def create_manifest2(name,
description="",
buildtool_depends=["catkin"],
build_depends=[],
depends=[],
buildtool_export_depends=[],
build_export_depends=[],
exec_depends=[],
test_depends=[],
meta=False):
package = Package(
name=name,
version="0.0.0",
package_format=2,
description=description,
maintainers=[Person("John Foo", "*****@*****.**")],
depends=[Dependency(d) for d in depends],
buildtool_depends=[Dependency(d) for d in buildtool_depends],
build_depends=[Dependency(d) for d in build_depends],
buildtool_export_depends=[
Dependency(d) for d in buildtool_export_depends
],
build_export_depends=[Dependency(d) for d in build_export_depends],
exec_depends=[Dependency(d) for d in exec_depends],
test_depends=[Dependency(d) for d in test_depends],
exports=[Export("metapackage")] if meta else [])
if hasattr(package, "evaluate_conditions"):
package.evaluate_conditions({})
return package
def test_validate_person(self):
auth1 = Person('foo')
auth1.email = '*****@*****.**'
auth1.validate()
auth1.email = 'foo[at]bar.com'
self.assertRaises(InvalidPackage, Person.validate, auth1)
auth1.email = 'foo bar.com'
self.assertRaises(InvalidPackage, Person.validate, auth1)
auth1.email = 'foo<bar.com'
self.assertRaises(InvalidPackage, Person.validate, auth1)
def test_validate_person(self):
auth1 = Person('foo')
auth1.email = '*****@*****.**'
auth1.validate()
auth1.email = 'foo[at]bar.com'
self.assertRaises(InvalidPackage, Person.validate, auth1)
auth1.email = 'foo bar.com'
self.assertRaises(InvalidPackage, Person.validate, auth1)
auth1.email = 'foo<bar.com'
self.assertRaises(InvalidPackage, Person.validate, auth1)
def create_manifest(name, description="", buildtool_depends=[ "catkin" ], build_depends=[], run_depends=[], test_depends=[], meta=False):
return Package(
name=name,
version="0.0.0",
package_format=1,
description=description,
maintainers=[ Person("John Foo", "*****@*****.**") ],
buildtool_depends=[ Dependency(d) for d in buildtool_depends ],
build_depends=[ Dependency(d) for d in build_depends ],
run_depends=[ Dependency(d) for d in run_depends ],
test_depends=[ Dependency(d) for d in test_depends ],
exports=[ Export("metapackage") ] if meta else []
)
def main(self, *, args):
available_licenses = {}
for shortname, entry in ament_copyright.get_licenses().items():
available_licenses[entry.spdx] = entry.license_files
if args.license == '?':
print('Supported licenses:\n%s' % ('\n'.join(available_licenses)))
sys.exit(0)
maintainer = Person(args.maintainer_name)
if args.maintainer_email:
maintainer.email = args.maintainer_email
else:
# try getting the email from the global git config
git = shutil.which('git')
if git is not None:
p = subprocess.Popen([git, 'config', 'user.email'],
stdout=subprocess.PIPE)
resp = p.communicate()
email = resp[0].decode().rstrip()
if email:
maintainer.email = email
if not maintainer.email:
maintainer.email = maintainer.name + '@todo.todo'
node_name = None
library_name = None
if args.library_name:
library_name = args.library_name
if args.node_name:
node_name = args.node_name
if args.node_name == args.library_name:
node_name = args.node_name + '_node'
print(
'[WARNING] node name can not be equal to the library name',
file=sys.stderr)
print('[WARNING] renaming node to %s' % node_name,
file=sys.stderr)
buildtool_depends = []
if args.build_type == 'ament_cmake':
if args.library_name:
buildtool_depends = ['ament_cmake_ros']
else:
buildtool_depends = ['ament_cmake']
test_dependencies = []
if args.build_type == 'ament_cmake':
test_dependencies = ['ament_lint_auto', 'ament_lint_common']
if args.build_type == 'ament_python':
test_dependencies = [
'ament_copyright', 'ament_flake8', 'ament_pep257',
'python3-pytest'
]
if args.build_type == 'ament_python' and args.package_name == 'test':
# If the package name is 'test', there will be a conflict between
# the directory the source code for the package goes in and the
# directory the tests for the package go in.
return "Aborted since 'ament_python' packages can't be named 'test'. Please " + \
'choose a different package name.'
