<gh_stars>0
# 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.

import os
import sys
from tempfile import NamedTemporaryFile

from launch.legacy import LaunchDescriptor
from launch.legacy.exit_handler import ignore_exit_handler
from launch.legacy.exit_handler import restart_exit_handler
from launch.legacy.loader import load_launch_file
from launch.legacy.output_handler import ConsoleOutput
from launch.legacy.output_handler import FileOutput


def launch(launch_descriptor, argv):
    counter_file = os.path.join(os.path.abspath(os.path.dirname(__file__)), 'counter.py')

    with NamedTemporaryFile(mode='w', prefix='foo_', delete=False) as h:
        foo_filename = h.name
    with NamedTemporaryFile(mode='w', prefix='baz-err_', delete=False) as h:
        baz_filename = h.name

    ld = launch_descriptor
    ld.add_process(
        cmd=[sys.executable, '-u', counter_file, '--limit', '9', '--sleep', '0.5'],
        name='foo',
        output_handlers=[FileOutput(filename=foo_filename)],
        exit_handler=restart_exit_handler,
    )
    ld.add_process(
        cmd=[sys.executable, '-u', counter_file, '--limit', '10', '--sleep', '0.25'],
        name='bar',
        env=None,
        exit_handler=ignore_exit_handler,
    )
    ld.add_process(
        cmd=[sys.executable, '-u', counter_file, '--limit', '5', '--sleep', '1'],
        name='baz',
        output_handlers=[FileOutput(filename_stderr=baz_filename)],
    )
    ld.add_process(
        cmd=[sys.executable, '-u', counter_file, '--sleep', '0.5'],
        name='qux',
        output_handlers=[ConsoleOutput(stderr_only=True)],
    )

    other_launch_file = os.path.join(
        os.path.abspath(os.path.dirname(__file__)), 'launch_counter.py')
    sub_ld = LaunchDescriptor()
    load_launch_file(other_launch_file, sub_ld, {})
    # namespace all processes from other launch file
    for d in sub_ld.task_descriptors:
        d.name = 'sub.' + d.name
        ld.task_descriptors.append(d)

# 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.

import os
import sys
from tempfile import NamedTemporaryFile

from launch.legacy import LaunchDescriptor
from launch.legacy.exit_handler import ignore_exit_handler
from launch.legacy.exit_handler import restart_exit_handler
from launch.legacy.loader import load_launch_file
from launch.legacy.output_handler import ConsoleOutput
from launch.legacy.output_handler import FileOutput


def launch(launch_descriptor, argv):
    counter_file = os.path.join(os.path.abspath(os.path.dirname(__file__)), 'counter.py')

    with NamedTemporaryFile(mode='w', prefix='foo_', delete=False) as h:
        foo_filename = h.name
    with NamedTemporaryFile(mode='w', prefix='baz-err_', delete=False) as h:
        baz_filename = h.name

    ld = launch_descriptor
    ld.add_process(
        cmd=[sys.executable, '-u', counter_file, '--limit', '9', '--sleep', '0.5'],
        name='foo',
        output_handlers=[FileOutput(filename=foo_filename)],
        exit_handler=restart_exit_handler,
    )
    ld.add_process(
        cmd=[sys.executable, '-u', counter_file, '--limit', '10', '--sleep', '0.25'],
        name='bar',
        env=None,
        exit_handler=ignore_exit_handler,
    )
    ld.add_process(
        cmd=[sys.executable, '-u', counter_file, '--limit', '5', '--sleep', '1'],
        name='baz',
        output_handlers=[FileOutput(filename_stderr=baz_filename)],
    )
    ld.add_process(
        cmd=[sys.executable, '-u', counter_file, '--sleep', '0.5'],
        name='qux',
        output_handlers=[ConsoleOutput(stderr_only=True)],
    )

    other_launch_file = os.path.join(
        os.path.abspath(os.path.dirname(__file__)), 'launch_counter.py')
    sub_ld = LaunchDescriptor()
    load_launch_file(other_launch_file, sub_ld, {})
    # namespace all processes from other launch file
    for d in sub_ld.task_descriptors:
        d.name = 'sub.' + d.name
        ld.task_descriptors.append(d)
# 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. # namespace all processes from other launch file