self.ui.stop_button.setFocus()
def stop_button_clicked(self):
# Set value
self.vehicle_manual_controller.set_velocity_kmph(0.0, 0.0)
# Transfer focus
self.ui.start_button.setFocus()
def closeEvent(self, event):
# Stop vehicle for sure
self.vehicle_manual_controller.stop_now()
if __name__ == '__main__':
rospy.init_node('set_run_dialog')
app = QApplication(sys.argv)
lock_manager = LockManager(LOCK_PATH)
if not lock_manager.get_lock():
QMessageBox.warning(
None, 'Warning',
'Another same process is running. If not, please delete lock file [ %s ].'
% lock_manager.get_lock_path(), QMessageBox.Ok)
sys.exit(1)
win = SetRunDialog()
win.show()
ret = app.exec_()
lock_manager.release_lock()
sys.exit(ret)
def __init__(self, config):
self.config = config
util.initLogging(config["verbose"], config.get("log_path", ""),
config.get("enable_loggers", []))
util.log("Default encoding: %s (file system: %s)" %
(sys.getdefaultencoding(), sys.getfilesystemencoding()))
# Evaluate configuration and set defaults
_checkConfig(config)
provider_mapping = self.config["provider_mapping"]
# response_trailer = config.get("response_trailer", "")
self._verbose = config.get("verbose", 2)
lockStorage = config.get("locksmanager")
if lockStorage is True:
lockStorage = LockStorageDict()
if not lockStorage:
locksManager = None
else:
locksManager = LockManager(lockStorage)
propsManager = config.get("propsmanager")
if not propsManager:
# Normalize False, 0 to None
propsManager = None
elif propsManager is True:
propsManager = PropertyManager()
mount_path = config.get("mount_path")
# Instantiate DAV resource provider objects for every share
self.providerMap = {}
for (share, provider) in provider_mapping.items():
# Make sure share starts with, or is, '/'
share = "/" + share.strip("/")
# We allow a simple string as 'provider'. In this case we interpret
# it as a file system root folder that is published.
if isinstance(provider, basestring):
provider = FilesystemProvider(provider)
assert isinstance(provider, DAVProvider)
provider.setSharePath(share)
if mount_path:
provider.setMountPath(mount_path)
# TODO: someday we may want to configure different lock/prop managers per provider
provider.setLockManager(locksManager)
provider.setPropManager(propsManager)
self.providerMap[share] = {
"provider": provider,
"allow_anonymous": False
}
# Define WSGI application stack
application = RequestResolver()
domain_controller = None
dir_browser = config.get("dir_browser", {})
middleware_stack = config.get("middleware_stack", [])
# Replace WsgiDavDirBrowser to custom class for backward compatibility only
# In normal way you should insert it into middleware_stack
if dir_browser.get("enable",
True) and "app_class" in dir_browser.keys():
config["middleware_stack"] = [
m if m != WsgiDavDirBrowser else dir_browser['app_class']
for m in middleware_stack
]
for mw in middleware_stack:
if mw.isSuitable(config):
if self._verbose >= 2:
print "Middleware %s is suitable" % mw
application = mw(application, config)
if issubclass(mw, HTTPAuthenticator):
domain_controller = application.getDomainController()
# check anonymous access
for share, data in self.providerMap.items():
if application.allowAnonymousAccess(share):
data['allow_anonymous'] = True
else:
if self._verbose >= 2:
print "Middleware %s is not suitable" % mw
# Print info
if self._verbose >= 2:
print "Using lock manager: %r" % locksManager
print "Using property manager: %r" % propsManager
print "Using domain controller: %s" % domain_controller
print "Registered DAV providers:"
for share, data in self.providerMap.items():
hint = " (anonymous)" if data['allow_anonymous'] else ""
print " Share '%s': %s%s" % (share, provider, hint)
if self._verbose >= 1:
for share, data in self.providerMap.items():
if data['allow_anonymous']:
# TODO: we should only warn here, if --no-auth is not given
print "WARNING: share '%s' will allow anonymous access." % share
self._application = application
class Site:
def __init__(self, site_id):
self._id = site_id
self._status = SiteStatus.UP
self._init_variables()
self._lm = LockManager(self._site_variables.keys())
def _init_variables(self):
self._site_variables = {}
for i in xrange(1, 21):
var_id = 'x' + str(i)
# value = int('10' + str(i))
value = 10 * i
