├── roshelper ├── __init__.py ├── node.py ├── multipublisher.py └── partialnode.py ├── README.md ├── setup.py ├── examples ├── simple_example.py ├── functions_node.py ├── class_node.py └── functions_node_rospy.py ├── .gitignore └── LICENSE /roshelper/__init__.py: -------------------------------------------------------------------------------- 1 | 2 | __all__ = ["Node", "PartialNode", "start_partial_nodes"] 3 | 4 | from node import Node 5 | from partialnode import PartialNode 6 | from partialnode import start_partial_nodes 7 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # roshelper 2 | 3 | A helper library for rospy. `roshelper` provides a variety of helper function 4 | and decorators to make developing ROS nodes in Python much easier. Please see 5 | the website (http://wallarelvo.github.io/roshelper/). 6 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | 2 | from setuptools import setup 3 | 4 | setup(name='roshelper', 5 | version='0.1.4', 6 | description='Making rospy just a bit easier', 7 | author='Alex Wallar', 8 | author_email='wallarelvo@gmail.com', 9 | url='http://wallarelvo.github.io/roshelper', 10 | license="GNU GPL V3", 11 | packages=['roshelper'],) 12 | -------------------------------------------------------------------------------- /roshelper/node.py: -------------------------------------------------------------------------------- 1 | 2 | import rospy 3 | import types 4 | import threading 5 | from partialnode import PartialNode 6 | 7 | 8 | class Node(PartialNode): 9 | 10 | def __init__(self, node_name, **kwargs): 11 | PartialNode.__init__(self) 12 | self.node_name = node_name 13 | self.kwargs = kwargs 14 | 15 | def start(self, spin=False): 16 | rospy.init_node(self.node_name, **self.kwargs) 17 | return self._start(spin) 18 | -------------------------------------------------------------------------------- /roshelper/multipublisher.py: -------------------------------------------------------------------------------- 1 | 2 | import rospy 3 | 4 | 5 | class MultiPublisher(object): 6 | 7 | def __init__(self, msg, msg_type, topics, **kwargs): 8 | self.msg = msg 9 | self.msg_type = msg_type 10 | self.topics = topics 11 | self.kwargs = kwargs 12 | 13 | def publish(self, topic): 14 | if not topic in self.topics: 15 | args = [topic, self.msg_type] 16 | self.topics[topic] = rospy.Publisher(*args, **self.kwargs) 17 | self.topics[topic].publish(self.msg) 18 | return self.msg 19 | 20 | def msg(self): 21 | return self.msg 22 | -------------------------------------------------------------------------------- /examples/simple_example.py: -------------------------------------------------------------------------------- 1 | 2 | import roshelper 3 | import rospy 4 | from std_msgs.msg import String 5 | from std_srvs.srv import SetBool, SetBoolRequest, SetBoolResponse 6 | 7 | message = "hello world" 8 | 9 | n = roshelper.Node("talker_and_listener", anonymous=False) 10 | 11 | 12 | @n.publisher("/chatter", String, queue_size=1) 13 | def talker(): 14 | hello_str = message + " %s" % rospy.get_time() 15 | rospy.loginfo(hello_str) 16 | return hello_str 17 | 18 | 19 | @n.subscriber("/chatter", String) 20 | def listener(word): 21 | rospy.loginfo(rospy.get_caller_id() + " : I heard %s" % word.data) 22 | 23 | 24 | @n.entry_point(frequency=30) 25 | def main(): 26 | talker() 27 | 28 | 29 | @n.service("use_uppercase", SetBool) 30 | def use_uppercase(request): 31 | assert