def list_platforms():
console.pretty_println("\n********************************* Platform List **********************************", console.bold)
platforms = get_toolchains_or_platforms(os.path.join(os.path.dirname(__file__), 'platforms'))
console.pretty_println("Official:", console.bold)
for family in platforms:
for platform in platforms[family]:
console.pretty_print(" -- %s/" % family, console.cyan)
console.pretty_println("%s" % platform, console.yellow)
console.pretty_println("Custom:", console.bold)
platforms = get_toolchains_or_platforms(os.path.join(settings.yujin_tools_home(), 'platforms'))
if platforms:
for family in platforms:
for platform in platforms[family]:
console.pretty_print(" -- %s/" % family, console.cyan)
console.pretty_println("%s" % platform, console.yellow)
else:
console.pretty_println(" -- ", console.cyan)
console.pretty_println("**********************************************************************************\n", console.bold)
def list_platforms():
console.pretty_println(
"\n********************************* Platform List **********************************",
console.bold)
platforms = get_toolchains_or_platforms(
os.path.join(os.path.dirname(__file__), 'platforms'))
console.pretty_println("Official:", console.bold)
for family in platforms:
for platform in platforms[family]:
console.pretty_print(" -- %s/" % family, console.cyan)
console.pretty_println("%s" % platform, console.yellow)
console.pretty_println("Custom:", console.bold)
platforms = get_toolchains_or_platforms(
os.path.join(settings.yujin_tools_home(), 'platforms'))
if platforms:
for family in platforms:
for platform in platforms[family]:
console.pretty_print(" -- %s/" % family, console.cyan)
console.pretty_println("%s" % platform, console.yellow)
else:
console.pretty_println(" -- ", console.cyan)
console.pretty_println(
"**********************************************************************************\n",
console.bold)
def init_configured_build(build_dir_="./", source_dir_="./src", underlays_="/opt/ros/groovy", install_prefix_="./install", release_=False, toolchain_="", platform_=""):
'''
This one is used with pre-configured parameters. Note that
init_build generates parameters parsed from the command line and then
calls this function.
'''
# Help us build the name for the eclipse workspace...usually we call in the workspace itself.
workspace_dir = os.getcwd()
##########################
# Build directory
##########################
if os.path.isabs(build_dir_):
build_dir = build_dir_
else:
if build_dir_ == "." or build_dir_ == "./":
build_dir = os.getcwd()
else:
build_dir = os.path.join(os.getcwd(), build_dir_)
if not os.path.isfile(os.path.join(build_dir, "Makefile")):
if not os.path.isdir(build_dir): # remember ./ is a valid build dir, even if it's not populated yet
os.mkdir(build_dir)
else:
raise RuntimeError("This build directory is already initialised")
##########################
# Source directory
##########################
source_dir = os.path.abspath(source_dir_)
build_source_dir = os.path.join(build_dir, 'src')
if not os.path.isdir(source_dir):
raise RuntimeError("Specified source space does not exist [" + source_dir + "]")
if not os.path.isfile(os.path.join(source_dir, ".rosinstall")):
raise RuntimeError("Could not find a valid source folder (must contain a .rosinstall file therein)'")
if os.path.exists(build_source_dir):
if not source_dir == build_source_dir:
raise RuntimeError("The build directory already has a ./src directory which doesn't match the desired source directory [%s]" % source_dir)
else:
os.mkdir(build_source_dir)
source_subdirectories = os.walk(source_dir).next()[1]
for d in source_subdirectories:
common.create_symlink(os.path.join(source_dir, d), os.path.join(build_source_dir, d))
##########################
# Underlays
##########################
try:
env_underlays = os.environ['CMAKE_PREFIX_PATH']
except KeyError:
env_underlays = ""
underlays_list = [underlay for underlay in underlays_.split(';') if underlay]
env_underlays_list = [underlay for underlay in env_underlays.split(':') if underlay]
for underlay in env_underlays_list:
if underlay not in underlays_list:
underlays_list.append(underlay)
##########################
# Locate Catkin
##########################
catkin_toplevel = None
if os.path.isfile(os.path.join(source_dir, 'catkin', 'cmake', 'toplevel.cmake')):
catkin_toplevel = os.path.join(source_dir, 'catkin', 'cmake', 'toplevel.cmake')
else:
catkin_toplevel, unused_catkin_python_path, unused_catkin_cmake_path = common.find_catkin(underlays_list)
##########################
# Add toplevel if exists
##########################
if not catkin_toplevel:
# Add the default track underlay
default_track = settings.get_default_track()
if os.path.isfile(os.path.join("/opt/ros/%s" % default_track, 'share', 'catkin', 'cmake', 'toplevel.cmake')):
catkin_toplevel = os.path.join("/opt/ros/%s" % default_track, 'share', 'catkin', 'cmake', 'toplevel.cmake')
unused_catkin_python_path = os.path.join("/opt/ros/%s" % default_track, 'lib', 'python2.7', 'dist-packages')
console.pretty_println("No catkin found, adding the default track underlay (use yujin_tools_settings to change) [/opt/ros/%s]" % default_track, console.cyan)
underlays_list.append("/opt/ros/%s" % default_track)
else:
raise RuntimeError("Could not find an underlying catkin installation.")
