Python sys 模块，arv() 实例源码

def _is_dev_mode():
    # Some embedded python interpreters won't have sys.arv
    # For details, see https://github.com/webpy/webpy/issues/87
    argv = getattr(sys, "argv", [])

    # quick hack to check if the program is running in dev mode.
    if 'SERVER_SOFTWARE' in os.environ \
        or 'PHP_FCGI_CHILDREN' in os.environ \
        or 'fcgi' in argv or 'fastcgi' in argv \
        or 'mod_wsgi' in argv:
            return False
    return True

# When running the builtin-server, enable debug mode if not already set.

def _is_dev_mode():
    # Some embedded python interpreters won't have sys.arv
    # For details, see https://github.com/webpy/webpy/issues/87
    argv = getattr(sys, "argv", [])

    # quick hack to check if the program is running in dev mode.
    if os.environ.has_key('SERVER_SOFTWARE') \
        or os.environ.has_key('PHP_FCGI_CHILDREN') \
        or 'fcgi' in argv or 'fastcgi' in argv \
        or 'mod_wsgi' in argv:
            return False
    return True

# When running the builtin-server, enable debug mode if not already set.

def _is_dev_mode():
    # Some embedded python interpreters won't have sys.arv
    # For details, see https://github.com/webpy/webpy/issues/87
    argv = getattr(sys, "argv", [])

    # quick hack to check if the program is running in dev mode.
    if os.environ.has_key('SERVER_SOFTWARE') \
        or os.environ.has_key('PHP_FCGI_CHILDREN') \
        or 'fcgi' in argv or 'fastcgi' in argv \
        or 'mod_wsgi' in argv:
            return False
    return True

# When running the builtin-server, enable debug mode if not already set.

def _is_dev_mode():
    # Some embedded python interpreters won't have sys.arv
    # For details, see https://github.com/webpy/webpy/issues/87
    argv = getattr(sys, "argv", [])

    # quick hack to check if the program is running in dev mode.
    if os.environ.has_key('SERVER_SOFTWARE') \
        or os.environ.has_key('PHP_FCGI_CHILDREN') \
        or 'fcgi' in argv or 'fastcgi' in argv \
        or 'mod_wsgi' in argv:
            return False
    return True

# When running the builtin-server, enable debug mode if not already set.

def main():
    """Joint Trajectory Example: File Playback

    Plays back joint positions honoring timestamps recorded
    via the joint_recorder example.

    Run the joint_recorder.py example first to create a recording
    file for use with this example. Then make sure to start the
    joint_trajectory_action_server before running this example.

    This example will use the joint trajectory action server
    with velocity control to follow the positions and times of
    the recorded motion, accurately replicating movement speed
    necessary to hit each trajectory point on time.
    """

    arg_fmt = argparse.RawDescriptionHelpFormatter
    parser = argparse.ArgumentParser(formatter_class=arg_fmt,
                                     description=main.__doc__)

    parser.add_argument(
        '-f', '--file', metavar='PATH', required=True,
        help='path to input file'
    )
    parser.add_argument(
        '-l', '--loops', type=int, default=1,
        help='number of playback loops. 0=infinite.'
    )
    # remove ROS args and filename (sys.arv[0]) for argparse
    args = parser.parse_args(rospy.myargv()[1:])

    print("Initializing node... ")
    rospy.init_node("rsdk_joint_trajectory_file_playback")
    print("Getting robot state... ")
    rs = baxter_interface.RobotEnable(CHECK_VERSION)
    print("Enabling robot... ")
    rs.enable()
    print("Running. Ctrl-c to quit")

    traj = Trajectory()
    traj.parse_file(path.expanduser(args.file))
    #for safe interrupt handling
    rospy.on_shutdown(traj.stop)
    result = True
    loop_cnt = 1
    loopstr = str(args.loops)
    if args.loops == 0:
        args.loops = float('inf')
        loopstr = "forever"
    while (result == True and loop_cnt <= args.loops
           and not rospy.is_shutdown()):
        print("Playback loop %d of %s" % (loop_cnt, loopstr,))
        traj.start()
        result = traj.wait()
        loop_cnt = loop_cnt + 1
    print("Exiting - File Playback Complete")