moved python code from fkie_multimaster_msgs to fkie_multimaster_pylib

fkie_master_discovery/CMakeLists.txt

@@ -25,6 +25,7 @@ if(POLICY CMP0057)
 endif()
 
 find_package(ament_cmake QUIET)
+find_package(fkie_multimaster_msgs REQUIRED)
 
 if ( ament_cmake_FOUND )
 
@@ -36,8 +37,6 @@ if ( ament_cmake_FOUND )
     set(BUILD_TOOL_INCLUDE_DIRS ${ament_INCLUDE_DIRS})
 
     # find dependencies
-    find_package(ament_cmake REQUIRED)
-    find_package(fkie_multimaster_msgs REQUIRED)
     find_package(rclcpp REQUIRED)
     find_package(rclcpp_lifecycle REQUIRED)
     find_package(rmw_dds_common REQUIRED)
@@ -50,15 +49,15 @@ elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
 
     set(catkin_FOUND 1)
     add_definitions( -DUSING_ROS )
-    find_package(catkin REQUIRED COMPONENTS fkie_multimaster_msgs rosgraph roslib rospy std_srvs)
+    find_package(catkin REQUIRED COMPONENTS fkie_multimaster_pylib rosgraph roslib rospy std_srvs)
     find_package(GTest)
 
     message(STATUS "------------------------------------------")
     message(STATUS "FKIE Master Discovery is being built using CATKIN.")
     message(STATUS "------------------------------------------")
 
     catkin_python_setup()
-    catkin_package( CATKIN_DEPENDS fkie_multimaster_msgs rosgraph roslib rospy std_srvs )
+    catkin_package( CATKIN_DEPENDS fkie_multimaster_msgs fkie_multimaster_pylib rosgraph roslib rospy std_srvs )
 
 endif()
 

fkie_master_discovery/package.xml

@@ -22,6 +22,7 @@
   <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
 
   <depend>fkie_multimaster_msgs</depend>
+  <depend condition="$ROS_VERSION == 1">fkie_multimaster_pylib</depend>
   <depend condition="$ROS_VERSION == 1">std_srvs</depend>
   <depend condition="$ROS_VERSION == 1">rospy</depend>
   <depend condition="$ROS_VERSION == 1">roslib</depend>

fkie_master_discovery/src/fkie_master_discovery/__init__.py

@@ -36,7 +36,6 @@
 import signal
 import sys
 
-import roslib
 import rospy
 import time
 
@@ -45,7 +44,7 @@
 except ImportError:
     from urllib.parse import urlparse
 
-from fkie_multimaster_msgs.logging.logging import Log
+from fkie_multimaster_pylib.logging.logging import Log
 
 
 # MCAST_GROUP = "ff02::1"# ipv6 multicast group
@@ -56,7 +55,7 @@
 
 def get_default_rtcp_port(zeroconf=False):
     try:
-        from fkie_multimaster_msgs.system.ros1_masteruri import from_ros
+        from fkie_multimaster_pylib.system.ros1_masteruri import from_ros
         masteruri = from_ros()
         # Log.info(f'ROS Master URI: {masteruri}')
         return urlparse(masteruri).port + (600 if zeroconf else 300)

fkie_master_discovery/src/fkie_master_discovery/common.py

@@ -41,8 +41,8 @@
 import roslib.names
 import rospy
 
-from fkie_multimaster_msgs.defines import EMPTY_PATTERN
-from fkie_multimaster_msgs.logging.logging import Log
+from fkie_multimaster_pylib.defines import EMPTY_PATTERN
+from fkie_multimaster_pylib.logging.logging import Log
 
 
 IP4_PATTERN = re.compile(r"^\d{1,3}\.\d{1,3}\.\d{1,3}\.\d{1,3}")

fkie_master_discovery/src/fkie_master_discovery/filter_interface.py

@@ -35,8 +35,8 @@
 
 from .common import create_pattern, gen_pattern, is_empty_pattern
 from .common import get_ros_param, resolve_url, read_interface
-from fkie_multimaster_msgs.defines import EMPTY_PATTERN
-from fkie_multimaster_msgs.logging.logging import Log
+from fkie_multimaster_pylib.defines import EMPTY_PATTERN
+from fkie_multimaster_pylib.logging.logging import Log
 
 
 class FilterInterface(object):

