def missing_stack_rosdeps(stack_name, stack_dir, platform):
"""
Calculate list of rosdeps that are missing definitions on platform.
NOTE: one flaw in this implementation is that it uses the rosdep
view from the *active environment* to generate the rosdeps. It
does not generate them from specific versions of stacks. The hope
is that rosdeps improve monotonically over time, so that this will
not be a major issue.
@param platform: platform name (e.g. lucid)
@return: dictionary mapping packages to their missing rosdep mappings
@rtype: {str: [str]}
"""
# hardcode OS for now as we don't build straight debian
os_name = 'ubuntu'
# reverse lookup version number, which is the key for rosdep
os_version = [k for k, v in rosdeb.get_ubuntu_map().iteritems() if v == platform][0]
yc = YamlCache(os_name, os_version)
package_manifests = package_manifests_of(stack_dir)
packages = {}
for p, m_file in package_manifests:
missing = []
packages[p] = missing
m = roslib.manifest.parse_file(m_file)
rosdeps = [d.name for d in m.rosdeps]
if not rosdeps:
continue
rdlp = RosdepLookupPackage(os_name, os_version, p, yc)
for r in rosdeps:
value = rdlp.lookup_rosdep(r)
if not value or '\n' in value:
missing.append(r)
return packages
def stack_rosdeps(stack_name, stack_dir, platform):
"""
Calculate dependencies of stack on an 'ubuntu' OS, including both
ROS stacks and their rosdep dependencies, for the specified
ubuntu release version.
NOTE: one flaw in this implementation is that it uses the rosdep
view from the *active environment* to generate the rosdeps. It
does not generate them from specific versions of stacks. The hope
is that rosdeps improve monotonically over time, so that this will
not be a major issue.
@param platform: platform name (e.g. lucid)
@return: list of debian package deps
@rtype: [str]
@raise Exception: if stack rosdeps cannot be fully resolved
"""
# - implicit deps of all ROS packages
deb_deps = IMPLICIT_DEPS[:]
# hardcode OS for now as we don't build straight debian
os_name = 'ubuntu'
# reverse lookup version number, which is the key for rosdep
os_version = [k for k, v in rosdeb.get_ubuntu_map().iteritems() if v == platform][0]
try:
# REP 111 API
import rosdep.installers
installers = {'apt': rosdep.installers.AptInstaller, 'source': rosdep.installers.SourceInstaller}
os_version = platform
yc = YamlCache(os_name, os_version, installers)
except ImportError:
yc = YamlCache(os_name, os_version)
package_manifests = package_manifests_of(stack_dir)
for p, m_file in package_manifests:
m = roslib.manifest.parse_file(m_file)
rosdeps = [d.name for d in m.rosdeps]
if not rosdeps:
continue
rdlp = RosdepLookupPackage(os_name, os_version, p, yc)
for r in rosdeps:
value = rdlp.lookup_rosdep(r)
if value is False:
raise Exception("cannot generate rosdeps for stack [%s] on platform [%s]:\n\trosdep lookup of [%s] failed"%(stack_name, os_version, r))
if type(value) == dict:
if 'apt' in value:
packages = value['apt']['packages']
if type(packages) == list:
deb_deps.extend(packages)
else:
deb_deps.append(packages)
else:
if '\n' in value:
raise Exception("cannot generate rosdeps for stack [%s] on platform [%s]:\n\trosdep [%s] has a script binding"%(stack_name, os_version, r))
deb_deps.extend([x for x in value.split(' ') if x.strip()])
return list(set(deb_deps))
