def init_workspace():
args = parse_arguments()
if not args.track:
args.track = settings.get_default_track()
if args.list_rosinstalls:
list_rosinstalls(args.track)
sys.exit(0)
if os.path.isabs(args.dir):
workspace_dir = args.dir
else:
workspace_dir = os.path.join(os.getcwd(), args.dir)
if not os.path.isdir(workspace_dir):
os.mkdir(workspace_dir)
if os.path.isdir(os.path.join(workspace_dir, 'src')):
raise RuntimeError("This workspace is already initialised")
uri_list = []
lookup_name_list = []
for uri in args.uri:
if os.path.isabs(uri):
uri_list.append(uri)
elif os.path.isfile(os.path.join(os.getcwd(), uri)):
uri_list.append(os.path.join(os.getcwd(), uri))
elif urlparse.urlparse(uri).scheme == "": # not a http element, let's look up our database
lookup_name_list.append(uri)
else: # it's a http element'
uri_list.append(uri)
rosinstall_database, lookup_track, lookup_database = get_rosinstall_database(args.track)
(database_name_list, database_uri_list) = parse_database(lookup_name_list, rosinstall_database)
lookup_name_list.extend(database_name_list)
uri_list.extend(database_uri_list)
populate_worskpace(os.path.join(workspace_dir, 'src'), uri_list, args.jobs)
print_details(workspace_dir, uri_list, lookup_name_list, lookup_track, lookup_database)
def init_build():
args = parse_arguments()
##########################
# Default underlays
##########################
if args.no_default_underlay:
args.default_underlay = None
elif not args.default_underlay:
args.default_underlay = settings.get_default_track()
##########################
# Toolchains and Platform
##########################
if args.list_toolchains:
list_toolchains()
return
if args.list_platforms:
list_platforms()
return
if args.clean:
clean(args.dir, args.sources)
return
init_configured_build(args.default_underlay, args.dir, args.sources,
args.underlays, args.install, args.doc, args.release,
args.toolchain, args.platform)
def init_build():
args = parse_arguments()
##########################
# Tracks
##########################
if not args.track:
args.track = settings.get_default_track()
##########################
# Toolchains and Platform
##########################
if args.list_toolchains:
list_toolchains()
return
if args.list_platforms:
list_platforms()
return
init_configured_build(args.dir, args.sources, args.underlays, args.install, args.release, args.toolchain, args.platform)
def init_workspace():
'''
Process the init workspace command and return success or failure to the calling script.
'''
args = parse_arguments()
if not args.track:
args.track = settings.get_default_track()
if args.list_rosinstalls:
list_rosinstalls(args.track)
return 0
if args.merge is not None:
merge(args.merge, args.track, args.jobs)
return 0
if os.path.isabs(args.dir):
workspace_dir = args.dir
else:
workspace_dir = os.path.join(os.getcwd(), args.dir)
if not os.path.isdir(workspace_dir):
os.mkdir(workspace_dir)
if os.path.isdir(os.path.join(workspace_dir, 'src')):
raise RuntimeError("This workspace is already initialised")
uri_list = []
lookup_name_list = []
for uri in args.uri:
if os.path.isabs(uri):
uri_list.append(uri)
elif os.path.isfile(os.path.join(os.getcwd(), uri)):
uri_list.append(os.path.join(os.getcwd(), uri))
elif urlparse.urlparse(
uri
).scheme == "": # not a http element, let's look up our database
lookup_name_list.append(uri)
else: # it's a http element'
uri_list.append(uri)
rosinstall_database, lookup_track, lookup_database = get_rosinstall_database(
args.track)
(database_name_list,
database_uri_list) = parse_database(lookup_name_list, rosinstall_database)
lookup_name_list.extend(database_name_list)
uri_list.extend(database_uri_list)
populate_workspace(os.path.join(workspace_dir, 'src'), uri_list, args.jobs)
