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00038 """
00039 Implements exchange part of app_manager, which handles listing of
00040 avialable and removable applications.
00041 """
00042
00043 import subprocess
00044 import os
00045 import sys
00046 import yaml
00047 import rospy
00048 from std_msgs.msg import String
00049 from .msg import ExchangeApp, Icon
00050
00051 class Exchange():
00052 def __init__(self, url, directory, on_error = lambda(x): None):
00053 self._url = url
00054 self._directory = directory
00055 self._on_error = on_error
00056 self._installed_apps = []
00057 self._available_apps = []
00058 self._debs = {}
00059
00060 self._exchange_local = os.path.join(self._directory, "exchange.yaml")
00061 d = os.path.join(self._directory, "installed")
00062 if (not os.path.exists(d)):
00063 os.mkdir(d)
00064 self._exchange_file = os.path.join(d, "app_exchange.installed")
00065 print "Directory:", self._directory
00066 print "Local path:", self._exchange_local
00067 print "Local file:", self._exchange_file
00068 print subprocess.Popen(["whoami"], stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()
00069
00070 def get_installed_version(self, deb):
00071 data = subprocess.Popen(["dpkg", "-l", deb], stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()
00072 val = (data[0] or '').strip()
00073 for i in val.split('\n'):
00074 if (i.find(deb) > 0 and i.find("ii") == 0):
00075 return [s for s in i.strip().split(" ") if s][2]
00076 self._on_error("Failed to get installed version: " + str(data))
00077 return "FAILED"
00078
00079 def get_available_version(self, deb):
00080 data = subprocess.Popen(["apt-cache", "showpkg", deb], stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()
00081 val = (data[0] or '').strip()
00082 nearing = False
00083 for i in val.split('\n'):
00084 if (nearing):
00085 return i.strip().split(" ")[0].strip()
00086 if (i.strip() == "Versions:"):
00087 nearing = True
00088 self._on_error("Failed to get available version: " + str(data))
00089 return "FAILED"
00090
00091 def is_installed(self, deb):
00092 data = subprocess.Popen(["dpkg", "-l", deb], stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()
00093 val = (data[0] or '').strip()
00094 for i in val.split("\n"):
00095 if (i.find(deb) > 0):
00096 return (i.find("ii") == 0)
00097 self._on_error("Error getting installed packages: " + str(data))
00098 return False
00099
00100 def get_installed_apps(self):
00101 return self._installed_apps
00102
00103 def get_available_apps(self):
00104 return self._available_apps
00105
00106 def get_app_details(self, name):
00107 local_path = os.path.join(self._directory, name)
00108 if (not os.path.exists(local_path)):
00109 os.makedirs(local_path)
00110 data = subprocess.Popen(["wget", "-O", os.path.join(local_path, "app.yaml"), (self._url.strip('/') + "/" + name + ".yaml")], stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()
00111 val = (data[0] or '').strip()
00112 print val
00113 try:
00114 data = yaml.load(open(os.path.join(local_path, "app.yaml")))
00115 icon_url = data["icon_url"]
00116 icon_format = data["icon_format"]
00117 val = (subprocess.Popen(["wget", "-O", os.path.join(local_path, "icon" + icon_format), icon_url], stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] or '').strip()
00118 print val
00119 except:
00120 print "No icon"
00121 self.update_local()
00122 for i in self._available_apps:
00123 if (i.name == name):
00124 return i
00125 for i in self._installed_apps:
00126 if (i.name == name):
00127 return i
00128 self._on_error("Problem getting app details: " + str(data))
00129 return None
00130
00131 def install_app(self, app):
00132 deb = False
00133 for i in self._available_apps:
00134 if (i.name == app):
00135 if (deb):
00136 return False
00137 deb = self._debs[i.name]
00138 for i in self._installed_apps:
00139 if (i.name == app):
00140 if (deb):
00141 return False
00142 deb = self._debs[i.name]
00143 if (deb == False):
00144 self._on_error("No debian found for install")
00145 return False
00146 print "install app"
