Merge branch 'gopher-devel' of https://github.com/asmodehn/rostful in…

…to python_mutate

# Conflicts:
#	.travis.yml
#	instance/rostful.cfg
#	package.xml
#	rostful/__main__.py
#	rostful/api_0_1/flask_views.py
#	rostful/frontend/flask_views.py
#	rostful/server.py

.travis.yml

@@ -59,7 +59,6 @@ install:
   # getting virtualenv setup with dependencies if we need to work with pure python setup
   - if [ ! -z ${PYTHON+undef} ]; then docker exec -ti ${CONTAINER_NAME} /bin/bash -c "source /usr/share/virtualenvwrapper/virtualenvwrapper.sh && mkvirtualenv --system-site-packages -i /git_clone -a /git_clone -q python_${PYTHON}_ros"; fi
 
-
 script:
   - CONTAINER_ID=$(cat container.id)
   - docker ps -a

instance/rostful.cfg

@@ -13,18 +13,15 @@ DEBUG = True
 SERVER_TYPE = "flask"
 
 # Settings to pass to pyros node to interface with ROS
+# TODO : this should be managed by pyros separately, not here...
 PYROS_TOPICS = ['/.*']
 PYROS_SERVICES = ['/.*']
 PYROS_PARAMS = ['/.*']
 
-PYROS_USE_CONNECTION_CACHE = True
+# not assuming cache available by default
+PYROS_USE_CONNECTION_CACHE = False
 
 # Not specifying these means we use pyros default.
 # PYROS_CONNECTION_CACHE_LIST_TOPIC = "/rocon/connection_cache/list"
 # PYROS_CONNECTION_CACHE_DIFF_TOPIC = "/rocon/connection_cache/diff"
 #
-
-import os
-
-PYROS_SETUP_WORKSPACES=[os.path.join(os.path.dirname(__file__), '..', '..', 'devel')]
-PYROS_SETUP_DISTRO = "indigo"

rostful/__main__.py

@@ -46,13 +46,17 @@ def pyros_start(config, ros_args='', pyros_ctx_impl=None):
         from pyros.client.client import PyrosClient
         #TMP until interface can be chosen otherwise...
         from pyros_interfaces_ros.pyros_ros import PyrosROS
-    except ImportError as e:
+
+    except Exception as e:
         logging.error("pyros module is not accessible in sys.path. It is required to run rostful.", exc_info=True)
         logging.error("sys.path = {0}".format(sys.path))
         raise
 
     # default to real module, if no other implementation passed as parameter (used for mock)
     pyros_ctx_impl = pyros_ctx_impl or pyros_ctx
+
+    # very basic ROS choice. probably not the right way to get this ROS client to start the ROS node server.
+    #  BUT we have no choice until pyros node can be launched directly...
 
     # One PyrosNode is needed for Flask.
     # TODO : check everything works as expected, even if the WSGI app is used by multiple processes

rostful/api_0_1/flask_views.py

@@ -69,8 +69,8 @@ def get_query_bool(query_string, param_name):
 parser = FlaskParser()
 
 import urllib
-from pyros_interfaces_common.exceptions import PyrosException
-from pyros.client.client import PyrosServiceNotFound, PyrosServiceTimeout
+from pyros.client.client import PyrosException
+
 from rostful.exceptions import ServiceNotFound, ServiceTimeout, WrongMessageFormat
 
 
@@ -107,6 +107,10 @@ class BackEnd(restful.Resource):   # TODO : unit test that stuff !!! http://flas
     def __init__(self, rosname=None):
         super(BackEnd, self).__init__()
 
+        # dynamic import
+        from pyros_interfaces_ros import definitions
+        from pyros.client.client import PyrosServiceTimeout, PyrosServiceNotFound
+
         self.node_client = context.get_pyros_client()  # we retrieve pyros client from app context
 
     # TODO: think about login rest service before disabling REST services if not logged in

rostful/frontend/flask_views.py

@@ -64,6 +64,7 @@ def get_query_bool(query_string, param_name):
 parser = FlaskParser()
 
 import urllib
+from pyros.client.client import PyrosException
 from rostful.exceptions import ServiceNotFound, ServiceTimeout, WrongMessageFormat, NoPyrosClient