From 42a6b9afa28bab5855d0239b892da42b40bb445c Mon Sep 17 00:00:00 2001
From: Daniel Stonier <d.stonier@gmail.com>
Date: Mon, 28 Apr 2014 09:05:20 +0900
Subject: [PATCH 1/3] web interaction handling, closes #76.

---
 rocon_remocon/.project                        |   2 +-
 rocon_remocon/package.xml                     |   1 +
 rocon_remocon/src/rocon_remocon/remocon.py    | 101 +++++++--------
 .../src/rocon_remocon/remocon_info.py         | 118 +++++++++++-------
 .../ui/{applist.ui => interactions_list.ui}   |  21 ++--
 .../ui/{rolelist.ui => role_list.ui}          |   9 +-
 6 files changed, 132 insertions(+), 120 deletions(-)
 rename rocon_remocon/ui/{applist.ui => interactions_list.ui} (83%)
 rename rocon_remocon/ui/{rolelist.ui => role_list.ui} (88%)

diff --git a/rocon_remocon/.project b/rocon_remocon/.project
index 1b8c73e..d5508c8 100644
--- a/rocon_remocon/.project
+++ b/rocon_remocon/.project
@@ -4,7 +4,7 @@
 	<comment></comment>
 	<projects>
 		<project>rocon_console</project>
-		<project>rocon_hue</project>
+		<project>rocon_interactions</project>
 		<project>rocon_python_comms</project>
 		<project>rocon_python_utils</project>
 		<project>rocon_uri</project>
diff --git a/rocon_remocon/package.xml b/rocon_remocon/package.xml
index 9ee1bb5..58e3040 100644
--- a/rocon_remocon/package.xml
+++ b/rocon_remocon/package.xml
@@ -22,6 +22,7 @@
   <run_depend>rocon_app_manager_msgs</run_depend>
   <run_depend>rocon_console</run_depend>
   <run_depend>rocon_icons</run_depend>
+  <run_depend>rocon_interactions</run_depend>
   <run_depend>rocon_interaction_msgs</run_depend>
   <run_depend>rocon_python_comms</run_depend>
   <run_depend>rocon_python_utils</run_depend>
diff --git a/rocon_remocon/src/rocon_remocon/remocon.py b/rocon_remocon/src/rocon_remocon/remocon.py
index 3866704..6d0257b 100644
--- a/rocon_remocon/src/rocon_remocon/remocon.py
+++ b/rocon_remocon/src/rocon_remocon/remocon.py
@@ -27,6 +27,7 @@
 import rospkg
 import rocon_python_utils
 from rocon_console import console
+import rocon_interactions.web_interactions as web_interactions
 
 from .remocon_info import RemoconInfo
 from . import utils
@@ -48,40 +49,40 @@ def __init__(self, parent, title, application, rocon_master_index="", rocon_mast
         super(RemoconSub, self).__init__(parent)
         self.initialised = False
 
-        self._widget_app_list = QWidget()
-        self._widget_role_list = QWidget()
+        self.interactions_widget = QWidget()
+        self.roles_widget = QWidget()
 
         self.rocon_master_list = {}
         self.cur_selected_role = 0
 
-        self.app_list = {}
+        self.interactions = {}
         self.cur_selected_app = None
 
         self.remocon_info = RemoconInfo(stop_app_postexec_fn=self._set_stop_app_button)
 
-        path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../../ui/applist.ui")
-        uic.loadUi(path, self._widget_app_list)
+        path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../../ui/interactions_list.ui")
+        uic.loadUi(path, self.interactions_widget)
 
-        path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../../ui/rolelist.ui")
-        uic.loadUi(path, self._widget_role_list)
+        path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../../ui/role_list.ui")
+        uic.loadUi(path, self.roles_widget)
 
         utils.setup_home_dirs()
         self.rocon_master_list_cache_path = os.path.join(utils.get_settings_cache_home(), "rocon_master.cache")
         self.scripts_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../../scripts/")
 
         #role list widget
-        self._widget_role_list.role_list_widget.setIconSize(QSize(50, 50))
-        self._widget_role_list.role_list_widget.itemDoubleClicked.connect(self._select_role_list)
-        self._widget_role_list.back_btn.pressed.connect(self._back_role_list)
-        self._widget_role_list.refresh_btn.pressed.connect(self._refresh_role_list)
+        self.roles_widget.role_list_widget.setIconSize(QSize(50, 50))
+        self.roles_widget.role_list_widget.itemDoubleClicked.connect(self._select_role_list)
+        self.roles_widget.back_btn.pressed.connect(self._back_role_list)
+        self.roles_widget.refresh_btn.pressed.connect(self._refresh_role_list)
         #app list widget
-        self._widget_app_list.app_list_widget.setIconSize(QSize(50, 50))
-        self._widget_app_list.app_list_widget.itemDoubleClicked.connect(self._start_app)
-        self._widget_app_list.back_btn.pressed.connect(self._uninit_app_list)
-        self._widget_app_list.app_list_widget.itemClicked.connect(self._select_app_list)  # rocon master item click event
-        self._widget_app_list.stop_app_btn.pressed.connect(self._stop_app)
-        self._widget_app_list.refresh_btn.pressed.connect(self._refresh_app_list)
-        self._widget_app_list.stop_app_btn.setDisabled(True)
+        self.interactions_widget.interactions_list_widget.setIconSize(QSize(50, 50))
+        self.interactions_widget.interactions_list_widget.itemDoubleClicked.connect(self._start_app)
+        self.interactions_widget.back_btn.pressed.connect(self._uninit_app_list)
+        self.interactions_widget.interactions_list_widget.itemClicked.connect(self._select_app_list)  # rocon master item click event
+        self.interactions_widget.stop_interactions_button.pressed.connect(self._stop_app)
+        self.interactions_widget.refresh_btn.pressed.connect(self._refresh_app_list)
+        self.interactions_widget.stop_interactions_button.setDisabled(True)
 
         #init
         self._init()
@@ -93,8 +94,8 @@ def _init(self):
         # is getting confused when the original program doesn't have the focus.
         #
         # Taking control of it ourselves works...
-        self._widget_app_list.stop_app_btn.setStyleSheet(QString.fromUtf8("QPushButton:disabled { color: gray }"))
-        self._widget_role_list.show()
+        self.interactions_widget.stop_interactions_button.setStyleSheet(QString.fromUtf8("QPushButton:disabled { color: gray }"))
+        self.roles_widget.show()
         self.initialised = True
 
 ################################################################################################################
@@ -119,9 +120,9 @@ def _select_role_list(self, Item):
 
         self.remocon_info._select_role(self.cur_selected_role)
 
-        self._widget_app_list.show()
-        self._widget_app_list.move(self._widget_role_list.pos())
-        self._widget_role_list.hide()
+        self.interactions_widget.show()
+        self.interactions_widget.move(self.roles_widget.pos())
+        self.roles_widget.hide()
         self._init_app_list()
 
     def _back_role_list(self):
@@ -131,17 +132,17 @@ def _back_role_list(self):
         os.execv(self.scripts_path + 'rocon_remocon', ['', self.host_name])
 
     def _refresh_role_list(self):
-        self._widget_role_list.role_list_widget.clear()
+        self.roles_widget.role_list_widget.clear()
 
         role_list = self.remocon_info.get_role_list()
 
