"""
Gazebo backend configuration system.
Manages backend selection (Classic vs Modern) via environment variables.
"""
import os
from enum import Enum
from typing import Optional
class GazeboBackend(Enum):
"""Available Gazebo backends."""
CLASSIC = "classic"
MODERN = "modern"
AUTO = "auto"
class GazeboConfig:
"""
Configuration for Gazebo backend selection.
Environment Variables:
- GAZEBO_BACKEND: 'classic', 'modern', or 'auto' (default: modern)
- GAZEBO_WORLD_NAME: Default world name for Modern (default: 'default')
- GAZEBO_TIMEOUT: Service call timeout in seconds (default: 5.0)
NOTE: Classic Gazebo is DEPRECATED and will be removed in v2.0.0.
Default is now 'modern' to encourage migration.
"""
def __init__(
self,
backend: Optional[GazeboBackend] = None,
world_name: str = "default",
timeout: float = 5.0
):
"""
Initialize Gazebo configuration.
Args:
backend: Gazebo backend to use (reads from env if None)
world_name: Default world name
timeout: Service call timeout in seconds
"""
# Read from environment if not provided
# Default changed from 'auto' to 'modern' (Classic is deprecated)
if backend is None:
backend_str = os.getenv('GAZEBO_BACKEND', 'modern').lower()
try:
backend = GazeboBackend(backend_str)
except ValueError:
raise ValueError(
f"Invalid GAZEBO_BACKEND: {backend_str}. "
f"Must be 'classic', 'modern', or 'auto'"
)
self.backend = backend
self.world_name = world_name
self.timeout = timeout
self._validate()
def _validate(self):
"""Validate configuration values."""
if self.timeout <= 0:
raise ValueError("Timeout must be positive")
if not self.world_name:
raise ValueError("World name cannot be empty")
@staticmethod
def from_environment() -> 'GazeboConfig':
"""
Create config from environment variables.
Returns:
GazeboConfig instance
"""
return GazeboConfig(
backend=None, # Read from GAZEBO_BACKEND
world_name=os.getenv('GAZEBO_WORLD_NAME', 'default'),
timeout=float(os.getenv('GAZEBO_TIMEOUT', '5.0'))
)
def __repr__(self) -> str:
return (
f"GazeboConfig(backend={self.backend.value}, "
f"world_name={self.world_name}, timeout={self.timeout})"
)