fkie_master_discovery/src/fkie_master_discovery/interface_finder.py

@@ -38,7 +38,7 @@
 
 import rospy
 from .common import get_hostname
-from fkie_multimaster_msgs.logging.logging import Log
+from fkie_multimaster_pylib.logging.logging import Log
 
 
 def get_changes_topic(masteruri, wait=True, check_host=True):

fkie_master_discovery/src/fkie_master_discovery/master_discovery.py

@@ -53,10 +53,10 @@
 from .common import get_hostname
 from .master_monitor import MasterMonitor, MasterConnectionException
 from .udp import DiscoverSocket, QueueReceiveItem, SEND_ERRORS
-from fkie_multimaster_msgs.crossbar.runtime_interface import RosProvider
-from fkie_multimaster_msgs.crossbar.runtime_interface import SystemWarning
-from fkie_multimaster_msgs.crossbar.runtime_interface import SystemWarningGroup
-from fkie_multimaster_msgs.logging.logging import Log
+from fkie_multimaster_pylib.crossbar.runtime_interface import RosProvider
+from fkie_multimaster_pylib.crossbar.runtime_interface import SystemWarning
+from fkie_multimaster_pylib.crossbar.runtime_interface import SystemWarningGroup
+from fkie_multimaster_pylib.logging.logging import Log
 
 
 try:  # to avoid the problems with autodoc on ros.org/wiki site

fkie_master_discovery/src/fkie_master_discovery/master_info.py

@@ -40,11 +40,11 @@
 
 from .common import get_hostname
 from .filter_interface import FilterInterface
-from fkie_multimaster_msgs import names
-from fkie_multimaster_msgs.crossbar.runtime_interface import RosNode
-from fkie_multimaster_msgs.crossbar.runtime_interface import RosService
-from fkie_multimaster_msgs.crossbar.runtime_interface import RosTopic
-from fkie_multimaster_msgs.system import screen
+from fkie_multimaster_pylib import names
+from fkie_multimaster_pylib.crossbar.runtime_interface import RosNode
+from fkie_multimaster_pylib.crossbar.runtime_interface import RosService
+from fkie_multimaster_pylib.crossbar.runtime_interface import RosTopic
+from fkie_multimaster_pylib.system import screen
 
 from typing import List, Dict
 

fkie_master_discovery/src/fkie_master_discovery/master_monitor.py

@@ -68,15 +68,15 @@
 from .common import gen_pattern
 from .filter_interface import FilterInterface
 from .master_info import MasterInfo
-from fkie_multimaster_msgs.logging.logging import Log
-from fkie_multimaster_msgs.crossbar.base_session import CrossbarBaseSession
-from fkie_multimaster_msgs.crossbar.base_session import SelfEncoder
-from fkie_multimaster_msgs.crossbar.runtime_interface import RosNode
-from fkie_multimaster_msgs.crossbar.runtime_interface import ScreensMapping
-from fkie_multimaster_msgs.crossbar.runtime_interface import SystemWarning
-from fkie_multimaster_msgs.crossbar.runtime_interface import SystemWarningGroup
-from fkie_multimaster_msgs.system import screen
-from fkie_multimaster_msgs.system import ros1_masteruri
+from fkie_multimaster_pylib.logging.logging import Log
+from fkie_multimaster_pylib.crossbar.base_session import CrossbarBaseSession
+from fkie_multimaster_pylib.crossbar.base_session import SelfEncoder
+from fkie_multimaster_pylib.crossbar.runtime_interface import RosNode
+from fkie_multimaster_pylib.crossbar.runtime_interface import ScreensMapping
+from fkie_multimaster_pylib.crossbar.runtime_interface import SystemWarning
+from fkie_multimaster_pylib.crossbar.runtime_interface import SystemWarningGroup
+from fkie_multimaster_pylib.system import screen
+from fkie_multimaster_pylib.system import ros1_masteruri
 
 
 try:  # to avoid the problems with autodoc on ros.org/wiki site

fkie_master_discovery/src/fkie_master_discovery/udp.py

@@ -52,7 +52,7 @@
     _use_netifaces = False
 
 from rosgraph.network import get_local_addresses
-from fkie_multimaster_msgs.logging.logging import Log
+from fkie_multimaster_pylib.logging.logging import Log
 
