def test_get_etc_ros_dir():
from rospkg import get_etc_ros_dir, get_ros_root
from rospkg.environment import ROS_ETC_DIR
base = tempfile.gettempdir()
etc_ros_dir = os.path.join(base, 'etc_ros_dir')
assert '/etc/ros' == get_etc_ros_dir(env={})
# ROS_ETC_DIR has precedence
env = {ROS_ETC_DIR: etc_ros_dir}
assert etc_ros_dir == get_etc_ros_dir(env=env), get_etc_ros_dir(env=env)
# test default assignment of env. Don't both checking return value as we would duplicate get_etc_ros_dir
assert get_etc_ros_dir() is not None
def test_get_etc_ros_dir():
from rospkg import get_etc_ros_dir, get_ros_root
from rospkg.environment import ROS_ETC_DIR
base = tempfile.gettempdir()
etc_ros_dir = os.path.join(base, 'etc_ros_dir')
assert '/etc/ros' == get_etc_ros_dir(env={})
# ROS_ETC_DIR has precedence
env = {ROS_ETC_DIR: etc_ros_dir}
assert etc_ros_dir == get_etc_ros_dir(env=env), get_etc_ros_dir(env=env)
# test default assignment of env. Don't both checking return value as we would duplicate get_etc_ros_dir
assert get_etc_ros_dir() is not None
def get_roscore_filename():
# precedence: look for version in /etc/ros. If it's not there, fall back to roslaunch package
filename = os.path.join(rospkg.get_etc_ros_dir(), 'roscore.xml')
if os.path.isfile(filename):
return filename
r = rospkg.RosPack()
return os.path.join(r.get_path('roslaunch'), 'resources', 'roscore.xml')
def get_roscore_filename():
# precedence: look for version in /etc/ros. If it's not there, fall back to roslaunch package
filename = os.path.join(rospkg.get_etc_ros_dir(), 'roscore.xml')
if os.path.isfile(filename):
return filename
r = rospkg.RosPack()
return os.path.join(r.get_path('roslaunch'), 'resources', 'roscore.xml')
def get_sources_list_dir():
# base of where we read config files from
# TODO: windows
if 0:
# we can't use etc/ros because environment config does not carry over under sudo
etc_ros = rospkg.get_etc_ros_dir()
else:
etc_ros = '/etc/ros'
# compute cache directory
return os.path.join(etc_ros, 'rosdep', SOURCES_LIST_DIR)
def get_sources_list_dir():
# base of where we read config files from
# TODO: windows
if 0:
# we can't use etc/ros because environment config does not carry over under sudo
etc_ros = rospkg.get_etc_ros_dir()
else:
etc_ros = '/etc/ros'
# compute cache directory
return os.path.join(etc_ros, 'rosdep', SOURCES_LIST_DIR)
def get_sources_list_dir():
# base of where we read config files from
# TODO: windows
etc_ros = rospkg.get_etc_ros_dir()
# compute default system wide sources directory
sys_sources_list_dir = os.path.join(etc_ros, 'rosdep', SOURCES_LIST_DIR)
sources_list_dirs = get_sources_list_dirs(sys_sources_list_dir)
if sources_list_dirs:
return sources_list_dirs[0]
else:
return sys_sources_list_dir
def get_sources_list_dir():
# base of where we read config files from
if sys.platform in ['win32']:
etc_ros = rospkg.get_etc_ros_dir()
else:
etc_ros = '/etc/ros'
# compute default system wide sources directory
sys_sources_list_dir = os.path.join(etc_ros, 'rosdep', SOURCES_LIST_DIR)
sources_list_dirs = get_sources_list_dirs(sys_sources_list_dir)
if sources_list_dirs:
return sources_list_dirs[0]
else:
return sys_sources_list_dir
def get_sources_list_dir():
# base of where we read config files from
# TODO: windows
if 0:
# we can't use etc/ros because environment config does not carry over under sudo
etc_ros = rospkg.get_etc_ros_dir()
else:
etc_ros = '/etc/ros'
# compute default system wide sources directory
sys_sources_list_dir = os.path.join(etc_ros, 'rosdep', SOURCES_LIST_DIR)
sources_list_dirs = get_sources_list_dirs(sys_sources_list_dir)
if sources_list_dirs:
return sources_list_dirs[0]
else:
return sys_sources_list_dir
def get_sources_list_dir():
