mirror of
https://github.com/ohmyzsh/ohmyzsh.git
synced 2026-05-01 04:30:37 +02:00
First ROS plugin commit
Add masters URI registration and setting. Add ROS IP definition through network interfaces registration and sorting. Add ROS distribution switching and automatic sourcing. Add catkin workspace registration and automatic sourcing Add ROS status prompt function showing current master and his status.
This commit is contained in:
Mickaël Germain
parent
f94d4e6a40
commit
4dac7a23b8
2 changed files with 374 additions and 0 deletions
5
plugins/ros/ros.cache.default
Normal file
5
plugins/ros/ros.cache.default
Normal file
|
|
@ -0,0 +1,5 @@
|
|||
master_ip_default = localhost
|
||||
master_ip = localhost
|
||||
ros_distro_default =
|
||||
ros_interface =
|
||||
ros_workspace =
|
||||
369
plugins/ros/ros.plugin.zsh
Normal file
369
plugins/ros/ros.plugin.zsh
Normal file
|
|
@ -0,0 +1,369 @@
|
|||
# ------------------------------------------------------------------------------
|
||||
# @brief oh-my-zsh plugin for ROS framework.
|
||||
# @author Mickael GERMAIN (https://github.com/migermain)
|
||||
# @version 1.0.0
|
||||
#
|
||||
# This oh-my-zsh plugin attempts to help manage ros ecosystem settings and
|
||||
# perform automatic configurations as often as possible.
|
||||
# It also supplies prompt integration to give informations about ros state.
|
||||
#
|
||||
# ------------------------------------------------------------------------------
|
||||
|
||||
[ -z "$_OMZ_ROS_DIR" ] && readonly _OMZ_ROS_DIR="${0:A:h}"
|
||||
|
||||
rosmaster() {
|
||||
|
||||
[ $# -eq 0 ] && \
|
||||
echo "$ROS_MASTER_URI" | sed 's/http:\/\/\([^:]\+\):11311/\1/' && return 0
|
||||
|
||||
local master_ip_tag='master_ip'
|
||||
local masters="$(_omz_ros_config_get_line $master_ip_tag)"
|
||||
local finded=""
|
||||
|
||||
[ $# -eq 2 ] && finded=$(echo "$masters" | grep -o "$2")
|
||||
|
||||
case "$1" in
|
||||
list)
|
||||
[ $# -ne 1 ] && >&2 echo "Usage : $0 list" && return 1
|
||||
echo "$masters" | sed 's/[[:space:]]\+/\n/g' | nl
|
||||
;;
|
||||
|
||||
add)
|
||||
[ $# -ne 2 ] && >&2 echo "Usage : $0 add <new_ros_master_ip>" && return 1
|
||||
[ "$finded" ] && >&2 echo "Master IP $2 is already registered" && return 3
|
||||
_omz_ros_config_add_to_line "$master_ip_tag" "$2"
|
||||
;;
|
||||
|
||||
remove)
|
||||
[ $# -ne 2 ] && \
|
||||
>&2 echo "Usage : $0 remove <ros_registered_master_ip_to_remove>" &&
|
||||
return 1
|
||||
[ -z "$finded" ] && >&2 echo "Master IP $2 is not registered" && return 3
|
||||
_omz_ros_config_remove_from_line "$master_ip_tag" "$2"
|
||||
;;
|
||||
|
||||
default)
|
||||
local master_ip_default_tag='master_ip_default'
|
||||
[ $# -ne 2 ] && >&2 echo "Usage : $0 default <ros_master_ip>" && return 1
|
||||
[ ! "$finded" ] && _omz_ros_config_add_to_line "$master_ip_default_tag" "$2"
|
||||
_omz_ros_config_set_line "$master_ip_default_tag" "$2"
|
||||
;;
|
||||
|
||||
set)
|
||||
if [ $# -eq 3 ]; then
|
||||
rosinterface set "$3" && \
|
||||
export ROS_MASTER_URI="http://$2:11311" || return "$?"