         #set list widget item (reverse order because we push them on the top)
         for role in reversed(role_list):
-            self._widget_role_list.role_list_widget.insertItem(0, role)
+            self.roles_widget.role_list_widget.insertItem(0, role)
             #setting the list font
-            font = self._widget_role_list.role_list_widget.item(0).font()
+            font = self.roles_widget.role_list_widget.item(0).font()
             font.setPointSize(13)
-            self._widget_role_list.role_list_widget.item(0).setFont(font)
+            self.roles_widget.role_list_widget.item(0).setFont(font)
 
 ################################################################################################################
 ##app list widget
@@ -151,50 +152,50 @@ def _init_app_list(self):
         self._refresh_app_list()
 
     def _uninit_app_list(self):
-        self._widget_role_list.show()
-        self._widget_role_list.move(self._widget_app_list.pos())
-        self._widget_app_list.hide()
+        self.roles_widget.show()
+        self.roles_widget.move(self.interactions_widget.pos())
+        self.interactions_widget.hide()
 
     def _refresh_app_list(self):
-        self.app_list = {}
-        self.app_list = self.remocon_info._get_app_list()
-        self._widget_app_list.app_list_widget.clear()
+        self.interactions = {}
+        self.interactions = self.remocon_info.interactions
+        self.interactions_widget.interactions_list_widget.clear()
 
         index = 0
-        for k in self.app_list.values():
+        for k in self.interactions.values():
             k['index'] = index
             index = index + 1
 
-            self._widget_app_list.app_list_widget.insertItem(0, k['display_name'])
+            self.interactions_widget.interactions_list_widget.insertItem(0, k['display_name'])
             #setting the list font
-            font = self._widget_app_list.app_list_widget.item(0).font()
+            font = self.interactions_widget.interactions_list_widget.item(0).font()
             font.setPointSize(13)
-            self._widget_app_list.app_list_widget.item(0).setFont(font)
+            self.interactions_widget.interactions_list_widget.item(0).setFont(font)
             #setting the icon
 
             app_icon = k['icon']
             if app_icon == "unknown.png":
                 icon = QIcon(self.icon_paths['unknown'])
-                self._widget_app_list.app_list_widget.item(0).setIcon(icon)
+                self.interactions_widget.interactions_list_widget.item(0).setIcon(icon)
             elif len(app_icon):
                 icon = QIcon(os.path.join(utils.get_icon_cache_home(), app_icon))
-                self._widget_app_list.app_list_widget.item(0).setIcon(icon)
+                self.interactions_widget.interactions_list_widget.item(0).setIcon(icon)
             else:
-                print 
                 console.logdebug("%s : No icon" % str(self.rocon_master_name))
-            pass
 
     def _select_app_list(self, Item):
         list_widget = Item.listWidget()
         cur_index = list_widget.count() - list_widget.currentRow() - 1
-        for k in self.app_list.values():
+        for k in self.interactions.values():
             if(k['index'] == cur_index):
                 self.cur_selected_app = k
                 break
-        self._widget_app_list.app_info.clear()
+        self.interactions_widget.app_info.clear()
         info_text = "<html>"
         info_text += "<p>-------------------------------------------</p>"
-        info_text += "<p><b>name: </b>" + self.cur_selected_app['name'] + "</p>"
+        web_interaction = web_interactions.parse(self.cur_selected_app['name'])
+        name = self.cur_selected_app['name'] if web_interaction is None else web_interaction.url
+        info_text += "<p><b>name: </b>" + name + "</p>"
         info_text += "<p><b>  ---------------------</b>" + "</p>"
         info_text += "<p><b>compatibility: </b>" + self.cur_selected_app['compatibility'] + "</p>"
         info_text += "<p><b>display name: </b>" + self.cur_selected_app['display_name'] + "</p>"
@@ -206,7 +207,7 @@ def _select_app_list(self, Item):
         info_text += "<p><b>parameters: </b>" + str(self.cur_selected_app['parameters']) + "</p>"
         info_text += "</html>"
 
-        self._widget_app_list.app_info.appendHtml(info_text)
+        self.interactions_widget.app_info.appendHtml(info_text)
         self._set_stop_app_button()
 
     def _set_stop_app_button(self):
@@ -215,15 +216,15 @@ def _set_stop_app_button(self):
           toggle the state of the stop app button whenever a running app
           terminates itself.
         '''
-        if not self.app_list:
+        if not self.interactions:
             return
         try:
             if self.cur_selected_app["launch_list"]:
                 console.logdebug("Remocon : enabling stop app button")
-                self._widget_app_list.stop_app_btn.setDisabled(False)
+                self.interactions_widget.stop_interactions_button.setDisabled(False)
             else:
                 console.logdebug("Remocon : disabling stop app button")
-                self._widget_app_list.stop_app_btn.setEnabled(False)
+                self.interactions_widget.stop_interactions_button.setEnabled(False)
         except KeyError:
             pass  # do nothing
 
@@ -231,12 +232,12 @@ def _stop_app(self):
         console.logdebug("Remocon : Stop app %s " % str(self.cur_selected_app['name']))
         if self.remocon_info._stop_app(self.cur_selected_app['hash']):
             self._set_stop_app_button()
-            #self._widget_app_list.stop_app_btn.setDisabled(True)
+            #self.interactions_widget.stop_interactions_button.setDisabled(True)
 
     def _start_app(self):
         console.logdebug("Remocon : Start app %s " % str(self.cur_selected_app['name']))
         if self.remocon_info._start_app(self.cur_selected_app['hash']):
-            self._widget_app_list.stop_app_btn.setDisabled(False)
+            self.interactions_widget.stop_interactions_button.setDisabled(False)
 
 #################################################################
 ##Remocon Main
diff --git a/rocon_remocon/src/rocon_remocon/remocon_info.py b/rocon_remocon/src/rocon_remocon/remocon_info.py
index b5662a0..623f16d 100644
--- a/rocon_remocon/src/rocon_remocon/remocon_info.py
+++ b/rocon_remocon/src/rocon_remocon/remocon_info.py
@@ -28,6 +28,7 @@
 from rocon_app_manager_msgs.msg import ErrorCodes
 import rocon_interaction_msgs.msg as rocon_interaction_msgs
 import rocon_interaction_msgs.srv as rocon_interaction_srvs
+import rocon_interactions.web_interactions as web_interactions
 import rocon_python_comms
 
 from . import utils
@@ -44,14 +45,12 @@ def __init__(self, stop_app_postexec_fn):
           @type method with no args
         '''
         self._stop_app_postexec_fn = stop_app_postexec_fn
-        self.app_list = {}
+        self.interactions = {}
         self.rocon_master_info = {}
         self.is_connect = False
         self.is_app_running = False
         self.key = uuid.uuid4()
 
