def on_install(self, context):
# deploy package manifest
deploy_file(context,
context.source_space,
'package.xml',
dst_subfolder=os.path.join('share',
context.package_manifest.name))
# create marker file
marker_file = os.path.join(context.install_space, 'share',
'ament_index', 'resource_index', 'packages',
context.package_manifest.name)
if not os.path.exists(marker_file):
marker_dir = os.path.dirname(marker_file)
if not os.path.exists(marker_dir):
os.makedirs(marker_dir)
with open(marker_file, 'w'): # "touching" the file
pass
ext = '.sh' if not IS_WINDOWS else '.bat'
# deploy AMENT_PREFIX_PATH environment hook
app_template_path = get_environment_hook_template_path(
'ament_prefix_path' + ext)
deploy_file(context,
os.path.dirname(app_template_path),
os.path.basename(app_template_path),
dst_subfolder=os.path.join('share',
context.package_manifest.name,
'environment'))
# deploy PATH environment hook
path_template_path = get_environment_hook_template_path('path' + ext)
deploy_file(context,
os.path.dirname(path_template_path),
os.path.basename(path_template_path),
dst_subfolder=os.path.join('share',
context.package_manifest.name,
'environment'))
# deploy CLASSPATH environment hook
destination_file = 'classpath' + ('.sh' if not IS_WINDOWS else '.bat')
deploy_file(
context, context.build_space,
os.path.join('share', context.package_manifest.name, 'environment',
destination_file))
# deploy package-level setup files
for name in get_package_level_template_names():
assert name.endswith('.in')
deploy_file(
context, context.build_space,
os.path.join('share', context.package_manifest.name,
name[:-3]))
yield BuildAction(self._prepare_cmd(context, gradle_task='assemble'),
cwd=context.build_space)
def _build_action(self, context):
environment_hooks_path = os.path.join('share',
context.package_manifest.name,
'environment')
ext = '.sh' if not IS_WINDOWS else '.bat'
path_environment_hook = os.path.join(environment_hooks_path,
'path' + ext)
# expand environment hook for PYTHONPATH
ext = '.sh.in' if not IS_WINDOWS else '.bat.in'
template_path = get_environment_hook_template_path('pythonpath' + ext)
content = configure_file(
template_path, {
'PYTHON_INSTALL_DIR': self._get_python_lib(context),
})
pythonpath_environment_hook = os.path.join(
environment_hooks_path,
os.path.basename(template_path)[:-3])
destination_path = os.path.join(context.build_space,
pythonpath_environment_hook)
destination_dir = os.path.dirname(destination_path)
if not os.path.exists(destination_dir):
os.makedirs(destination_dir)
with open(destination_path, 'w') as h:
h.write(content)
environment_hooks = [
path_environment_hook,
pythonpath_environment_hook,
]
# expand package-level setup files
expand_package_level_setup_files(context, environment_hooks,
environment_hooks_path)
def _build_action(self, context):
environment_hooks_path = os.path.join(
'share', context.package_manifest.name, 'environment')
ext = '.sh' if not IS_WINDOWS else '.bat'
path_environment_hook = os.path.join(
environment_hooks_path, 'path' + ext)
# expand environment hook for PYTHONPATH
ext = '.sh.in' if not IS_WINDOWS else '.bat.in'
template_path = get_environment_hook_template_path('pythonpath' + ext)
content = configure_file(template_path, {
'PYTHON_INSTALL_DIR': self._get_python_lib(context),
})
pythonpath_environment_hook = os.path.join(
environment_hooks_path, os.path.basename(template_path)[:-3])
destination_path = os.path.join(
context.build_space, pythonpath_environment_hook)
destination_dir = os.path.dirname(destination_path)
if not os.path.exists(destination_dir):
os.makedirs(destination_dir)
with open(destination_path, 'w') as h:
h.write(content)
environment_hooks = [
path_environment_hook,
pythonpath_environment_hook,
]
# expand package-level setup files
expand_package_level_setup_files(context, environment_hooks, environment_hooks_path)
def generate_cmake_code():
"""
Return a list of CMake set() commands containing the template information.