common.create_symlink(catkin_toplevel, os.path.join(build_source_dir, "CMakeLists.txt"))
underlays = ';'.join(underlays_list)
##########################
# Other Args
##########################
if install_prefix_ == "/not_set_directory":
install_prefix = os.path.join(build_dir, "install")
else:
install_prefix = install_prefix_
if release_:
build_type = "Release"
else:
build_type = "DebugWithRelSymbols"
name = os.path.basename(workspace_dir) + "_" + os.path.basename(build_dir)
print_build_details(build_dir, source_dir, install_prefix, build_type, underlays, name, toolchain_, platform_)
os.chdir(build_dir)
##########################
# Toolchain
##########################
if not toolchain_ == "":
toolchains_dir = os.path.join(os.path.dirname(__file__), 'toolchains')
custom_toolchains_dir = os.path.join(settings.yujin_tools_home(), 'toolchains')
tmp_list = toolchain_.split('/')
if len(tmp_list) != 2:
raise RuntimeError("Toolchain specification invalid, must be <family>/<tuple> [%s]" % toolchain_)
family = tmp_list[0]
toolchain_tuple = tmp_list[1]
toolchains = get_toolchains_or_platforms(toolchains_dir)
custom_toolchains = get_toolchains_or_platforms(custom_toolchains_dir)
if not family in toolchains and not family in custom_toolchains:
raise RuntimeError("No toolchains available for family %s" % family)
if family in toolchains and toolchain_tuple in toolchains[family]:
toolchain_file = os.path.join(toolchains_dir, family, toolchain_tuple + ".cmake")
elif family in custom_toolchains and toolchain_tuple in custom_toolchains[family]:
toolchain_file = os.path.join(custom_toolchains_dir, family, toolchain_tuple + ".cmake")
else:
raise RuntimeError("Platform %s for family %s not available." % (family, toolchain_tuple))
if os.path.isfile(toolchain_file):
shutil.copy(toolchain_file, os.path.join(build_dir, "toolchain.cmake"))
else:
raise RuntimeError("Toolchain module not available [%s]" % toolchain_file)
##########################
# Platform
##########################
platform_content = ""
platforms_dir = os.path.join(os.path.dirname(__file__), 'platforms')
custom_platforms_dir = os.path.join(settings.yujin_tools_home(), 'platforms')
if not platform_ == "default":
tmp_list = platform_.split('/')
if len(tmp_list) != 2:
raise RuntimeError("Platform specification invalid, must be <family>/<platform type> [%s]" % platform_)
family = tmp_list[0]
platform = tmp_list[1]
platforms = get_toolchains_or_platforms(platforms_dir)
custom_platforms = get_toolchains_or_platforms(custom_platforms_dir)
if not family in platforms and not family in custom_platforms:
raise RuntimeError("No platforms available for family %s" % family)
if family in platforms and platform in platforms[family]:
platform_file = os.path.join(platforms_dir, family, platform + ".cmake")
elif family in custom_platforms and platform in custom_platforms[family]:
platform_file = os.path.join(custom_platforms_dir, family, platform + ".cmake")
else:
raise RuntimeError("Platform %s for family %s not available." % (family, platform))
else:
platform_file = os.path.join(platforms_dir, 'default.cmake')
if os.path.isfile(platform_file):
f = open(platform_file, 'r')
try:
platform_content = f.read()
finally:
f.close()
else:
raise RuntimeError("Platform configuration not available [%s]" % platform_)
##########################
# Cache
##########################
instantiate_config_cmake(platform_content, build_dir, build_type, install_prefix, underlays)
##########################
# Templates
##########################
instantiate_template('.bashrc', name, build_dir)
instantiate_template('konsole', name, build_dir)
instantiate_template('gnome-terminal', name, build_dir)
instantiate_template('eclipse', name, build_dir)
def init_configured_build(default_underlay,
build_dir_="./",
source_dir_="./src",
underlays_="/opt/ros/groovy",
install_prefix_="./install",
doc_prefix_="./doc",
release_=False,
toolchain_="",
platform_=""):
'''
This one is used with pre-configured parameters. Note that
init_build generates parameters parsed from the command line and then
calls this function.
