Source Code for Module node_manager_fkie.settings'

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 32   
 33  import os 
 34  import roslib 
 35   
 36  from common import get_ros_home, masteruri_from_ros 
 37   
 38 -class Settings(object): 
 39   
 40    USER_DEFAULT = 'robot' 
 41    # set the cwd to the package of the node_manager_fkie to support the images 
 42    # in HTML descriptions of the robots and capabilities 
 43    PKG_NAME = 'node_manager_fkie' 
 44    PACKAGE_DIR = roslib.packages.get_pkg_dir(PKG_NAME) 
 45    ROBOTS_DIR = os.path.join(PACKAGE_DIR, 'images') 
 46    CFG_PATH = os.path.join('.node_manager', os.sep) 
 47    '''@ivar: configuration path to store the history.''' 
 48    HELP_FILE = os.path.join(PACKAGE_DIR, 'README.rst') 
 49    CURRENT_DIALOG_PATH = os.path.expanduser('~') 
 50    LOG_PATH = os.environ.get('ROS_LOG_DIR') if os.environ.get('ROS_LOG_DIR') else os.path.join(os.path.expanduser('~'), '.ros/log/') 
 51   
 52    LOG_VIEWER = "/usr/bin/less -fKLnQrSU" 
 53    STARTER_SCRIPT = 'rosrun node_manager_fkie remote_nm.py' 
 54    RESPAWN_SCRIPT = 'rosrun node_manager_fkie respawn' 
 55    ''' 
 56    the script used on remote hosts to start new ROS nodes 
 57    ''' 
 58   
 59    LAUNCH_HISTORY_FILE = 'launch.history' 
 60    LAUNCH_HISTORY_LENGTH = 5 
 61   
 62    PARAM_HISTORY_FILE = 'param.history' 
 63    PARAM_HISTORY_LENGTH = 12 
 64   
 65    CFG_REDIRECT_FILE = 'redirect' 
 66    CFG_FILE = 'settings.ini' 
 67    CFG_GUI_FILE = 'settings.ini' 
 68   
 69    TIMEOUT_CONTROL = 5 
 70    TIMEOUT_UPDATES = 20 
 71   
 72    SEARCH_IN_EXT = ['.launch', '.yaml', '.conf', '.cfg', '.iface', '.sync', '.test', '.xml'] 
 73    LAUNCH_VIEW_EXT = ['.yaml', '.conf', '.cfg', '.iface', '.sync', '.test'] 
 74   
 75    STORE_GEOMETRY = True 
 76   
 77 -  def __init__(self): 
 78      self.reload() 
 79   
 80 -  def reload(self): 
 81      ''' 
 82      Loads the settings from file or sets default values if no one exists. 
 83      ''' 
 84      self._terminal_emulator = None 
 85      self._masteruri = masteruri_from_ros() 
 86      self.CFG_PATH = os.path.join(get_ros_home(), 'node_manager') 
 87      # loads the current configuration path. If the path was changed, a redirection 
 88      # file exists with new configuration folder 
 89      if not os.path.isdir(self.CFG_PATH): 
 90        os.makedirs(self.CFG_PATH) 
 91        self._cfg_path = self.CFG_PATH 
 92      else: 
 93        settings = self.qsettings(os.path.join(self.CFG_PATH, self.CFG_REDIRECT_FILE)) 
 94        self._cfg_path = settings.value('cfg_path', self.CFG_PATH) 
 95      # after the settings path was loaded, load other settings 
 96      self._robots_path = self.ROBOTS_DIR 
 97      settings = self.qsettings(self.CFG_FILE) 
 98      self._default_user = settings.value('default_user', self.USER_DEFAULT) 
 99      try: 
100        self._launch_history_length = int(settings.value('launch_history_length', self.LAUNCH_HISTORY_LENGTH)) 
101      except: 
102        self._launch_history_length = self.LAUNCH_HISTORY_LENGTH 
103      try: 
104        self._param_history_length = int(settings.value('param_history_length', self.PARAM_HISTORY_LENGTH)) 
105      except: 
106        self._param_history_length = self.PARAM_HISTORY_LENGTH 
107      self._current_dialog_path = self.CURRENT_DIALOG_PATH 
108      self._log_viewer = self.LOG_VIEWER 
109      self._start_remote_script = self.STARTER_SCRIPT 
110      self._respawn_script = self.RESPAWN_SCRIPT 
111      self._launch_view_file_ext = self.str2list(settings.value('launch_view_file_ext', ', '.join(self.LAUNCH_VIEW_EXT))) 
112      self._store_geometry = self.str2bool(settings.value('store_geometry', self.STORE_GEOMETRY)) 
113      self.SEARCH_IN_EXT = list(set(self.SEARCH_IN_EXT) | set(self._launch_view_file_ext)) 
114   
115 -  def masteruri(self): 
116      return self._masteruri 
117   
118    @property 
119 -  def cfg_path(self): 
120      return self._cfg_path 
121   
122    @cfg_path.setter 
123 -  def cfg_path(self, path): 
124      if path: 
125        abspath = os.path.abspath(path).rstrip(os.path.sep) 
126        if not os.path.isdir(abspath): 
127          os.makedirs(abspath) 
128        self._cfg_path = abspath 
129        if abspath != os.path.abspath(self.CFG_PATH).rstrip(os.path.sep): 
130          settings = self.qsettings(os.path.join(self.CFG_PATH, self.CFG_REDIRECT_FILE)) 
131          settings.setValue('cfg_path', abspath) 
132        else: 
133          # remove the redirection 
134          settings = self.qsettings(os.path.join(self.CFG_PATH, self.CFG_REDIRECT_FILE)) 
135          settings.remove('cfg_path') 
136        self.reload() 
137   
138    @property 
139 -  def robots_path(self): 
140      return self._robots_path 
141   
142    @robots_path.setter 
143 -  def robots_path(self, path): 
144      if path: 