:returns: list of str
"""
variables = []
if not IS_WINDOWS:
variables.append((
'ENVIRONMENT_HOOK_LIBRARY_PATH',
'"%s"' % get_environment_hook_template_path('library_path.sh')))
else:
variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
ext = '.bat.in' if IS_WINDOWS else '.sh.in'
variables.append((
'ENVIRONMENT_HOOK_PYTHONPATH',
'"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
templates = []
for name in get_package_level_template_names():
templates.append('"%s"' % get_package_level_template_path(name))
variables.append((
'PACKAGE_LEVEL',
templates))
templates = []
for name in get_prefix_level_template_names():
templates.append('"%s"' % get_prefix_level_template_path(name))
variables.append((
'PREFIX_LEVEL',
templates))
lines = []
for (k, v) in variables:
if isinstance(v, list):
lines.append('set(ament_cmake_package_templates_%s "")' % k)
for vv in v:
lines.append('list(APPEND ament_cmake_package_templates_%s %s)'
% (k, vv))
else:
lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
# Ensure backslashes are replaced with forward slashes because CMake cannot
# parse files with backslashes in it.
return [l.replace('\\', '/') for l in lines]
def generate_cmake_code():
"""
Return a list of CMake set() commands containing the template information.
:returns: list of str
"""
variables = []
if not IS_WINDOWS:
variables.append((
'ENVIRONMENT_HOOK_LIBRARY_PATH',
'"%s"' % get_environment_hook_template_path('library_path.sh')))
else:
variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
ext = '.bat.in' if IS_WINDOWS else '.sh.in'
variables.append((
'ENVIRONMENT_HOOK_PYTHONPATH',
'"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
templates = []
for name in get_package_level_template_names():
templates.append('"%s"' % get_package_level_template_path(name))
variables.append((
'PACKAGE_LEVEL',
templates))
templates = []
for name in get_prefix_level_template_names():
templates.append('"%s"' % get_prefix_level_template_path(name))
variables.append((
'PREFIX_LEVEL',
templates))
lines = []
for (k, v) in variables:
if isinstance(v, list):
lines.append('set(ament_cmake_package_templates_%s "")' % k)
for vv in v:
lines.append('list(APPEND ament_cmake_package_templates_%s %s)'
% (k, vv))
else:
lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
# Ensure backslashes are replaced with forward slashes because CMake cannot
# parse files with backslashes in it.
return [l.replace('\\', '/') for l in lines]
def _install_action_files(self, context):
# deploy package manifest
deploy_file(
context, context.source_space, 'package.xml',
dst_subfolder=os.path.join('share', context.package_manifest.name))
# create marker file
marker_file = os.path.join(
context.install_space,
'share', 'ament_index', 'resource_index', 'packages',
context.package_manifest.name)
if not os.path.exists(marker_file):
marker_dir = os.path.dirname(marker_file)
os.makedirs(marker_dir, exist_ok=True)
with open(marker_file, 'w'): # "touching" the file
pass
ext = '.sh' if not IS_WINDOWS else '.bat'
# deploy AMENT_PREFIX_PATH environment hook
app_template_path = get_environment_hook_template_path('ament_prefix_path' + ext)
deploy_file(
context, os.path.dirname(app_template_path), os.path.basename(app_template_path),
dst_subfolder=os.path.join('share', context.package_manifest.name, 'environment'))
# deploy PATH environment hook
path_template_path = get_environment_hook_template_path('path' + ext)
deploy_file(
context, os.path.dirname(path_template_path), os.path.basename(path_template_path),
dst_subfolder=os.path.join('share', context.package_manifest.name, 'environment'))
# deploy PYTHONPATH environment hook
destination_file = 'pythonpath' + ('.sh' if not IS_WINDOWS else '.bat')
deploy_file(
context, context.build_space,
os.path.join(
'share', context.package_manifest.name, 'environment',
destination_file))
# deploy package-level setup files
for name in get_package_level_template_names():
assert name.endswith('.in')
deploy_file(
context, context.build_space,
os.path.join(
'share', context.package_manifest.name, name[:-3]))
def _build_action(self, context):
