Add $(dirname) to get directory of current launch file. (ros#1103)

* Add $(dir) to get directory of current launch file.

* Change $(dir) -> $(dirname)

* Add simple tests for $(dirname) substitution.

* Add xmlloader test for $(dirname).

tools/roslaunch/src/roslaunch/substitution_args.py

@@ -119,6 +119,21 @@ def _anon(resolved, a, args, context):
     anon_context = context['anon']
     return resolved.replace("$(%s)" % a, _eval_anon(id=args[0], anons=anon_context))
 
+def _eval_dirname(filename):
+    if not filename:
+        raise SubstitutionException("Cannot substitute $(dirname), no file/directory information available.")
+    return os.path.abspath(os.path.dirname(filename))
+
+def _dirname(resolved, a, args, context):
+    """
+    process $(dirname)
+    @return: updated resolved argument
+    @rtype: str
+    @raise SubstitutionException: if no information about the current launch file is available, for example
+           if XML was passed via stdin, or this is a remote launch.
+    """
+    return resolved.replace("$(%s)" % a, _eval_dirname(context.get('filename', None)))
+
 def _eval_find(pkg):
     rp = _get_rospack()
     return rp.get_path(pkg)
@@ -316,7 +331,13 @@ def _eval(s, context):
     def _eval_anon_context(id): return _eval_anon(id, anons=context['anon'])
     # inject arg context
     def _eval_arg_context(name): return convert_value(_eval_arg(name, args=context['arg']), 'auto')
-    functions = dict(anon=_eval_anon_context, arg=_eval_arg_context)
+    # inject dirname context
+    def _eval_dirname_context(): return _eval_dirname(context['filename'])
+    functions = {
+        'anon': _eval_anon_context,
+        'arg': _eval_arg_context,
+        'dirname': _eval_dirname_context
+    }
     functions.update(_eval_dict)
 
     # ignore values containing double underscores (for safety)
@@ -325,7 +346,7 @@ def _eval_arg_context(name): return convert_value(_eval_arg(name, args=context['
         raise SubstitutionException("$(eval ...) may not contain double underscore expressions")
     return str(eval(s, {}, _DictWrapper(context['arg'], functions)))
 
-def resolve_args(arg_str, context=None, resolve_anon=True):
+def resolve_args(arg_str, context=None, resolve_anon=True, filename=None):
     """
     Resolves substitution args (see wiki spec U{http://ros.org/wiki/roslaunch}).
 
@@ -359,6 +380,7 @@ def resolve_args(arg_str, context=None, resolve_anon=True):
     commands = {
         'env': _env,
         'optenv': _optenv,
+        'dirname': _dirname,
         'anon': _anon,
         'arg': _arg,
     }
@@ -371,7 +393,7 @@ def resolve_args(arg_str, context=None, resolve_anon=True):
     return resolved
 
 def _resolve_args(arg_str, context, resolve_anon, commands):
-    valid = ['find', 'env', 'optenv', 'anon', 'arg']
+    valid = ['find', 'env', 'optenv', 'dirname', 'anon', 'arg']
     resolved = arg_str
     for a in _collect_args(arg_str):
         splits = [s for s in a.split(' ') if s]

tools/roslaunch/src/roslaunch/xmlloader.py

@@ -180,6 +180,8 @@ def resolve_args(self, args, context):
         """
         # resolve_args gets called a lot, so we optimize by testing for dollar sign before resolving
         if args and '$' in args:
+            # Populate resolve_dict with name of the current file being processed.
+            context.resolve_dict['filename'] = context.filename
             return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
         else:
             return args

tools/roslaunch/test/unit/test_substitution_args.py

@@ -96,7 +96,7 @@ def test_resolve_args():
 
     anon_context = {'foo': 'bar'}
     arg_context = {'fuga': 'hoge', 'car': 'cdr', 'arg': 'foo', 'True': 'False'}
-    context = {'anon': anon_context, 'arg': arg_context }
+    context = {'anon': anon_context, 'arg': arg_context, 'filename': '/path/to/file.launch'}
 
     tests = [
         ('$(find roslaunch)', roslaunch_dir),
@@ -119,6 +119,7 @@ def test_resolve_args():
         ('$(optenv NOT_ROS_ROOT)more stuff', 'more stuff'),
         ('$(optenv NOT_ROS_ROOT alternate)', 'alternate'),
         ('$(optenv NOT_ROS_ROOT alternate text)', 'alternate text'),
+        ('$(dirname)/foo', '/path/to/foo'),
 
         # #1776
         ('$(anon foo)', 'bar'),
@@ -177,6 +178,8 @@ def test_resolve_args():
         '$(optenv)',
         '$(anon)',
         '$(anon foo bar)',            
+        # Should fail without the supplied context.
+        '$(dirname)'
         ]
     for f in failures:
         try:

tools/roslaunch/test/unit/test_xmlloader.py

@@ -1064,3 +1064,18 @@ def test_arg_all_includes(self):
         #    self.fail('should have thrown an exception')
         #except roslaunch.xmlloader.XmlParseException:
         #    pass
+
+    # Test for $(dirname) behaviour across included files.
+    def test_dirname(self):
+        loader = roslaunch.xmlloader.XmlLoader()
+        filename = os.path.join(self.xml_dir, 'test-dirname.xml')
+
+        mock = RosLaunchMock()
+        loader.load(filename, mock)
+
+        param_d = {}
+        for p in mock.params:
+            param_d[p.key] = p.value
+
+        self.assertEquals(param_d['/foo'], self.xml_dir + '/bar')
+        self.assertEquals(param_d['/bar'], self.xml_dir + '/test-dirname/baz')

tools/roslaunch/test/xml/test-dirname.xml

@@ -0,0 +1,4 @@
+<launch>
+  <param name="foo" value="$(dirname)/bar" />
+  <include file="$(dirname)/test-dirname/included.xml" />
+</launch>

tools/roslaunch/test/xml/test-dirname/included.xml

@@ -0,0 +1,3 @@
+<launch>
+  <param name="bar" value="$(dirname)/baz" />
+</launch>