|
||||
elif [ $# -eq 2 ]; then
|
||||
export ROS_MASTER_URI="http://$2:11311"
|
||||
else
|
||||
>&2 echo "Usage : $0 set <ros_master_ip> <ros_workspace>" && return 1
|
||||
fi
|
||||
;;
|
||||
|
||||
autoset)
|
||||
[ $# -ne 1 ] && >&2 echo "Usage : $0 autoset" && return 1
|
||||
local master_ip_default=$(_omz_ros_config_get_line 'master_ip_default')
|
||||
rosmaster set "$master_ip_default"
|
||||
;;
|
||||
|
||||
*)
|
||||
>&2 echo "Usage : $0 <command> [option]" && return 1
|
||||
;;
|
||||
esac
|
||||
|
||||
return 0
|
||||
}
|
||||
|
||||
rosinterface() {
|
||||
|
||||
[ $# -eq 0 ] && echo "$ROS_IP" && return 0
|
||||
|
||||
local ros_interface_tag='ros_interface'
|
||||
local ros_interfaces="$(_omz_ros_config_get_line $ros_interface_tag)"
|
||||
local finded=""
|
||||
|
||||
[ $# -eq 2 ] && finded=$(echo "$ros_interfaces" | grep -o "$2")
|
||||
|
||||
case "$1" in
|
||||
list)
|
||||
[ $# -ne 1 ] && >&2 echo "Usage : $0 list" && return 1
|
||||
echo "$ros_interfaces" | sed 's/[[:space:]]\+/\n/g' | nl
|
||||
;;
|
||||
|
||||
add)
|
||||
[ $# -ne 2 ] && >&2 echo "Usage : $0 add <new_ros_interface>" && return 1
|
||||
local exist=$(_omz_ros_interface_get_list | grep -o "$2")
|
||||
[ ! "$exist" ] && >&2 echo "Interface $2 does not exist" && return 3
|
||||
[ "$finded" ] && >&2 echo "Interface $2 is already registered" && return 3
|
||||
_omz_ros_config_add_to_line "$ros_interface_tag" "$2"
|
||||
;;
|
||||
|
||||
remove)
|
||||
[ $# -ne 2 ] && \
|
||||
>&2 echo "Usage : $0 remove <ros_registered_ros_interface_to_remove>" && \
|
||||
return 1
|
||||
[ ! "$finded" ] && >&2 echo "Interface $2 is not registered" && return 3
|
||||
_omz_ros_config_remove_from_line "$ros_interface_tag" "$2"
|
||||
;;
|
||||
|
||||
up)
|
||||
[ $# -ne 2 ] && >&2 echo "Usage : $0 up <ros_registered_interface>" && \
|
||||
return 1
|
||||
[ ! "$finded" ] && >&2 echo "Interface $2 is not registered" && return 3
|
||||
_omz_ros_config_up "$ros_interface_tag" "$2"
|
||||
;;
|
||||
|
||||
down)
|
||||
[ $# -ne 2 ] && >&2 echo "Usage : $0 down <ros_registered_interface>" && \
|
||||
return 1
|
||||
[ ! "$finded" ] && >&2 echo "Interface $2 is not registered" && return 3
|
||||
_omz_ros_config_down "$ros_interface_tag" "$2"
|
||||
;;
|
||||
|
||||
set)
|
||||
[ $# -ne 2 ] && >&2 echo "Usage : $0 set <ros_interface>" && return 1
|
||||
local available=$(_omz_ros_interface_get_available | grep -o "$2")
|
||||
[ ! "$available" ] && >&2 echo "Interface $2 is not available" && return 3
|
||||
export ROS_IP=$(_omz_ros_interface_to_ip "$2")
|
||||
;;
|
||||
|
||||
autoset)
|
||||
[ $# -ne 1 ] && >&2 echo "Usage : $0 autoset" && return 1
|
||||
local ros_interfaces_candidate="$(echo "$ros_interfaces" |
|
||||
grep -E "$(_omz_ros_interface_get_available | tr ' ' '|')")"
|
||||
local ros_interface=""
|
||||
for ros_interface in $(echo "$ros_interfaces_candidate"); do
|
||||
local ip=$(_omz_ros_interface_to_ip "$ros_interface")
|
||||
if [ "$ip" ]; then
|
||||
