS[COMP_CWORD]}" | |
| COMPREPLY=() | |
| if [[ ${arg} =~ \-\-.* ]]; then | |
| COMPREPLY=(${COMPREPLY[@]} $(compgen -W "--files --args --nodes --find-node --child --local --screen --server_uri --run_id --wait --port --core --pid --dump-params" -- ${arg})) | |
| else | |
| _roscomplete_search_dir "( -type f -regex .*\.launch$ -o -type f -regex .*\.test$ )" | |
| if [[ $COMP_CWORD == 1 ]]; then | |
| COMPREPLY=($(compgen -o plusdirs -f -X "!*.launch" -- ${arg}) ${COMPREPLY[@]} $(compgen -o plusdirs -f -X "!*.test" -- ${arg}) ${COMPREPLY[@]}) | |
| fi | |
| fi | |
| } | |
| function _roscomplete_test { | |
| arg="${COMP_WORDS[COMP_CWORD]}" | |
| if [[ ${arg} =~ \-\-.* ]]; then | |
| COMPREPLY=(${COMPREPLY[@]} $(compgen -W "--bare --bare-limit --bare-name --pkgdir --package" -- ${arg})) | |
| else | |
| _roscomplete_search_dir "( -type f -regex .*\.launch$ -o -type f -regex .*\.test$ )" | |
| if [[ $COMP_CWORD == 1 ]]; then | |
| COMPREPLY=($(compgen -o plusdirs -f -X "!*.launch" -- ${arg}) ${COMPREPLY[@]} $(compgen -o plusdirs -f -X "!*.test" -- ${arg}) ${COMPREPLY[@]}) | |
| fi | |
| fi | |
| } | |
| function _roscomplete_rosbag { | |
| local opts | |
| COMPREPLY=() | |
| arg="${COMP_WORDS[COMP_CWORD]}" | |
| if [[ $COMP_CWORD == 1 ]]; then | |
| opts="check compress decompress filter fix help info play record reindex" | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| else | |
| if [[ ${arg} =~ \-\-.* ]]; then | |
| case ${COMP_WORDS[1]} in | |
| check) | |
| opts="--genrules --append --noplugins --help" | |
| ;; | |
| compress|decompress) | |
| opts="--output-dir --force --quiet --help" | |
| ;; | |
| filter) | |
| opts="--print --help" | |
| ;; | |
| fix) | |
| opts="--force --noplugins --help" | |
| ;; | |
| info) | |
| opts="--yaml --key --freq --help" | |
| ;; | |
| play) | |
| opts="--help --quiet --immediate --pause --queue --clock --hz --delay --rate --start --skip-empty --loop --keep-alive --try-future-version --topics --bags" | |
| ;; | |
| record) | |
| opts="--help --all --regex --exclude --quiet --output-prefix --output-name --split --size --duration --buffsize --limit --node --bz2" | |
| ;; | |
| reindex) | |
| opts="--help --force --quiet --output-dir" | |
| ;; | |
| esac | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| fi | |
| fi | |
| } | |
| function _roscomplete_rospack { | |
| local arg opts | |
| COMPREPLY=() | |
| arg="${COMP_WORDS[COMP_CWORD]}" | |
| if [[ $COMP_CWORD == 1 ]]; then | |
| opts="help find list list-names list-duplicates langs depends depends-manifests depends1 depends-indent depends-msgsrv depends-why rosdep rosdep0 vcs vcs0 depends-on depends-on1 export plugins cflags-only-I cflags-only-other libs-only-L libs-only-l libs-only-other profile" | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| else | |
| opts=`rospack list-names` | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| fi | |
| } | |
| function _roscomplete_rosnode { | |
| local arg opts | |
| COMPREPLY=() | |
| arg="${COMP_WORDS[COMP_CWORD]}" | |
| if [[ $COMP_CWORD == 1 ]]; then | |
| opts="ping list info machine kill" | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| elif [[ $COMP_CWORD == 2 ]]; then | |
| case ${COMP_WORDS[1]} in | |
| info) | |
| opts=`rosnode list 2> /dev/null` | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| ;; | |
| ping|list|kill) | |
| if [[ ${arg} =~ \-\-.* ]]; then | |
| opts="--all --help" | |
| else | |
| opts=`rosnode list 2> /dev/null` | |
| fi | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| ;; | |
| machine) | |
| # This takes more logic to determine which machines are present. | |
| ;; | |