ext = '.sh' if not IS_WINDOWS else '.bat'
path_environment_hook = os.path.join('share',
context.package_manifest.name,
'environment', 'path' + ext)
# expand environment hook for PYTHONPATH
ext = '.sh.in' if not IS_WINDOWS else '.bat.in'
template_path = get_environment_hook_template_path('pythonpath' + ext)
content = configure_file(
template_path, {
'PYTHON_INSTALL_DIR': self._get_python_lib(context),
})
pythonpath_environment_hook = os.path.join(
'share', context.package_manifest.name, 'environment',
os.path.basename(template_path)[:-3])
destination_path = os.path.join(context.build_space,
pythonpath_environment_hook)
destination_dir = os.path.dirname(destination_path)
if not os.path.exists(destination_dir):
os.makedirs(destination_dir)
with open(destination_path, 'w') as h:
h.write(content)
# expand package-level setup files
for name in get_package_level_template_names():
assert name.endswith('.in')
template_path = get_package_level_template_path(name)
variables = {'CMAKE_INSTALL_PREFIX': context.install_space}
if name[:-3].endswith('.sh'):
variables['ENVIRONMENT_HOOKS'] = \
'ament_append_value AMENT_ENVIRONMENT_HOOKS "%s"\n' % \
':'.join([
os.path.join('$AMENT_CURRENT_PREFIX', path_environment_hook),
os.path.join('$AMENT_CURRENT_PREFIX', pythonpath_environment_hook),
])
elif name[:-3].endswith('.bat'):
t = 'call:ament_append_value AMENT_ENVIRONMENT_HOOKS[%s] "%s"\n'
variables['ENVIRONMENT_HOOKS'] = t % (
context.package_manifest.name, ';'.join([
os.path.join('%AMENT_CURRENT_PREFIX%',
path_environment_hook),
os.path.join('%AMENT_CURRENT_PREFIX%',
pythonpath_environment_hook),
]))
variables['PROJECT_NAME'] = context.package_manifest.name
content = configure_file(template_path, variables)
destination_path = os.path.join(context.build_space, 'share',
context.package_manifest.name,
name[:-3])
with open(destination_path, 'w') as h:
h.write(content)
def _build_action(self, context):
ext = '.sh' if not IS_WINDOWS else '.bat'
path_environment_hook = os.path.join(
'share', context.package_manifest.name, 'environment', 'path' + ext)
# expand environment hook for PYTHONPATH
ext = '.sh.in' if not IS_WINDOWS else '.bat.in'
template_path = get_environment_hook_template_path('pythonpath' + ext)
content = configure_file(template_path, {
'PYTHON_INSTALL_DIR': self._get_python_lib(context),
})
pythonpath_environment_hook = os.path.join(
'share', context.package_manifest.name, 'environment',
os.path.basename(template_path)[:-3])
destination_path = os.path.join(
context.build_space, pythonpath_environment_hook)
destination_dir = os.path.dirname(destination_path)
if not os.path.exists(destination_dir):
os.makedirs(destination_dir)
with open(destination_path, 'w') as h:
h.write(content)
# expand package-level setup files
for name in get_package_level_template_names():
assert name.endswith('.in')
template_path = get_package_level_template_path(name)
variables = {'CMAKE_INSTALL_PREFIX': context.install_space}
if name[:-3].endswith('.sh'):
variables['ENVIRONMENT_HOOKS'] = \
'ament_append_value AMENT_ENVIRONMENT_HOOKS "%s"\n' % \
':'.join([
os.path.join('$AMENT_CURRENT_PREFIX', path_environment_hook),
os.path.join('$AMENT_CURRENT_PREFIX', pythonpath_environment_hook),
])
elif name[:-3].endswith('.bat'):
t = 'call:ament_append_value AMENT_ENVIRONMENT_HOOKS[%s] "%s"\n'
variables['ENVIRONMENT_HOOKS'] = t % (
context.package_manifest.name,
';'.join([
os.path.join('%AMENT_CURRENT_PREFIX%', path_environment_hook),
os.path.join('%AMENT_CURRENT_PREFIX%', pythonpath_environment_hook),
])
)
variables['PROJECT_NAME'] = context.package_manifest.name
content = configure_file(template_path, variables)
destination_path = os.path.join(
context.build_space,
'share', context.package_manifest.name,
name[:-3])
with open(destination_path, 'w') as h:
h.write(content)
def _install_action_files(self, context):
# deploy package manifest
deploy_file(context,
context.source_space,
'package.xml',
dst_subfolder=os.path.join('share',
context.package_manifest.name))
# create marker file
marker_file = os.path.join(context.install_space, 'share',
'ament_index', 'resource_index', 'packages',
