python3-rospkg 1.1.4-1 / usr / lib / python3 / dist-packages / rospkg / environment.py

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"""
Access information about ROS package system environment variables.
"""

import os

# Enviroment Variables

# Global, usually set in setup
ROS_ROOT = "ROS_ROOT"
ROS_PACKAGE_PATH = "ROS_PACKAGE_PATH"
ROS_HOME = "ROS_HOME"

# override directory path to /etc/ros
ROS_ETC_DIR = "ROS_ETC_DIR"

# directory in which log files are written
ROS_LOG_DIR = "ROS_LOG_DIR"
# directory in which test result files are written
ROS_TEST_RESULTS_DIR = "ROS_TEST_RESULTS_DIR"


# Utilities
def _resolve_path(p):
    """
    @param path: path string
    @type  path: str
    Catch-all utility routine for fixing ROS environment variables that
    are a single path (e.g. ROS_ROOT).  Currently this just expands
    tildes to home directories, but in the future it may encode other
    behaviors.
    """
    if p and p[0] == '~':
        return os.path.expanduser(p)
    return p


def _resolve_paths(paths):
    """
    Catch-all utility routine for fixing ROS environment variables
    that are paths (e.g. ROS_PACKAGE_PATH).  Currently this just
    expands tildes to home directories, but in the future it may
    encode other behaviors.

    :param paths: path string with OS-defined separator (i.e. ':' for Linux), ``str``
    """
    splits = [p for p in paths.split(os.pathsep) if p]
    return os.pathsep.join([_resolve_path(p) for p in splits])


def get_ros_paths(env=None):
    """
    Get an ordered list of ROS paths to search for ROS packages,
    stacks, and other resources.  This is generally computed from
    :envvar:`ROS_ROOT` and :envvar:`ROS_PACKAGE_PATH`.

    :param env: override environment dictionary
    """
    if env is None:
        env = os.environ
    return _compute_package_paths(get_ros_root(env), get_ros_package_path(env))


def get_ros_root(env=None):
    """
    Get the current :envvar:`ROS_ROOT`.

    :param env: override environment dictionary, ``dict``
    """
    if env is None:
        env = os.environ
    ros_root = env.get(ROS_ROOT, None)
    if ros_root:
        ros_root = os.path.normpath(ros_root)
    return ros_root


def get_ros_package_path(env=None):
    """
    Get the current ROS_PACKAGE_PATH.
    :param env: (optional) environment override, ``dict``
    """
    if env is None:
        env = os.environ
    return env.get(ROS_PACKAGE_PATH, '') + ':/usr/share'


def get_ros_home(env=None):
    """
    Get directory location of '.ros' directory (aka ROS home).
    possible locations for this. The :envvar:`ROS_HOME` environment
    variable has priority. If :envvar:`ROS_HOME` is not set,
    ``$HOME/.ros`` is used.

    :param env: override ``os.environ`` dictionary, ``dict``
    :returns: path to use use for log file directory, ``str``
    """
    if env is None:
        env = os.environ
    if ROS_HOME in env:
        return env[ROS_HOME]
    else:
        # slightly more robust than $HOME
        return os.path.join(os.path.expanduser('~'), '.ros')


def get_log_dir(env=None):
    """
    Get directory to use for writing log files. There are multiple
    possible locations for this. The ROS_LOG_DIR environment variable
    has priority. If that is not set, then ROS_HOME/log is used. If
    ROS_HOME is not set, $HOME/.ros/log is used.

    :param env: override os.environ dictionary, ``dict``
    :returns: path to use use for log file directory, ``str``
    """
    if env is None:
        env = os.environ
    if ROS_LOG_DIR in env:
        return env[ROS_LOG_DIR]
    else:
        return os.path.join(get_ros_home(env), 'log')


def get_test_results_dir(env=None):
    """
    Get directory to use for writing test result files. There are
    multiple possible locations for this. The
    :envvar:`ROS_TEST_RESULTS_DIR` environment variable has
    priority. If that is set, :envvar:`ROS_TEST_RESULTS_DIR` is
    returned.  If :envvar:`ROS_TEST_RESULTS_DIR` is not set, then
    :envvar:`ROS_HOME`/test_results is used. If :envvar:`ROS_HOME` is
    not set, ``$HOME/.ros/test_results`` is used.

    :param env: environment dictionary (defaults to ``os.environ``), ``dict``
    :returns: path to use use for log file directory, ``str``
    """
    if env is None:
        env = os.environ

    if ROS_TEST_RESULTS_DIR in env:
        return env[ROS_TEST_RESULTS_DIR]
    else:
        return os.path.join(get_ros_home(env), 'test_results')


def _compute_package_paths(ros_root, ros_package_path):
    """
    Get the paths to search for packages in normal precedence order (i.e. first path wins).

    :param ros_root: value of ROS_ROOT parameter, ``str``
    :param ros_package_path: value of ROS_PACKAGE_PATH parameter, ``str``
    :returns: paths to search in reverse order of precedence, ``[str]``
    """
    paths = []
    if ros_root:
        paths.append(ros_root)
    if ros_package_path:
        paths.extend([x for x in ros_package_path.split(os.pathsep) if x.strip()])
    return paths


def on_ros_path(p, env=None):
    """
    Check to see if filesystem path is on paths specified in ROS
    environment (:envvar:`ROS_ROOT`, :envvar:`ROS_PACKAGE_PATH`).

    :param p: path, ``str``
    :return: ``True`` if p is on the ROS path, ``bool``
    """
    if env is None:
        env = os.environ

    package = os.path.realpath(_resolve_path(p))
    # filter out non-paths (e.g. if no ROS environment is configured)
    paths = get_ros_paths(env)
    paths = [os.path.realpath(_resolve_path(x)) for x in paths]
    return bool([x for x in paths if package == x or package.startswith(x + os.sep)])


def get_etc_ros_dir(env=None):
    """
    Get directory location of ``/etc/ros`` directory.  The
    :envvar:`ROS_ETC_DIR` environment variable has priority. If
    :envvar:`ROS_ETC_DIR` is not set, ``/etc/ros`` is used.

    :param env: override environment dictionary
    :return: path to use use for log file directory
    """
    if env is None:
        env = os.environ
    if ROS_ETC_DIR in env:
        return env[ROS_ETC_DIR]
    else:
        return '/etc/ros'