move launch files into launch.legacy namespace (#73)

* move launch files into launch.legacy namespace

* update tests to use launch.legacy

launch/launch/__init__.py

@@ -11,72 +11,3 @@
 # 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.
-
-from launch.exit_handler import default_exit_handler
-from launch.output_handler import CompositeOutputHandler
-from launch.output_handler import ConsoleOutput
-
-
-class LaunchDescriptor:
-
-    def __init__(self):
-        self.task_descriptors = []
-
-    def add_coroutine(self, coroutine, name=None, exit_handler=None):
-        if name is not None and name in [p.name for p in self.task_descriptors]:
-            raise RuntimeError("Task name '%s' already used" % name)
-        if exit_handler is None:
-            exit_handler = default_exit_handler
-        coroutine_descriptor = CoroutineDescriptor(
-            coroutine, name, exit_handler)
-        self.task_descriptors.append(coroutine_descriptor)
-        return coroutine_descriptor
-
-    def add_process(self, cmd, name=None, env=None, output_handlers=None, exit_handler=None):
-        if name is not None and name in [p.name for p in self.task_descriptors]:
-            raise RuntimeError("Task name '%s' already used" % name)
-        if output_handlers is None:
-            output_handlers = [ConsoleOutput()]
-        output_handlers = CompositeOutputHandler(output_handlers)
-        if exit_handler is None:
-            exit_handler = default_exit_handler
-        process_descriptor = ProcessDescriptor(
-            cmd, name, output_handlers, exit_handler, env=env)
-        self.task_descriptors.append(process_descriptor)
-        return process_descriptor
-
-
-class TaskDescriptor:
-
-    def __init__(self):
-        self.task_state = None
-
-
-class CoroutineDescriptor(TaskDescriptor):
-
-    def __init__(self, coroutine, name, exit_handler):
-        super(CoroutineDescriptor, self).__init__()
-        self.coroutine = coroutine
-        self.name = name
-        self.exit_handler = exit_handler
-
-
-class ProcessDescriptor(TaskDescriptor):
-
-    def __init__(self, cmd, name, output_handler, exit_handler, env=None):
-        super(ProcessDescriptor, self).__init__()
-        self.cmd = cmd
-        self.name = name
-        self.output_handler = output_handler
-        self.exit_handler = exit_handler
-        self.env = env
-        self.transport = None
-        self.protocol = None
-
-    def send_signal(self, signal):
-        if self.transport:
-            self.transport.send_signal(signal)
-
-    def terminate(self):
-        if self.transport:
-            self.transport.terminate()

launch/launch/legacy/__init__.py

@@ -0,0 +1,82 @@
+# 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.
+
+from launch.legacy.exit_handler import default_exit_handler
+from launch.legacy.output_handler import CompositeOutputHandler
+from launch.legacy.output_handler import ConsoleOutput
+
+
+class LaunchDescriptor:
+
+    def __init__(self):
+        self.task_descriptors = []
+
+    def add_coroutine(self, coroutine, name=None, exit_handler=None):
+        if name is not None and name in [p.name for p in self.task_descriptors]:
+            raise RuntimeError("Task name '%s' already used" % name)
+        if exit_handler is None:
+            exit_handler = default_exit_handler
+        coroutine_descriptor = CoroutineDescriptor(
+            coroutine, name, exit_handler)
+        self.task_descriptors.append(coroutine_descriptor)
+        return coroutine_descriptor
+
+    def add_process(self, cmd, name=None, env=None, output_handlers=None, exit_handler=None):
+        if name is not None and name in [p.name for p in self.task_descriptors]:
+            raise RuntimeError("Task name '%s' already used" % name)
+        if output_handlers is None:
+            output_handlers = [ConsoleOutput()]
+        output_handlers = CompositeOutputHandler(output_handlers)
+        if exit_handler is None:
+            exit_handler = default_exit_handler
+        process_descriptor = ProcessDescriptor(
+            cmd, name, output_handlers, exit_handler, env=env)
+        self.task_descriptors.append(process_descriptor)
+        return process_descriptor
+
+
+class TaskDescriptor:
+
+    def __init__(self):
+        self.task_state = None
+
+
+class CoroutineDescriptor(TaskDescriptor):
+
+    def __init__(self, coroutine, name, exit_handler):
+        super(CoroutineDescriptor, self).__init__()
+        self.coroutine = coroutine
+        self.name = name
+        self.exit_handler = exit_handler
+
+
+class ProcessDescriptor(TaskDescriptor):
+
+    def __init__(self, cmd, name, output_handler, exit_handler, env=None):
+        super(ProcessDescriptor, self).__init__()
+        self.cmd = cmd
+        self.name = name
+        self.output_handler = output_handler
+        self.exit_handler = exit_handler
+        self.env = env
+        self.transport = None
+        self.protocol = None
+
+    def send_signal(self, signal):
+        if self.transport:
+            self.transport.send_signal(signal)
+
+    def terminate(self):
+        if self.transport:
+            self.transport.terminate()