context.package_manifest.name)
if not os.path.exists(marker_file):
marker_dir = os.path.dirname(marker_file)
if not os.path.exists(marker_dir):
os.makedirs(marker_dir)
with open(marker_file, 'w'): # "touching" the file
pass
# deploy PATH environment hook
ext = '.sh' if not IS_WINDOWS else '.bat'
template_path = get_environment_hook_template_path('path' + ext)
deploy_file(context,
os.path.dirname(template_path),
os.path.basename(template_path),
dst_subfolder=os.path.join('share',
context.package_manifest.name,
'environment'),
executable=True)
# deploy PYTHONPATH environment hook
destination_file = 'pythonpath' + ('.sh' if not IS_WINDOWS else '.bat')
deploy_file(context,
context.build_space,
os.path.join('share', context.package_manifest.name,
'environment', destination_file),
executable=True)
# deploy package-level setup files
for name in get_package_level_template_names():
assert name.endswith('.in')
deploy_file(context,
context.build_space,
os.path.join('share', context.package_manifest.name,
name[:-3]),
executable=True)
def on_install(self, context):
# First determine the files being deployed with skip_if_exists=True and remove them.
environment_hooks_path = \
os.path.join('share', context.package_manifest.name, 'environment')
environment_hooks_to_be_deployed = []
environment_hooks = []
# Prepare to deploy AMENT_PREFIX_PATH environment hook
ext = '.sh' if not IS_WINDOWS else '.bat'
ament_prefix_path_template_path = get_environment_hook_template_path(
'ament_prefix_path' + ext)
environment_hooks_to_be_deployed.append(
ament_prefix_path_template_path)
environment_hooks.append(
os.path.join(environment_hooks_path, 'ament_prefix_path' + ext))
# Prepare to deploy PATH environment hook
ext = '.sh' if not IS_WINDOWS else '.bat'
path_template_path = get_environment_hook_template_path('path' + ext)
environment_hooks_to_be_deployed.append(path_template_path)
environment_hooks.append(
os.path.join(environment_hooks_path, 'path' + ext))
# Prepare to deploy library path environment hook if not on Windows
if not IS_WINDOWS:
library_template_path = get_environment_hook_template_path(
'library_path.sh')
environment_hooks_to_be_deployed.append(library_template_path)
environment_hooks.append(
os.path.join(environment_hooks_path, 'library_path.sh'))
# Expand package level setup files
destinations = \
expand_package_level_setup_files(context, environment_hooks, environment_hooks_path)
# Remove package level setup files so they can be replaced correctly either in the
# cmake install step or later with deploy_file(..., skip_if_exists=True)
for destination in destinations:
destination_path = compute_deploy_destination(
context, os.path.basename(destination),
os.path.dirname(
os.path.relpath(destination, context.build_space)))
if os.path.exists(destination_path) or os.path.islink(
destination_path):
os.remove(destination_path)
# Call cmake common on_install (defined in CmakeBuildType)
for step in self._common_cmake_on_install(context):
yield step
# Install files needed to extend the environment for build dependents to use this package
# create marker file
marker_file = os.path.join(context.install_space, 'share',
'ament_index', 'resource_index', 'packages',
context.package_manifest.name)
if not os.path.exists(marker_file):
os.makedirs(os.path.dirname(marker_file), exist_ok=True)
with open(marker_file, 'w'): # "touching" the file
pass
# Deploy environment hooks
for environment_hook in environment_hooks_to_be_deployed:
deploy_file(context,
os.path.dirname(environment_hook),
os.path.basename(environment_hook),
dst_subfolder=environment_hooks_path)
# Expand package-level setup files
for destination in destinations:
deploy_file(context,
os.path.dirname(destination),
os.path.basename(destination),
dst_subfolder=os.path.dirname(
os.path.relpath(destination, context.build_space)),
skip_if_exists=True)
def on_install(self, context):
# deploy PATH environment hook
ext = '.sh' if not IS_WINDOWS else '.bat'
template_path = get_environment_hook_template_path('path' + ext)
deploy_file(context,
os.path.dirname(template_path),
