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    AUTOUPDATE = True 
 77   
 78 -  def __init__(self): 
 79      self.reload() 
 80   
 81 -  def reload(self): 
 82      ''' 
 83      Loads the settings from file or sets default values if no one exists. 
 84      ''' 
 85      self._terminal_emulator = None 
 86      self._terminal_command_arg = 'e' 
 87      self._masteruri = masteruri_from_ros() 
 88      self.CFG_PATH = os.path.join(get_ros_home(), 'node_manager') 
 89      # loads the current configuration path. If the path was changed, a redirection 
 90      # file exists with new configuration folder 
 91      if not os.path.isdir(self.CFG_PATH): 
 92        os.makedirs(self.CFG_PATH) 
 93        self._cfg_path = self.CFG_PATH 
 94      else: 
 95        settings = self.qsettings(os.path.join(self.CFG_PATH, self.CFG_REDIRECT_FILE)) 
 96        self._cfg_path = settings.value('cfg_path', self.CFG_PATH) 
 97      # after the settings path was loaded, load other settings 
 98      self._robots_path = self.ROBOTS_DIR 
 99      settings = self.qsettings(self.CFG_FILE) 
100      self._default_user = settings.value('default_user', self.USER_DEFAULT) 
101      settings.beginGroup('default_user_hosts') 
102      self._default_user_hosts = dict() 
103      for k in settings.childKeys(): 
104        self._default_user_hosts[k] = settings.value(k, self._default_user) 
105      settings.endGroup() 
106      try: 
107        self._launch_history_length = int(settings.value('launch_history_length', self.LAUNCH_HISTORY_LENGTH)) 
108      except: 
109        self._launch_history_length = self.LAUNCH_HISTORY_LENGTH 
110      try: 
111        self._param_history_length = int(settings.value('param_history_length', self.PARAM_HISTORY_LENGTH)) 
112      except: 
113        self._param_history_length = self.PARAM_HISTORY_LENGTH 
114      self._current_dialog_path = self.CURRENT_DIALOG_PATH 
115      self._log_viewer = self.LOG_VIEWER 
116      self._start_remote_script = self.STARTER_SCRIPT 
117      self._respawn_script = self.RESPAWN_SCRIPT 
118      self._launch_view_file_ext = self.str2list(settings.value('launch_view_file_ext', ', '.join(self.LAUNCH_VIEW_EXT))) 
119      self._store_geometry = self.str2bool(settings.value('store_geometry', self.STORE_GEOMETRY)) 
120      self.SEARCH_IN_EXT = list(set(self.SEARCH_IN_EXT) | set(self._launch_view_file_ext)) 
121      self._autoupdate = self.str2bool(settings.value('autoupdate', self.AUTOUPDATE)) 
122   
123 -  def masteruri(self): 
124      return self._masteruri 
125   
126    @property 
127 -  def cfg_path(self): 
128      return self._cfg_path 
129   
130    @cfg_path.setter 
131 -  def cfg_path(self, path): 
132      if path: 
133        abspath = os.path.abspath(path).rstrip(os.path.sep) 
134        if not os.path.isdir(abspath): 
135          os.makedirs(abspath) 
136        self._cfg_path = abspath 
137        if abspath != os.path.abspath(self.CFG_PATH).rstrip(os.path.sep): 
138          settings = self.qsettings(os.path.join(self.CFG_PATH, self.CFG_REDIRECT_FILE)) 
139          settings.setValue('cfg_path', abspath) 
140        else: 
141          # remove the redirection 
142          settings = self.qsettings(os.path.join(self.CFG_PATH, self.CFG_REDIRECT_FILE)) 
143          settings.remove('cfg_path') 
144        self.reload() 
145   
146    @property 
147 -  def robots_path(self): 
148      return self._robots_path 
149   
150    @robots_path.setter 
151 -  def robots_path(self, path): 
152      if path: 
153        if not os.path.isdir(path): 
154          os.makedirs(path) 
155        self._robots_path = path 
156        settings = self.qsettings(self.CFG_FILE) 
157        settings.setValue('robots_path', self._robots_path) 
158   
159    @property 
160 -  def default_user(self): 
161      return self._default_user 
162   
163    @default_user.setter 
164 -  def default_user(self, user): 
165      if user: 
166        self._default_user = user 
167        settings = self.qsettings(self.CFG_FILE) 
168        settings.setValue('default_user', self._default_user) 
169   
170 -  def host_user(self, host): 
171      if host in self._default_user_hosts: 
172        return self._default_user_hosts[host] 
173      return self.default_user 
174   
175 -  def set_host_user(self, host, user): 
176      if host and user: 
177        self._default_user_hosts[host] = user 
178        settings = self.qsettings(self.CFG_FILE) 
179        settings.setValue('default_user_hosts/%s'%host, user) 
180   
181    @property 
182 -  def launch_history_length(self): 
183      return self._launch_history_length 
184   
185    @launch_history_length.setter 
186 -  def launch_history_length(self, length): 
187      self._launch_history_length = length 
