def validate(self):
"""
Attempt to validate the configuration of this toolchain. It checks for
1) cross-compiler binaries in the PATH.
2) the existence of the sysroot (though no guarantee it is the sysroot).
3) a small program can be compiled.
"""
if ( platform.system == 'Windows' ):
toolchain_gcc = self.name + "-gcc.exe"
toolchain_gpp = self.name + "-g++.exe"
else:
toolchain_gcc = self.name + "-gcc"
toolchain_gpp = self.name + "-g++"
toolchain_gcc_found = False
toolchain_gpp_found = False
path = os.environ['PATH']
paths = path.split(os.pathsep)
for dir in paths:
if ( os.path.isdir(dir) ):
pathname = os.path.join(dir,toolchain_gcc)
if ( os.path.isfile(pathname) ):
toolchain_gcc_pathname = pathname
toolchain_gcc_found = True
pathname = os.path.join(dir,toolchain_gpp)
if ( os.path.isfile(pathname) ):
toolchain_gpp_pathname = pathname
toolchain_gpp_found = True
if ( ( not toolchain_gcc_found ) or ( not toolchain_gpp_found ) ):
print core.red_string("Cross-compiler binaries not found.")
return 1
print
print " Compilers validated: "
print " gcc : " + toolchain_gcc_pathname
print " gpp : " + toolchain_gpp_pathname
def show_current_build_mode():
pretext = core.bold_string("Current build mode: ")
found = False
if os.path.exists(core.rosconfig_cmake()):
for line in fileinput.input(core.rosconfig_cmake(),mode='r'):
if (line.find("set(ROS_BUILD_TYPE Debug") != -1):
sys.stdout.write(pretext + "Debug\n")
found = True
break
elif (line.find("set(ROS_BUILD_TYPE Release") != -1):
sys.stdout.write(pretext + "Release\n")
found = True
break
elif (line.find("set(ROS_BUILD_TYPE RelWithDebInfo") != -1):
sys.stdout.write(pretext + "RelWithDebInfo\n")
found = True
break
elif (line.find("set(ROS_BUILD_TYPE MinSizeRel") != -1):
sys.stdout.write(pretext + "MinSizeRel\n")
found = True
break
if not found:
print core.red_string("Unknown") + "(please check ROS_ROOT/rosconfig.cmake for problems)."
else:
print pretext + "RelWithDebInfo"
def select_toolchain_by_id(id):
'''
Selects toolchain by id.
- return 1 if failure, 0 if success
'''
toolchains = toolchain_list()
if ( int(id) > len(toolchains) ):
print core.red_string("-- Aborting, # does not correspond to a toolchain.")
list_toolchains()
return 1
else:
selected_toolchain = toolchains[int(id)-1] # indexing starts at zero
shutil.copyfile(selected_toolchain.pathname,core.rostoolchain_cmake())
return 0
def delete_platform():
'''
Interactively deletes a user-defined platform.
- return 1 if failure, 0 if success
'''
list_user_platforms()
print
platform_id_string = raw_input("Enter a platform id #: ")
print
if ( not platform_id_string.isdigit() ):
print core.red_string("-- Aborting, invalid id #.")
return 1
platform_id = int(platform_id_string)
platforms = platform_list()
if not platform_id <= len(platforms):
print core.red_string("-- Aborting, invalid id #.")
return 1
found_platform = False
for platform in platforms:
if ( platform.id == platform_id ):
if ( platform.group == 'user' ):
found_platform = True
selected_platform = platform
if ( not found_platform ):
print core.red_string("-- Aborting, invalid id #.") # probably passed an eros platform id
return 1
else:
os.remove(selected_platform.pathname)
return 0
def select_platform():
'''
Interactively selects and sets an ros platform.
- return 1 if failure, 0 if success
'''
list_platforms()
platform_id_string = raw_input("Enter a platform id #: ")
if ( not platform_id_string.isdigit() ):
print core.red_string("Aborting, invalid id #.")
return 1
platform_id = int(platform_id_string)
platforms = platform_list()
if not platform_id <= len(platforms):
print core.red_string("Aborting, invalid id #.")
return 1
found_platform = False
for platform in platforms:
if ( platform.id == platform_id ):
found_platform = True
selected_platform = platform
break
if ( not found_platform ):
print core.red_string("Aborting, platform not found.")
return 1
else:
set_platform(selected_platform)
return 0
def delete_toolchain():
'''
Interactively deletes a user-defined toolchain.