package = Package(
package_format=args.package_format,
name=args.package_name,
version='0.0.0',
description=args.description,
maintainers=[maintainer],
licenses=[args.license],
buildtool_depends=[Dependency(dep) for dep in buildtool_depends],
build_depends=[Dependency(dep) for dep in args.dependencies],
test_depends=[Dependency(dep) for dep in test_dependencies],
exports=[Export('build_type', content=args.build_type)])
package_path = os.path.join(args.destination_directory, package.name)
if os.path.exists(package_path):
return '\nAborted!\nThe directory already exists: ' + package_path + '\nEither ' + \
'remove the directory or choose a different destination directory or package name'
print('going to create a new package')
print('package name:', package.name)
print('destination directory:',
os.path.abspath(args.destination_directory))
print('package format:', package.package_format)
print('version:', package.version)
print('description:', package.description)
print('maintainer:',
[str(maintainer) for maintainer in package.maintainers])
print('licenses:', package.licenses)
print('build type:', package.get_build_type())
print('dependencies:',
[str(dependency) for dependency in package.build_depends])
if node_name:
print('node_name:', node_name)
if library_name:
print('library_name:', library_name)
package_directory, source_directory, include_directory = \
create_package_environment(package, args.destination_directory)
if not package_directory:
return 'unable to create folder: ' + args.destination_directory
if args.build_type == 'cmake':
populate_cmake(package, package_directory, node_name, library_name)
if args.build_type == 'ament_cmake':
populate_ament_cmake(package, package_directory, node_name,
library_name)
if args.build_type == 'ament_python':
if not source_directory:
return 'unable to create source folder in ' + args.destination_directory
populate_ament_python(package, package_directory, source_directory,
node_name)
if node_name:
populate_python_node(package, source_directory, node_name)
if library_name:
populate_python_libary(package, source_directory, library_name)
if args.build_type == 'ament_cmake' or args.build_type == 'cmake':
if node_name:
if not source_directory:
return 'unable to create source folder in ' + args.destination_directory
populate_cpp_node(package, source_directory, node_name)
if library_name:
if not source_directory or not include_directory:
return 'unable to create source or include folder in ' + \
args.destination_directory
populate_cpp_library(package, source_directory,
include_directory, library_name)
if args.license in available_licenses:
with open(os.path.join(package_directory, 'LICENSE'),
'w') as outfp:
for lic in available_licenses[args.license]:
outfp.write(lic)
else:
print(
"\n[WARNING]: Unknown license '%s'. This has been set in the package.xml, but "
'no LICENSE file has been created.\nIt is recommended to use one of the ament '
'license identitifers:\n%s' %
(args.license, '\n'.join(available_licenses)))
def _create_package_template(package_name,
description=None,
licenses=None,
maintainer_names=None,
author_names=None,
version=None,
catkin_deps=None,
system_deps=None,
boost_comps=None):
"""
alternative factory method mapping CLI args to argument for
Package class
:param package_name:
:param description:
:param licenses:
:param maintainer_names:
:param authors:
:param version:
:param catkin_deps:
"""
# Sort so they are alphebetical
licenses = list(licenses or ["TODO"])
licenses.sort()
if not maintainer_names:
maintainer_names = [getpass.getuser()]
maintainer_names = list(maintainer_names or [])
maintainer_names.sort()
maintainers = []
for maintainer_name in maintainer_names:
maintainers.append(
Person(maintainer_name,
'*****@*****.**' % maintainer_name.split()[-1]))
author_names = list(author_names or [])
author_names.sort()
authors = []
for author_name in author_names:
authors.append(Person(author_name))
catkin_deps = list(catkin_deps or [])
catkin_deps.sort()
pkg_catkin_deps = []
build_depends = []
run_depends = []
buildtool_depends = [Dependency('catkin')]
for dep in catkin_deps:
if dep.lower() == 'catkin':
catkin_deps.remove(dep)
continue
if dep.lower() == 'genmsg':
sys.stderr.write(
'WARNING: Packages with messages or services should not depend on genmsg, but on message_generation and message_runtime\n'
)
buildtool_depends.append(Dependency('genmsg'))
continue
if dep.lower() == 'message_generation':
if not 'message_runtime' in catkin_deps:
sys.stderr.write(