188      settings = self.qsettings(self.CFG_FILE) 
189      settings.setValue('launch_history_length', self._launch_history_length) 
190   
191    @property 
192 -  def param_history_length(self): 
193      return self._param_history_length 
194   
195    @param_history_length.setter 
196 -  def param_history_length(self, length): 
197      self._param_history_length = length 
198      settings = self.qsettings(self.CFG_FILE) 
199      settings.setValue('param_history_length', self._param_history_length) 
200   
201    @property 
202 -  def current_dialog_path(self): 
203      return self._current_dialog_path 
204   
205    @current_dialog_path.setter 
206 -  def current_dialog_path(self, path): 
207      self._current_dialog_path = path 
208   
209 -  def robot_image_file(self, robot_name): 
210      return os.path.join(self.ROBOTS_DIR, '%s.png'%robot_name) 
211   
212    @property 
213 -  def log_viewer(self): 
214      return self._log_viewer 
215   
216    @log_viewer.setter 
217 -  def log_viewer(self, viewer): 
218      self._log_viewer = viewer 
219   
220    @property 
221 -  def start_remote_script(self): 
222      return self._start_remote_script 
223   
224    @start_remote_script.setter 
225 -  def start_remote_script(self, script): 
226      self._start_remote_script = script 
227   
228    @property 
229 -  def respawn_script(self): 
230      return self._respawn_script 
231   
232    @respawn_script.setter 
233 -  def respawn_script(self, script): 
234      self._respawn_script = script 
235   
236    @property 
237 -  def launch_view_file_ext(self): 
238      return self._launch_view_file_ext 
239   
240    @launch_view_file_ext.setter 
241 -  def launch_view_file_ext(self, exts): 
242      self._launch_view_file_ext = self.str2list('%s'%exts) 
243      settings = self.qsettings(self.CFG_FILE) 
244      settings.setValue('launch_view_file_ext', self._launch_view_file_ext) 
245      self.SEARCH_IN_EXT = list(set(self.SEARCH_IN_EXT) | set(self._launch_view_file_ext)) 
246   
247    @property 
248 -  def store_geometry(self): 
249      return self._store_geometry 
250   
251    @store_geometry.setter 
252 -  def store_geometry(self, value): 
253      v = self.str2bool(value) 
254      if self._store_geometry != v: 
255        self._store_geometry = v 
256        settings = self.qsettings(self.CFG_FILE) 
257        settings.setValue('store_geometry', self._store_geometry) 
258   
259    @property 
260 -  def autoupdate(self): 
261      return self._autoupdate 
262   
263    @autoupdate.setter 
264 -  def autoupdate(self, value): 
265      v = self.str2bool(value) 
266      if self._autoupdate != v: 
267        self._autoupdate = v 
268        settings = self.qsettings(self.CFG_FILE) 
269        settings.setValue('autoupdate', self._autoupdate) 
270   
271 -  def str2bool(self, v): 
272      if isinstance(v, bool): 
273        return v 
274      return v.lower() in ("yes", "true", "t", "1") 
275   
276 -  def str2list(self, l): 
277      if isinstance(l, list): 
278        return l 
279      try: 
280        l = l.strip('[]') 
281        l = l.replace('u"', '') 
282        l = l.replace('"', '') 
283        l = l.replace("'", '') 
284        l = l.replace(",", ' ') 
285        return [str(i).strip() for i in l.split(' ') if i] 
286      except: 
287        return [] 
288   
289 -  def terminal_cmd(self, cmd, title): 
290      ''' 
291      Creates a command string to run with a terminal prefix 
292      @param cmd: the list with a command and args 
293      @type cmd: [str,..] 
294      @param title: the title of the terminal 
295      @type title: str 
296      @return: command with a terminal prefix 
297      @rtype:  str 
298      ''' 
299      if self._terminal_emulator is None: 
300        self._terminal_emulator = "" 
301        for t in ['/usr/bin/x-terminal-emulator', '/usr/bin/xterm']: 
302          if os.path.isfile(t) and os.access(t, os.X_OK): 
303            #workaround to support the command parameter in different terminal 
304            if os.path.basename(os.path.realpath(t)) in ['terminator', 'gnome-terminal', 'xfce4-terminal']: 
305              self._terminal_command_arg = 'x' 
306            self._terminal_emulator = t 
307            break 
308      if self._terminal_emulator == "": return "" 
309      return '%s -T "%s" -%s %s'%(self._terminal_emulator, title, self._terminal_command_arg, ' '.join(cmd)) 
310   
311 -  def qsettings(self, settings_file): 
312      from python_qt_binding import QtCore 
313      path = settings_file 
314      if not settings_file.startswith(os.path.sep): 
315        path = os.path.join(self.cfg_path, settings_file) 
316      return QtCore.QSettings(path, QtCore.QSettings.IniFormat) 
317