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 38  here have been superceded by other libraries (e.g. rospkg).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