launch/launch/launcher.py → launch/launch/legacy/launcher.py

@@ -20,10 +20,10 @@
 import threading
 import time
 
-from launch.exit_handler import ExitHandlerContext
-from launch.launch import LaunchState
-from launch.protocol import SubprocessProtocol
-from launch.task import TaskState
+from launch.legacy.exit_handler import ExitHandlerContext
+from launch.legacy.launch import LaunchState
+from launch.legacy.protocol import SubprocessProtocol
+from launch.legacy.task import TaskState
 
 
 class _TaskException(Exception):

launch/launch/main.py → launch/launch/legacy/main.py

@@ -16,9 +16,9 @@
 import os
 import sys
 
-from launch import LaunchDescriptor
-from launch.launcher import DefaultLauncher
-from launch.loader import load_launch_file
+from launch.legacy import LaunchDescriptor
+from launch.legacy.launcher import DefaultLauncher
+from launch.legacy.loader import load_launch_file
 
 
 def file_exists(filename):

launch/test/launch_counter.py → launch/test/legacy/launch_counter.py

@@ -16,8 +16,8 @@
 import sys
 from tempfile import NamedTemporaryFile
 
-from launch.exit_handler import ignore_exit_handler
-from launch.output_handler import FileOutput
+from launch.legacy.exit_handler import ignore_exit_handler
+from launch.legacy.output_handler import FileOutput
 
 
 def launch(launch_descriptor, argv):

launch/test/launch_multiple_counters.py → launch/test/legacy/launch_multiple_counters.py

@@ -16,12 +16,12 @@
 import sys
 from tempfile import NamedTemporaryFile
 
-from launch import LaunchDescriptor
-from launch.exit_handler import ignore_exit_handler
-from launch.exit_handler import restart_exit_handler
-from launch.loader import load_launch_file
-from launch.output_handler import ConsoleOutput
-from launch.output_handler import FileOutput
+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):

launch/test/test_interrupt_default_launcher.py → launch/test/legacy/test_interrupt_default_launcher.py

@@ -16,8 +16,8 @@
 import sys
 import threading
 
-from launch import LaunchDescriptor
-from launch.launcher import DefaultLauncher
+from launch.legacy import LaunchDescriptor
+from launch.legacy.launcher import DefaultLauncher
 
 
 def test_interrupt_default_launcher():

launch/test/test_launch_args.py → launch/test/legacy/test_launch_args.py

@@ -11,7 +11,7 @@
 # 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.
-from launch.arguments import get_launch_args
+from launch.legacy.arguments import get_launch_args
 
 
 def test_launch_args():

launch/test/test_launch_with_coroutine.py → launch/test/legacy/test_launch_with_coroutine.py

@@ -16,10 +16,10 @@
 import os
 import sys
 
-from launch import LaunchDescriptor
-from launch.exit_handler import primary_exit_handler
-from launch.launcher import DefaultLauncher
-from launch.loader import load_launch_file
+from launch.legacy import LaunchDescriptor
+from launch.legacy.exit_handler import primary_exit_handler
+from launch.legacy.launcher import DefaultLauncher
+from launch.legacy.loader import load_launch_file
 
 
 def test_launch_with_coroutine():

launch/test/test_multiple_launch.py → launch/test/legacy/test_multiple_launch.py

@@ -15,8 +15,8 @@
 import asyncio
 import sys
 
-from launch import LaunchDescriptor
-from launch.launcher import DefaultLauncher
+from launch.legacy import LaunchDescriptor
+from launch.legacy.launcher import DefaultLauncher
 
 
 def test_multiple_launch():

launch/test/test_non_primary_return_code.py → launch/test/legacy/test_non_primary_return_code.py

@@ -16,9 +16,9 @@
 import os
 import sys
 
-from launch import LaunchDescriptor
-from launch.exit_handler import primary_exit_handler
-from launch.launcher import DefaultLauncher
+from launch.legacy import LaunchDescriptor
+from launch.legacy.exit_handler import primary_exit_handler
+from launch.legacy.launcher import DefaultLauncher
 
 
 def test_non_primary_return_code():

launch_testing/launch_testing/__init__.py

@@ -6,7 +6,7 @@
 import sys
 
 import ament_index_python
-from launch.output_handler import LineOutput
+from launch.legacy.output_handler import LineOutput
 
 
 class UnmatchedOutputError(BaseException):

launch_testing/test/test_env_passing.py

@@ -16,9 +16,9 @@
 import os
 import sys
 
-from launch import LaunchDescriptor
-from launch.exit_handler import primary_exit_handler
-from launch.launcher import DefaultLauncher
+from launch.legacy import LaunchDescriptor
+from launch.legacy.exit_handler import primary_exit_handler
+from launch.legacy.launcher import DefaultLauncher
 
 
 def test_env():

launch_testing/test/test_matching.py

@@ -16,9 +16,9 @@
 import sys
 import tempfile
 
-from launch import LaunchDescriptor
-from launch.exit_handler import ignore_exit_handler
-from launch.launcher import DefaultLauncher
+from launch.legacy import LaunchDescriptor
+from launch.legacy.exit_handler import ignore_exit_handler
+from launch.legacy.launcher import DefaultLauncher
 from launch_testing import create_handler