00001
00002 import os
00003 import yaml
00004
00005
00006 gRequireUsername = 0
00007
00008 gWebUser = "apache"
00009 gWebUserID = None
00010 gWebGroupID = None
00011
00012 gBaseURL = "/webui/"
00013 gROSURL = "/ros"
00014
00015 gAuthVCode = 1574444059
00016 gAuthSalt = "ir"
00017
00018 gWebUserID = 33
00019 gWebGroupID = 33
00020
00021 gDomain = "willowgarage.com"
00022 gROSBridgePort = ":8068"
00023
00024 LOGIN_TIMEOUT = 60*60*4
00025
00026
00027 REFRESH_COOKIE_TIMEOUT = 60*60
00028
00029 ROS_VAR_DIR = os.environ.get("ROS_VAR_DIR", "/var/ros")
00030 if ROS_VAR_DIR == "":
00031 ROS_VAR_DIR = "/var/ros"
00032
00033 ACTIVE_USER_FILE = os.path.join(ROS_VAR_DIR, "active_user.dat")
00034 ACTIVE_USER_TIMEOUT = 3600
00035
00036 VALID_USER_COOKIE_FILE = os.path.join(ROS_VAR_DIR, "user_cookie.dat")
00037
00038 gDBPath = os.path.join(ROS_VAR_DIR, "db")
00039
00040 ROS_CONFIG_DIR = "/etc/ros/env"
00041 ROS_CONFIG_FILE = "/etc/ros/robot.yaml"
00042
00043 def getSiteDBPath(module):
00044 path = os.path.join(gDBPath, module)
00045 return path
00046
00047 def getDBPath(module):
00048 path = os.path.join(gDBPath, module)
00049 return path
00050
00051 def createDBPath(path):
00052 if not os.path.isdir(path):
00053 os.makedirs(path, 0700)
00054
00055
00056 def webChown(path):
00057 if gWebUserID is not None and gWebGroupID is not None:
00058 os.chown(path, gWebUserID, gWebGroupID)
00059
00060 def get_robot_type():
00061 if os.path.exists(ROS_CONFIG_FILE):
00062 try:
00063 with open(ROS_CONFIG_FILE, 'r') as conf:
00064 return yaml.load(conf)['robot']['type']
00065 except:
00066 pass
00067 try:
00068 return open(os.path.join(ROS_CONFIG_DIR, "ROBOT")).read().strip()
00069 except IOError:
00070 return "desktop"
00071
00072 def get_robot_name():
00073 if os.path.exists(ROS_CONFIG_FILE):
00074 try:
00075 with open(ROS_CONFIG_FILE, 'r') as conf:
00076 return yaml.load(conf)['robot']['name']
00077 except:
00078 pass
00079 try:
00080 return open(os.path.join(ROS_CONFIG_DIR, "ROBOT_NAME")).read().strip()
00081 except IOError:
00082 return "localhost"
00083
00084 if get_robot_type().startswith("texas"):
00085 gDefaultModule = "app/texas_web_teleop/texas_web_teleop"
00086 else:
00087 gDefaultModule = "webui"
00088
00089 gDefaultPage = "webui"
00090
00091 gLobby = None
00092 gHomeServer = None
00093
00094 if get_robot_type().startswith("texas"):
00095 gLobby = "http://priv1.texai.com"
00096 gLobbyHost = "priv1.texai.com"
00097 gHomeServer = gLobby + "/lobby/lobby/robot_data.py"
00098 gDomain = "texai.com"
00099 gROSBridgePort = ""
00100 gLobbyReturnPage = "https://www.texai.com/lobby/lobby/disconnect.py"