00147 p = subprocess.Popen(["sudo", "rosget", "install", deb], stdout=subprocess.PIPE, stderr=subprocess.PIPE)
00148
00149
00150 pub = rospy.Publisher('install_status', String)
00151 l1 = []
00152 for line in iter(p.stdout.readline, ''):
00153 if line.rstrip() != '':
00154 pub.publish(line.rstrip())
00155 l1.append(line)
00156 else:
00157 break
00158 l2 = []
00159 for line in iter(p.stderr.readline, ''):
00160 if line.rstrip() != '':
00161 pub.publish(line.rstrip())
00162 l2.append(line)
00163 else:
00164 break
00165
00166 data = (''.join(l1), ''.join(l2))
00167 val = (data[0] or '').strip()
00168 print val
00169 self.update_local()
00170 for i in self._installed_apps:
00171 if (i.name == app):
00172 return True
00173 self._on_error("Invalid return for install: " + str(data))
00174 return False
00175
00176 def uninstall_app(self, app):
00177 deb = False
00178 for i in self._installed_apps:
00179 if (i.name == app):
00180 if (deb):
00181 return False
00182 deb = self._debs[i.name]
00183 if (deb == False):
00184 self._on_error("No debian found for uninstall")
00185 return False
00186 print "uninstall app"
00187 data = subprocess.Popen(["sudo", "rosget", "remove", deb], stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()
00188 val = (data[0] or '').strip()
00189 self.update_local()
00190 for i in self._available_apps:
00191 if (i.name == app):
00192 return True
00193 self._on_error("Invalid return for uninstall: " + str(data))
00194 return False
00195
00196 def update(self):
00197
00198 val = (subprocess.Popen(["wget", "-O", self._exchange_local, self._url + "/applications.yaml"], stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0] or '').strip()
00199 if (val != "" or not os.path.exists(self._exchange_local)):
00200 print sys.stderr >> val
00201 print sys.stderr >> "Wget failed"
00202 return False
00203
00204 p = subprocess.Popen(["sudo", "rosget", "update"], stdout=subprocess.PIPE, stderr=subprocess.PIPE)
00205 data = p.communicate()
00206 val = (data[0] or '').strip()
00207 if (p.returncode != 0):
00208 self._on_error("Invalid return of update: " + str(data))
00209 self.update_local()
00210 if (p.returncode != 0):
00211 return False
00212 return True
00213
00214 def update_local(self):
00215 installed_apps = []
00216 file_apps = []
00217 available_apps = []
00218 try:
00219 exchange_data = yaml.load(open(self._exchange_local))
00220 except:
00221 return
00222 if (not exchange_data):
00223 return
00224 for app in exchange_data['apps']:
00225 appc = ExchangeApp()
00226 appc.name = app['app']
00227 appc.display_name = app['display']
00228 deb = app['debian']
00229 self._debs[app['app']] = deb
00230 appc.latest_version = self.get_available_version(deb)
00231 appc.hidden = False
00232 try:
00233 if(app['hidden']):
00234 appc.hidden = True
00235 except:
00236 pass
00237
00238 local_path = os.path.join(self._directory, app['app'])
00239 if (os.path.exists(local_path)):
00240 format = ""
00241 if (os.path.exists(os.path.join(local_path, "app.yaml"))):
00242 print local_path
00243 data = yaml.load(open(os.path.join(local_path, "app.yaml")))
00244 try:
00245 appc.description = data['description']
00246 except:
00247 if (appc.hidden):
00248 appc.description = "Descriptionless hidden app"
00249 else:
00250 appc.description = "No description set, likely an error in the yaml file"
00251 try:
00252 format = data['icon_format']
00253 except:
00254 pass
00255 if (os.path.exists(os.path.join(local_path, "icon" + format)) and format != ""):
00256 icon = Icon()
00257 icon.format = format.strip(".")
00258 if (icon.format == "jpg"): icon.format = "jpeg"
00259 icon.data = open(os.path.join(local_path, "icon" + format), "rb").read()
00260 appc.icon = icon
00261 if (self.is_installed(deb)):
00262 appc.version = self.get_installed_version(deb)
00263 installed_apps.append(appc)
00264 file_apps.append(app)
00265 else:
00266 available_apps.append(appc)
00267
00268 f = open(self._exchange_file, "w")
00269 yaml.dump({"apps": file_apps}, f)
00270 f.close()
00271 self._installed_apps = installed_apps
00272 self._available_apps = available_apps
00273
00274
