/usr/lib/python2.7/dist-packages/roslib/rosenv.py is in python-roslib 1.13.4-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 | # Software License Agreement (BSD License)
#
# Copyright (c) 2008, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Revision $Id$
"""
Warning: do not use this library. It is unstable and most of the routines
here have been superceded by other libraries (e.g. rospkg). These
routines will likely be *deleted* in future releases.
"""
import os
import sys
# Global, usually set in setup
ROS_ROOT = "ROS_ROOT"
ROS_MASTER_URI = "ROS_MASTER_URI"
ROS_PACKAGE_PATH = "ROS_PACKAGE_PATH"
ROS_HOME = "ROS_HOME"
# Build-related
ROS_BINDEPS_PATH = "ROS_BINDEPS_PATH"
ROS_BOOST_ROOT = "ROS_BOOST_ROOT"
# Per session
## hostname/address to bind XML-RPC services to.
ROS_IP ="ROS_IP"
ROS_HOSTNAME ="ROS_HOSTNAME"
ROS_NAMESPACE ="ROS_NAMESPACE"
## directory in which log files are written
ROS_LOG_DIR ="ROS_LOG_DIR"
class ROSEnvException(Exception):
"""Base class of roslib.rosenv errors."""
pass
import warnings
warnings.warn("roslib.rosenv is deprecated, please use rospkg or rosgraph.rosenv", stacklevel=2)
def get_ros_root(required=True, env=None):
"""
@param required: (default True). If True, ROS_ROOT must be set and point to a valid directory.
@type required: bool
@param env: override environment dictionary
@type env: dict
@raise ROSEnvException: if required is True and ROS_ROOT is not set
"""
if env is None:
env = os.environ
p = None
try:
if ROS_ROOT not in env:
raise ROSEnvException("""
The %(ROS_ROOT)s environment variable has not been set.
Please set to the location of your ROS installation
before continuing.
"""%globals())
return env[ROS_ROOT]
except Exception as e:
if required:
raise
return p
def get_ros_package_path(required=False, env=None):
"""
@param required: (default False) if True, ROS_PACKAGE_PATH must be
set and point to a valid directory.
@type required: bool
@raise ROSEnvException: if ROS_PACKAGE_PATH is not set and \a
required is True
"""
if env is None:
env = os.environ
try:
return env[ROS_PACKAGE_PATH]
except KeyError as e:
if required:
raise ROSEnvException("%s has not been configured"%ROS_PACKAGE_PATH)
def get_master_uri(required=True, env=None, argv=None):
"""
Get the ROS_MASTER_URI setting from the command-line args or
environment, command-line args takes precedence.
@param required: if True, enables exception raising
@type required: bool
@param env: override environment dictionary
@type env: dict
@param argv: override sys.argv
@type argv: [str]
@raise ROSEnvException: if ROS_MASTER_URI value is invalidly
specified or if required and ROS_MASTER_URI is not set
"""
if env is None:
env = os.environ
if argv is None:
argv = sys.argv
try:
for arg in argv:
if arg.startswith('__master:='):
val = None
try:
_, val = arg.split(':=')
except:
pass
# we ignore required here because there really is no
# correct return value as the configuration is bad
# rather than unspecified
if not val:
raise ROSEnvException("__master remapping argument '%s' improperly specified"%arg)
return val
return env[ROS_MASTER_URI]
except KeyError as e:
if required:
raise ROSEnvException("%s has not been configured"%ROS_MASTER_URI)
def get_ros_home(env=None):
"""
Get directory location of '.ros' directory (aka ROS home).
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
@type env: dict
@return: path to use use for log file directory
@rtype: 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
@type env: dict
@return: path to use use for log file directory
@rtype: 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. If ROS_HOME is set ROS_HOME/test_results
is used. Otherwise $HOME/.ros/test_results is used.
@param env: environment dictionary (defaults to os.environ)
@type env: dict
@return: path to use use for log file directory
@rtype: str
"""
return os.path.join(get_ros_home(env), 'test_results')
# this is a copy of the roslogging utility. it's been moved here as it is a common
# routine for programs using accessing ROS directories
def makedirs_with_parent_perms(p):
"""
Create the directory using the permissions of the nearest
(existing) parent directory. This is useful for logging, where a
root process sometimes has to log in the user's space.
@param p: directory to create
@type p: str
"""
p = os.path.abspath(p)
parent = os.path.dirname(p)
# recurse upwards, checking to make sure we haven't reached the
# top
if not os.path.exists(p) and p and parent != p:
makedirs_with_parent_perms(parent)
s = os.stat(parent)
os.mkdir(p)
# if perms of new dir don't match, set anew
s2 = os.stat(p)
if s.st_uid != s2.st_uid or s.st_gid != s2.st_gid:
os.chown(p, s.st_uid, s.st_gid)
if s.st_mode != s2.st_mode:
os.chmod(p, s.st_mode)
|