print_details(workspace_dir, uri_list, lookup_name_list, lookup_track,
lookup_database)
return 0
def init_workspace():
args = parse_arguments()
if not args.track:
args.track = settings.get_default_track()
if args.list_rosinstalls:
list_rosinstalls(args.track)
sys.exit(0)
# if not which("/opt/ros/" + args.track + "/bin/catkin_init_workspace"):
# sys.exit("\nCatkin is not installed: 'sudo apt-get install ros-%s-catkin'\n" % args.track)
if os.path.isabs(args.dir):
workspace_dir = args.dir
else:
workspace_dir = os.path.join(os.getcwd(), args.dir)
if not os.path.isdir(workspace_dir):
os.mkdir(workspace_dir)
if os.path.isdir(os.path.join(workspace_dir, 'src')):
sys.exit("This workspace is already initialised")
if args.uri:
uri = args.uri # assume its an absolute path or http uri
if not os.path.isabs(args.uri):
if os.path.isfile(os.path.join(os.getcwd(), args.uri)):
uri = os.path.join(os.getcwd(), args.uri)
else:
if urlparse.urlparse(args.uri).scheme == "": # not a http element, let's look up our databas
console.pretty_print("Retrieving", console.cyan)
console.pretty_print(" %s " % args.uri, console.yellow)
console.pretty_print("on track", console.cyan)
console.pretty_print(" %s " % args.track, console.yellow)
console.pretty_print("from", console.cyan)
console.pretty_println(" %s " % settings.get_rosinstall_database_uri(), console.yellow)
response = urllib2.urlopen('%s/%s.yaml' % (settings.get_rosinstall_database_uri(), args.track))
rosinstalls = yaml.load(response.read())
if args.uri in rosinstalls:
uri = rosinstalls[args.uri]
else:
console.logerror("Uri not an absolute path, local file, http or in our rosinstall database.")
sys.exit(1)
else:
uri = ""
populate_worskpace(os.path.join(workspace_dir, 'src'), uri)
print_details(workspace_dir, uri)
def init_build():
args = parse_arguments()
##########################
# Default underlays
##########################
if args.no_default_underlay:
args.default_underlay = None
elif not args.default_underlay:
args.default_underlay = settings.get_default_track()
##########################
# Toolchains and Platform
##########################
if args.list_toolchains:
list_toolchains()
return
if args.list_platforms:
list_platforms()
return
if args.clean:
clean(args.dir, args.sources)
return
init_configured_build(args.default_underlay, args.dir, args.sources, args.underlays, args.install, args.doc, args.release, args.toolchain, args.platform)
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 make_main():
args = _parse_args()
cmake_args = args.cmake_args
if args.no_color:
terminal_color.disable_ANSI_colors()
(base_path, build_path, devel_path, source_path) = common.get_default_paths()
doc_path = config_cache.get_doc_prefix_from_config_cmake(base_path)
validate_build_space(base_path) # raises a RuntimeError if there is a problem
# Install rosdeps if requested
if args.install_rosdeps:
install_rosdeps(base_path, source_path, settings.get_default_track(), args.no_color)
return
if args.install_rosdeps_track is not None:
install_rosdeps(source_path, args.install_rosdeps_track, args.no_color)
return
# Clear out previous temporaries if requested
if args.pre_clean:
console.pretty_print("Pre-cleaning before building.", console.cyan)
shutil.rmtree(devel_path, ignore_errors=True)
shutil.rmtree(build_path, ignore_errors=True)
shutil.rmtree(doc_path, ignore_errors=True)
# check for new build
if not os.path.exists(build_path):
os.mkdir(build_path)
#if not os.path.exists(devel_path):
# os.mkdir(devel_path)
# ensure toplevel cmake file exists
toplevel_cmake = os.path.join(source_path, 'CMakeLists.txt')
if not os.path.exists(toplevel_cmake):
return fmt('@{rf}No toplevel cmake file@')