if i % 2 == 0: # Even numbered variables are replicated
self._site_variables[var_id] = Variable(var_id, value)
elif (i + 1) % 10 == self._id:
self._site_variables[var_id] = Variable(var_id, value)
def get_id(self):
return self._id
def dump(self, var=None):
if var:
if var in self._site_variables:
return {var: self._site_variables[var].read_committed()}
print 'Variable doesn\'t exist on site'
else:
var_dict = {}
for var, obj in self._site_variables.iteritems():
var_dict[var] = obj.read_committed()
return var_dict
def dump_state(self):
return self._site_variables
def _load_state(self, state):
for var_id, var_obj in state.iteritems():
if var_id in self._site_variables:
uncommitted_values = var_obj.dump_uncommitted()
committed_values = var_obj.dump_committed()
new_var_obj = Variable(var_id, committed_values[0])
new_var_obj.load_state(committed_values, uncommitted_values)
self._site_variables[var_id] = new_var_obj
def is_up(self):
return self._status == SiteStatus.UP
def fail(self):
if self.is_up():
self._status = SiteStatus.DOWN
self._lm.release_all_locks()
def recover(self, state):
if not self.is_up():
#self._load_state(state)
for var_id, var_obj in self._site_variables.iteritems():
if var_obj.is_replicated():
var_obj.recover()
self._status = SiteStatus.UP
def write(self, transaction, variable, value):
if variable in self._site_variables:
self._lm.acquire_write_lock(transaction, variable)
self._site_variables[variable].write(transaction, value)
else:
print 'Variable doesn\'t exist on site'
def read(self, transaction, var_id):
if var_id in self._site_variables:
if self._site_variables[var_id].is_recovering():
return None
if self._lm.txn_has_write_lock(transaction, var_id):
return self._site_variables[var_id].read_uncommitted(
transaction)
else:
if transaction.get_type() != TransactionType.READ_ONLY:
self._lm.acquire_read_lock(transaction, var_id)
return self._site_variables[var_id].read_committed(transaction)
else:
return None
def commit(self, transaction, timestamp):
for var in self._site_variables.keys():
if self._lm.txn_has_write_lock(transaction, var):
self._site_variables[var].commit(timestamp)
self._lm.release_all_locks(transaction)
def abort(self, transaction):
self._lm.release_all_locks(transaction)
def __init__(self, site_id):
self._id = site_id
self._status = SiteStatus.UP
self._init_variables()
self._lm = LockManager(self._site_variables.keys())
def __init__(self, config):
self.config = config
util.initLogging(config["verbose"], config.get("enable_loggers", []))
util.log("Default encoding: %s (file system: %s)" %
(sys.getdefaultencoding(), sys.getfilesystemencoding()))
# Evaluate configuration and set defaults
_checkConfig(config)
provider_mapping = self.config["provider_mapping"]
# response_trailer = config.get("response_trailer", "")
self._verbose = config.get("verbose", 2)
lockStorage = config.get("locksmanager")
if lockStorage is True:
lockStorage = LockStorageDict()
if not lockStorage:
locksManager = None
else:
locksManager = LockManager(lockStorage)
propsManager = config.get("propsmanager")
if not propsManager:
# Normalize False, 0 to None
propsManager = None
elif propsManager is True:
propsManager = PropertyManager()
mount_path = config.get("mount_path")
user_mapping = self.config.get("user_mapping", {})
domainController = config.get(
"domaincontroller") or WsgiDAVDomainController(user_mapping)
isDefaultDC = isinstance(domainController, WsgiDAVDomainController)
# authentication fields
authacceptbasic = config.get("acceptbasic", True)
authacceptdigest = config.get("acceptdigest", True)
authdefaultdigest = config.get("defaultdigest", True)
# Check configuration for NTDomainController
# We don't use 'isinstance', because include would fail on non-windows boxes.
wdcName = "NTDomainController"
if domainController.__class__.__name__ == wdcName:
if authacceptdigest or authdefaultdigest or not authacceptbasic:
util.warn(
"WARNING: %s requires basic authentication.\n\tSet acceptbasic=True, acceptdigest=False, defaultdigest=False"
% wdcName)
# Instantiate DAV resource provider objects for every share
self.providerMap = {}
for (share, provider) in provider_mapping.items():
# Make sure share starts with, or is, '/'
share = "/" + share.strip("/")