- return 1 if failure, 0 if success
'''
list_user_toolchains()
print
toolchain_id_string = raw_input("Enter a toolchain id #: ")
if ( not toolchain_id_string.isdigit() ):
print core.red_string("Aborting, invalid id #.")
return 1
toolchain_id = int(toolchain_id_string)
toolchains = toolchain_list()
if not toolchain_id <= len(toolchains):
print core.red_string("Aborting, invalid id #.")
return 1
found_toolchain = False
for toolchain in toolchains:
if ( toolchain.id == toolchain_id ):
if ( toolchain.group == 'user' ):
found_toolchain = True
selected_toolchain = toolchain
if ( not found_toolchain ):
print core.red_string("Aborting, invalid id #.") # probably passed an eros toolchain id
return 1
else:
os.remove(selected_toolchain.pathname)
return 0
def select_toolchain():
'''
Interactively selects and sets an ros toolchain.
- return true or false depending on success/failure.
'''
list_toolchains()
toolchain_id_string = raw_input("Enter a toolchain id #: ")
if ( not toolchain_id_string.isdigit() ):
print core.red_string("Aborting, invalid id #.")
return False
toolchain_id = int(toolchain_id_string)
toolchains = toolchain_list()
if not toolchain_id <= len(toolchains):
print core.red_string("Aborting, invalid id #.")
return False
found_toolchain = False
for toolchain in toolchains:
if ( toolchain.id == toolchain_id ):
found_toolchain = True
selected_toolchain = toolchain
break
if ( not found_toolchain ):
print core.red_string("Aborting, toolchain not found.")
return False
else:
shutil.copyfile(selected_toolchain.pathname,core.rostoolchain_cmake())
print
return True
def select_toolchain_by_name(id_string):
'''
Selects toolchain by name or family/name string.
- return 1 if failure, 0 if success
'''
bits = os.path.split(id_string)
#print bits
if len(bits) == 2 :
family = bits[0] # if just name is given, this will be empty
name = bits[1]
found_toolchain = False
toolchains = toolchain_list()
if family == "": # try and just match name
for toolchain in toolchains:
if ( toolchain.name == name ):
if found_toolchain:
print
print core.red_string("Multiple matches, please provide a full id string.")
list_toolchains()
return 1
else:
found_toolchain = True
selected_toolchain = toolchain
else: # try and match both family, name
for toolchain in toolchains:
if toolchain.family == family and toolchain.name == name:
found_toolchain = True
selected_toolchain = toolchain
break
if ( not found_toolchain ):
print
print core.red_string("Aborting, toolchain not found.")
list_toolchains()
return 1
else:
shutil.copyfile(selected_toolchain.pathname,core.rostoolchain_cmake())
return 0
else:
print
print core.red_string("Aborting, toolchain not found.")
list_toolchains()
return 1
def select_platform_by_name(id_string):
'''
Selects platform by name or family/name string.
- return 1 if failure, 0 if success
'''
bits = os.path.split(id_string)
if len(bits) == 2 :
family = bits[0] # if just name is given, this will be empty
name = bits[1]
found_platform = False
platforms = platform_list()
if family == "": # try and just match name
for platform in platforms:
if ( platform.name == name ):
if found_platform:
print
print core.red_string("Multiple matches, please provide a full id string.")
list_platforms()
return 1
else:
found_platform = True
selected_platform = platform
else: # try and match both family, name
for platform in platforms:
if platform.family == family and platform.name == name:
found_platform = True
selected_platform = platform
break
if ( not found_platform ):
print
print core.red_string("Aborting, platform not found.")
list_platforms()
return 1
else:
set_platform(selected_platform)
return 0
else:
print
print core.red_string("Aborting, platform not found.")
list_platforms()
return 1
def validate_mode(mode):
if (mode != "Debug" ) and ( mode != "Release" ) and ( mode != "RelWithDebInfo" ) and ( mode != "MinSizeRel" ):
print_valid_modes()
print(core.red_string(mode) + " is not a valid build mode type.")
return False
return True
def create_platform():
'''
Create a platform configuration.