'WARNING: Packages with messages or services should depend on both message_generation and message_runtime\n'
)
build_depends.append(Dependency('message_generation'))
continue
if dep.lower() == 'message_runtime':
if not 'message_generation' in catkin_deps:
sys.stderr.write(
'WARNING: Packages with messages or services should depend on both message_generation and message_runtime\n'
)
run_depends.append(Dependency('message_runtime'))
continue
pkg_catkin_deps.append(Dependency(dep))
for dep in pkg_catkin_deps:
build_depends.append(dep)
run_depends.append(dep)
if boost_comps:
if not system_deps:
system_deps = ['boost']
elif not 'boost' in system_deps:
system_deps.append('boost')
for dep in system_deps or []:
if not dep.lower().startswith('python-'):
build_depends.append(Dependency(dep))
run_depends.append(Dependency(dep))
package_temp = PackageTemplate(name=package_name,
version=version or '0.0.0',
description=description
or 'The %s package' % package_name,
buildtool_depends=buildtool_depends,
build_depends=build_depends,
run_depends=run_depends,
catkin_deps=catkin_deps,
system_deps=system_deps,
boost_comps=boost_comps,
licenses=licenses,
authors=authors,
maintainers=maintainers,
urls=[])
return package_temp
def main(self, *, args):
maintainer = Person(args.maintainer_name)
if args.maintainer_email:
maintainer.email = args.maintainer_email
else:
# try getting the email from the global git config
git = shutil.which('git')
if git is not None:
p = subprocess.Popen([git, 'config', '--global', 'user.email'],
stdout=subprocess.PIPE)
resp = p.communicate()
email = resp[0].decode().rstrip()
if email:
maintainer.email = email
if not maintainer.email:
maintainer.email = maintainer.name + '@todo.todo'
cpp_node_name = None
if args.cpp_node_name:
cpp_node_name = args.cpp_node_name
if args.cpp_node_name == args.cpp_library_name:
cpp_node_name = args.cpp_node_name + '_node'
print(
'[WARNING] node name can not be equal to the library name',
file=sys.stderr)
print('[WARNING] renaming node to %s' % cpp_node_name,
file=sys.stderr)
buildtool_depends = args.build_type
if args.build_type == 'ament_cmake' and args.cpp_library_name:
buildtool_depends = 'ament_cmake_ros'
test_dependencies = []
if args.build_type == 'ament_cmake':
test_dependencies = ['ament_lint_auto', 'ament_lint_common']
package = Package(
package_format=args.package_format,
name=args.package_name,
version='0.0.0',
description=args.description,
maintainers=[maintainer],
licenses=[args.license],
buildtool_depends=[Dependency(buildtool_depends)],
build_depends=[Dependency(dep) for dep in args.dependencies],
test_depends=[Dependency(dep) for dep in test_dependencies],
exports=[Export('build_type', content=args.build_type)])
package_path = os.path.join(args.destination_directory, package.name)
if os.path.exists(package_path):
return '\nAborted!\nThe directory already exists: ' + package_path + '\nEither ' + \
'remove the directory or choose a different destination directory or package name'
print('going to create a new package')
print('package name:', package.name)
print('destination directory:',
os.path.abspath(args.destination_directory))
print('package format:', package.package_format)
print('version:', package.version)
print('description:', package.description)
print('maintainer:',
[str(maintainer) for maintainer in package.maintainers])
print('licenses:', [license_ for license_ in package.licenses])
print('build type:', package.get_build_type())
print('dependencies:',
[str(dependency) for dependency in package.build_depends])
if args.cpp_node_name:
print('cpp_node_name:', cpp_node_name)
if args.cpp_library_name:
print('cpp_library_name:', args.cpp_library_name)
package_directory, source_directory, include_directory = \
create_package_environment(package, args.destination_directory)
if not package_directory:
return 'unable to create folder: ' + args.destination_directory
if args.build_type == 'cmake':
populate_cmake(package, package_directory, cpp_node_name,
args.cpp_library_name)
if args.build_type == 'ament_cmake':
populate_ament_cmake(package, package_directory, cpp_node_name,
args.cpp_library_name)
if cpp_node_name:
if not source_directory:
return 'unable to create source folder in ' + args.destination_directory
populate_cpp_node(package, source_directory, cpp_node_name)
if args.cpp_library_name:
if not source_directory or not include_directory:
return 'unable to create source or include folder in ' + args.destination_directory
populate_cpp_library(package, source_directory, include_directory,
args.cpp_library_name)
def main(self, *, args):