# did source paths get added to the original location?
check_and_update_source_repo_paths(source_path)
packages = find_packages(source_path, exclude_subspaces=True)
# verify that specified package exists in workspace
if args.pkg:
packages_by_name = {p.name: path for path, p in packages.iteritems()}
if args.pkg not in packages_by_name:
raise RuntimeError('Package %s not found in the workspace' % args.pkg)
# check if cmake must be run (either for a changed list of package paths or changed cmake arguments)
force_cmake, _ = builder.cmake_input_changed(packages, build_path, cmake_args=cmake_args)
# check if toolchain.cmake, config.cmake exist
toolchain_cmd = "-DCMAKE_TOOLCHAIN_FILE=%s" % os.path.join(base_path, 'toolchain.cmake') if os.path.isfile(os.path.join(base_path, 'toolchain.cmake')) else None
config_cmd = "-C%s" % os.path.join(base_path, 'config.cmake') if os.path.isfile(os.path.join(base_path, 'config.cmake')) else None
# Help find catkin cmake and python
unused_catkin_toplevel, catkin_python_path, unused_catkin_cmake_path = common.find_catkin(base_path)
pkg_config_paths = common.generate_pkg_config_path(base_path)
env = os.environ.copy()
# PYTHONPATH
# Don't add to the environment variable - this mucks up catkin's catkin_generated/setup_cached.py
# environment later (how? I can't remember - something to do with the default underlay).
# Maybe we can do away with this now catkin can look up install spaces?
#try:
# env['PYTHONPATH'] = env['PYTHONPATH'] + os.pathsep + catkin_python_path
#except KeyError:
# env['PYTHONPATH'] = catkin_python_path
sys.path.append(catkin_python_path)
# PKG_CONFIG_PATH
for path in pkg_config_paths:
try:
env['PKG_CONFIG_PATH'] = env['PKG_CONFIG_PATH'] + os.pathsep + path
except KeyError:
env['PKG_CONFIG_PATH'] = path
if args.doc_only:
console.pretty_println('Generates documents only', console.bold_white)
make_doc(source_path, doc_path, packages)
return
# consider calling cmake
makefile = os.path.join(build_path, 'Makefile')
if not os.path.exists(makefile) or args.force_cmake or force_cmake:
cmd = ['cmake', source_path]
if toolchain_cmd:
cmd.append(toolchain_cmd)
if config_cmd:
cmd.append(config_cmd)
cmd += cmake_args
#new_env = common.generate_underlays_environment(base_path)
try:
builder.print_command_banner(cmd, build_path, color=not args.no_color)
if args.no_color:
builder.run_command(cmd, build_path, env=env)
else:
builder.run_command_colorized(cmd, build_path, env=env)
except subprocess.CalledProcessError:
return fmt('@{rf}Invoking @{boldon}"cmake"@{boldoff} failed')
else:
cmd = ['make', 'cmake_check_build_system']
#new_env = common.generate_environment(base_path) # underlays + current workspace
try:
builder.print_command_banner(cmd, build_path, color=not args.no_color)
if args.no_color:
builder.run_command(cmd, build_path, env=env)
else:
builder.run_command_colorized(cmd, build_path, env=env)
except subprocess.CalledProcessError:
return fmt('@{rf}Invoking @{boldon}"make cmake_check_build_system"@{boldoff} failed')
insert_yujin_make_signature(base_path, devel_path)
# invoke make
if not args.cmake_only:
if args.target:
cmd = ['make', args.target]
elif args.install:
cmd = ['make', 'install']
elif args.tests:
cmd = ['make', 'tests']
elif args.run_tests:
cmd = ['make', 'test']
else:
cmd = ['make']
jobs = args.jobs
if args.jobs == '':
cmd.append('-j')
else:
jobs = args.jobs
if not jobs:
if 'ROS_PARALLEL_JOBS' in os.environ:
ros_parallel_jobs = os.environ['ROS_PARALLEL_JOBS']
cmd += [arg for arg in ros_parallel_jobs.split(' ') if arg]
else:
jobs = multiprocessing.cpu_count()
if jobs:
cmd.append('-j%d' % jobs)
cmd.append('-l%d' % jobs)
cmd += args.make_args
try:
make_path = build_path
if args.pkg:
make_path = os.path.join(make_path, packages_by_name[args.pkg])
builder.print_command_banner(cmd, make_path, color=not args.no_color)
builder.run_command(cmd, make_path, env=env)
except subprocess.CalledProcessError:
return fmt('@{rf}Invoking @{boldon}"make"@{boldoff} failed')
if args.doc:
make_doc(source_path, doc_path, packages)