# base of where we read config files from
# TODO: windows
if 0:
# we can't use etc/ros because environment config does not carry over under sudo
etc_ros = rospkg.get_etc_ros_dir()
else:
etc_ros = '/etc/ros'
# compute default system wide sources directory
sys_sources_list_dir = os.path.join(etc_ros, 'rosdep', SOURCES_LIST_DIR)
sources_list_dirs = get_sources_list_dirs(sys_sources_list_dir)
if sources_list_dirs:
return sources_list_dirs[0]
else:
return sys_sources_list_dir
def configure_logging(logname, level=logging.INFO, filename=None, env=None):
"""
Configure Python logging package to send log files to ROS-specific log directory
:param logname str: name of logger, ``str``
:param filename: filename to log to. If not set, a log filename
will be generated using logname, ``str``
:param env: override os.environ dictionary, ``dict``
:returns: log file name, ``str``
:raises: :exc:`LoggingException` If logging cannot be configured as specified
"""
if env is None:
env = os.environ
logname = logname or 'unknown'
log_dir = rospkg.get_log_dir(env=env)
# if filename is not explicitly provided, generate one using logname
if not filename:
log_filename = os.path.join(log_dir,
'%s-%s.log' % (logname, os.getpid()))
else:
log_filename = os.path.join(log_dir, filename)
logfile_dir = os.path.dirname(log_filename)
if not os.path.exists(logfile_dir):
try:
makedirs_with_parent_perms(logfile_dir)
except OSError:
# cannot print to screen because command-line tools with output use this
if os.path.exists(logfile_dir):
# We successfully created the logging folder, but could not change
# permissions of the new folder to the same as the parent folder
sys.stderr.write(
"WARNING: Could not change permissions for folder [%s], make sure that the parent folder has correct permissions.\n"
% logfile_dir)
else:
# Could not create folder
sys.stderr.write(
"WARNING: cannot create log directory [%s]. Please set %s to a writable location.\n"
% (logfile_dir, ROS_LOG_DIR))
return None
elif os.path.isfile(logfile_dir):
raise LoggingException(
"Cannot save log files: file [%s] is in the way" % logfile_dir)
# the log dir itself should not be symlinked as latest
if logfile_dir != log_dir:
if sys.platform not in ['win32']:
try:
success = renew_latest_logdir(logfile_dir)
if not success:
sys.stderr.write(
"INFO: cannot create a symlink to latest log directory\n"
)
except OSError as e:
sys.stderr.write(
"INFO: cannot create a symlink to latest log directory: %s\n"
% e)
config_file = os.environ.get('ROS_PYTHON_LOG_CONFIG_FILE')
if not config_file:
# search for logging config file in ROS_HOME, ROS_ETC_DIR or relative
# to the rosgraph package directory.
rosgraph_d = rospkg.RosPack().get_path('rosgraph')
for config_dir in [
os.path.join(rospkg.get_ros_home(), 'config'),
rospkg.get_etc_ros_dir(),
os.path.join(rosgraph_d, 'conf')
]:
for extension in ('conf', 'yaml'):
f = os.path.join(
config_dir,
'python_logging{}{}'.format(os.path.extsep, extension))
if os.path.isfile(f):
config_file = f
break
if config_file is not None:
break
if config_file is None or not os.path.isfile(config_file):
# logging is considered soft-fail
sys.stderr.write(
"WARNING: cannot load logging configuration file, logging is disabled\n"
)
logging.getLogger(logname).setLevel(logging.CRITICAL)
return log_filename
# pass in log_filename as argument to pylogging.conf
os.environ['ROS_LOG_FILENAME'] = log_filename
if config_file.endswith(('.yaml', '.yml')):
with open(config_file) as f:
dict_conf = yaml.load(f)
dict_conf.setdefault('version', 1)
logging.config.dictConfig(dict_conf)
else:
# #3625: disabling_existing_loggers=False
logging.config.fileConfig(config_file, disable_existing_loggers=False)
return log_filename