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from python_qt_binding.QtCore import QObject, Signal
import os
import threading

import rospy

from .common import get_packages


class PackagesThread(QObject, threading.Thread):
    '''
    A thread to list all available ROS packages and
    publish there be sending a QT signal.
    '''
    packages = Signal(dict)
    '''
  @ivar: packages is a signal, which is emitted, if a list with ROS packages was
  created {package : path}.
  '''

    def __init__(self):
        '''
        '''
        QObject.__init__(self)
        threading.Thread.__init__(self)
        self.setDaemon(True)

    def run(self):
        '''
        '''
        try:
            # fill the input fields
            root_paths = [os.path.normpath(p) for p in os.getenv("ROS_PACKAGE_PATH").split(':')]
            packages = {}
            for p in root_paths:
                ret = get_packages(p)
                packages = dict(ret.items() + packages.items())
            self.packages.emit(packages)
        except:
            import traceback
            formatted_lines = traceback.format_exc(1).splitlines()
            print "Error while list packages:\n\t%s" % traceback.format_exc()
            try:
                rospy.logwarn("Error while list packages:\n\t%s", formatted_lines[-1])
            except:
                pass