| esac | |
| else | |
| case ${COMP_WORDS[1]} in | |
| kill) | |
| # complete on node name | |
| opts=`rosnode list 2> /dev/null` | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| ;; | |
| esac | |
| fi | |
| } | |
| function _roscomplete_rosparam { | |
| local arg opts | |
| COMPREPLY=() | |
| arg="${COMP_WORDS[COMP_CWORD]}" | |
| if [[ $COMP_CWORD == 1 ]]; then | |
| opts="set get load dump delete list" | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| elif [[ $COMP_CWORD == 2 ]]; then | |
| case ${COMP_WORDS[1]} in | |
| set|get|delete|list) | |
| opts=`rosparam list 2> /dev/null` | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| ;; | |
| load|dump) | |
| # complete on files | |
| COMPREPLY=($(compgen -f -- ${arg})) | |
| ;; | |
| esac | |
| elif [[ $COMP_CWORD == 3 ]]; then | |
| case ${COMP_WORDS[1]} in | |
| load|dump) | |
| # complete on namespace | |
| opts=`rosparam list 2> /dev/null` | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| ;; | |
| esac | |
| fi | |
| } | |
| function _roscomplete_rostopic { | |
| local arg opts | |
| COMPREPLY=() | |
| arg="${COMP_WORDS[COMP_CWORD]}" | |
| if [[ $COMP_CWORD == 1 ]]; then | |
| opts="bw echo hz list pub type find info" | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| elif [[ $COMP_CWORD -ge 2 ]]; then | |
| if [[ ${arg} =~ \-\-.* ]]; then | |
| case ${COMP_WORDS[1]} in | |
| pub) | |
| COMPREPLY=($(compgen -W "--rate --once --file --latch" -- ${arg})) | |
| ;; | |
| bw) | |
| COMPREPLY=($(compgen -W "--window" -- ${arg})) | |
| ;; | |
| echo) | |
| COMPREPLY=($(compgen -W "--bag --filter --nostr --noarr --clear --all offset" -- ${arg})) | |
| ;; | |
| hz) | |
| COMPREPLY=($(compgen -W "--window --filter" -- ${arg})) | |
| ;; | |
| list) | |
| COMPREPLY=($(compgen -W "--bag --verbose --host" -- ${arg})) | |
| ;; | |
| esac | |
| else | |
| case ${COMP_WORDS[1]} in | |
| bw|echo|hz|list|type|info) | |
| if [[ ${COMP_WORDS[$(( $COMP_CWORD - 1 ))]} == "-b" ]]; then | |
| COMPREPLY=($(compgen -f -- ${arg})) | |
| else | |
| opts=`rostopic list 2> /dev/null` | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| fi | |
| ;; | |
| find) | |
| opts=`_msg_opts ${COMP_WORDS[$COMP_CWORD]}` | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| ;; | |
| pub) | |
| if [[ $COMP_CWORD == 2 ]]; then | |
| opts=`rostopic list 2> /dev/null` | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| elif [[ $COMP_CWORD == 3 ]]; then | |
| opts=`_msg_opts ${COMP_WORDS[$COMP_CWORD]}` | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| elif [[ $COMP_CWORD == 4 ]]; then | |
| opts=`rosmsg-proto msg 2> /dev/null -s ${COMP_WORDS[3]}` | |
| if [ 0 -eq $? ]; then | |
| COMPREPLY="$opts" | |
| fi | |
| fi | |
| ;; | |
| esac | |
| fi | |
| fi | |
| } | |
| function _roscomplete_rosservice { | |
| local arg opts | |
| COMPREPLY=() | |
| arg="${COMP_WORDS[COMP_CWORD]}" | |
| if [[ $COMP_CWORD == 1 ]]; then | |
| opts="list call type find uri" | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| elif [[ $COMP_CWORD == 2 ]]; then | |
| case ${COMP_WORDS[1]} in | |
| uri|list|type|call) | |
| opts=`rosservice list 2> /dev/null` | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| ;; | |
| find) | |
| # Need a clever way to do message searching | |
| opts=`_srv_opts ${COMP_WORDS[$COMP_CWORD]}` | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| ;; | |
| esac | |
| elif [[ $COMP_CWORD == 3 ]]; then | |
| case ${COMP_WORDS[1]} in | |
| call) | |
| type=`rosservice type ${COMP_WORDS[2]}` | |
| opts=`rosmsg-proto srv 2> /dev/null -s ${type}` | |
| if [ 0 -eq $? ]; then | |
| COMPREPLY="$opts" | |
