Source Code for Module roslib.rosenv

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 34   
 35  """ 
 36  Warning: do not use this library.  It is unstable and most of the routines 
 37  here have been superceded by other libraries (e.g. rospkg).  These 
 38  routines will likely be *deleted* in future releases. 
 39  """ 
 40   
 41  import os 
 42  import sys 
 43  import warnings 
 44   
 45  # Global, usually set in setup 
 46  ROS_ROOT = 'ROS_ROOT' 
 47  ROS_MASTER_URI = 'ROS_MASTER_URI' 
 48  ROS_PACKAGE_PATH = 'ROS_PACKAGE_PATH' 
 49  ROS_HOME = 'ROS_HOME' 
 50   
 51  # Build-related 
 52  ROS_BINDEPS_PATH = 'ROS_BINDEPS_PATH' 
 53  ROS_BOOST_ROOT = 'ROS_BOOST_ROOT' 
 54   
 55  # Per session 
 56  # hostname/address to bind XML-RPC services to. 
 57  ROS_IP = 'ROS_IP' 
 58  ROS_HOSTNAME = 'ROS_HOSTNAME' 
 59  ROS_NAMESPACE = 'ROS_NAMESPACE' 
 60  # directory in which log files are written 
 61  ROS_LOG_DIR = 'ROS_LOG_DIR' 
 62   
 63   
 64 -class ROSEnvException(Exception): 
 65      """Base class of roslib.rosenv errors.""" 
 66      pass 
 67   
 68   
 69  warnings.warn('roslib.rosenv is deprecated, please use rospkg or rosgraph.rosenv', stacklevel=2) 
 70   
 71   
 72 -def get_ros_root(required=True, env=None): 
 73      """ 
 74      @param required: (default True). If True, ROS_ROOT must be set and point to a valid directory. 
 75      @type  required: bool 
 76      @param env: override environment dictionary 
 77      @type  env: dict 
 78      @raise ROSEnvException: if required is True and ROS_ROOT is not set 
 79      """ 
 80      if env is None: 
 81          env = os.environ 
 82      p = None 
 83      try: 
 84          if ROS_ROOT not in env: 
 85              raise ROSEnvException(""" 
 86  The %(ROS_ROOT)s environment variable has not been set. 
 87  Please set to the location of your ROS installation 
 88  before continuing. 
 89  """ % globals()) 
 90   
 91          return env[ROS_ROOT] 
 92      except Exception: 
 93          if required: 
 94              raise 
 95          return p 
 96   
 97   
 98 -def get_ros_package_path(required=False, env=None): 
 99      """ 
100      @param required: (default False) if True, ROS_PACKAGE_PATH must be 
101      set and point to a valid directory. 
102      @type  required: bool 
103      @raise ROSEnvException: if ROS_PACKAGE_PATH is not set and \a 
104      required is True 
105      """ 
106      if env is None: 
107          env = os.environ 
108      try: 
109          return env[ROS_PACKAGE_PATH] 
110      except KeyError: 
111          if required: 
112              raise ROSEnvException('%s has not been configured' % ROS_PACKAGE_PATH) 
113   
114   
115 -def get_master_uri(required=True, env=None, argv=None): 
116      """ 
117      Get the ROS_MASTER_URI setting from the command-line args or 
118      environment, command-line args takes precedence. 
119      @param required: if True, enables exception raising 
120      @type  required: bool 
121      @param env: override environment dictionary 
122      @type  env: dict 
123      @param argv: override sys.argv 
124      @type  argv: [str] 
125      @raise ROSEnvException: if ROS_MASTER_URI value is invalidly 
126      specified or if required and ROS_MASTER_URI is not set 
127      """ 
128      if env is None: 
129          env = os.environ 
130      if argv is None: 
131          argv = sys.argv 
132      try: 
133          for arg in argv: 
134              if arg.startswith('__master:='): 
135                  val = None 
136                  try: 
137                      _, val = arg.split(':=') 
138                  except Exception: 
139                      pass 
140   
141                  # we ignore required here because there really is no 
142                  # correct return value as the configuration is bad 
143                  # rather than unspecified 
144                  if not val: 
145                      raise ROSEnvException("__master remapping argument '%s' improperly specified" % arg) 
146                  return val 
147          return env[ROS_MASTER_URI] 
148      except KeyError: 
149          if required: 
150              raise ROSEnvException('%s has not been configured' % ROS_MASTER_URI) 
151   
152   
153 -def get_ros_home(env=None): 
154      """ 
155      Get directory location of '.ros' directory (aka ROS home). 
156      possible locations for this. The ROS_LOG_DIR environment variable 
157      has priority. If that is not set, then ROS_HOME/log is used. If 
158      ROS_HOME is not set, $HOME/.ros/log is used. 
159   
160      @param env: override os.environ dictionary 
161      @type  env: dict 
162      @return: path to use use for log file directory 
163      @rtype: str 
164      """ 
165      if env is None: 
166          env = os.environ 
167      if ROS_HOME in env: 
168          return env[ROS_HOME] 
169      else: 
170          # slightly more robust than $HOME 
171          return os.path.join(os.path.expanduser('~'), '.ros') 
172   
173   
174 -def get_log_dir(env=None): 
175      """ 
176      Get directory to use for writing log files. There are multiple 
177      possible locations for this. The ROS_LOG_DIR environment variable 
178      has priority. If that is not set, then ROS_HOME/log is used. If 
179      ROS_HOME is not set, $HOME/.ros/log is used. 
180   
181      @param env: override os.environ dictionary 
182      @type  env: dict 
183      @return: path to use use for log file directory 
184      @rtype: str 
185      """ 
186      if env is None: 
187          env = os.environ 
188      if ROS_LOG_DIR in env: 
189          return env[ROS_LOG_DIR] 
190      else: 
191          return os.path.join(get_ros_home(env), 'log') 
192   
193   
194 -def get_test_results_dir(env=None): 
195      """ 
196      Get directory to use for writing test result files. There are multiple 
197      possible locations for this. If ROS_HOME is set ROS_HOME/test_results 
198      is used. Otherwise $HOME/.ros/test_results is used. 
199   
200      @param env: environment dictionary (defaults to os.environ) 
201      @type  env: dict 
202      @return: path to use use for log file directory 
203      @rtype: str 
204      """ 
205      return os.path.join(get_ros_home(env), 'test_results') 
206   
207   
208  # this is a copy of the roslogging utility. it's been moved here as it is a common 
209  # routine for programs using accessing ROS directories 
210 -def makedirs_with_parent_perms(p): 
211      """ 
212      Create the directory using the permissions of the nearest 
213      (existing) parent directory. This is useful for logging, where a 
214      root process sometimes has to log in the user's space. 
215      @param p: directory to create 
216      @type  p: str 
217      """ 
218      p = os.path.abspath(p) 
219      parent = os.path.dirname(p) 
220      # recurse upwards, checking to make sure we haven't reached the 
221      # top 
222      if not os.path.exists(p) and p and parent != p: 
223          makedirs_with_parent_perms(parent) 
224          s = os.stat(parent) 
225          os.mkdir(p) 
226   
227          # if perms of new dir don't match, set anew 
228          s2 = os.stat(p) 
229          if s.st_uid != s2.st_uid or s.st_gid != s2.st_gid: 
230              os.chown(p, s.st_uid, s.st_gid) 
231          if s.st_mode != s2.st_mode: 
232              os.chmod(p, s.st_mode) 
233