-        self.app_pid = 0
-
         # this might be naive and only work well on ubuntu...
         os_codename = OsDetect().get_codename()
         # this would be great as a configurable parameter
@@ -118,10 +117,10 @@ def _shutdown(self):
             console.logwarn("RemoconInfo : tried to shutdown already disconnected remocon")
         else:
             console.logdebug("RemoconInfo : shutting down all apps")
-            for app_hash in self.app_list.keys():
+            for app_hash in self.interactions.keys():
                 self._stop_app(app_hash)
 
-            self.app_list = {}
+            self.interactions = {}
             self.is_connect = False
 
             rospy.signal_shutdown("shut down remocon_info")
@@ -158,33 +157,33 @@ def _select_role(self, role_name):
 
         call_result = self.get_interactions_service_proxy(roles, self.platform_info.uri)
         print "[remocon_info]: call result"
-        self.app_list = {}
+        self.interactions = {}
         for interaction in call_result.interactions:
             if(interaction.role == role_name):
-                app_hash = interaction.hash
-                #if self.app_list.has_key(app_hash):
+                # TODO should create a class out of this mash, dicts of dicts are prone to mistakes and hard to introspect.
+                #if self.interactions.has_key(interaction.hash):
                 #    pass
                 #else:
-                #    self.app_list[app_hash]={}
-                #    self.app_list[app_hash]['launch_list'] ={}
-                self.app_list[app_hash] = {}
-                self.app_list[app_hash]['launch_list'] = {}
+                #    self.interactions[interaction.hash]={}
+                #    self.interactions[interaction.hash]['launch_list'] ={}
+                self.interactions[interaction.hash] = {}
+                self.interactions[interaction.hash]['launch_list'] = {}
 
-                self.app_list[app_hash]['name'] = interaction.name
-                self.app_list[app_hash]['compatibility'] = interaction.compatibility
+                self.interactions[interaction.hash]['name'] = interaction.name
+                self.interactions[interaction.hash]['compatibility'] = interaction.compatibility
                 icon_name = interaction.icon.resource_name.split('/').pop()
                 if interaction.icon.data:
                     icon = open(os.path.join(utils.get_icon_cache_home(), icon_name), 'w')
                     icon.write(interaction.icon.data)
                     icon.close()
-                self.app_list[app_hash]['icon'] = icon_name
-                self.app_list[app_hash]['display_name'] = interaction.display_name
-                self.app_list[app_hash]['description'] = interaction.description
-                self.app_list[app_hash]['namespace'] = interaction.namespace
-                self.app_list[app_hash]['max'] = interaction.max
-                self.app_list[app_hash]['remappings'] = interaction.remappings
-                self.app_list[app_hash]['parameters'] = interaction.parameters
-                self.app_list[app_hash]['hash'] = interaction.hash
+                self.interactions[interaction.hash]['icon'] = icon_name
+                self.interactions[interaction.hash]['display_name'] = interaction.display_name
+                self.interactions[interaction.hash]['description'] = interaction.description
+                self.interactions[interaction.hash]['namespace'] = interaction.namespace
+                self.interactions[interaction.hash]['max'] = interaction.max
+                self.interactions[interaction.hash]['remappings'] = interaction.remappings
+                self.interactions[interaction.hash]['parameters'] = interaction.parameters
+                self.interactions[interaction.hash]['hash'] = interaction.hash
 
     def get_rocon_master_info(self):
         console.logdebug("RemoconInfo : retrieving rocon master information")
@@ -219,12 +218,8 @@ def _info_callback(self, data):
 
         self.is_valid_info = True
 
-    def _get_app_list(self):
-        return self.app_list
-        pass
-
     def _start_app(self, app_hash):
-        if not app_hash in self.app_list.keys():
+        if not app_hash in self.interactions.keys():
             print "[remocon_info] HAS NO KEY"
             return False
 
@@ -232,7 +227,7 @@ def _start_app(self, app_hash):
             print "[remocon_info] APP ALREADY RUNNING NOW "
             return  False
 
-        app = self.app_list[app_hash]
+        app = self.interactions[app_hash]
         #get the permission
         call_result = self.request_interaction_service_proxy(app['hash'])
 
@@ -253,8 +248,8 @@ def _determine_app_type(self, app_name):
           (well reasonably) parsing of that string.
            - ros launcher (by .launch extension)
            - ros runnable (by roslib find_resource success)
-           - web app      (by web_interactions.parse and urlparse scheme check against http)
-           - web url      (by web_interactions.parse and by urlparse scheme check against http)
+           - web app      (by web_interactions.parse)
+           - web url      (by web_interactions.parse)
            - global executable (fallback option)
         '''
         try:
@@ -271,10 +266,14 @@ def _determine_app_type(self, app_name):
             pass
         except Exception:
             pass
-        o = urlparse(app_name)
-        if o.scheme == 'http':
-            console.logdebug("RemoconInfo : start_app_webapp [%s]")
-            return (app_name, self._start_app_webapp)
+        web_interaction = web_interactions.parse(app_name)
+        if web_interaction is not None:
+            if web_interaction.is_web_url():
+                console.logdebug("RemoconInfo : start_app_weburl [%s]" % web_interaction.url)
+                return (web_interaction.url, self._start_app_weburl)
+            elif web_interaction.is_web_app():
+                console.logdebug("RemoconInfo : start_app_webapp [%s]" % web_interaction.url)
+                return (web_interaction.url, self._start_app_webapp)
         else:
             console.logdebug("RemoconInfo : start_app_global_executable [%s]")
             return (app_name, self._start_app_global_executable)
@@ -358,10 +357,35 @@ def _start_app_global_executable(self, app, rosrunnable_filename):
         app['launch_list'][anonymous_name]['shutdown'] = partial(process.send_signal, signal.SIGINT)
         return True
 
-    def _start_app_webapp(self, app, rosrunnable_filename):
+    def _start_app_weburl(self, app, url):
+        """
+        We only need the url here and then do a system check for a web browser.
+        """
+        web_browser = self._check_webbrowser()
+        if web_browser is not None:
+            name = os.path.basename(web_browser).replace('.', '_')
+            anonymous_name = name + "_" + uuid.uuid4().hex
+            process_listener = partial(self.process_listeners, anonymous_name, 1)
+            process = rocon_python_utils.system.Popen([web_browser, "--new-window", url], postexec_fn=process_listener)
+            app['launch_list'][anonymous_name] = {}
+            app['launch_list'][anonymous_name]['name'] = anonymous_name
+            app['launch_list'][anonymous_name]['running'] = str(True)
+            app['launch_list'][anonymous_name]['process'] = process
+            app['launch_list'][anonymous_name]['shutdown'] = partial(process.send_signal, signal.SIGINT)
+            return True
+        else:
+            return False
+
+    def _start_app_webapp(self, app, base_url):
+        """
+        Need to work out the extended url (with args, parameters and remappings) here and then feed that to a
+        detected browser.
+
+        :param base_url str: the web app url without all of the attached variables.
+        """
         web_browser = self._check_webbrowser()
         if web_browser is not None:
-            url = self._get_webapp_url(app)
+            url = self._get_webapp_url(app, base_url)
             name = os.path.basename(web_browser).replace('.', '_')
             anonymous_name = name + "_" + uuid.uuid4().hex
             process_listener = partial(self.process_listeners, anonymous_name, 1)
@@ -375,7 +399,7 @@ def _start_app_webapp(self, app, rosrunnable_filename):
         else:
             return False
 