os.path.basename(template_path),
dst_subfolder=os.path.join('share',
context.package_manifest.name,
'environment'))
# deploy JAVAPATH environment hook
destination_file = 'javapath' + ('.sh' if not IS_WINDOWS else '.bat')
deploy_file(
context, context.build_space,
os.path.join('share', context.package_manifest.name, 'environment',
destination_file))
# create marker file
marker_file = os.path.join(context.install_space, 'share',
'ament_index', 'resource_index', 'packages',
context.package_manifest.name)
if not os.path.exists(marker_file):
marker_dir = os.path.dirname(marker_file)
if not os.path.exists(marker_dir):
os.makedirs(marker_dir)
with open(marker_file, 'w'): # "touching" the file
pass
for name in get_package_level_template_names():
assert name.endswith('.in')
deploy_file(
context, context.build_space,
os.path.join('share', context.package_manifest.name,
name[:-3]))
cmd_args = [
'-Pament.build_space=' + context.build_space,
'-Pament.install_space=' + context.install_space,
'-Pament.dependencies=' + ':'.join(context.build_dependencies),
'-Pament.build_tests=' + str(context.build_tests),
]
cmd_args += context.ament_gradle_args
cmd = [get_gradle_executable(context)]
cmd += cmd_args
cmd += ['assemble']
yield BuildAction(cmd, cwd=context.source_space)
#Deploy libs dependencies
filesDir = os.path.join(context.build_space, 'lib', 'java')
if os.path.exists(filesDir):
for filename in os.listdir(filesDir):
deploy_file(
context, context.build_space,
os.path.join('lib', 'java', os.path.basename(filename)))
#Deploy share files
self.deploy_files(
context,
os.path.join('share', context.package_manifest.name, 'java'))
#Deploy scripts
filesDir = os.path.join(context.build_space, 'bin')
if os.path.exists(filesDir):
for filename in os.listdir(filesDir):
deploy_file(context, context.build_space,
os.path.join('bin', os.path.basename(filename)))
def on_install(self, context):
# First determine the files being deployed with skip_if_exists=True and remove them.
environment_hooks_path = \
os.path.join('share', context.package_manifest.name, 'environment')
environment_hooks_to_be_deployed = []
environment_hooks = []
# Prepare to deploy AMENT_PREFIX_PATH environment hook
ext = '.sh' if not IS_WINDOWS else '.bat'
ament_prefix_path_template_path = get_environment_hook_template_path(
'ament_prefix_path' + ext)
environment_hooks_to_be_deployed.append(ament_prefix_path_template_path)
environment_hooks.append(os.path.join(environment_hooks_path, 'ament_prefix_path' + ext))
# Prepare to deploy PATH environment hook
ext = '.sh' if not IS_WINDOWS else '.bat'
path_template_path = get_environment_hook_template_path('path' + ext)
environment_hooks_to_be_deployed.append(path_template_path)
environment_hooks.append(os.path.join(environment_hooks_path, 'path' + ext))
# Prepare to deploy library path environment hook if not on Windows
if not IS_WINDOWS:
library_template_path = get_environment_hook_template_path('library_path.sh')
environment_hooks_to_be_deployed.append(library_template_path)
environment_hooks.append(os.path.join(environment_hooks_path, 'library_path.sh'))
# Prepare to deploy PKG_CONFIG_PATH environment hook
ext = '.sh' if not IS_WINDOWS else '.bat'
template_path = get_environment_hook_template_path('pkg_config_path' + ext)
environment_hooks_to_be_deployed.append(template_path)
environment_hooks.append(os.path.join(environment_hooks_path, 'pkg_config_path' + ext))
# Expand package level setup files
destinations = \
expand_package_level_setup_files(context, environment_hooks, environment_hooks_path)
# Remove package level setup files so they can be replaced correctly either in the
# cmake install step or later with deploy_file(..., skip_if_exists=True)
for destination in destinations:
destination_path = compute_deploy_destination(
context,
os.path.basename(destination),
os.path.dirname(os.path.relpath(destination, context.build_space)))
if os.path.exists(destination_path) or os.path.islink(destination_path):
os.remove(destination_path)
# Call cmake common on_install (defined in CmakeBuildType)
for step in self._common_cmake_on_install(context):
yield step