'''
# Help us build the name for the eclipse workspace...usually we call in the workspace itself.
workspace_dir = os.getcwd()
##########################
# Build directory
##########################
if os.path.isabs(build_dir_):
build_dir = build_dir_
else:
if build_dir_ == "." or build_dir_ == "./":
build_dir = os.getcwd()
else:
build_dir = os.path.join(os.getcwd(), build_dir_)
if not os.path.isfile(os.path.join(build_dir, "Makefile")):
if not os.path.isdir(
build_dir
): # remember ./ is a valid build dir, even if it's not populated yet
os.mkdir(build_dir)
else:
raise RuntimeError("This build directory is already initialised")
##########################
# Source directory
##########################
source_dir = os.path.abspath(source_dir_)
build_source_dir = os.path.join(build_dir, 'src')
if not os.path.isdir(source_dir):
raise RuntimeError("Specified source space does not exist [" +
source_dir + "]")
if not os.path.isfile(os.path.join(source_dir, ".rosinstall")):
raise RuntimeError(
"Could not find a valid source folder (must contain a .rosinstall file therein)'"
)
if os.path.exists(build_source_dir):
if not source_dir == build_source_dir:
raise RuntimeError(
"The build directory already has a ./src directory which doesn't match the desired source directory [%s]"
% source_dir)
else:
os.mkdir(build_source_dir)
source_subdirectories = os.walk(source_dir).next()[1]
for d in source_subdirectories:
common.create_symlink(os.path.join(source_dir, d),
os.path.join(build_source_dir, d))
write_yujin_init_build_configuration(build_source_dir, source_dir)
##########################
# Underlays
##########################
try:
env_underlays = os.environ['CMAKE_PREFIX_PATH']
except KeyError:
env_underlays = ""
underlays_list = [
underlay for underlay in underlays_.split(';') if underlay
]
env_underlays_list = [
underlay for underlay in env_underlays.split(':') if underlay
]
for underlay in env_underlays_list:
if underlay not in underlays_list:
underlays_list.append(underlay)
##########################
# Locate Catkin
##########################
catkin_toplevel = None
if os.path.isfile(
os.path.join(source_dir, 'catkin', 'cmake', 'toplevel.cmake')):
catkin_toplevel = os.path.join(source_dir, 'catkin', 'cmake',
'toplevel.cmake')
else:
catkin_toplevel, unused_catkin_python_path, unused_catkin_cmake_path = common.find_catkin(
build_dir, underlays_list)
##########################
# Add toplevel if exists
##########################
if not catkin_toplevel:
# Add the default underlay
if default_underlay is not None and os.path.isfile(
os.path.join("/opt/ros/%s" % default_underlay, 'share',
'catkin', 'cmake', 'toplevel.cmake')):
catkin_toplevel = os.path.join("/opt/ros/%s" % default_underlay,
'share', 'catkin', 'cmake',
'toplevel.cmake')
unused_catkin_python_path = os.path.join(
"/opt/ros/%s" % default_underlay, 'lib', 'python2.7',
'dist-packages')
console.pretty_println(
"No catkin found, adding the default underlay (use yujin_tools_settings to change) [/opt/ros/%s]"
% default_underlay, console.cyan)
underlays_list.append("/opt/ros/%s" % default_underlay)
else:
raise RuntimeError(
"Could not find an underlying catkin installation.")