# We allow a simple string as 'provider'. In this case we interpret
# it as a file system root folder that is published.
if isinstance(provider, basestring):
provider = FilesystemProvider(provider)
assert isinstance(provider, DAVProvider)
provider.setSharePath(share)
if mount_path:
provider.setMountPath(mount_path)
# TODO: someday we may want to configure different lock/prop managers per provider
provider.setLockManager(locksManager)
provider.setPropManager(propsManager)
self.providerMap[share] = provider
if self._verbose >= 2:
print "Using lock manager: %r" % locksManager
print "Using property manager: %r" % propsManager
print "Using domain controller: %s" % domainController
print "Registered DAV providers:"
for share, provider in self.providerMap.items():
hint = ""
if isDefaultDC and not user_mapping.get(share):
hint = " (anonymous)"
print " Share '%s': %s%s" % (share, provider, hint)
# If the default DC is used, emit a warning for anonymous realms
if isDefaultDC and self._verbose >= 1:
for share in self.providerMap:
if not user_mapping.get(share):
# TODO: we should only warn here, if --no-auth is not given
print "WARNING: share '%s' will allow anonymous access." % share
# Define WSGI application stack
application = RequestResolver()
if config.get("dir_browser") and config["dir_browser"].get(
"enable", True):
application = WsgiDavDirBrowser(application)
application = HTTPAuthenticator(application, domainController,
authacceptbasic, authacceptdigest,
authdefaultdigest)
application = ErrorPrinter(application, catchall=False)
application = WsgiDavDebugFilter(application, config)
self._application = application
def __init__(self, site_id): self._id = site_id self._status = SiteStatus.UP self._init_variables() self._lm = LockManager(self._site_variables.keys())
class Site:
def __init__(self, site_id):
self._id = site_id
self._status = SiteStatus.UP
self._init_variables()
self._lm = LockManager(self._site_variables.keys())
def _init_variables(self):
self._site_variables = {}
for i in xrange(1, 21):
var_id = 'x' + str(i)
# value = int('10' + str(i))
value = 10 * i
if i % 2 == 0: # Even numbered variables are replicated
self._site_variables[var_id] = Variable(var_id, value)
elif (i + 1) % 10 == self._id:
self._site_variables[var_id] = Variable(var_id, value)
def get_id(self):
return self._id
def dump(self, var=None):
if var:
if var in self._site_variables:
return {var: self._site_variables[var].read_committed()}
print 'Variable doesn\'t exist on site'
else:
var_dict = {}
for var, obj in self._site_variables.iteritems():
var_dict[var] = obj.read_committed()
return var_dict
def dump_state(self):
return self._site_variables
def _load_state(self, state):
for var_id, var_obj in state.iteritems():
if var_id in self._site_variables:
uncommitted_values = var_obj.dump_uncommitted()
committed_values = var_obj.dump_committed()
new_var_obj = Variable(var_id, committed_values[0])
new_var_obj.load_state(committed_values, uncommitted_values)
self._site_variables[var_id] = new_var_obj
def is_up(self):
return self._status == SiteStatus.UP
def fail(self):
if self.is_up():
self._status = SiteStatus.DOWN
self._lm.release_all_locks()
def recover(self, state):
if not self.is_up():
#self._load_state(state)
for var_id, var_obj in self._site_variables.iteritems():
if var_obj.is_replicated():
var_obj.recover()
self._status = SiteStatus.UP
def write(self, transaction, variable, value):
if variable in self._site_variables:
self._lm.acquire_write_lock(transaction, variable)
self._site_variables[variable].write(transaction, value)
else:
print 'Variable doesn\'t exist on site'
def read(self, transaction, var_id):
if var_id in self._site_variables:
if self._site_variables[var_id].is_recovering():
return None
if self._lm.txn_has_write_lock(transaction, var_id):
return self._site_variables[var_id].read_uncommitted(transaction)
else:
if transaction.get_type() != TransactionType.READ_ONLY:
self._lm.acquire_read_lock(transaction, var_id)
return self._site_variables[var_id].read_committed(transaction)
else:
return None
def commit(self, transaction, timestamp):
for var in self._site_variables.keys():
if self._lm.txn_has_write_lock(transaction, var):
self._site_variables[var].commit(timestamp)
self._lm.release_all_locks(transaction)
def abort(self, transaction):
self._lm.release_all_locks(transaction)
QMessageBox.warning(None, 'Error', 'Failed to stop waypoint record!', QMessageBox.Ok)
return
self.ui.start_button.setEnabled(True)
self.ui.stop_button.setEnabled(False)
def closeEvent(self, event):
self.save_ui_info()
def load_ui_info(self):
settings = SettingsManager(CONFIG_FILE)
settings.load(self.ui.save_path_edit)
def save_ui_info(self):
settings = SettingsManager(CONFIG_FILE)
settings.save(self.ui.save_path_edit)
if __name__=='__main__':
rospy.init_node('waypoint_recorder')
app = QApplication(sys.argv)
lock_manager = LockManager(LOCK_PATH)
if not lock_manager.get_lock():
QMessageBox.warning(None, 'Warning', 'Another same process is running. If not, please delete lock file [ %s ].' % lock_manager.get_lock_path(), QMessageBox.Ok)
sys.exit(1)
win = WaypointRecorderDialog()
win.show()
ret = app.exec_()
lock_manager.release_lock()
sys.exit(ret)
owner = ET.tostring(owner)
else:
owner = '<D:owner xmlns:D="DAV:" />'
return shared, owner
if __name__ == '__main__':
print "Unit tests"
import tempfile, shutil
config.root_dir = tempfile.mkdtemp(prefix = 'easydav-')
testfile = os.path.join(config.root_dir, u'testfile%ä')
open(testfile, 'w').write('foo')
mgr = LockManager()
lock = mgr.create_lock(u'testfile%ä', True, '', -1, 100)
req = RequestInfo({
'HTTP_HOST': 'example.com',
'REQUEST_URI': '/webdav.cgi/testfile%25%C3%A4',
'PATH_INFO': '/testfile%\xc3\xa4',
'HTTP_IF': '(<' + lock.urn + '>)',
'wsgi.input': None
})
# When holding the lock
assert req.get_request_path('r')
assert req.get_request_path('w')
mgr.release_lock(lock.path, lock.urn)