# Install files needed to extend the environment for build dependents to use this package
# create marker file
marker_file = os.path.join(
context.install_space,
'share', 'ament_index', 'resource_index', 'packages',
context.package_manifest.name)
if not os.path.exists(marker_file):
os.makedirs(os.path.dirname(marker_file), exist_ok=True)
with open(marker_file, 'w'): # "touching" the file
pass
# check if install space has any pkg-config files
has_pkg_config_files = False
pkg_config_path = os.path.join(context.install_space, 'lib', 'pkgconfig')
if os.path.isdir(pkg_config_path):
for name in os.listdir(pkg_config_path):
if name.endswith('.pc'):
has_pkg_config_files = True
break
if not has_pkg_config_files:
# remove pkg_config_path hook if not needed
environment_hooks_to_be_deployed = [
h for h in environment_hooks_to_be_deployed
if os.path.splitext(os.path.basename(h))[0] != 'pkg_config_path']
environment_hooks = [
h for h in environment_hooks
if os.path.splitext(os.path.basename(h))[0] != 'pkg_config_path']
# regenerate package level setup files
destinations = expand_package_level_setup_files(
context, environment_hooks, environment_hooks_path)
# Deploy environment hooks
for environment_hook in environment_hooks_to_be_deployed:
deploy_file(
context, os.path.dirname(environment_hook), os.path.basename(environment_hook),
dst_subfolder=environment_hooks_path)
# Expand package-level setup files
for destination in destinations:
deploy_file(
context,
os.path.dirname(destination), os.path.basename(destination),
dst_subfolder=os.path.dirname(os.path.relpath(destination, context.build_space)),
skip_if_exists=True)
def on_install(self, context):
# First determine the files being deployed with skip_if_exists=True and remove them.
environment_hooks_path = \
os.path.join('share', context.package_manifest.name, 'environment')
environment_hooks_to_be_deployed = []
# Prepare to deploy PATH environment hook
ext = '.sh' if not IS_WINDOWS else '.bat'
path_template_path = get_environment_hook_template_path('path' + ext)
environment_hooks_to_be_deployed.append(path_template_path)
environment_hooks = [os.path.join(environment_hooks_path, 'path' + ext)]
# Prepare to deploy library path environment hook if not on Windows
if not IS_WINDOWS:
library_template_path = get_environment_hook_template_path('library_path.sh')
environment_hooks_to_be_deployed.append(library_template_path)
environment_hooks.append(os.path.join(environment_hooks_path, 'library_path.sh'))
# Expand package level setup files
destinations = \
expand_package_level_setup_files(context, environment_hooks, environment_hooks_path)
# Remove package level setup files so they can be replaced correctly either in the
# cmake install step or later with deploy_file(..., skip_if_exists=True)
for destination in destinations:
destination_path = compute_deploy_destination(
context,
os.path.basename(destination),
os.path.dirname(os.path.relpath(destination, context.build_space))
)
if os.path.exists(destination_path) or os.path.islink(destination_path):
os.remove(destination_path)
# Call cmake common on_install (defined in CmakeBuildType)
for step in self._common_cmake_on_install(context):
yield step
# Install files needed to extend the environment for build dependents to use this package
# create marker file
marker_file = os.path.join(
context.install_space,
'share', 'ament_index', 'resource_index', 'packages',
context.package_manifest.name)
if not os.path.exists(marker_file):
marker_dir = os.path.dirname(marker_file)
if not os.path.exists(marker_dir):
os.makedirs(marker_dir)
with open(marker_file, 'w'): # "touching" the file
pass
# Deploy environment hooks
for environment_hook in environment_hooks_to_be_deployed:
deploy_file(
context, os.path.dirname(environment_hook), os.path.basename(environment_hook),
dst_subfolder=environment_hooks_path)
# Expand package-level setup files
for destination in destinations:
deploy_file(
context,
os.path.dirname(destination), os.path.basename(destination),
dst_subfolder=os.path.dirname(os.path.relpath(destination, context.build_space)),
skip_if_exists=True)
