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# Revision $Id: rlutil.py 11756 2010-10-25 09:51:08Z kwc $

"""
Uncategorized utility routines for roslaunch.

This API should not be considered stable.
"""

import os
import time

from roslib.names import SEP

import roslaunch.core
from rosmaster import DEFAULT_MASTER_PORT

def check_log_disk_usage():
    """
    Check size of log directory. If high, print warning to user
    """
    try:
        import rosclean
        import roslib.rosenv
        d = roslib.rosenv.get_log_dir()
        roslaunch.core.printlog("Checking log directory for disk usage. This may take awhile.\nPress Ctrl-C to interrupt") 
        disk_usage = rosclean.get_disk_usage(d)
        # warn if over a gig
        if disk_usage > 1073741824:
            roslaunch.core.printerrlog("WARNING: disk usage in log directory [%s] is over 1GB.\nIt's recommended that you use the 'rosclean' command."%d)
        else:
            roslaunch.core.printlog("Done checking log file disk usage. Usage is <1GB.")            
    except:
        pass

def resolve_launch_arguments(args):
    """
    Resolve command-line args to roslaunch filenames.
    @return: resolved filenames
    @rtype: [str]
    """
    import roslib.packages
    import roslib.scriptutil

    # strip remapping args for processing
    args = roslib.scriptutil.myargv(args)
    
    # user can either specify:
    #  - filename + launch args
    #  - package + relative-filename + launch args
    if not args:
        return args
    resolved_args = None
    top = args[0]
    if os.path.isfile(top):
        resolved_args = [top] + args[1:]
    elif len(args) == 1:
        raise roslaunch.core.RLException("[%s] does not exist. please specify a package and launch file"%(top))
    else:
        try:
            resolved = roslib.packages.find_resource(top, args[1])
            if len(resolved) == 1:
                resolved = resolved[0]
            elif len(resolved) > 1:
                raise roslaunch.core.RLException("multiple files named [%s] in package [%s].\nPlease specify full path instead"%(args[1], top))
        except roslib.packages.InvalidROSPkgException, e:
            raise roslaunch.core.RLException("[%s] is not a package or launch file name"%top)
        if not resolved:
            raise roslaunch.core.RLException("cannot locate [%s] in package [%s]"%(args[1], top))
        else:
            resolved_args = [resolved] + args[2:]
    return resolved_args

def _wait_for_master():
    """
    Block until ROS Master is online
    
    @raise RuntimeError: if unexpected error occurs
    """
    m = roslaunch.core.Master() # get a handle to the default master
    is_running = m.is_running()
    if not is_running:
        roslaunch.core.printlog("roscore/master is not yet running, will wait for it to start")
    while not is_running:
        time.sleep(0.1)
        is_running = m.is_running()
    if is_running:
        roslaunch.core.printlog("master has started, initiating launch")
    else:
        raise RuntimeError("unknown error waiting for master to start")

_terminal_name = None

def _set_terminal(s):
    import platform
    if platform.system() in ['FreeBSD', 'Linux', 'Darwin', 'Unix']:
        try:
            print '\033]2;%s\007'%(s)
        except:
            pass
    
def update_terminal_name(ros_master_uri):
    """
    append master URI to the terminal name
    """
    if _terminal_name:
        _set_terminal(_terminal_name + ' ' + ros_master_uri)

def change_terminal_name(args, is_core):
    """
    use echo (where available) to change the name of the terminal window
    """
    global _terminal_name
    _terminal_name = 'roscore' if is_core else ','.join(args)
    _set_terminal(_terminal_name)

def get_or_generate_uuid(options_runid, options_wait_for_master):
    """
    @param options_runid: run_id value from command-line or None
    @type  options_runid: str
    @param options_wait_for_master: the wait_for_master command
      option. If this is True, it means that we must retrieve the
      value from the parameter server and need to avoid any race
      conditions with the roscore being initialized.
    @type  options_wait_for_master: bool
    """
    import roslib.scriptutil
    # Three possible sources of the run_id:
    #
    #  - if we're a child process, we get it from options_runid
    #  - if there's already a roscore running, read from the param server
    #  - generate one if we're running the roscore
    if options_runid:
        return options_runid

    # #773: Generate a run_id to use if we launch a master
    # process.  If a master is already running, we'll get the
    # run_id from it instead
    param_server = roslib.scriptutil.get_param_server()
    val = None
    while val is None:
        try:
            code, msg, val = param_server.getParam('/roslaunch', '/run_id')
            if code == 1:
                return val
            else:
                val = None
                raise RuntimeError("unknown error communicating with Parameter Server: %s"%msg)
        except:
            if not options_wait_for_master:
                val = roslaunch.core.generate_run_id()
    return val
    
def check_roslaunch(f):
    """
    Check roslaunch file for errors, returning error message if check fails. This routine
    is mainly to support rostest's roslaunch_check.

    @param f: roslaunch file name
    @type  f: str
    @return: error message or None
    @rtype: str
    """
    try:
        import roslaunch.config
        config = roslaunch.config.load_config_default([f], DEFAULT_MASTER_PORT, verbose=False)
    except roslaunch.RLException, e:
        return str(e)
    
    errors = []
    # check for missing deps
    import roslaunch.depends
    base_pkg, file_deps, missing = roslaunch.depends.roslaunch_deps([f])
    for pkg, miss in missing.iteritems():
        if miss:
            errors.append("Missing manifest dependencies: %s/manifest.xml: %s"%(pkg, ', '.join(miss)))
    
    # load all node defs
    nodes = []
    for filename, rldeps in file_deps.iteritems():
        nodes.extend(rldeps.nodes)

    # check for missing packages
    import roslib.packages
    for pkg, node_type in nodes:
        try:
            roslib.packages.get_pkg_dir(pkg, required=True)
        except:
            errors.append("cannot find package [%s] for node [%s]"%(pkg, node_type))

    # check for missing nodes
    for pkg, node_type in nodes:
        try:
            if not roslib.packages.find_node(pkg, node_type):
                errors.append("cannot find node [%s] in package [%s]"%(node_type, pkg))
        except Exception, e:
            errors.append("unable to find node [%s/%s]: %s"%(pkg, node_type, str(e)))
                
    # Check for configuration errors, #2889
    for err in config.config_errors:
        errors.append('ROSLaunch config error: %s' % err)

    if errors:
        return '\n'.join(errors)
                          

def namespaces_of(name):
    if name is None: 
        raise ValueError('name')
    if not isinstance(name, basestring):
        raise TypeError('name')
    if not name:
        return [SEP]

    splits = [x for x in name.split(SEP) if x]
    return ['/'] + ['/'+SEP.join(splits[:i]) for i in xrange(1, len(splits))]