'''
print
print core.bold_string(" Creating a User-Defined Eros Platform Configuration")
print
print "This is an interactive assistant to help define a new eros style cmake platform"
print "configuration. It will prompt you for a few custom strings and then save the"
print "configured platform module in ROS_HOME/eros/platforms (~/.ros/eros/platforms on linux)."
print "It can then be listed and selected in the same way as as a regular eros platform"
print "configuration."
print
print core.bold_string(" Platform Family")
print
print " This is simply a convenience variable that helps sort platforms in the eros"
print " and user-defined libraries. Common examples include: intel, arm etc."
print
platform_family = raw_input(' Enter a string for the platform family [custom]: ')
if ( platform_family == '' ):
platform_family = 'custom'
print
print core.bold_string(" Platform Name")
print
print " This is unique identifier usually denoting the specific cpu that it represents"
print " and will be the name of the resulting cmake file. Common examples include: "
print " core2, arm1176jzf-s etc."
print
platform_name = raw_input(' Enter a string for the platform name [generic]: ')
print
print core.bold_string(" Platform Compile flags")
print
print " A string containing any extra compile flags to be used for this configuration."
print " e.g. '-march=core2 -sse4. This is in addition to the default ros flags."
print
platform_compile_flags = raw_input(' Enter a string for the platform compile flags []: ')
print
print core.bold_string(" Platform Link flags")
print
print " A string containing any extra link flags to be used for this configuration."
print " e.g. '-Wl,--as-needed'. This is in addition to the default ros flags."
print
platform_link_flags = raw_input(' Enter a string for the platform link flags []: ')
platform_template = open(eros_platform_template()).read()
platform_template = platform_template.replace('${platform_family}',platform_family)
platform_template = platform_template.replace('${platform_name}',platform_name)
platform_template = platform_template.replace('${platform_compile_flags}',platform_compile_flags)
platform_template = platform_template.replace('${platform_link_flags}',platform_link_flags)
#print platform_template
user_defined_platform_pathname = os.path.join(user_platform_dir(),platform_family,platform_name+'.cmake')
if ( os.path.exists(user_defined_platform_pathname) ):
print core.red_string(" Aborting, this platform configuration already exists (use --delete to remove).")
return 1
if not os.path.exists( os.path.dirname(user_defined_platform_pathname) ): # Make sure the dir exists before we open for writing
os.makedirs(os.path.dirname(user_defined_platform_pathname))
f = open(user_defined_platform_pathname, 'w')
f.write(platform_template)
rosconfig_tail = open(eros_rosconfig_tail()).read()
f.write(rosconfig_tail)
f.close()
print
print core.bold_string("Platform Finalised")
print "-- Family: %s" %platform_family
print "-- Name: %s" %platform_name
print "-- CFlags: %s" %platform_compile_flags
print "-- LFlags: %s" %platform_link_flags
print "-- File: %s" %user_defined_platform_pathname
print
check_install_prefix()
def list_user_platforms():
platforms = platform_list()
print
print core.bold_string("User platforms:")
print
for platform in platforms:
if ( platform.group == 'user' ):
if ( platform.current ):
print " %d) %s%s%s%s" %(platform.id,platform.family,os.sep,platform.name,core.red_string("*"))
else:
print " %d) %s%s%s" %(platform.id,platform.family,os.sep,platform.name)
def create_toolchain():
'''
Create a cross-compiler cmake configuration. Note: hardwired for gcc
cross compiler configurations at this point in time - is there even a use
case that is different right now?