 
 SEND_ERRORS = {}

fkie_master_discovery/src/fkie_master_discovery/zeroconf.py

@@ -50,7 +50,7 @@
     from urllib.parse import urlparse
 
 import rospy
-from fkie_multimaster_msgs.logging.logging import Log
+from fkie_multimaster_pylib.logging.logging import Log
 
 
 from .common import get_hostname

fkie_master_sync/nodes/param_sync.py

@@ -5,8 +5,8 @@
 import rospy
 
 from fkie_multimaster_msgs.msg import MasterState
-from fkie_multimaster_msgs.logging.logging import Log
-from fkie_multimaster_msgs.system import ros1_masteruri
+from fkie_multimaster_pylib.logging.logging import Log
+from fkie_multimaster_pylib.system import ros1_masteruri
 
 
 def master_changed(msg, cb_args):

fkie_master_sync/src/fkie_master_sync/master_sync.py

@@ -49,8 +49,8 @@
 from fkie_master_discovery.common import resolve_url, read_interface, create_pattern, is_empty_pattern, get_hostname
 from fkie_master_discovery.master_info import MasterInfo
 import fkie_master_discovery.interface_finder as interface_finder
-from fkie_multimaster_msgs.logging.logging import Log
-from fkie_multimaster_msgs.system import ros1_masteruri
+from fkie_multimaster_pylib.logging.logging import Log
+from fkie_multimaster_pylib.system import ros1_masteruri
 
 from .sync_thread import SyncThread
 

fkie_master_sync/src/fkie_master_sync/sync_thread.py

@@ -48,8 +48,8 @@
 
 from fkie_master_discovery.common import get_hostname
 from fkie_master_discovery.filter_interface import FilterInterface
-from fkie_multimaster_msgs.logging.logging import Log
-from fkie_multimaster_msgs.system import ros1_masteruri
+from fkie_multimaster_pylib.logging.logging import Log
+from fkie_multimaster_pylib.system import ros1_masteruri
 
 
 class SyncThread(object):

fkie_multimaster/package.xml

@@ -15,6 +15,7 @@
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
   <exec_depend>fkie_multimaster_msgs</exec_depend>
+  <exec_depend>fkie_multimaster_pylib</exec_depend>
   <exec_depend>fkie_master_discovery</exec_depend>
   <exec_depend>fkie_node_manager_daemon</exec_depend>
   <exec_depend condition="$ROS_VERSION == 1">fkie_master_sync</exec_depend>

fkie_multimaster_msgs/CMakeLists.txt

@@ -16,9 +16,6 @@ if ( ament_cmake_FOUND )
     message(STATUS "FKIE multimaster msgs is being built using AMENT.")
     message(STATUS "------------------------------------------")
 
-    find_package(ament_cmake REQUIRED)
-    find_package(ament_cmake_python REQUIRED)
-    find_package(rclpy REQUIRED)
     find_package(builtin_interfaces REQUIRED)
     find_package(rosidl_default_generators REQUIRED)
 
@@ -36,9 +33,6 @@ if ( ament_cmake_FOUND )
       DEPENDENCIES builtin_interfaces
     )
 
-    # Install Python modules
-    ament_python_install_package(${PROJECT_NAME})
-
     ament_package()
 elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
 
@@ -79,12 +73,12 @@ elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
       Task.srv
     )
 
-    catkin_python_setup()
+    #catkin_python_setup()
     generate_messages(DEPENDENCIES std_msgs)
 
     catkin_package(
         CFG_EXTRAS version.cmake.in
-        CATKIN_DEPENDS message_runtime std_msgs rospy
+        CATKIN_DEPENDS message_runtime std_msgs
     )
 
     # generate code for gRPC protocols
@@ -102,9 +96,4 @@ elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
     )
 
-    # # Add folders to be run by python nosetests
-    if(CATKIN_ENABLE_TESTING)
-        add_subdirectory(${PROJECT_NAME}/tests)
-    endif()
-
 endif()

fkie_multimaster_msgs/package.xml

@@ -13,7 +13,6 @@
 
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
-  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_python</buildtool_depend>
 
   <build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
   <build_depend condition="$ROS_VERSION == 1">std_msgs</build_depend>
@@ -22,21 +21,14 @@
   <build_depend condition="$ROS_VERSION == 1 and $ROS_PYTHON_VERSION == 3">python3-grpc-tools</build_depend>
   <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
   <exec_depend condition="$ROS_VERSION == 1">std_msgs</exec_depend>
-  <depend condition="$ROS_VERSION == 1">rospy</depend>
-  <depend condition="$ROS_VERSION == 2">rclpy</depend>
 
