Source Code for Module roslib.rosenv

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 33  # Revision $Id$ 
 34   
 35   
 36  """ 
 37  Warning: do not use this library.  It is unstable and most of the routines 
 38  here have been superceded by other libraries (e.g. rospkg).  These 
 39  routines will likely be *deleted* in future releases. 
 40  """ 
 41   
 42  import os 
 43  import sys 
 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  ## directory in which test result files are written 
 63  CATKIN_TEST_RESULTS_DIR = "CATKIN_TEST_RESULTS_DIR" 
 64   
 65 -class ROSEnvException(Exception): 
 66      """Base class of roslib.rosenv errors.""" 
 67      pass 
 68   
 69  import warnings 
 70  warnings.warn("roslib.rosenv is deprecated, please use rospkg or rosgraph.rosenv", stacklevel=2) 
 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 as e: 
 93          if required: 
 94              raise 
 95          return p 
 96   
 97 -def get_ros_package_path(required=False, env=None): 
 98      """ 
 99      @param required: (default False) if True, ROS_PACKAGE_PATH must be 
100      set and point to a valid directory. 
101      @type  required: bool 
102      @raise ROSEnvException: if ROS_PACKAGE_PATH is not set and \a 
103      required is True 
104      """ 
105      if env is None: 
106          env = os.environ 
107      try: 
108          return env[ROS_PACKAGE_PATH] 
109      except KeyError as e: 
110          if required: 
111              raise ROSEnvException("%s has not been configured"%ROS_PACKAGE_PATH) 
112   
113 -def get_master_uri(required=True, env=None, argv=None): 
114      """ 
115      Get the ROS_MASTER_URI setting from the command-line args or 
116      environment, command-line args takes precedence. 
117      @param required: if True, enables exception raising 
118      @type  required: bool 
119      @param env: override environment dictionary 
120      @type  env: dict 
121      @param argv: override sys.argv 
122      @type  argv: [str] 
123      @raise ROSEnvException: if ROS_MASTER_URI value is invalidly 
124      specified or if required and ROS_MASTER_URI is not set 
125      """     
126      if env is None: 
127          env = os.environ 
128      if argv is None: 
129          argv = sys.argv 
130      try: 
131          for arg in argv: 
132              if arg.startswith('__master:='): 
133                  val = None 
134                  try: 
135                      _, val = arg.split(':=') 
136                  except: 
137                      pass 
138                   
139                  # we ignore required here because there really is no 
140                  # correct return value as the configuration is bad 
141                  # rather than unspecified 
142                  if not val: 
143                      raise ROSEnvException("__master remapping argument '%s' improperly specified"%arg) 
144                  return val 
145          return env[ROS_MASTER_URI] 
146      except KeyError as e: 
147          if required: 
148              raise ROSEnvException("%s has not been configured"%ROS_MASTER_URI) 
149           
150 -def get_ros_home(env=None): 
151      """ 
152      Get directory location of '.ros' directory (aka ROS home). 
153      possible locations for this. The ROS_LOG_DIR environment variable 
154      has priority. If that is not set, then ROS_HOME/log is used. If 
155      ROS_HOME is not set, $HOME/.ros/log is used. 
156   
157      @param env: override os.environ dictionary 
158      @type  env: dict 
159      @return: path to use use for log file directory 
160      @rtype: str 
161      """ 
162      if env is None: 
163          env = os.environ 
164      if ROS_HOME in env: 
165          return env[ROS_HOME] 
166      else: 
167          #slightly more robust than $HOME 
168          return os.path.join(os.path.expanduser('~'), '.ros') 
169       
170 -def get_log_dir(env=None): 
171      """ 
172      Get directory to use for writing log files. There are multiple 
173      possible locations for this. The ROS_LOG_DIR environment variable 
174      has priority. If that is not set, then ROS_HOME/log is used. If 
175      ROS_HOME is not set, $HOME/.ros/log is used. 
176   
177      @param env: override os.environ dictionary 
178      @type  env: dict 
179      @return: path to use use for log file directory 
180      @rtype: str 
181      """ 
182      if env is None: 
183          env = os.environ 
184      if ROS_LOG_DIR in env: 
185          return env[ROS_LOG_DIR] 
186      else: 
187          return os.path.join(get_ros_home(env), 'log') 
188   
189 -def get_test_results_dir(env=None): 
190      """ 
191      Get directory to use for writing test result files. There are multiple 
192      possible locations for this. The CATKIN_TEST_RESULTS_DIR environment variable 
193      has priority. If that is set, CATKIN_TEST_RESULTS_DIR is returned. 
194      If CATKIN_TEST_RESULTS_DIR is not set, then ROS_HOME/test_results is used. If 
195      ROS_HOME is not set, $HOME/.ros/test_results is used. 
196   
197      @param env: environment dictionary (defaults to os.environ) 
198      @type  env: dict 
199      @return: path to use use for log file directory 
200      @rtype: str 
201      """ 
202      if env is None: 
203          env = os.environ 
204           
205      if CATKIN_TEST_RESULTS_DIR in env: 
206          return env[CATKIN_TEST_RESULTS_DIR] 
207      else: 
208          return os.path.join(get_ros_home(env), 'test_results') 
209   
210  # this is a copy of the roslogging utility. it's been moved here as it is a common 
211  # routine for programs using accessing ROS directories 
212 -def makedirs_with_parent_perms(p): 
213      """ 
214      Create the directory using the permissions of the nearest 
215      (existing) parent directory. This is useful for logging, where a 
216      root process sometimes has to log in the user's space. 
217      @param p: directory to create 
218      @type  p: str 
219      """     
220      p = os.path.abspath(p) 
221      parent = os.path.dirname(p) 
222      # recurse upwards, checking to make sure we haven't reached the 
223      # top 
224      if not os.path.exists(p) and p and parent != p: 
225          makedirs_with_parent_perms(parent) 
226          s = os.stat(parent) 
227          os.mkdir(p) 
228   
229          # if perms of new dir don't match, set anew 
230          s2 = os.stat(p) 
231          if s.st_uid != s2.st_uid or s.st_gid != s2.st_gid: 
232              os.chown(p, s.st_uid, s.st_gid) 
233          if s.st_mode != s2.st_mode: 
234              os.chmod(p, s.st_mode) 
235