145        if not os.path.isdir(path): 
146          os.makedirs(path) 
147        self._robots_path = path 
148        settings = self.qsettings(self.CFG_FILE) 
149        settings.setValue('robots_path', self._robots_path) 
150   
151    @property 
152 -  def default_user(self): 
153      return self._default_user 
154   
155    @default_user.setter 
156 -  def default_user(self, user): 
157      if user: 
158        self._default_user = user 
159        settings = self.qsettings(self.CFG_FILE) 
160        settings.setValue('default_user', self._default_user) 
161   
162    @property 
163 -  def launch_history_length(self): 
164      return self._launch_history_length 
165   
166    @launch_history_length.setter 
167 -  def launch_history_length(self, len): 
168      self._launch_history_length = len 
169      settings = self.qsettings(self.CFG_FILE) 
170      settings.setValue('launch_history_length', self._launch_history_length) 
171   
172    @property 
173 -  def param_history_length(self): 
174      return self._param_history_length 
175   
176    @param_history_length.setter 
177 -  def param_history_length(self, len): 
178      self._param_history_length = len 
179      settings = self.qsettings(self.CFG_FILE) 
180      settings.setValue('param_history_length', self._param_history_length) 
181   
182    @property 
183 -  def current_dialog_path(self): 
184      return self._current_dialog_path 
185   
186    @current_dialog_path.setter 
187 -  def current_dialog_path(self, path): 
188      self._current_dialog_path = path 
189   
190 -  def robot_image_file(self, robot_name): 
191      return os.path.join(self.ROBOTS_DIR, '%s.png'%robot_name) 
192   
193    @property 
194 -  def log_viewer(self): 
195      return self._log_viewer 
196   
197    @log_viewer.setter 
198 -  def log_viewer(self, viewer): 
199      self._log_viewer = viewer 
200   
201    @property 
202 -  def start_remote_script(self): 
203      return self._start_remote_script 
204   
205    @start_remote_script.setter 
206 -  def start_remote_script(self, script): 
207      self._start_remote_script = script 
208   
209    @property 
210 -  def respawn_script(self): 
211      return self._respawn_script 
212   
213    @respawn_script.setter 
214 -  def respawn_script(self, script): 
215      self._respawn_script = script 
216   
217    @property 
218 -  def launch_view_file_ext(self): 
219      return self._launch_view_file_ext 
220   
221    @launch_view_file_ext.setter 
222 -  def launch_view_file_ext(self, exts): 
223      self._launch_view_file_ext = self.str2list('%s'%exts) 
224      settings = self.qsettings(self.CFG_FILE) 
225      settings.setValue('launch_view_file_ext', self._launch_view_file_ext) 
226      self.SEARCH_IN_EXT = list(set(self.SEARCH_IN_EXT) | set(self._launch_view_file_ext)) 
227   
228    @property 
229 -  def store_geometry(self): 
230      return self._store_geometry 
231   
232    @store_geometry.setter 
233 -  def store_geometry(self, value): 
234      v = self.str2bool(value) 
235      if self._store_geometry != v: 
236        self._store_geometry = v 
237        settings = self.qsettings(self.CFG_FILE) 
238        settings.setValue('store_geometry', self._store_geometry) 
239   
240 -  def str2bool(self, v): 
241      if isinstance(v, bool): 
242        return v 
243      return v.lower() in ("yes", "true", "t", "1") 
244   
245 -  def str2list(self, l): 
246      if isinstance(l, list): 
247        return l 
248      try: 
249        l = l.strip('[]') 
250        l = l.replace('u"', '') 
251        l = l.replace('"', '') 
252        l = l.replace("'", '') 
253        l = l.replace(",", ' ') 
254        return [str(i).strip() for i in l.split(' ') if i] 
255      except: 
256        return [] 
257   
258 -  def terminal_cmd(self, cmd, title): 
259      ''' 
260      Creates a command string to run with a terminal prefix 
261      @param cmd: the list with a command and args 
262      @type cmd: [str,..] 
263      @param title: the title of the terminal 
264      @type title: str 
265      @return: command with a terminal prefix 
266      @rtype:  str 
267      ''' 
268      if self._terminal_emulator is None: 
269        self._terminal_emulator = "" 
270        for t in ['/usr/bin/x-terminal-emulator', '/usr/bin/xterm']: 
271          if os.path.isfile(t) and os.access(t, os.X_OK): 
272            self._terminal_emulator = t 
273            break 
274      if self._terminal_emulator == "": return "" 
275      return "%s -T %s -e %s"%(self._terminal_emulator, title, ' '.join(cmd)) 
276   
277 -  def qsettings(self, file): 
278      from python_qt_binding import QtCore 
279      path = file 
280      if not file.startswith(os.path.sep): 
281         path = os.path.join(self.cfg_path, file) 
282      return QtCore.QSettings(path, 
283                              QtCore.QSettings.IniFormat) 
284