   <build_depend condition="$ROS_VERSION == 2">builtin_interfaces</build_depend>
   <build_depend condition="$ROS_VERSION == 2">rosidl_default_generators</build_depend>
   <exec_depend condition="$ROS_VERSION == 2">builtin_interfaces</exec_depend>
   <exec_depend condition="$ROS_VERSION == 2">rosidl_default_runtime</exec_depend>
 
-  <depend condition="$ROS_VERSION == 2 or $ROS_PYTHON_VERSION == 3">python3-autobahn</depend>
-
   <member_of_group condition="$ROS_VERSION == 2">rosidl_interface_packages</member_of_group>
 
-  <test_depend condition="$ROS_VERSION == 1">rostest</test_depend>
-  <test_depend condition="$ROS_VERSION == 2">python3-pytest</test_depend>
-
   <export>
     <build_type condition="$ROS_VERSION == 1">catkin</build_type>
     <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>

fkie_multimaster_pylib/CHANGELOG.rst

@@ -0,0 +1,4 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package fkie_multimaster_pylib
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+

fkie_multimaster_pylib/CMakeLists.txt

@@ -0,0 +1,52 @@
+cmake_minimum_required(VERSION 3.5)
+project(fkie_multimaster_pylib)
+
+# Update the policy setting to avoid an error when loading the ament_cmake package
+# at the current cmake version level
+if(POLICY CMP0057)
+    cmake_policy(SET CMP0057 NEW)
+endif()
+
+find_package(ament_cmake QUIET)
+
+if ( ament_cmake_FOUND )
+elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
+
+    set(catkin_FOUND 1)
+    add_definitions( -DUSING_ROS )
+
+    message(STATUS "------------------------------------------")
+    message(STATUS "FKIE multimaster lib is being built using CATKIN.")
+    message(STATUS "------------------------------------------")
+
+    find_package(catkin REQUIRED COMPONENTS
+      fkie_multimaster_msgs
+      rospy
+    )
+
+    catkin_python_setup()
+
+    catkin_package(
+      CATKIN_DEPENDS
+      fkie_multimaster_msgs
+      rospy
+    )
+
+    # generate version files; cmake from fkie_multimaster_msgs
+    generate_version(TARGETS version_TARGETS)
+
+    # install generated version files; cmake from multimaster_msgs
+    if(DEFINED version_TARGETS)
+        install(
+            FILES
+            ${version_TARGETS}
+            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+        )
+    endif()
+
+    # # Add folders to be run by python nosetests
+    if(CATKIN_ENABLE_TESTING)
+        add_subdirectory(${PROJECT_NAME}/tests)
+    endif()
+
+endif()

fkie_multimaster_msgs/fkie_multimaster_msgs/crossbar/base_session.py → fkie_multimaster_pylib/fkie_multimaster_pylib/crossbar/base_session.py

@@ -46,8 +46,8 @@
 from asyncio import coroutine
 
 
-from fkie_multimaster_msgs.logging.logging import Log
-from fkie_multimaster_msgs.system.host import get_host_name
+from fkie_multimaster_pylib.logging.logging import Log
+from fkie_multimaster_pylib.system.host import get_host_name
 from .server import crossbar_start_server, CROSSBAR_PATH
 
 

fkie_multimaster_msgs/fkie_multimaster_msgs/crossbar/launch_interface.py → fkie_multimaster_pylib/fkie_multimaster_pylib/crossbar/launch_interface.py

@@ -41,7 +41,7 @@
 from typing import Union
 from numbers import Number
 
-from fkie_multimaster_msgs.defines import SEARCH_IN_EXT
+from fkie_multimaster_pylib.defines import SEARCH_IN_EXT
 from .runtime_interface import RosParameter
 
 

fkie_multimaster_msgs/fkie_multimaster_msgs/crossbar/runtime_interface.py → fkie_multimaster_pylib/fkie_multimaster_pylib/crossbar/runtime_interface.py

@@ -3,8 +3,8 @@
 import platform
 from typing import List, Dict, Union
 import re
-from fkie_multimaster_msgs.logging.logging import Log
-from fkie_multimaster_msgs import names
+from fkie_multimaster_pylib.logging.logging import Log
+from fkie_multimaster_pylib import names
 
 SEP = '/'
 if 'ROS_VERSION' in os.environ and os.environ['ROS_VERSION'] == "1":