# when a package-type extension exists, delegate package creation to it.
extension = get_package_type_extension(args.build_type)
if extension:
return extension.create_package(args)
maintainer = Person(args.maintainer_name)
if args.maintainer_email:
maintainer.email = args.maintainer_email
else:
# try getting the email from the global git config
git = shutil.which('git')
if git is not None:
p = subprocess.Popen([git, 'config', '--global', 'user.email'],
stdout=subprocess.PIPE)
resp = p.communicate()
email = resp[0].decode().rstrip()
if email:
maintainer.email = email
if not maintainer.email:
maintainer.email = maintainer.name + '@todo.todo'
node_name = None
library_name = None
if args.library_name:
library_name = args.library_name
if args.node_name:
node_name = args.node_name
if args.node_name == args.library_name:
node_name = args.node_name + '_node'
print(
'[WARNING] node name can not be equal to the library name',
file=sys.stderr)
print('[WARNING] renaming node to %s' % node_name,
file=sys.stderr)
buildtool_depends = []
if args.build_type == 'ament_cmake':
if args.library_name:
buildtool_depends = ['ament_cmake_ros']
else:
buildtool_depends = ['ament_cmake']
test_dependencies = []
if args.build_type == 'ament_cmake':
test_dependencies = ['ament_lint_auto', 'ament_lint_common']
if args.build_type == 'ament_python':
test_dependencies = [
'ament_copyright', 'ament_flake8', 'ament_pep257',
'python3-pytest'
]
if args.build_type == 'ament_python' and args.package_name == 'test':
# If the package name is 'test', there will be a conflict between
# the directory the source code for the package goes in and the
# directory the tests for the package go in.
return "Aborted since 'ament_python' packages can't be named 'test'. Please " + \
'choose a different package name.'
package = Package(
package_format=args.package_format,
name=args.package_name,
version='0.0.0',
description=args.description,
maintainers=[maintainer],
licenses=[args.license],
buildtool_depends=[Dependency(dep) for dep in buildtool_depends],
build_depends=[Dependency(dep) for dep in args.dependencies],
test_depends=[Dependency(dep) for dep in test_dependencies],
exports=[Export('build_type', content=args.build_type)])
package_path = os.path.join(args.destination_directory, package.name)
if os.path.exists(package_path):
return '\nAborted!\nThe directory already exists: ' + package_path + '\nEither ' + \
'remove the directory or choose a different destination directory or package name'
print('going to create a new package')
print('package name:', package.name)
print('destination directory:',
os.path.abspath(args.destination_directory))
print('package format:', package.package_format)
print('version:', package.version)
print('description:', package.description)
print('maintainer:',
[str(maintainer) for maintainer in package.maintainers])
print('licenses:', package.licenses)
print('build type:', package.get_build_type())
print('dependencies:',
[str(dependency) for dependency in package.build_depends])
if node_name:
print('node_name:', node_name)
if library_name:
print('library_name:', library_name)
package_directory, source_directory, include_directory = \
create_package_environment(package, args.destination_directory)
if not package_directory:
return 'unable to create folder: ' + args.destination_directory
if args.build_type == 'cmake':
populate_cmake(package, package_directory, node_name, library_name)
if args.build_type == 'ament_cmake':
populate_ament_cmake(package, package_directory, node_name,
library_name)
if args.build_type == 'ament_python':
if not source_directory:
return 'unable to create source folder in ' + args.destination_directory
populate_ament_python(package, package_directory, source_directory,
node_name)
if node_name:
populate_python_node(package, source_directory, node_name)
if library_name:
populate_python_libary(package, source_directory, library_name)
if args.build_type == 'ament_cmake' or args.build_type == 'cmake':
if node_name:
if not source_directory:
return 'unable to create source folder in ' + args.destination_directory
populate_cpp_node(package, source_directory, node_name)
if library_name:
if not source_directory or not include_directory:
return 'unable to create source or include folder in ' + \
args.destination_directory
populate_cpp_library(package, source_directory,
include_directory, library_name)
def create_package_xml(package_template, rosdistro, meta=False):
"""
:param package_template: contains the required information
:returns: file contents as string
"""
package_xml_template = \
read_template_file(PACKAGE_MANIFEST_FILENAME, rosdistro)
ctemp = CatkinTemplate(package_xml_template)
temp_dict = {}
for key in package_template.__slots__:
temp_dict[key] = getattr(package_template, key)
if package_template.version_compatibility:
temp_dict['version_compatibility'] = \
' compatibility="%s"' % package_template.version_compatibility
else:
temp_dict['version_compatibility'] = ''
if not package_template.description:
temp_dict['description'] = 'The %s package ...' % package_template.name
licenses = []
for plicense in package_template.licenses:
licenses.append(' <license>%s</license>\n' % plicense)
temp_dict['licenses'] = ''.join(licenses)
def get_person_tag(tagname, person):
email_string = ("" if person.email is None else 'email="%s"' %
person.email)
return ' <%s %s>%s</%s>\n' % (tagname, email_string, person.name,
tagname)
def make_comment(tag):
return ' <!--%s -->\n' % (tag.rstrip('\n'))
maintainers = []
for maintainer in package_template.maintainers:
maintainers.append(get_person_tag('maintainer', maintainer))
temp_dict['maintainers'] = ''.join(maintainers)
urls = []
if len(package_template.urls) > 0:
for url in package_template.urls:
type_string = ("" if url.type is None else 'type="%s"' % url.type)
urls.append(' <url %s >%s</url>\n' % (type_string, url.url))
else:
urls.append(
make_comment(
' <url %s >%s</url>\n' %
('website', 'http://wiki.ors.org/%s' % temp_dict['name'])))
temp_dict['urls'] = ''.join(urls)
authors = []
if len(package_template.authors) > 0:
for author in package_template.authors:
authors.append(get_person_tag('author', author))
else:
authors.append(
make_comment(
get_person_tag('author', Person('author_name',
'author_email'))))
temp_dict['authors'] = ''.join(authors)
dependencies = []
dep_map = {
'build_depend': package_template.build_depends,
'build_export_depend': package_template.build_export_depends,
'buildtool_depend': package_template.buildtool_depends,
'exec_depend': package_template.exec_depends,
'test_depend': package_template.test_depends,
'conflict': package_template.conflicts,
'replace': package_template.replaces
}
for dep_type in [
'buildtool_depend', 'build_depend', 'build_export_depend',
'exec_depend', 'test_depend', 'conflict', 'replace'
]:
if len(dep_map[dep_type]) > 0:
for dep in sorted(dep_map[dep_type], key=lambda x: x.name):
if 'depend' in dep_type:
dep_tag = _create_depend_tag(
dep_type, dep.name, dep.version_eq, dep.version_lt,
dep.version_lte, dep.version_gt, dep.version_gte)
dependencies.append(dep_tag)
else:
dependencies.append(_create_depend_tag(dep_type, dep.name))
else:
dependencies.append(
make_comment(_create_depend_tag(dep_type, 'some_pkg')))
if dep_type is not 'replace':
dependencies.append('\n')
temp_dict['dependencies'] = ''.join(dependencies)
exports = []
if package_template.exports is not None:
for export in package_template.exports:
if export.content is not None:
print('WARNING: Create package does not know how to '
'serialize exports with content: '
'%s, %s, ' % (export.tagname, export.attributes) + '%s' %
(export.content),
file=sys.stderr)
else:
attribs = [
' %s="%s"' % (k, v)
for (k, v) in export.attributes.items()
]
line = ' <%s%s/>\n' % (export.tagname, ''.join(attribs))
exports.append(line)
if meta:
exports.append(' <metapackage/>')
temp_dict['exports'] = ''.join(exports)
temp_dict['components'] = package_template.catkin_deps
return ctemp.substitute(temp_dict)
