app.py

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#!/usr/bin/env python
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# Revision $Id$

import sys
import yaml
import subprocess
import os.path

def getPackagePath(pkg):
  cmd = ["rospack", "find", pkg]
  pkgpath = subprocess.Popen(cmd, stdout=subprocess.PIPE).communicate()[0].strip()
  return pkgpath

class App:
  app_keys_lists = ('provides', 'depends')
  app_keys = ('name', 'package', 'launch_file', 'description', 
              'icon') + app_keys_lists
  def __init__(self, taskid):
    if not taskid.endswith(".app"):
      taskid = taskid + ".app"
    self.taskid = taskid
    self.package, self.app_file = self.taskid.split('/', 1)
    self.path = None

  def fn(self):
    if self.path: return self.path
    self.path = getPackagePath(self.package)
    fn = os.path.join(self.path, self.app_file)
    return fn

  def load_yaml(self):
    fn = self.fn()
    # TODO catch file system exception
    doc = yaml.load(open(fn))
    return doc

  def load(self):
    doc = self.load_yaml()
    try:
      for key in self.app_keys:
        if doc.has_key(key):
          val = doc[key]
          if val is not None:
            if type(val) != list: 
              val = val.strip()
            if key in self.app_keys_lists:
              if type(val) == list: 
                val.sort()
                val = tuple(val)
              else:
                val = tuple([val])
          setattr(self, key, val)
    except KeyError:
      print "Invalid YAML file"