export ROS_IP="$ip"
|
||||
break
|
||||
fi
|
||||
done
|
||||
;;
|
||||
|
||||
*)
|
||||
>&2 echo "Usage : $0 <command> [option]" && return 1
|
||||
;;
|
||||
esac
|
||||
|
||||
return 0
|
||||
}
|
||||
|
||||
rosdistro() {
|
||||
|
||||
[ $# -eq 0 ] && \
|
||||
echo "$ROS_DISTRO" && return 0
|
||||
|
||||
case "$1" in
|
||||
list)
|
||||
[ $# -ne 1 ] && >&2 echo "Usage : $0 list" && return 1
|
||||
_omz_ros_distro_get_list | sed 's/[[:space:]]\+/\n/g' | nl
|
||||
;;
|
||||
|
||||
default)
|
||||
[ $# -ne 2 ] && >&2 echo "Usage : $0 default <ros_distro>" && return 1
|
||||
local exist=$(_omz_ros_distro_get_list | grep -o "$2")
|
||||
[ ! "$exist" ] && >&2 echo "Distro $2 is not available" && return 3
|
||||
_omz_ros_config_set_line "ros_distro_default" "$2"
|
||||
;;
|
||||
|
||||
set)
|
||||
[ $# -ne 2 ] && >&2 echo "Usage : $0 set <ros_distro>" && return 1
|
||||
local exist=$(_omz_ros_distro_get_list | grep -o "$2")
|
||||
[ ! "$exist" ] && >&2 echo "Distro $2 is not available" && return 3
|
||||
source "/opt/ros/$2/setup.zsh"
|
||||
rosworkspace source
|
||||
;;
|
||||
|
||||
autoset)
|
||||
[ $# -ne 1 ] && >&2 echo "Usage : $0 autoset" && return 1
|
||||
local ros_distro_default=$(_omz_ros_config_get_line 'ros_distro_default')
|
||||
[ ! "$ros_distro_default" ] && >&2 echo "Default distro not set" && \
|
||||
return 3
|
||||
rosdistro set "$ros_distro_default"
|
||||
;;
|
||||
|
||||
*)
|
||||
>&2 echo "Usage : $0 <command> [option]" && return 1
|
||||
;;
|
||||
esac
|
||||
|
||||
return 0
|
||||
}
|
||||
|
||||
rosworkspace() {
|
||||
|
||||
local workspace_tag='ros_workspace'
|
||||
local ros_workspaces="$(_omz_ros_config_get_line $workspace_tag)"
|
||||
local finded=""
|
||||
|
||||
[ $# -eq 2 ] && finded=$(echo "$ros_workspaces" | grep -o "$2")
|
||||
|
||||
case "$1" in
|
||||
list)
|
||||
[ $# -ne 1 ] && >&2 echo "Usage : $0 list" && return 1
|
||||
_omz_ros_workspace_get_list | sed 's/[[:space:]]\+/\n/g' | nl
|
||||
;;
|
||||
|
||||
add)
|
||||
[ $# -ne 2 ] && >&2 echo "Usage : $0 add <new_ros_workspace>" && return 1
|
||||
[ ! -f "$2/.catkin_workspace" ] && \
|
||||
>&2 echo "Workspace $2 does not exist" && return 3
|
||||
[ "$finded" ] && >&2 echo "Workspace $2 is already registered" && return 3
|
||||
local sed_path=$(echo "$2" | sed 's/\//\\\//g')
|
||||
_omz_ros_config_add_to_line "$workspace_tag" "$sed_path"
|
||||
rosworkspace source
|
||||
;;
|
||||
|
||||
remove)
|
||||
[ $# -ne 2 ] && \
|
||||
>&2 echo "Usage : $0 remove <ros_registered_workspace_to_remove>" && \
|
||||
return 1
|
||||
[ ! "$finded" ] && >&2 echo "Workspace $2 is not registered" && return 3
|
||||
local sed_path=$(echo "$2" | sed 's/\//\\\//g')
|
||||
_omz_ros_config_remove_from_line "$workspace_tag" "$sed_path"
|
||||
;;
|
||||
|
||||
source)
|
||||
[ $# -ne 1 ] && >&2 echo "Usage : $0 source" && return 1
|
||||
local ros_workspace=""
|
||||
for ros_workspace in $(echo "$ros_workspaces"); do
|
||||
source "$ros_workspace/devel/setup.zsh" || return "$?"