-    def _get_webapp_url(self, app):
+    def _get_webapp_url(self, app, base_url):
         """
            url syntheiser for sending remappings and parameters information.
            We convert the interaction parameter (yaml string) and remapping (rocon_std_msgs.Remapping[])
@@ -395,7 +419,7 @@ def _get_webapp_url(self, app):
         query_string_mappings = {}
         query_string_mappings['interaction_data'] = json.dumps(interaction_data)
         # constructing the url
-        return app['name'] + "?" + urllib.urlencode(query_string_mappings)
+        return base_url + "?" + urllib.urlencode(query_string_mappings)
 
     def _check_webbrowser(self):
         if rocon_python_utils.system.which("google-chrome"):
@@ -407,29 +431,29 @@ def _check_webbrowser(self):
         return None
 
     def _stop_app(self, app_hash):
-        if not app_hash in self.app_list:
+        if not app_hash in self.interactions:
             print "[remocon_info] HAS NO KEY"
             return False
-        print "[remocon_info]Launched App List- %s" % str(self.app_list[app_hash]["launch_list"])
+        print "[remocon_info]Launched App List- %s" % str(self.interactions[app_hash]["launch_list"])
         try:
-            for k in self.app_list[app_hash]["launch_list"].values():
+            for k in self.interactions[app_hash]["launch_list"].values():
                 process_name = k["name"]
                 is_app_running = k["running"]
                 if is_app_running == "True":
                     k['shutdown']()
-                    del self.app_list[app_hash]["launch_list"][k["name"]]
+                    del self.interactions[app_hash]["launch_list"][k["name"]]
                     print "[remocon_info] %s APP STOP" % (process_name)
                 elif k['process'] == None:
                     k["running"] = "False"
-                    del self.app_list[app_hash]["launch_list"][k["name"]]
+                    del self.interactions[app_hash]["launch_list"][k["name"]]
                     print "[remocon_info] %s APP LAUNCH IS NONE" % (process_name)
                 else:
-                    del self.app_list[app_hash]["launch_list"][k["name"]]
+                    del self.interactions[app_hash]["launch_list"][k["name"]]
                     print "[remocon_info] %s APP IS ALREADY STOP" % (process_name)
         except Exception as e:
             print "[remocon_info] APP STOP PROCESS IS FAILURE %s %s" % (str(e), type(e))
             return False
-        print "[remocon_info] updated app list- %s" % str(self.app_list[app_hash]["launch_list"])
+        print "[remocon_info] updated app list- %s" % str(self.interactions[app_hash]["launch_list"])
         self._pub_remocon_status(app_hash, False)
         return True
 
@@ -437,13 +461,13 @@ def process_listeners(self, name, exit_code):
         '''
           Callback function used to catch terminating applications and cleanup appropriately.
 
-          @param name : name of the launched process stored in the app_list index.
+          @param name : name of the launched process stored in the interactions index.
           @type str
 
           @param exit_code : could be utilised from roslaunched processes but not currently used.
           @type int
         '''
-        for app_hash, v in self.app_list.iteritems():
+        for app_hash, v in self.interactions.iteritems():
             if name in v['launch_list']:
                 del v['launch_list'][name]
                 if not v['launch_list']:
diff --git a/rocon_remocon/ui/applist.ui b/rocon_remocon/ui/interactions_list.ui
similarity index 83%
rename from rocon_remocon/ui/applist.ui
rename to rocon_remocon/ui/interactions_list.ui
index e2e4f94..710d34d 100644
--- a/rocon_remocon/ui/applist.ui
+++ b/rocon_remocon/ui/interactions_list.ui
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <class>Remocon</class>
- <widget class="QWidget" name="Remocon">
+ <class>interactions</class>
+ <widget class="QWidget" name="interactions">
   <property name="geometry">
    <rect>
     <x>0</x>
@@ -11,23 +11,16 @@
    </rect>
   </property>
   <property name="windowTitle">
-   <string>App List</string>
+   <string>Interactions</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout">
-   <item>
-    <widget class="QLabel" name="label">
-     <property name="text">
-      <string>App List</string>
-     </property>
-    </widget>
-   </item>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,0">
      <property name="margin">
       <number>5</number>
      </property>
      <item>
-      <widget class="QListWidget" name="app_list_widget">
+      <widget class="QListWidget" name="interactions_list_widget">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
          <horstretch>0</horstretch>
@@ -70,14 +63,14 @@
          <item row="0" column="0">
           <widget class="QPushButton" name="refresh_btn">
            <property name="text">
-            <string>Refresh App List</string>
+            <string>Refresh List</string>
            </property>
           </widget>
          </item>
          <item row="0" column="1">
-          <widget class="QPushButton" name="stop_app_btn">
+          <widget class="QPushButton" name="stop_interactions_button">
            <property name="text">
-            <string>Stop All Apps</string>
+            <string>Stop All Interactions</string>
            </property>
           </widget>
          </item>
diff --git a/rocon_remocon/ui/rolelist.ui b/rocon_remocon/ui/role_list.ui
similarity index 88%
rename from rocon_remocon/ui/rolelist.ui
rename to rocon_remocon/ui/role_list.ui
index c40583b..709c56a 100644
--- a/rocon_remocon/ui/rolelist.ui
+++ b/rocon_remocon/ui/role_list.ui
@@ -11,16 +11,9 @@
    </rect>
   </property>
   <property name="windowTitle">
-   <string>Role List</string>
+   <string>Roles</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout">
-   <item>
-    <widget class="QLabel" name="label">
-     <property name="text">
-      <string>Role List</string>
-     </property>
-    </widget>
-   </item>
    <item>
     <widget class="QListWidget" name="role_list_widget">
      <property name="sizePolicy">

From 36f7b0e96e97ecc27340cb581a917be9f3e1d113 Mon Sep 17 00:00:00 2001
From: Daniel Stonier <d.stonier@gmail.com>
Date: Mon, 28 Apr 2014 23:46:10 +0900
Subject: [PATCH 2/3] we can run more than one interaction in parallel, now we
 publish the fact, #98.

---
 rocon_remocon/src/rocon_remocon/remocon.py    |  1 -
 .../src/rocon_remocon/remocon_info.py         | 21 ++++++++++++-------
 2 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/rocon_remocon/src/rocon_remocon/remocon.py b/rocon_remocon/src/rocon_remocon/remocon.py
index 6d0257b..fdcc26f 100644
--- a/rocon_remocon/src/rocon_remocon/remocon.py
+++ b/rocon_remocon/src/rocon_remocon/remocon.py
@@ -308,7 +308,6 @@ def _init(self):
         self.cur_selected_rocon_master = None
         self._refresh_all_rocon_master_list()
         self.is_init = True
-        pass
 
     def _check_up_one(self, rocon_master):
         rocon_master_uri = rocon_master['master_uri']
diff --git a/rocon_remocon/src/rocon_remocon/remocon_info.py b/rocon_remocon/src/rocon_remocon/remocon_info.py
index 623f16d..75203cb 100644
--- a/rocon_remocon/src/rocon_remocon/remocon_info.py
+++ b/rocon_remocon/src/rocon_remocon/remocon_info.py
@@ -101,7 +101,7 @@ def _connect(self, rocon_master_name="", ros_master_uri="http://localhost:11311"
         self.request_interaction_service_proxy = rospy.ServiceProxy(request_interaction_service_name, rocon_interaction_srvs.RequestInteraction)
         self.remocon_status_pub = rospy.Publisher("remocons/" + unique_name, rocon_interaction_msgs.RemoconStatus, latch=True)
 
-        self._pub_remocon_status(0, False)
+        self._pub_remocon_status()
         self.is_connect = True
         self.is_valid_info = False
         return True
@@ -135,12 +135,16 @@ def _shutdown(self):
             self.remocon_status_pub = None
             console.logdebug("RemoconInfo : has shutdown.")
 
-    def _pub_remocon_status(self, app_hash, running_app):
+    def _pub_remocon_status(self):
         remocon_status = rocon_interaction_msgs.RemoconStatus()
         remocon_status.platform_info = self.platform_info
         remocon_status.uuid = str(self.key.hex)
-        remocon_status.running_app = running_app
-        remocon_status.hash = app_hash
+        remocon_status.version = rocon_std_msgs.Strings.ROCON_VERSION
+        running_interactions = []
+        for interaction_hash in self.interactions.keys():
+            for unused_process_name in self.interactions[interaction_hash]["launch_list"].keys():
+                running_interactions.append(interaction_hash)
+        remocon_status.running_interactions = running_interactions
         print "[remocon_info] publish remocon status"
         self.remocon_status_pub.publish(remocon_status)
 
@@ -235,7 +239,8 @@ def _start_app(self, app_hash):
             print "[remocon_info] permisson ok"
             (app_executable, start_app_handler) = self._determine_app_type(app['name'])
             result = start_app_handler(app, app_executable)
-            self._pub_remocon_status(app_hash, result)
+            if result:
+                self._pub_remocon_status()
             return result
         else:
             print "[remocon_info] permission failure"
@@ -454,7 +459,7 @@ def _stop_app(self, app_hash):
             print "[remocon_info] APP STOP PROCESS IS FAILURE %s %s" % (str(e), type(e))
             return False
         print "[remocon_info] updated app list- %s" % str(self.interactions[app_hash]["launch_list"])
-        self._pub_remocon_status(app_hash, False)
+        self._pub_remocon_status()
         return True
 
     def process_listeners(self, name, exit_code):
@@ -467,7 +472,7 @@ def process_listeners(self, name, exit_code):
           @param exit_code : could be utilised from roslaunched processes but not currently used.
           @type int
         '''
-        for app_hash, v in self.interactions.iteritems():
+        for unused_interaction_hash, v in self.interactions.iteritems():
             if name in v['launch_list']:
                 del v['launch_list'][name]
                 if not v['launch_list']:
@@ -475,4 +480,4 @@ def process_listeners(self, name, exit_code):
                     # inform the gui to update if necessary
                     self._stop_app_postexec_fn()
                     # update the rocon interactions handler
-                    self._pub_remocon_status(app_hash, False)
+                    self._pub_remocon_status()

From e14c21ea1d5b04fd9c82c8b10417d37c79e092b7 Mon Sep 17 00:00:00 2001
From: Daniel Stonier <d.stonier@gmail.com>
Date: Tue, 29 Apr 2014 02:58:42 +0900
Subject: [PATCH 3/3] decouple rocon master lookups from the gui code.

---
 rocon_remocon/src/rocon_remocon/remocon.py    | 204 ++++++------------
 .../src/rocon_remocon/rocon_masters.py        | 160 ++++++++++++++
 2 files changed, 226 insertions(+), 138 deletions(-)
 create mode 100644 rocon_remocon/src/rocon_remocon/rocon_masters.py

diff --git a/rocon_remocon/src/rocon_remocon/remocon.py b/rocon_remocon/src/rocon_remocon/remocon.py
index fdcc26f..8abce4f 100644
--- a/rocon_remocon/src/rocon_remocon/remocon.py
+++ b/rocon_remocon/src/rocon_remocon/remocon.py
@@ -31,6 +31,7 @@
 
 from .remocon_info import RemoconInfo
 from . import utils
+from .rocon_masters import RoconMasters
 
 ##############################################################################
 # Remocon
@@ -52,7 +53,6 @@ def __init__(self, parent, title, application, rocon_master_index="", rocon_mast
         self.interactions_widget = QWidget()
         self.roles_widget = QWidget()
 
-        self.rocon_master_list = {}
         self.cur_selected_role = 0
 
         self.interactions = {}
@@ -67,7 +67,6 @@ def __init__(self, parent, title, application, rocon_master_index="", rocon_mast
         uic.loadUi(path, self.roles_widget)
 
         utils.setup_home_dirs()
-        self.rocon_master_list_cache_path = os.path.join(utils.get_settings_cache_home(), "rocon_master.cache")
         self.scripts_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../../scripts/")
 
         #role list widget
@@ -265,7 +264,7 @@ def __init__(self, parent, title, application):
         self.application = application
         self._widget_main = QWidget()
 
-        self.rocon_master_list = {}
+        self.rocon_masters = RoconMasters()
         self.cur_selected_rocon_master = None
         self.is_init = False
 
@@ -273,7 +272,6 @@ def __init__(self, parent, title, application):
         uic.loadUi(path, self._widget_main)
 
         utils.setup_home_dirs()
-        self.rocon_master_list_cache_path = os.path.join(utils.get_settings_cache_home(), "rocon_master.cache")
 
         self.icon_paths = {}
         try:
@@ -310,8 +308,8 @@ def _init(self):
         self.is_init = True
 
     def _check_up_one(self, rocon_master):
-        rocon_master_uri = rocon_master['master_uri']
-        host_name = rocon_master['host_name']
+        rocon_master_uri = rocon_master.uri
+        host_name = rocon_master.host_name
         output = subprocess.Popen([self.scripts_path + "rocon_remocon_check_up", rocon_master_uri, host_name], stdout=subprocess.PIPE)
         time_out_cnt = 0
         while True:
@@ -323,31 +321,33 @@ def _check_up_one(self, rocon_master):
                 except:
                     console.logdebug("Error: output.terminate()")
 
-                rocon_master['name'] = "Unknown"
-                rocon_master['description'] = "Unknown."
-                rocon_master['icon'] = "unknown.png"
-                rocon_master['flag'] = '0'
+                rocon_master.name = "Unknown"
+                rocon_master.description = "Unknown."
+                rocon_master.icon = "unknown.png"
+                rocon_master.flag = '0'
                 break
 
             elif result == 0:
                 args = output.communicate()[0]
-                rocon_master['name'] = args.split('\n')[0]
-                rocon_master['description'] = args.split('\n')[1]
-                rocon_master['icon'] = args.split('\n')[2]
+                rocon_master.name = args.split('\n')[0]
+                rocon_master.description = args.split('\n')[1]
+                rocon_master.icon = args.split('\n')[2]
 
-                if rocon_master['name'] == "Unknown":
-                    rocon_master['flag'] = '0'
+                if rocon_master.name == "Unknown":
+                    rocon_master.flag = '0'
                 else:
-                    rocon_master['flag'] = '1'
+                    rocon_master.flag = '1'
                 break
 
             time.sleep(0.1)
             time_out_cnt += 1
 
     def _check_up_all(self):
-        for k in self.rocon_master_list.values():
-            rocon_master_uri = k['master_uri']
-            host_name = k['host_name']
+        print("Check up all")
+        print("%s" % self.rocon_masters)
+        for k in self.rocon_masters.values():
+            rocon_master_uri = k.uri
+            host_name = k.host_name
             output = subprocess.Popen([self.scripts_path + "rocon_remocon_check_up", rocon_master_uri, host_name], stdout=subprocess.PIPE)
             time_out_cnt = 0
             while True:
@@ -359,80 +359,42 @@ def _check_up_all(self):
                     except:
                         console.logdebug("Error: output.terminate()")
 
-                    k['name'] = "Unknown"
-                    k['description'] = "Unknown."
-                    k['icon'] = "unknown.png"
-                    k['flag'] = '0'
+                    k.name = "Unknown"
+                    k.description = "Unknown."
+                    k.icon = "unknown.png"
+                    k.flag = '0'
                     break
 
                 elif result == 0:
                     console.logdebug("find: %s" % (str(rocon_master_uri)))
                     args = output.communicate()[0]
-                    k['name'] = args.split('\n')[0]
-                    k['description'] = args.split('\n')[1]
-                    k['icon'] = args.split('\n')[2]
+                    k.name = args.split('\n')[0]
+                    k.description = args.split('\n')[1]
+                    k.icon = args.split('\n')[2]
 
-                    if k['name'] == "Unknown":
-                        k['flag'] = '0'
+                    if k.name == "Unknown":
+                        k.flag = '0'
                     else:
-                        k['flag'] = '1'
+                        k.flag = '1'
                     break
 
                 time.sleep(0.1)
                 time_out_cnt += 1
 
-    def _read_cache(self):
-        #read cache and display the rocon master list
-        try:
-            cache_rocon_master_info_list = open(self.rocon_master_list_cache_path, 'r')
-        except:
-            console.logdebug("Remocon : no cached settings found, moving on.")
-            return
-        lines = cache_rocon_master_info_list.readlines()
-        for line in lines:
-            if line.count("[index="):
-                rocon_master_index = line[string.find(line, "[index=") + len("[index="):string.find(line, ",name=")]
-                rocon_master_name = line[string.find(line, "name=") + len("name="):string.find(line, ",master_uri=")]
-                rocon_master_uri = line[string.find(line, ",master_uri=") + len(",master_uri="):string.find(line, ",host_name=")]
-                rocon_master_host_name = line[string.find(line, ",host_name=") + len(",host_name="):string.find(line, ",description=")]
-                rocon_master_description = line[string.find(line, ",description=") + len(",description="):string.find(line, ",icon=")]
-                rocon_master_icon = line[string.find(line, ",icon=") + len(",icon="):string.find(line, ",flag=")]
-                rocon_master_flag = line[string.find(line, ",flag=") + len(",flag="):string.find(line, "]")]
-
-                self.rocon_master_list[rocon_master_index] = {}
-                self.rocon_master_list[rocon_master_index]['index'] = rocon_master_index
-                self.rocon_master_list[rocon_master_index]['name'] = rocon_master_name
-                self.rocon_master_list[rocon_master_index]['master_uri'] = rocon_master_uri
-                self.rocon_master_list[rocon_master_index]['host_name'] = rocon_master_host_name
-                self.rocon_master_list[rocon_master_index]['icon'] = rocon_master_icon
-                self.rocon_master_list[rocon_master_index]['description'] = rocon_master_description
-                self.rocon_master_list[rocon_master_index]['flag'] = rocon_master_flag
-        cache_rocon_master_info_list.close()
-
     def _delete_all_rocon_masters(self):
-        for k in self.rocon_master_list.values():
-            del self.rocon_master_list[k["index"]]
+        self.rocon_masters.clear()
         self._update_rocon_master_list()
+        self._widget_main.list_info_widget.clear()
 
     def _delete_rocon_master(self):
-        if self.cur_selected_rocon_master in self.rocon_master_list.keys():
-            del self.rocon_master_list[self.cur_selected_rocon_master]
+        if self.cur_selected_rocon_master in self.rocon_masters.keys():
+            self.rocon_masters.delete(self.cur_selected_rocon_master)
         self._update_rocon_master_list()
+        self._widget_main.list_info_widget.clear()
 
-    def _add_rocon_master(self, params):
-        rocon_master_uri = str(params['param1'].toPlainText())
-        rocon_master_host_name = str(params['param2'].toPlainText())
-        rocon_master_index = str(uuid.uuid4())
-        self.rocon_master_list[rocon_master_index] = {}
-        self.rocon_master_list[rocon_master_index]['index'] = rocon_master_index
-        self.rocon_master_list[rocon_master_index]['name'] = "Unknown"
-        self.rocon_master_list[rocon_master_index]['master_uri'] = rocon_master_uri
-        self.rocon_master_list[rocon_master_index]['host_name'] = rocon_master_host_name
-        self.rocon_master_list[rocon_master_index]['icon'] = "unknown.png"
-        self.rocon_master_list[rocon_master_index]['description'] = ""
-        self.rocon_master_list[rocon_master_index]['flag'] = "0"
-
-        self._refresh_rocon_master(self.rocon_master_list[rocon_master_index])
+    def _add_rocon_master(self, uri_text_widget, host_name_text_widget):
+        rocon_master = self.rocon_masters.add(uri_text_widget.toPlainText(), host_name_text_widget.toPlainText())
+        self._refresh_rocon_master(rocon_master)
 
     def _set_add_rocon_master(self):
 
@@ -484,9 +446,8 @@ def _set_add_rocon_master(self):
         button_hor_sub_widget = QWidget()
         button_hor_layout = QHBoxLayout(button_hor_sub_widget)
 
-        params = {}
-        params['param1'] = context_widget1
-        params['param2'] = context_widget2
+        uri_text_widget = context_widget1
+        host_name_text_widget = context_widget2
 
         #check box
         use_env_var_check = QCheckBox("Use environment variables")
@@ -513,7 +474,7 @@ def check_event(data):
         btn_cancel = QPushButton("Cancel")
 
         btn_call.clicked.connect(lambda: self._connect_dlg.done(0))
-        btn_call.clicked.connect(lambda: self._add_rocon_master(params))
+        btn_call.clicked.connect(lambda: self._add_rocon_master(uri_text_widget, host_name_text_widget))
 
         btn_cancel.clicked.connect(lambda: self._connect_dlg.done(0))
 
@@ -531,57 +492,24 @@ def _refresh_rocon_master(self, rocon_master):
         self._check_up_one(rocon_master)
         self._widget_main.list_info_widget.clear()
         self._update_rocon_master_list()
-        pass
 
     def _refresh_all_rocon_master_list(self):
-        self._read_cache()
         if self.is_init:
             self._check_up_all()
         self._widget_main.list_info_widget.clear()
         self._update_rocon_master_list()
 
     def _update_rocon_master_list(self):
-
         self._widget_main.list_widget.clear()
-        try:
-            cache_rocon_master_info_list = open(self.rocon_master_list_cache_path, 'w')
-        except:
-            console.logdebug("No directory or file: %s" % (self.rocon_master_list_cache_path))
-            return
-        for k in self.rocon_master_list.values():
-            self._add_rocon_master_list_item(k)
-            rocon_master_index = k['index']
-            rocon_master_name = k['name']
-            rocon_master_uri = k['master_uri']
-            rocon_master_host_name = k['host_name']
-            rocon_master_icon = k['icon']
-            rocon_master_description = k['description']
-            rocon_master_flag = k['flag']
-
-            rocon_master_elem = '['
-            rocon_master_elem += 'index=' + str(rocon_master_index) + ','
-            rocon_master_elem += 'name=' + str(rocon_master_name) + ','
-            rocon_master_elem += 'master_uri=' + str(rocon_master_uri) + ','
-            rocon_master_elem += 'host_name=' + str(rocon_master_host_name) + ','
-            rocon_master_elem += 'description=' + str(rocon_master_description) + ','
-            rocon_master_elem += 'icon=' + rocon_master_icon + ','
-            rocon_master_elem += 'flag=' + rocon_master_flag
-            rocon_master_elem += ']\n'
-
-            cache_rocon_master_info_list.write(rocon_master_elem)
-        cache_rocon_master_info_list.close()
+        for rocon_master in self.rocon_masters.values():
+            self._add_rocon_master_list_item(rocon_master)
+        self.rocon_masters.dump()
 
     def _add_rocon_master_list_item(self, rocon_master):
 
-        rocon_master_index = rocon_master['index']
-        rocon_master_name = rocon_master['name']
-        rocon_master_uri = rocon_master['master_uri']
-        rocon_master_host_name = rocon_master['host_name']
-        rocon_master_icon = rocon_master['icon']
-        rocon_master_description = rocon_master['description']
-        rocon_master['cur_row'] = str(self._widget_main.list_widget.count())
+        rocon_master.current_row = str(self._widget_main.list_widget.count())
 
-        display_name = str(rocon_master_name) + "\n" + "[" + str(rocon_master_uri) + "]"
+        display_name = str(rocon_master.name) + "\n" + "[" + str(rocon_master.uri) + "]"
         self._widget_main.list_widget.insertItem(self._widget_main.list_widget.count(), display_name)
 
         #setting the list font
@@ -592,37 +520,37 @@ def _add_rocon_master_list_item(self, rocon_master):
 
         #setToolTip
         rocon_master_info = ""
-        rocon_master_info += "rocon_master_index: " + str(rocon_master_index) + "\n"
-        rocon_master_info += "rocon_master_name: " + str(rocon_master_name) + "\n"
-        rocon_master_info += "master_uri:  " + str(rocon_master_uri) + "\n"
-        rocon_master_info += "host_name:  " + str(rocon_master_host_name) + "\n"
-        rocon_master_info += "description:  " + str(rocon_master_description)
+        rocon_master_info += "rocon_master_index: " + str(rocon_master.index) + "\n"
+        rocon_master_info += "rocon_master_name: " + str(rocon_master.name) + "\n"
+        rocon_master_info += "master_uri:  " + str(rocon_master.uri) + "\n"
+        rocon_master_info += "host_name:  " + str(rocon_master.host_name) + "\n"
+        rocon_master_info += "description:  " + str(rocon_master.description)
         self._widget_main.list_widget.item(self._widget_main.list_widget.count() - 1).setToolTip(rocon_master_info)
 
         #set icon
-        if rocon_master_icon == "unknown.png":
+        if rocon_master.icon == "unknown.png":
             icon = QIcon(self.icon_paths['unknown'])
             self._widget_main.list_widget.item(self._widget_main.list_widget.count() - 1).setIcon(icon)
-        elif len(rocon_master_icon):
-            icon = QIcon(os.path.join(utils.get_icon_cache_home(), rocon_master_icon))
+        elif len(rocon_master.icon):
+            icon = QIcon(os.path.join(utils.get_icon_cache_home(), rocon_master.icon))
             self._widget_main.list_widget.item(self._widget_main.list_widget.count() - 1).setIcon(icon)
         else:
-            console.logdebug("%s : No icon" % rocon_master_name)
+            console.logdebug("%s : No icon" % rocon_master.name)
         pass
 
     def _select_rocon_master(self, Item):
         list_widget = Item.listWidget()
-        for k in self.rocon_master_list.values():
-            if k["cur_row"] == str(list_widget.currentRow()):
-                self.cur_selected_rocon_master = k['index']
+        for k in self.rocon_masters.values():
+            if k.current_row == str(list_widget.currentRow()):
+                self.cur_selected_rocon_master = k.index
                 break
         self._widget_main.list_info_widget.clear()
         info_text = "<html>"
         info_text += "<p>-------------------------------------------</p>"
-        info_text += "<p><b>name: </b>" + str(self.rocon_master_list[self.cur_selected_rocon_master]['name']) + "</p>"
-        info_text += "<p><b>master_uri: </b>" + str(self.rocon_master_list[self.cur_selected_rocon_master]['master_uri']) + "</p>"
-        info_text += "<p><b>host_name: </b>" + str(self.rocon_master_list[self.cur_selected_rocon_master]['host_name']) + "</p>"
-        info_text += "<p><b>description: </b>" + str(self.rocon_master_list[self.cur_selected_rocon_master]['description']) + "</p>"
+        info_text += "<p><b>name: </b>" + str(self.rocon_masters[self.cur_selected_rocon_master].name) + "</p>"
+        info_text += "<p><b>master_uri: </b>" + str(self.rocon_masters[self.cur_selected_rocon_master].uri) + "</p>"
+        info_text += "<p><b>host_name: </b>" + str(self.rocon_masters[self.cur_selected_rocon_master].host_name) + "</p>"
+        info_text += "<p><b>description: </b>" + str(self.rocon_masters[self.cur_selected_rocon_master].description) + "</p>"
         info_text += "<p>-------------------------------------------</p>"
         info_text += "</html>"
         self._widget_main.list_info_widget.appendHtml(info_text)
@@ -631,13 +559,13 @@ def _destroy_connect_dlg(self):
         self._connect_dlg_isValid = False
 
     def _connect_rocon_master(self):
-        rocon_master_name = str(self.rocon_master_list[self.cur_selected_rocon_master]['name'])
-        rocon_master_uri = str(self.rocon_master_list[self.cur_selected_rocon_master]['master_uri'])
-        rocon_master_host_name = str(self.rocon_master_list[self.cur_selected_rocon_master]['host_name'])
+        rocon_master_name = str(self.rocon_masters[self.cur_selected_rocon_master].name)
+        rocon_master_uri = str(self.rocon_masters[self.cur_selected_rocon_master].uri)
+        rocon_master_host_name = str(self.rocon_masters[self.cur_selected_rocon_master].host_name)
 
         rocon_master_index = str(self.cur_selected_rocon_master)
-        self._check_up_one(self.rocon_master_list[rocon_master_index])
-        if self.rocon_master_list[rocon_master_index]['flag'] == '0':
+        self._check_up_one(self.rocon_masters[rocon_master_index])
+        if self.rocon_masters[rocon_master_index].flag == '0':
             # DJS: unused reply box?
             QMessageBox.warning(self, 'ERROR', "YOU SELECT NO CONCERT", QMessageBox.Ok | QMessageBox.Ok)
             return
diff --git a/rocon_remocon/src/rocon_remocon/rocon_masters.py b/rocon_remocon/src/rocon_remocon/rocon_masters.py
new file mode 100644
index 0000000..2317c4a
--- /dev/null
+++ b/rocon_remocon/src/rocon_remocon/rocon_masters.py
@@ -0,0 +1,160 @@
+#!/usr/bin/env python
+#
+# License: BSD
+#   https://raw.github.com/robotics-in-concert/rocon_qt_gui/license/LICENSE
+#
+##############################################################################
+# Imports
+##############################################################################
+
+import os
+import string
+import uuid
+
+import rocon_console.console as console
+
+from . import utils
+
+##############################################################################
+# Methods
+##############################################################################
+
+
+def rocon_masters_cache_path():
+    return os.path.join(utils.get_settings_cache_home(), "rocon_master.cache")
+
+##############################################################################
+# Classes
+##############################################################################
+
+
+class RoconMaster(object):
+    __slots__ = [
+        'index',
+        'name',
+        'uri',
+        'host_name',
+        'description',
+        'icon',
+        'flag',
+        'current_row',
+    ]
+
+    def __str__(self):
+        s = self.name
+        return s
+
+
+class RoconMasters(object):
+
+    __slots__ = [
+        'rocon_masters',  # { uuid : RoconMaster }
+    ]
+
+    def __init__(self):
+        self.rocon_masters = {}
+        self.load()
+
+    ######################################
+    # Emulating a dict
+    ######################################
+
+    def __contains__(self, index):
+        return index in self.rocon_masters.keys()
+
+    def __getitem__(self, index):
+        return self.rocon_masters[index]
+
+    def __len__(self):
+        return len(self.rocon_masters)
+
+    def keys(self):
+        return self.rocon_masters.keys()
+
+    def values(self):
+        return self.rocon_masters.values()
+
+    def clear(self):
+        self.rocon_masters.clear()
+
+    ######################################
+    # Introspection
+    ######################################
+
+    def __str__(self):
+        s = console.cyan + 'Rocon Masters:' + console.reset
+        for rocon_master in self.rocon_masters.values():
+            s += '\n  ' + console.yellow + str(rocon_master) + console.reset
+        return s
+
+    ######################################
+    # Utility Functions
+    ######################################
+
+    def delete(self, index):
+        del self.rocon_masters[index]
+
+    def add(self, uri, host_name):
+        rocon_master = RoconMaster()
+        rocon_master.index = str(uuid.uuid4())
+        rocon_master.name = "Unknown"
+        rocon_master.uri = uri
+        rocon_master.host_name = host_name
+        rocon_master.icon = "unknown.png"
+        rocon_master.description = ""
+        rocon_master.flag = "0"
+        self.rocon_masters[rocon_master.index] = rocon_master
+        return rocon_master
+
+    ######################################
+    # Caching
+    ######################################
+
+    def load(self):
+        """
+        Gets a list of rocon masters and their info from cached data stored upon
+        last exit of this application.
+        """
+        #read cache and display the rocon master list
+        self.rocon_masters = {}
+        try:
+            cache_rocon_master_info_list = open(rocon_masters_cache_path(), 'r')
+        except:
+            console.logdebug("Remocon : no cached settings found, moving on.")
+            return
+        lines = cache_rocon_master_info_list.readlines()
+        for line in lines:
+            if line.count("[index="):
+                rocon_master = RoconMaster()
+                rocon_master.index = line[string.find(line, "[index=") + len("[index="):string.find(line, ",name=")]
+                rocon_master.name = line[string.find(line, "name=") + len("name="):string.find(line, ",master_uri=")]
+                rocon_master.uri = line[string.find(line, ",master_uri=") + len(",master_uri="):string.find(line, ",host_name=")]
+                rocon_master.host_name = line[string.find(line, ",host_name=") + len(",host_name="):string.find(line, ",description=")]
+                rocon_master.description = line[string.find(line, ",description=") + len(",description="):string.find(line, ",icon=")]
+                rocon_master.icon = line[string.find(line, ",icon=") + len(",icon="):string.find(line, ",flag=")]
+                rocon_master.flag = line[string.find(line, ",flag=") + len(",flag="):string.find(line, "]")]
+                self.rocon_masters[rocon_master.index] = rocon_master
+        cache_rocon_master_info_list.close()
+
+    def dump(self):
+        """
+        Dump the rocon masters to a cache file.
+        """
+        try:
+            cache_rocon_master_info_list = open(rocon_masters_cache_path(), 'w')
+        except:
+            console.logerror("Remocon : no directory or file: %s" % rocon_masters_cache_path())
+            return
+        for rocon_master in self.rocon_masters.values():
+            rocon_master_elem = '['
+            rocon_master_elem += 'index=' + str(rocon_master.index) + ','
+            rocon_master_elem += 'name=' + str(rocon_master.name) + ','
+            rocon_master_elem += 'master_uri=' + str(rocon_master.uri) + ','
+            rocon_master_elem += 'host_name=' + str(rocon_master.host_name) + ','
+            rocon_master_elem += 'description=' + str(rocon_master.description) + ','
+            rocon_master_elem += 'icon=' + rocon_master.icon + ','
+            rocon_master_elem += 'flag=' + rocon_master.flag
+            rocon_master_elem += ']\n'
+
+            cache_rocon_master_info_list.write(rocon_master_elem)
+        cache_rocon_master_info_list.close()