'''
print
print core.bold_string(" Creating a User-Defined Eros Toolchain")
print
print "This is an interactive assistant to help define a new eros style cmake toolchain."
print "It will prompt you for a few custom strings and then save the configured toolchain"
print "in ROS_HOME/eros/toolchains (~/.ros/eros/toolchains on linux platforms). It can then be"
print "listed and selected in the same way as as a regular eros toolchain."
print
print core.bold_string(" Toolchain Family")
print
print " This is simply a convenience variable that helps sort toolchains in the eros"
print " and user-defined libraries. Common examples include: crossdev, ubuntu,"
print " openembedded, etc."
print
toolchain_family = raw_input(' Enter a string for the toolchain family [custom]: ')
if ( toolchain_family == '' ):
toolchain_family = 'custom'
print
print core.bold_string(" Toolchain Tuple")
print
print " This is essential so that cmake can find the gcc cross-compiler. The toolchain"
print " tuple should match the prefix to your toolchain's cross-compilers, e.g. if your"
print " cross-compiler is i686-pc-linux-gnu-gcc, then the tuple is i686-pc-linux-gnu."
print " Compilers need to be in your system's PATH."
print
toolchain_tuple = raw_input(' Enter a string for the toolchain tuple: ')
print
print core.bold_string(" Toolchain Sysroot")
print
print " This is the root directory from which system headers and libraries can be found."
print " e.g. if toolchain pthreads header is /usr/i686-pc-linux-gnu/usr/include/pthread.h"
print " then your sysroot would be /usr/i686-pc-linux-gnu."
print
toolchain_sysroot_default = "/usr/" + toolchain_tuple
toolchain_sysroot = raw_input(" Enter a string for the toolchain sysroot [" + toolchain_sysroot_default + "]: ")
if ( toolchain_sysroot == ''):
toolchain_sysroot = toolchain_sysroot_default
print
print core.bold_string(" Toolchain Install Prefix")
print
print " This is the where your headers and libraries will get installed."
print " e.g. if your toolchain sysroot is /usr/i686-pc-linux-gnu/ then typically"
print " your install prefix will be /usr/i686-pc-linux-gnu/usr"
print
toolchain_install_prefix_default = toolchain_sysroot + "/usr/"
toolchain_install_prefix = raw_input(" Enter a string for the toolchain install prefix [" + toolchain_install_prefix_default + "]: ")
if ( toolchain_install_prefix == ''):
toolchain_install_prefix = toolchain_install_prefix_default
print
toolchain_template = open(eros_toolchain_template()).read()
toolchain_template = toolchain_template.replace('${toolchain_family}',toolchain_family)
toolchain_template = toolchain_template.replace('${toolchain_tuple}',toolchain_tuple)
toolchain_template = toolchain_template.replace('${toolchain_sysroot}',toolchain_sysroot)
toolchain_template = toolchain_template.replace('${toolchain_install_prefix}',toolchain_install_prefix)
#print toolchain_template
user_defined_toolchain_pathname = os.path.join(user_toolchain_dir(),toolchain_family,toolchain_tuple+'.cmake')
if ( os.path.exists(user_defined_toolchain_pathname) ):
print core.red_string(" Aborting, this toolchain configuration already exists (use --delete to remove).")
return 1
if not os.path.exists( os.path.dirname(user_defined_toolchain_pathname) ): # Make sure the dir exists before we open for writing
os.makedirs(os.path.dirname(user_defined_toolchain_pathname))
f = open(user_defined_toolchain_pathname, 'w')
f.write(toolchain_template)
f.close()
print core.bold_string("Toolchain Finalised")
print
print "-- Family: %s" %toolchain_family
print "-- Tuple: %s" %toolchain_tuple
print "-- Sysroot: %s" %toolchain_sysroot
print "-- Install Prefix: %s" %toolchain_install_prefix
print "-- File: %s" %user_defined_toolchain_pathname
print
def list_user_toolchains():
toolchains = toolchain_list()
print
print core.bold_string("User toolchains:")
print
for toolchain in toolchains:
if ( toolchain.group == 'user' ):
if ( toolchain.current ):
print " %d) %s%s%s%s" %(toolchain.id,toolchain.family,os.sep,toolchain.name,core.red_string("*"))
else:
print " %d) %s%s%s" %(toolchain.id,toolchain.family,os.sep,toolchain.name)