|
||||
done
|
||||
;;
|
||||
|
||||
*)
|
||||
>&2 echo "Usage : $0 <command> [option]" && return 1
|
||||
;;
|
||||
esac
|
||||
|
||||
return 0
|
||||
}
|
||||
|
||||
_omz_ros_config_init() {
|
||||
[ ! -d "$ZSH_CACHE_DIR" ] && mkdir -p "$ZSH_CACHE_DIR"
|
||||
if [ ! -f "$ZSH_CACHE_DIR/ros.cache" ]; then
|
||||
cp "$_OMZ_ROS_DIR/ros.cache.default" "$ZSH_CACHE_DIR/ros.cache" || \
|
||||
return "$?"
|
||||
[ ! "$(_omz_ros_config_get_line 'ros_distro_default')" ] && \
|
||||
_omz_ros_config_set_line 'ros_distro_default' \
|
||||
$(_omz_ros_distro_get_list | tail -n 1) || return "$?"
|
||||
fi
|
||||
|
||||
return 0
|
||||
}
|
||||
|
||||
_omz_ros_config_get_line() {
|
||||
cat "$ZSH_CACHE_DIR/ros.cache" |
|
||||
grep "^[[:space:]]*$1[[:space:]]*=" | sed 's/.*=[[:space:]]*\(.*\)/\1/'
|
||||
}
|
||||
|
||||
_omz_ros_config_set_line() {
|
||||
_omz_ros_config_do "$1" '=.*$' "= $2"
|
||||
}
|
||||
|
||||
_omz_ros_config_up() {
|
||||
_omz_ros_config_do "$1" "\([^[:space:]=]\+\)[[:space:]]\+$2" "$2 \1"
|
||||
}
|
||||
|
||||
_omz_ros_config_down() {
|
||||
_omz_ros_config_do "$1" "$2[[:space:]]\+\([^[:space:]]*\)" "\1 $2"
|
||||
}
|
||||
|
||||
_omz_ros_config_add_to_line() {
|
||||
_omz_ros_config_do "$1" '[[:space:]]*$' " $2"
|
||||
}
|
||||
|
||||
_omz_ros_config_remove_from_line() {
|
||||
_omz_ros_config_do "$1" "[[:space:]]*$2[[:space:]]*" ' '
|
||||
}
|
||||
|
||||
_omz_ros_config_do() {
|
||||
local line_exist="$(cat "$ZSH_CACHE_DIR/ros.cache" |
|
||||
grep "^[[:space:]]*$1[[:space:]]*=" )"
|
||||
[ ! "$line_exist" ] && echo "$1 =" >> "$ZSH_CACHE_DIR/ros.cache"
|
||||
sed -i "/^[[:space:]]*$1[[:space:]]*=/s/$2/$3/" \
|
||||
"$ZSH_CACHE_DIR/ros.cache"
|
||||
}
|
||||
|
||||
_omz_ros_workspace_get_list() {
|
||||
echo "$ROS_PACKAGE_PATH" | tr ':' '\n' | grep -v '/opt/ros' |
|
||||
sed 's/\/src$//' | paste -sd ' '
|
||||
}
|
||||
|
||||
_omz_ros_interface_get_list() {
|
||||
ip link show | grep -E '^[0-9]+: ' | sed 's/ //g' | cut -d ':' -f 2 |
|
||||
paste -sd ' '
|
||||
}
|
||||
|
||||
_omz_ros_interface_get_available() {
|
||||
ifconfig | grep -oE "^[[:alnum:]]+" | paste -sd ' '
|
||||
}
|
||||
|
||||
_omz_ros_interface_to_ip() {
|
||||
ifconfig | sed '/./{H;$!d};x;/'"$1"'/!d' | grep -o 'inet addr:[0-9.]\+' |
|
||||
cut -d ':' -f 2
|
||||
}
|
||||
|
||||
_omz_ros_distro_get_list() {