isinstance(request, SetBoolRequest) 32 | global message # Ugh, globals, this better be a class, but that would be slightly less simple code 33 | if request.data: 34 | message = message.upper() 35 | else: 36 | message = message.lower() 37 | return SetBoolResponse(True, "Boolean set. New message value: {}".format(message)) 38 | 39 | 40 | if __name__ == "__main__": 41 | n.start(spin=True) 42 | -------------------------------------------------------------------------------- /examples/functions_node.py: -------------------------------------------------------------------------------- 1 | 2 | import roshelper 3 | import rospy 4 | from std_msgs.msg import String 5 | from std_msgs.msg import Int64 6 | from std_srvs.srv import SetBool, SetBoolRequest, SetBoolResponse 7 | 8 | 9 | n = roshelper.Node("test_node", anonymous=False) 10 | 11 | 12 | @n.publisher("/test_node_string", String) 13 | def str_pub(word): 14 | rospy.loginfo("Pub --> {}".format(word)) 15 | st = String() 16 | st.data = word[::-1] 17 | return st 18 | 19 | 20 | @n.publisher(Int64) 21 | def int_pub(num): 22 | rospy.loginfo("Int Pub --> {}".format(num)) 23 | msg = Int64() 24 | msg.data = num 25 | return msg 26 | 27 | 28 | @n.subscriber("/test_node_string", String) 29 | def str_sub(word): 30 | rospy.loginfo("Sub --> {}".format(word)) 31 | 32 | 33 | @n.subscriber("/test_node_int", Int64) 34 | @n.subscriber("/another_test_node_int", Int64) 35 | def int_sub(num, topic): 36 | rospy.loginfo("Int Sub ({}) --> {}".format(topic, num)) 37 | 38 | 39 | @n.entry_point(frequency=30) 40 | def run(): 41 | str_pub("balls") 42 | int_pub(3).publish("/test_node_int") 43 | int_pub(10).publish("/another_test_node_int") 44 | 45 | 46 | @n.service("set_bool", SetBool) 47 | def set_bool(set_bool_request): 48 | assert isinstance(set_bool_request, SetBoolRequest) 49 | return SetBoolResponse(True, "Boolean set. Inverted value: {}".format(not set_bool_request.data)) 50 | 51 | 52 | if __name__ == "__main__": 53 | n.start(spin=True) 54 | -------------------------------------------------------------------------------- /examples/class_node.py: -------------------------------------------------------------------------------- 1 | 2 | import roshelper 3 | import rospy 4 | from std_msgs.msg import String 5 | from std_msgs.msg import Int64 6 | from std_srvs.srv import SetBool, SetBoolRequest, SetBoolResponse 7 | 8 | n = roshelper.Node("test_node", anonymous=False) 9 | 10 | 11 | @n.entry_point(word="balls") 12 | class TestNode(object): 13 | 14 | def __init__(self, word): 15 | self.word = word 16 | self.boolean = False 17 | 18 | @n.publisher("/test_node_string", String) 19 | def str_pub(self, word): 20 | rospy.loginfo("Pub --> {}".format(word)) 21 | st = String() 22 | st.data = word[::-1] 23 | return st 24 | 25 | @n.publisher(Int64) 26 | def int_pub(self, num): 27 | rospy.loginfo("Int Pub --> {}".format(num)) 28 | msg = Int64() 29 | msg.data = num 30 | return msg 31 | 32 | @n.subscriber("/test_node_string", String) 33 | def str_sub(self, word): 34 | rospy.loginfo("Sub --> {}".format(word)) 35 | 36 | @n.subscriber("/test_node_int", Int64) 37 | @n.subscriber("/another_test_node_int", Int64) 38 | def int_sub(self, num, topic): 39 | rospy.loginfo("Int Sub ({}) --> {}".format(topic, num)) 40 | 41 | @n.main_loop(frequency="frequency", default_frequency=30) 42 | def run(self): 43 | self.str_pub(self.word) 44 | self.int_pub(3).publish("/test_node_int") 45 | self.int_pub(10).publish("/another_test_node_int") 46 | 47 | @n.service("set_bool", SetBool) 48 | def set_bool(self, set_bool_request): 49 | assert isinstance(set_bool_request, SetBoolRequest) 50 | self.boolean = set_bool_request.data 51 | return SetBoolResponse(True, "Boolean set. Current value: {}".format(self.boolean)) 52 | 53 | 54 | if __name__ == "__main__": 55 | n.start(spin=True) 56 | -------------------------------------------------------------------------------- /examples/functions_node_rospy.py: -------------------------------------------------------------------------------- 1 | import rospy 2 | from std_msgs.msg import String 3 | from std_msgs.msg import Int64 4 | from std_srvs.srv import SetBool, SetBoolRequest, SetBoolResponse 5 | 6 | 7 | str_pub = rospy.Publisher("/test_node_string", String, queue_size=1) 8 | int_pub_1 = rospy.Publisher("/test_node_int", Int64, queue_size=1) 9 | int_pub_2 = rospy.Publisher("/another_test_node_int", Int64, queue_size=1) 10 | 11 | 12 | def get_int_sub(topic_name): 13 | def int_sub(num): 14 | rospy.loginfo("Int Sub ({}) --> {}".format(topic_name, num)) 15 | 16 | 17 | def str_sub_callback(word): 18 | rospy.loginfo("Sub --> {}".format(word)) 19 | 20 | 21 | str_sub = rospy.Subscriber("/test_node_string", String, str_sub_callback, 22 | queue_size=1) 23 | 24 | int_sub_1 = rospy.Subscriber( 25 | "/test_node_int", Int64, 26 | get_int_sub("/test_node_int"), queue_size=1) 27 | 28 | 29 | int_sub_2 = rospy.Subscriber( 30 | "/another_test_node_int", Int64, 31 | get_int_sub("/another_test_node_int"), queue_size=1) 32 | 33 | 34 | def publish_int(num, pub): 35 | rospy.loginfo("Int Pub --> {}".format(num)) 36 | msg = Int64() 37 | msg.data = num 38 | pub.publish(msg) 39 | 40 | 41 | def publish_str(word): 42 | rospy.loginfo("Pub --> {}".format(word)) 43 | st = String() 44 | st.data = word[::-1] 45 | str_pub.publish(st) 46 | 47 | 48 | def set_bool(set_bool_request): 49 | assert isinstance(set_bool_request, SetBoolRequest) 50 | return SetBoolResponse(True, "Boolean set. Inverted value: {}".format(not set_bool_request.data)) 51 | 52 | bool_setter = rospy.Service("/set_bool", SetBool, set_bool) 53 | 54 | if __name__ == "__main__": 55 | rospy.init_node("test_node", anonymous=False) 56 | freq = rospy.get_param("frequency", 30) 57 | rate = rospy.Rate(freq) 58 | while not rospy.is_shutdown(): 59 | publish_str("balls") 60 | publish_int(3, int_pub_1) 61 | publish_int(3, int_pub_2) 62 | rate.sleep() 63 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | ##### --- ROS --- ##### 2 | build/ 3 | bin/ 4 | lib/ 5 | msg_gen/ 6 | srv_gen/ 7 | msg/*Action.msg 8 | msg/*ActionFeedback.msg 9 | msg/*ActionGoal.msg 10 | msg/*ActionResult.msg 11 | msg/*Feedback.msg 12 | msg/*Goal.msg 13 | msg/*Result.msg 14 | msg/_*.py 15 | 16 | # Generated by dynamic reconfigure 17 | *.cfgc 18 | /cfg/cpp/ 19 | /cfg/*.py 20 | 21 | # Ignore generated docs 22 | *.dox 23 | *.wikidoc 24 | 25 | # eclipse stuff 26 | .project 27 | .cproject 28 | 29 | # qcreator stuff 30 | CMakeLists.txt.user 31 | 32 | srv/_*.py 33 | *.pcd 34 | *.pyc 35 | qtcreator-* 36 | *.user 37 | 38 | /planning/cfg 39 | /planning/docs 40 | /planning/src 41 | 42 | *~ 43 | 44 | # Emacs 45 | .#* 46 | 47 | # Catkin custom files 48 | CATKIN_IGNORE 49 | 50 | ##### --- Python --- ##### 51 | # Byte-compiled / optimized / DLL files 52 | __pycache__/ 53 | *.py[cod] 54 | *$py.class 55 | 56 | # C extensions 57 | *.so 58 | 59 | # Distribution / packaging 60 | .Python 61 | env/ 62 | build/ 63 | develop-eggs/ 64 | dist/ 65 | downloads/ 66 | eggs/ 67 | .eggs/ 68 | lib/ 69 | lib64/ 70 | parts/ 71 | sdist/ 72 | var/ 73 | *.egg-info/ 74 | .installed.cfg 75 | *.egg 76 | 77 | # PyInstaller 78 | # Usually these files are written by a python script from a template 79 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 80 | *.manifest 81 | *.spec 82 | 83 | # Installer logs 84 | pip-log.txt 85 | pip-delete-this-directory.txt 86 | 87 | # Unit test / coverage reports 88 | htmlcov/ 89 | .tox/ 90 | .coverage 91 | .coverage.* 92 | .cache 93 | nosetests.xml 94 | coverage.xml 95 | *,cover 96 | .hypothesis/ 97 | 98 | # Translations 99 | *.mo 100 | *.pot 101 | 102 | # Django stuff: 103 | *.log 104 | local_settings.py 105 | 106 | # Flask stuff: 107 | instance/ 108 | .webassets-cache 109 | 110 | # Scrapy stuff: 111 | .scrapy 112 | 113 | # Sphinx documentation 114 | docs/_build/ 115 | 116 | # PyBuilder 117 | target/ 118 | 119 | # IPython Notebook 120 | .ipynb_checkpoints 121 | 122 | # pyenv 123 | .python-version 124 | 125 | # celery beat schedule file 126 | celerybeat-schedule 127 | 128 | # dotenv 129 | .env 130 | 131 | # virtualenv 132 | venv/ 133 | ENV/ 134 | 135 | # Spyder project settings 136 | .spyderproject 137 | 138 | # Rope project settings 139 | .ropeproject 140 | 141 | ##### --- C++ --- ##### 142 | # Compiled Object files 143 | *.slo 144 | *.lo 145 | *.o 146 | *.obj 147 | 148 | # Precompiled Headers 149 | *.gch 150 | *.pch 151 | 152 | # Compiled Dynamic libraries 153 | *.so 154 | *.dylib 155 | *.dll 156 | 157 | # Fortran module files 158 | *.mod 159 | *.smod 160 | 161 | # Compiled Static libraries 162 | *.lai 163 | *.la 164 | *.a 165 | *.lib 166 | 167 | # Executables 168 | *.exe 169 | *.out 170 | *.app 171 | 172 | .ropeproject 173 | -------------------------------------------------------------------------------- /roshelper/partialnode.py: -------------------------------------------------------------------------------- 1 | 2 | import rospy 3 | import types 4 | import threading 5 | from multipublisher import MultiPublisher 6 | 7 | 8 | def start_partial_nodes(node_name, *partials, **kwargs): 9 | rospy.init_node(node_name, **kwargs) 10 | for p in partials: 11 | p._start(False) 12 | 13 | 14 | class PartialNode(object): 15 | 16 | def __init__(self): 17 | self.m_loop = None 18 | self.thread = None 19 | self.cl = None 20 | self.subscribers = list() 21 | self.subscribers_init = list() 22 | self.services = list() 23 | 24 | def subscriber(self, topic_name, msg_type, **kwargs): 25 | if not "queue_size" in kwargs: 26 | kwargs["queue_size"] = 1 27 | 28 | def __decorator(func): 29 | def __inner(msg): 30 | n_args = func.func_code.co_argcount 31 | if "self" in func.func_code.co_varnames[:n_args]: 32 | return self.__class_subscriber(func, msg, topic_name) 33 | else: 34 | return self.__function_subscriber(func, msg, topic_name) 35 | args = [topic_name, msg_type, __inner] 36 | self.subscribers.append((args, kwargs)) 37 | return func 38 | return __decorator 39 | 40 | def publisher(self, *upper_args, **kwargs): 41 | if not "queue_size" in kwargs: 42 | kwargs["queue_size"] = 1 43 | if isinstance(upper_args[0], str): 44 | topic_name, msg_type = upper_args 45 | 46 | def __decorator(func): 47 | args = [topic_name, msg_type] 48 | pub = rospy.Publisher(*args, **kwargs) 49 | 50 | def __inner(*args, **kwargs): 51 | msg = func(*args, **kwargs) 52 | pub.publish(msg) 53 | return msg 54 | return __inner 55 | return __decorator 56 | elif isinstance(upper_args[0], types.TypeType): 57 | return self.__multi_publisher(upper_args[0], **kwargs) 58 | 59 | def service(self, *upper_args, **kwargs): 60 | if isinstance(upper_args[0], str): 61 | service_name, srv_type = upper_args 62 | 63 | def __decorator(func): 64 | def __inner(request): 65 | n_args = func.func_code.co_argcount 66 | if "self" in func.func_code.co_varnames[:n_args]: 67 | return self.__class_service(func, request, service_name) 68 | else: 69 | return self.__function_service(func, request, service_name) 70 | 71 | args = [service_name, srv_type, __inner] 72 | service = rospy.Service(*args, **kwargs) 73 | self.services.append(service) 74 | return __inner 75 | return __decorator 76 | else: 77 | raise ValueError("First argument to service must be service name as str") 78 | 79 | def entry_point(self, *args, **kwargs): 80 | self.cl_args = args 81 | self.cl_kwargs = kwargs 82 | 83 | def __inner(cl): 84 | self.cl = cl 85 | return cl 86 | return __inner 87 | 88 | def main_loop(self, *args, **kwargs): 89 | def __inner(func): 90 | self.m_loop = func 91 | self.m_loop_args = list(args) 92 | self.m_loop_kwargs = kwargs 93 | return func 94 | return __inner 95 | 96 | def __multi_publisher(self, msg_type, **kwargs): 97 | kw = kwargs 98 | topics = dict() 99 | 100 | def __decorator(func): 101 | 102 | def __inner(*args, **kwargs): 103 | msg = func(*args, **kwargs) 104 | return MultiPublisher(msg, msg_type, topics, **kw) 105 | 106 | return __inner 107 | return __decorator 108 | 109 | def __class_subscriber(self, func, msg, topic_name): 110 | if func.func_code.co_argcount == 2: 111 | return func(self.slf, msg) 112 | elif func.func_code.co_argcount == 3: 113 | return func(self.slf, msg, topic_name) 114 | 115 | def __function_subscriber(self, func, msg, topic_name): 116 | if func.func_code.co_argcount == 1: 117 | return func(msg) 118 | elif func.func_code.co_argcount == 2: 119 | return func(msg, topic_name) 120 | 121 | def __class_service(self, func, request, service_name): 122 | if func.func_code.co_argcount == 2: 123 | return func(self.slf, request) 124 | else: 125 | raise NotImplementedError("Should not happen, but now you can search for this exception in __class_service") 126 | # elif func.func_code.co_argcount == 3: 127 | # return func(self.slf, request, service_name) 128 | 129 | def __function_service(self, func, request, service_name): 130 | if func.func_code.co_argcount == 1: 131 | return func(request) 132 | else: 133 | raise NotImplementedError("Should not happen, but now you can search for this exception in __function_service") 134 | # elif func.func_code.co_argcount == 2: 135 | # return func(request, service_name) 136 | 137 | def _start(self, spin): 138 | for args, kwargs in self.subscribers: 139 | self.subscribers_init.append(rospy.Subscriber(*args, **kwargs)) 140 | is_func = isinstance(self.cl, types.FunctionType) 141 | is_class = isinstance(self.cl, types.TypeType) 142 | if is_class: 143 | targ = self.__start_class 144 | elif is_func: 145 | targ = self.__start_func 146 | self.thread = threading.Thread(target=targ, 147 | args=(self.cl,) + self.cl_args, 148 | kwargs=self.cl_kwargs) 149 | self.thread.daemon = True 150 | self.thread.start() 151 | if spin: 152 | rospy.spin() 153 | return self 154 | 155 | def __start_class(self, cl, *ar, **kw): 156 | n_args = cl.__init__.func_code.co_argcount 157 | vrs = cl.__init__.func_code.co_varnames[:n_args] 158 | class_args = list() 159 | for v in vrs: 160 | if not v == "self": 161 | arg_tuple = kw.get(v) 162 | is_tuple = isinstance(arg_tuple, types.TupleType) 163 | if arg_tuple is None or len(arg_tuple) == 0: 164 | default_var = None 165 | scope = "~" 166 | elif not is_tuple or len(arg_tuple) == 1: 167 | default_var = arg_tuple[0] 168 | scope = "~" 169 | else: 170 | scope, default_var = arg_tuple 171 | arg = rospy.get_param(scope + v, default_var) 172 | class_args.append(arg) 173 | rate = self.__get_rate(self.m_loop_kwargs) 174 | nd = cl(*class_args) 175 | self.slf = nd 176 | if not self.m_loop is None: 177 | while not rospy.is_shutdown(): 178 | args = [self.slf] + self.m_loop_args 179 | self.m_loop(*args, **self.m_loop_kwargs) 180 | rate.sleep() 181 | return cl 182 | 183 | def __start_func(self, cl, *ar, **kw): 184 | rate = self.__get_rate(kw) 185 | while not rospy.is_shutdown(): 186 | cl(*ar, **kw) 187 | rate.sleep() 188 | return cl 189 | 190 | def __get_rate(self, kw): 191 | if "frequency" in kw: 192 | freq = kw["frequency"] 193 | del kw["frequency"] 194 | else: 195 | freq = "frequency" 196 | if isinstance(freq, str): 197 | def_freq = kw.get("default_frequency", 30) 198 | freq = rospy.get_param(freq, def_freq) 199 | if "default_frequency" in kw: 200 | del kw["default_frequency"] 201 | return rospy.Rate(freq) 202 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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No Surrender of Others' Freedom. 541 | 542 | If conditions are imposed on you (whether by court order, agreement or 543 | otherwise) that contradict the conditions of this License, they do not 544 | excuse you from the conditions of this License. If you cannot convey a 545 | covered work so as to satisfy simultaneously your obligations under this 546 | License and any other pertinent obligations, then as a consequence you may 547 | not convey it at all. For example, if you agree to terms that obligate you 548 | to collect a royalty for further conveying from those to whom you convey 549 | the Program, the only way you could satisfy both those terms and this 550 | License would be to refrain entirely from conveying the Program. 551 | 552 | 13. Use with the GNU Affero General Public License. 553 | 554 | Notwithstanding any other provision of this License, you have 555 | permission to link or combine any covered work with a work licensed 556 | under version 3 of the GNU Affero General Public License into a single 557 | combined work, and to convey the resulting work. The terms of this 558 | License will continue to apply to the part which is the covered work, 559 | but the special requirements of the GNU Affero General Public License, 560 | section 13, concerning interaction through a network will apply to the 561 | combination as such. 562 | 563 | 14. Revised Versions of this License. 564 | 565 | The Free Software Foundation may publish revised and/or new versions of 566 | the GNU General Public License from time to time. Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | {one line to give the program's name and a brief idea of what it does.} 635 | Copyright (C) {year} {name of author} 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | {project} Copyright (C) {year} {fullname} 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | --------------------------------------------------------------------------------