app.py
Go to the documentation of this file.00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2008, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of Willow Garage, Inc. nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 # 00034 # Revision $Id$ 00035 00036 import sys 00037 import yaml 00038 import subprocess 00039 import os.path 00040 00041 def getPackagePath(pkg): 00042 cmd = ["rospack", "find", pkg] 00043 pkgpath = subprocess.Popen(cmd, stdout=subprocess.PIPE).communicate()[0].strip() 00044 return pkgpath 00045 00046 class App: 00047 app_keys_lists = ('provides', 'depends') 00048 app_keys = ('name', 'package', 'launch_file', 'description', 00049 'icon') + app_keys_lists 00050 def __init__(self, taskid): 00051 if not taskid.endswith(".app"): 00052 taskid = taskid + ".app" 00053 self.taskid = taskid 00054 self.package, self.app_file = self.taskid.split('/', 1) 00055 self.path = None 00056 00057 def fn(self): 00058 if self.path: return self.path 00059 self.path = getPackagePath(self.package) 00060 fn = os.path.join(self.path, self.app_file) 00061 return fn 00062 00063 def load_yaml(self): 00064 fn = self.fn() 00065 # TODO catch file system exception 00066 doc = yaml.load(open(fn)) 00067 return doc 00068 00069 def load(self): 00070 doc = self.load_yaml() 00071 try: 00072 for key in self.app_keys: 00073 if doc.has_key(key): 00074 val = doc[key] 00075 if val is not None: 00076 if type(val) != list: 00077 val = val.strip() 00078 if key in self.app_keys_lists: 00079 if type(val) == list: 00080 val.sort() 00081 val = tuple(val) 00082 else: 00083 val = tuple([val]) 00084 setattr(self, key, val) 00085 except KeyError: 00086 print "Invalid YAML file" 00087