|
||||
ls -l '/opt/ros' | grep '^d' | tr -s ' ' | cut --complement -d ' ' -f 1-8 |
|
||||
paste -sd ' '
|
||||
}
|
||||
|
||||
ros_prompt_info() {
|
||||
local ros_status=""
|
||||
local master_ip=$(rosmaster)
|
||||
if [ "$master_ip" ]; then
|
||||
ros_status+="$ZSH_THEME_ROS_PROMPT_PREFIX%{$fg_no_bold[white]%}"
|
||||
curl -m 0.1 -s -o /dev/null \
|
||||
--request POST "$ROS_MASTER_URI/RPC2" --data "<?xml version='1.0'?>
|
||||
<methodCall><methodName>getUri</methodName><params><param><value><string>
|
||||
</string></value></param></params></methodCall>"
|
||||
case "$?" in
|
||||
0)
|
||||
# master up and responding
|
||||
[ "$(rosparam get use_sim_time 2>&1 | grep "true")" ] && \
|
||||
ros_status+="$ZSH_THEME_ROS_PROMPT_USE_SIM_TIME%{$fg_no_bold[white]%}"
|
||||
ros_status+="$ZSH_THEME_ROS_PROMPT_MASTER_UP"
|
||||
;;
|
||||
7)
|
||||
# master down and machine responding
|
||||
ros_status+="$ZSH_THEME_ROS_PROMPT_MASTER_DOWN"
|
||||
;;
|
||||
6|28)
|
||||
# Could not resolve host
|
||||
# Connection timeout
|
||||
ros_status+="$ZSH_THEME_ROS_PROMPT_MASTER_OUT"
|
||||
;;
|
||||
*)
|
||||
# Unexpected
|
||||
ros_status+="$ZSH_THEME_ROS_PROMPT_MASTER_OUT"
|
||||
;;
|
||||
esac
|
||||
ros_status+="$master_ip%{$fg_no_bold[white]%}"
|
||||
ros_status+="$ZSH_THEME_ROS_PROMPT_SUFFIX%{$fg_no_bold[white]%}"
|
||||
fi
|
||||
echo "$ros_status"
|
||||
return 0
|
||||
}
|
||||
|
||||
_omz_ros_config_init
|
||||
|
||||
[ ! "$ROS_IP" ] && rosinterface autoset
|
||||
[ ! "$ROS_MASTER_URI" ] && rosmaster autoset
|
||||
[ ! "$ROS_DISTRO" ] && rosdistro autoset || rosworkspace source
|
||||
|
||||
# Default values for the appearance of the prompt.
|
||||
if [ "$(fc-list | grep 'FontAwesome')" ]; then
|
||||
ZSH_THEME_ROS_PROMPT_PREFIX="%{$fg[blue]%} %{$fg_bold[blue]%}("
|
||||
ZSH_THEME_ROS_PROMPT_USE_SIM_TIME="%{$fg_bold[yellow]%} "
|
||||
else
|
||||
ZSH_THEME_ROS_PROMPT_PREFIX="%{$fg_bold[blue]%}ros:("
|
||||
ZSH_THEME_ROS_PROMPT_USE_SIM_TIME="%{$fg[yellow]%}⌚ "
|
||||
fi
|
||||
|
||||
ZSH_THEME_ROS_PROMPT_SUFFIX="%{$fg_bold[blue]%})"
|
||||
ZSH_THEME_ROS_PROMPT_MASTER_UP="%{$fg_bold[green]%}"
|
||||
ZSH_THEME_ROS_PROMPT_MASTER_DOWN="%{$fg_bold[red]%}"
|
||||
ZSH_THEME_ROS_PROMPT_MASTER_OUT="%{$fg_bold[magenta]%}"
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue