def main(options):
if not options.topological_order:
package_paths = find_package_paths(options.basepath)
for package_path in sorted(package_paths):
package = None
package_abs_path = os.path.join(options.basepath, package_path)
if options.depends_on is not None:
package = parse_package(package_abs_path)
if options.depends_on not in get_unique_depend_names(package):
continue
if options.names_only:
package = package or parse_package(package_abs_path)
print(package.name)
else:
print(package_path)
else:
packages = find_unique_packages(options.basepath)
packages = topological_order_packages(packages)
for package_path, package, _ in packages:
if options.depends_on is not None:
if options.depends_on not in get_unique_depend_names(package):
continue
if options.names_only:
print(package.name)
else:
print(package_path)
def get_ros2_services():
pkgs = []
srvs = []
rules = []
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
pkgs.append(package_name)
resource, _ = ament_index_python.get_resource(resource_type,
package_name)
interfaces = resource.splitlines()
service_names = [i[:-4] for i in interfaces if i.endswith('.srv')]
for service_name in service_names:
srvs.append(Message(package_name, service_name, prefix_path))
# check package manifest for mapping rules
package_path = os.path.join(prefix_path, 'share', package_name)
pkg = parse_package(package_path)
for export in pkg.exports:
if export.tagname != 'ros1_bridge':
continue
if 'mapping_rules' not in export.attributes:
continue
rule_file = os.path.join(package_path,
export.attributes['mapping_rules'])
with open(rule_file, 'r') as h:
for data in yaml.load(h):
if all(n not in data for n in ('ros1_message_name',
'ros2_message_name')):
try:
rules.append(ServiceMappingRule(
data, package_name))
except Exception as e:
print('%s' % str(e), file=sys.stderr)
return pkgs, srvs, rules
def get_ros2_services():
pkgs = []
srvs = []
rules = []
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
pkgs.append(package_name)
resource, _ = ament_index_python.get_resource(resource_type, package_name)
interfaces = resource.splitlines()
service_names = [i[:-4] for i in interfaces if i.endswith('.srv')]
for service_name in service_names:
srvs.append(Message(package_name, service_name, prefix_path))
# check package manifest for mapping rules
package_path = os.path.join(prefix_path, 'share', package_name)
pkg = parse_package(package_path)
for export in pkg.exports:
if export.tagname != 'ros1_bridge':
continue
if 'mapping_rules' not in export.attributes:
continue
rule_file = os.path.join(package_path, export.attributes['mapping_rules'])
with open(rule_file, 'r') as h:
for data in yaml.load(h):
if all(n not in data for n in ('ros1_message_name', 'ros2_message_name')):
try:
rules.append(ServiceMappingRule(data, package_name))
except Exception as e:
print('%s' % str(e), file=sys.stderr)
return pkgs, srvs, rules
def main(options):
path = os.curdir if options.path is None else options.path
try:
path = argparse_existing_package(path)
except argparse.ArgumentTypeError as exc:
sys.exit("Error: {0}".format(exc))
package = parse_package(path)
print(package.version)
def find_packages(basepath, exclude_paths=None):
"""
Crawl the filesystem to find package manifest files and parses them.
:param str basepath: The path to search in
:param list exclude_paths: A list of paths which should not be searched
:returns: A dict mapping relative paths to
:py:class:`ament_package.package.Package` objects
:rtype: dict
"""
packages = {}
package_paths = find_package_paths(basepath, exclude_paths=exclude_paths)
for path in package_paths:
packages[path] = parse_package(os.path.join(basepath, path))
return packages
def find_packages(basepath, exclude_paths=None):
"""
Crawl the filesystem to find package manifest files and parses them.
:param str basepath: The path to search in
:param list exclude_paths: A list of paths which should not be searched
:returns: A dict mapping relative paths to
:py:class:`ament_package.package.Package` objects
:rtype: dict
"""
packages = {}
package_paths = find_package_paths(basepath, exclude_paths=exclude_paths)
for path in package_paths:
packages[path] = parse_package(os.path.join(basepath, path))
return packages
def get_ros2_messages():
pkgs = []
msgs = []
rules = []
# get messages from packages
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
pkgs.append(package_name)
resource, _ = ament_index_python.get_resource(resource_type,
package_name)
interfaces = resource.splitlines()
message_names = [i[:-4] for i in interfaces if i.endswith('.msg')]
for message_name in message_names:
msgs.append(Message(package_name, message_name, prefix_path))
# check package manifest for mapping rules
package_path = os.path.join(prefix_path, 'share', package_name)
pkg = parse_package(package_path)
for export in pkg.exports:
if export.tagname != 'ros1_bridge':
continue
if 'mapping_rules' not in export.attributes:
continue
rule_file = os.path.join(package_path,
export.attributes['mapping_rules'])
with open(rule_file, 'r') as h:
content = yaml.load(h)
if not isinstance(content, list):
print(
"The content of the mapping rules in '%s' is not a list" %
rule_file,
file=sys.stderr)
continue
for data in content:
if all(n not in data
for n in ('ros1_service_name', 'ros2_service_name')):
try:
rules.append(MessageMappingRule(data, package_name))
except Exception as e:
print('%s' % str(e), file=sys.stderr)
return pkgs, msgs, rules
def get_ros2_messages():
msgs = []
rules = []
# get messages from packages
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
resource = ament_index_python.get_resource(resource_type, package_name)
interfaces = resource.splitlines()
message_names = [i[:-4] for i in interfaces if i.endswith('.msg')]
for message_name in message_names:
msgs.append(Message(package_name, message_name, prefix_path))
# check package manifest for mapping rules
package_path = os.path.join(prefix_path, 'share', package_name)
pkg = parse_package(package_path)
for export in pkg.exports:
if export.tagname != 'ros1_bridge':
continue
if 'mapping_rules' not in export.attributes:
continue
rule_file = os.path.join(package_path, export.attributes['mapping_rules'])
rules += read_mapping_rules(rule_file, package_name)
return msgs, rules
def get_ros2_messages():
msgs = []
rules = []
# get messages from packages
resource_type = 'rosidl_interfaces'
resources = ament_index_python.get_resources(resource_type)
for package_name, prefix_path in resources.items():
resource = ament_index_python.get_resource(resource_type, package_name)
interfaces = resource.splitlines()
message_names = [i[:-4] for i in interfaces if i.endswith('.msg')]
for message_name in message_names:
msgs.append(Message(package_name, message_name, prefix_path))
# check package manifest for mapping rules
package_path = os.path.join(prefix_path, 'share', package_name)
pkg = parse_package(package_path)
for export in pkg.exports:
if export.tagname != 'ros1_bridge':
continue
if 'mapping_rules' not in export.attributes:
continue
rule_file = os.path.join(package_path,
export.attributes['mapping_rules'])
rules += read_mapping_rules(rule_file, package_name)
return msgs, rules
def __get_cached_package_manifest(path):
global package_manifest_cache_
if path not in package_manifest_cache_:
package_manifest_cache_[path] = parse_package(path)
return package_manifest_cache_[path]
def __get_cached_package_manifest(path):
global package_manifest_cache_
if path not in package_manifest_cache_:
package_manifest_cache_[path] = parse_package(path)
return package_manifest_cache_[path]
