rosmetalaunch

#!/usr/bin/python
import os
import sys
import stat
import time
import argparse
import subprocess
import xml.dom.minidom

LAUNCH_DELAY = 5

def get_description(file):
    dom = xml.dom.minidom.parse(file)
    description = dom.getElementsByTagName("description")[0]
    brief = description.getAttribute("brief")
    dom.unlink()
    return brief

def launcher(file):
    try:
        pid = os.fork()
        if pid > 0:
            return
    except Exception, e:
        print e, ": Initial fork"
        sys.exit(os.EX_OSERR)

    output_log = open("/tmp/%s.log"%os.path.basename(file), "a+")
    error_log = open("/tmp/%s.log"%os.path.basename(file), "a+", 0)
    null_input = open("/dev/null", "r")

    os.dup2(null_input.fileno(), sys.stdin.fileno())
    os.dup2(output_log.fileno(), sys.stdout.fileno())
    os.dup2(error_log.fileno(), sys.stderr.fileno())

    try:
        pid = os.fork()
        if pid > 0:
            sys.exit(os.EX_OK)
    except Exception, e:
        print e, ": Secondary fork"
        sys.exit(os.EX_OSERR)

    os.setsid()
    os.umask(stat.S_IWOTH)
    launch_dir = os.path.dirname(file)
    if launch_dir:
        os.chdir(launch_dir)
    
    try:
        pid = os.fork()
        if pid > 0:
            # log PID here
            sys.exit(os.EX_OK)
    except Exception, e:
        print e, ": Tertiary fork"
        sys.exit(os.EX_OSERR)

    info = get_description(file)
    p = subprocess.Popen("DISPLAY=:0 /usr/bin/notify-send --icon=ros-tool --category='network.connected' 'ROS Launch' '%s'"%info, stdout=subprocess.PIPE, shell=True)
    p.wait()
    p = subprocess.Popen("roslaunch %s"%file, stdout=subprocess.PIPE, shell=True)
    p.wait()
    sys.exit(os.EX_OK)


def islaunchfile(file): return file.endswith(".launch")

if __name__ == '__main__':
    parser = argparse.ArgumentParser(prog='rosmetalaunch',
                                     epilog='ROS MetaLaunch Tool')
    parser.add_argument('launch_path', help='Launch Directory')
    args = parser.parse_args()
    try:
        files = os.listdir(args.launch_path)
    except Exception, e:
        print e, ": Invalid launch directory"
        sys.exit(os.EX_OSFILE)

    launchfiles = sorted(filter(islaunchfile, files))
    for file in launchfiles[:]:
        launcher("%s/%s"%(args.launch_path,file))
        time.sleep(LAUNCH_DELAY)