def __init__(self, alt_paths = None):
self.packages = []
self.rospack = RosPack.get_instance()
self.rosstack = RosStack.get_instance()
if alt_paths is None:
self.altpack = self.rospack
self.altstack = self.rosstack
else:
self.altpack = RosPack.get_instance(alt_paths)
self.altstack = RosStack.get_instance(alt_paths)
def _setup(self):
try:
with open(self.index_file, "r") as handle:
data = yaml.safe_load(handle)
except IOError as e:
data = {}
self.project = Project(data.get("project", "default"))
self.repositories = data.get("repositories", {})
self.packages = set(data.get("packages")
or RosPack.get_instance(["."]).list())
self.missing = set(self.packages)
self.configurations = data.get("configurations", {})
self.rules = data.get("rules", {})
def locate_offline(cls, name, repo_path=None):
_log.debug("Package.locate_offline(%s, %s)", name, repo_path)
# Step 1: use repository download directory
if repo_path:
rp = RosPack.get_instance([repo_path])
try:
path = rp.get_path(name)
path = os.path.join(path, "package.xml")
if os.path.isfile(path):
_log.debug("Found %s in local repositories.", name)
return cls.from_manifest(path)
except ResourceNotFound as e:
_log.debug("%s was not found in local repositories.", name)
# Step 2: use known directories
rp = RosPack.get_instance()
try:
path = rp.get_path(name)
path = os.path.join(path, "package.xml")
if os.path.isfile(path):
_log.debug("Found %s in default paths.", name)
return cls.from_manifest(path)
except ResourceNotFound as e:
_log.debug("%s was not found in default paths.", name)
return None
def index_source(self, index_file, repo_path=None, index_repos=False):
_log.debug("DataManager.index_source(%s, %s)", index_file, repo_path)
if os.path.isfile(index_file):
with open(index_file, "r") as handle:
data = yaml.load(handle)
else:
data = {"packages": []}
# Step 1: find packages locally
_log.info("Looking for packages locally.")
missing = []
pkg_list = self._read_launch_listing(data.get("launch"))
pkg_list.extend(data.get("packages", []))
if not pkg_list and os.path.isfile("src/CMakeLists.txt"):
_log.info("Harvesting packages from catkin workspace")
pkg_list = RosPack.get_instance(".").list()
pkg_list = set(pkg_list)
for id in pkg_list:
pkg = Package.locate_offline(id, repo_path)
if pkg is None:
missing.append(id)
else:
SourceFile.populate_package(pkg, self.files)
self.packages[id] = pkg
# Step 2: load repositories only if explicitly told to
_log.debug("Missing packages: %s", missing)
if index_repos:
_log.info("Indexing repositories.")
self.repositories = Repository.load_repositories(
data.get("repositories", {}), pkg_list)
repos = set()
for _, repo in self.repositories.iteritems():
for id in repo.declared_packages:
if id in missing:
_log.debug("%s contains missing %s", _, id)
repos.add(repo)
# Step 3: clone necessary repositories
wd = os.getcwd()
refresh = False
for repo in repos:
try:
repo.download(repo_path)
refresh = True
except RepositoryCloneError as e:
_log.warning("Could not download %s: %s", repo.id, e.value)
os.chdir(wd)
if refresh:
_log.debug("Refreshing package cache for %s", repo_path)
Package.refresh_package_cache(repo_path)
# Step 4: find packages and link to repositories
_log.info("Looking for missing packages in local repositories.")
for _, repo in self.repositories.iteritems():
for id in repo.declared_packages:
if id in self.packages:
_log.debug("Binding %s to %s", id, _)
repo.packages.append(self.packages[id])
self.packages[id].repository = repo
elif id in missing:
pkg = Package.locate_offline(id, repo_path)
if pkg:
_log.debug("Found %s in clones.", id)
SourceFile.populate_package(pkg, self.files)
self.packages[id] = pkg
missing.remove(id)
repo.packages.append(pkg)
pkg.repository = repo
else:
_log.debug("%s was not found in clones.", id)
# Step 5: sort packages in topological order
self._topological_sort()
for id in missing:
_log.warning("Could not find package " + id)
# Step 6: check if operating in launch mode
self._search_launch_files()
def refresh_package_cache(repo_path=None):
if repo_path:
rp = RosPack.get_instance([repo_path])
else:
rp = RosPack.get_instance()
rp._location_cache = None