common.create_symlink(catkin_toplevel,
os.path.join(build_source_dir, "CMakeLists.txt"))
underlays = ';'.join(underlays_list)
##########################
# Other Args
##########################
if install_prefix_ == "/not_set_directory":
install_prefix = os.path.join(build_dir, "install")
else:
install_prefix = install_prefix_
if doc_prefix_ == "/not_set_directory":
doc_prefix = os.path.join(build_dir, "doc")
else:
doc_prefix = doc_prefix_
if release_:
build_type = "Release"
else:
build_type = "RelWithDebInfo"
name = os.path.basename(workspace_dir) + "_" + os.path.basename(build_dir)
print_build_details(build_dir, source_dir, install_prefix, doc_prefix,
build_type, underlays, name, toolchain_, platform_)
os.chdir(build_dir)
##########################
# Toolchain
##########################
if not toolchain_ == "":
toolchains_dir = os.path.join(os.path.dirname(__file__), 'toolchains')
custom_toolchains_dir = os.path.join(settings.yujin_tools_home(),
'toolchains')
tmp_list = toolchain_.split('/')
if len(tmp_list) != 2:
raise RuntimeError(
"Toolchain specification invalid, must be <family>/<tuple> [%s]"
% toolchain_)
family = tmp_list[0]
toolchain_tuple = tmp_list[1]
toolchains = get_toolchains_or_platforms(toolchains_dir)
custom_toolchains = get_toolchains_or_platforms(custom_toolchains_dir)
if not family in toolchains and not family in custom_toolchains:
raise RuntimeError("No toolchains available for family %s" %
family)
if family in custom_toolchains and toolchain_tuple in custom_toolchains[
family]:
toolchain_file = os.path.join(custom_toolchains_dir, family,
toolchain_tuple + ".cmake")
elif family in toolchains and toolchain_tuple in toolchains[family]:
toolchain_file = os.path.join(toolchains_dir, family,
toolchain_tuple + ".cmake")
else:
raise RuntimeError("Platform %s for family %s not available." %
(family, toolchain_tuple))
if os.path.isfile(toolchain_file):
shutil.copy(toolchain_file,
os.path.join(build_dir, "toolchain.cmake"))
else:
raise RuntimeError("Toolchain module not available [%s]" %
toolchain_file)
##########################
# Platform
##########################
platform_content = ""
platforms_dir = os.path.join(os.path.dirname(__file__), 'platforms')
custom_platforms_dir = os.path.join(settings.yujin_tools_home(),
'platforms')
if not platform_ == "default":
tmp_list = platform_.split('/')
if len(tmp_list) != 2:
raise RuntimeError(
"Platform specification invalid, must be <family>/<platform type> [%s]"
% platform_)
family = tmp_list[0]
platform = tmp_list[1]
platforms = get_toolchains_or_platforms(platforms_dir)
custom_platforms = get_toolchains_or_platforms(custom_platforms_dir)
if not family in platforms and not family in custom_platforms:
raise RuntimeError("No platforms available for family %s" % family)
if family in custom_platforms and platform in custom_platforms[family]:
platform_file = os.path.join(custom_platforms_dir, family,
platform + ".cmake")
elif family in platforms and platform in platforms[family]:
platform_file = os.path.join(platforms_dir, family,
platform + ".cmake")
else:
raise RuntimeError("Platform %s for family %s not available." %
(family, platform))
else:
platform_file = os.path.join(platforms_dir, 'default.cmake')
if os.path.isfile(platform_file):
f = open(platform_file, 'r')
try:
platform_content = f.read()
finally:
f.close()
else:
raise RuntimeError("Platform configuration not available [%s]" %
platform_)
##########################
# Cache
##########################
instantiate_config_cmake(platform_content, build_dir, build_type,
install_prefix, doc_prefix, underlays)
##########################
# Templates
##########################
instantiate_template('.bashrc', name, build_dir)
instantiate_template('konsole', name, build_dir)
instantiate_template('gnome-terminal', name, build_dir)
instantiate_template('eclipse', name, build_dir)
instantiate_template('android-studio', name, build_dir)