| fi | |
| ;; | |
| esac | |
| fi | |
| } | |
| function _msg_opts { | |
| local arg pkgs pkgname msgname searchmsg path count opts | |
| if [[ $1 =~ .+/.* ]]; then | |
| pkgname=${1%%/*} | |
| msgname=${1#*/} | |
| searchmsg=1 | |
| else | |
| pkgname=${1} | |
| fi | |
| if [[ -z ${searchmsg} ]]; then | |
| pkgs=(`rospack list | grep "^${pkgname}"`) | |
| count=0 | |
| opts="" | |
| for (( i = 0 ; i < ${#pkgs[@]} ; i=i+2 )); do | |
| if [[ -d ${pkgs[i+1]}/msg ]]; then | |
| opts="$opts ${pkgs[i]}/" | |
| pkgname=${pkgs[i]} | |
| count=$((count+1)) | |
| fi | |
| done | |
| if [[ $count -gt 1 ]]; then | |
| echo $opts | |
| return 0 | |
| fi | |
| fi | |
| path=`rospack find ${pkgname} 2> /dev/null` | |
| if [ $? -eq 0 ] && [ -d ${path}/msg ]; then | |
| echo `find -L ${path}/msg -maxdepth 1 -mindepth 1 -name *.msg ! -regex ".*/[.].*" -print0 | tr '\000' '\n' | sed -e "s/.*\/\(.*\)\.msg/${pkgname}\/\1/g"` | |
| fi | |
| } | |
| function _roscomplete_rosmsg { | |
| local arg opts | |
| COMPREPLY=() | |
| arg="${COMP_WORDS[COMP_CWORD]}" | |
| if [[ $COMP_CWORD == 1 ]]; then | |
| opts="show list md5 package packages" | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| elif [[ $COMP_CWORD == 2 ]]; then | |
| case ${COMP_WORDS[1]} in | |
| show|users|md5) | |
| opts=`_msg_opts ${COMP_WORDS[$COMP_CWORD]}` | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| ;; | |
| package) | |
| opts=`rospack list-names` | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| ;; | |
| packages|list) | |
| # This shouldn't really have a completion rule | |
| ;; | |
| esac | |
| fi | |
| } | |
| function _roscomplete_roscreate_pkg { | |
| local arg opts | |
| COMPREPLY=() | |
| arg="${COMP_WORDS[COMP_CWORD]}" | |
| if [[ $COMP_CWORD != 1 ]]; then | |
| opts=`rospack list-names` | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| fi | |
| } | |
| function _roscomplete_roswtf { | |
| local arg | |
| COMPREPLY=() | |
| arg="${COMP_WORDS[COMP_CWORD]}" | |
| if [[ ${arg} =~ \-\-.* ]]; then | |
| COMPREPLY=($(compgen -W "--all --no-plugins --offline" -- ${arg})) | |
| else | |
| if [[ $COMP_CWORD == 1 ]]; then | |
| COMPREPLY=($(compgen -o plusdirs -f -X "!*.launch" -- ${arg})) | |
| fi | |
| fi | |
| } | |
| function _roscomplete_rosclean { | |
| local arg opts | |
| COMPREPLY=() | |
| arg="${COMP_WORDS[COMP_CWORD]}" | |
| if [[ $COMP_CWORD == 1 ]]; then | |
| opts="check purge" | |
| COMPREPLY=($(compgen -W "$opts" -- ${arg})) | |
| fi | |
| } | |
| complete -F "_roscomplete_sub_dir" -o "nospace" "roscd" | |
| complete -F "_roscomplete_sub_dir" -o "nospace" "rospd" | |
| complete -F "_roscomplete_sub_dir" -o "nospace" "rosls" | |
| complete -F "_roscomplete_rosmake" "rosmake" | |
| complete -F "_roscomplete_rosclean" "rosclean" | |
| complete -F "_roscomplete_exe" "rosrun" | |
| complete -F "_roscomplete_file" "rosed" | |
| complete -F "_roscomplete_file" "roscp" | |
| complete -F "_roscomplete_launch" -o filenames "roslaunch" | |
| complete -F "_roscomplete_test" -o filenames "rostest" | |
| complete -F "_roscomplete_rospack" "rospack" | |
| complete -F "_roscomplete_rosbag" -o default "rosbag" | |
| complete -F "_roscomplete_rosnode" "rosnode" | |
| complete -F "_roscomplete_rosparam" "rosparam" | |
| complete -F "_roscomplete_rostopic" "rostopic" | |
| complete -F "_roscomplete_rosservice" "rosservice" | |
| complete -F "_roscomplete_rosmsg" "rosmsg" | |
| complete -F "_roscomplete_rossrv" "rossrv" | |
| complete -F "_roscomplete_roscreate_pkg" "roscreate-pkg" | |
| complete -F "_roscomplete_roswtf" -o filenames "roswtf" |
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