def install_rosdeps(base_path, source_path, rosdistro, no_color):
# -r continue even with errors
cmd = ['rosdep', 'install', '-r']
underlays = config_cache.get_underlays_list_from_config_cmake(base_path)
for underlay in underlays:
cmd += ['--from-paths', underlay]
cmd += ['--from-paths', source_path, '--ignore-src', '--rosdistro', rosdistro, '-y']
env = os.environ.copy()
try:
builder.print_command_banner(cmd, source_path, color=not no_color)
if no_color:
builder.run_command(cmd, source_path, env=env)
else:
builder.run_command_colorized(cmd, source_path, env=env)
except subprocess.CalledProcessError:
return fmt('@{rf}Invoking @{boldon}"rosdep install failed')
def make_main():
args = _parse_args()
cmake_args = args.cmake_args
# disable colors if asked
if args.no_color:
terminal_color.disable_ANSI_colors()
# Default paths
base_path = os.path.abspath('.')
build_path = os.path.join(base_path, 'build')
devel_path = os.path.join(base_path, 'devel')
source_path = os.path.join(base_path, 'src')
validate_build_space(base_path) # raises a RuntimeError if there is a problem
# 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)
# 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@')
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()
env = os.environ.copy()
try:
env['PYTHONPATH'] = env['PYTHONPATH'] + os.pathsep + catkin_python_path
except KeyError:
env['PYTHONPATH'] = catkin_python_path
# 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
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']
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')
# invoke make
if args.install:
cmd = ['make', 'install']
elif args.tests:
cmd = ['make', 'tests']
elif args.run_tests:
cmd = ['make', 'run_tests']
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')
def build_workspace_isolated(
workspace='.',
sourcespace=None,
buildspace=None,
develspace=None,
installspace=None,
merge=False,
install=False,
jobs=None,
force_cmake=False,
build_packages=None,
quiet=False,
cmake_args=[],
make_args=[],
catkin_cmake_path=None,
catkin_python_path=None
):
'''
Runs ``cmake``, ``make`` and optionally ``make install`` for all
catkin packages in sourcespace_dir. It creates several folders
in the current working directory. For non-catkin packages it runs
``cmake``, ``make`` and ``make install`` for each, installing it to
the devel space or install space if the ``install`` option is specified.
:param workspace: path to the current workspace, ``str``
:param sourcespace: workspace folder containing catkin packages, ``str``
:param buildspace: path to build space location, ``str``
:param develspace: path to devel space location, ``str``
:param installspace: path to install space (CMAKE_INSTALL_PREFIX), ``str``
:param merge: if True, build each catkin package into the same
devel space. does not work with non-catkin packages, ``bool``
:param install: if True, install all packages to the install space,
``bool``
:param jobs: number of parallel build jobs to run (make -jN -lN), ``int``
:param force_cmake: (optional), if True calls cmake explicitly for each
package, ``bool``
:param colorize: if True, colorize cmake output and other messages,
``bool``
:param build_packages: specific packages to build (all parent packages
in the topological order must have been built before), ``str``
:param quiet: if True, hides some build output, ``bool``
:param cmake_args: additional arguments for cmake, ``[str]``
:param make_args: additional arguments for make, ``[str]``
'''
# Should actually have alot of argument checks here, rather than
# before feeding the function (makes for safe functions)
console.pretty_print("Base Path: ", console.cyan)
console.pretty_println("%s" % workspace, console.yellow)
console.pretty_print("Build Path: ", console.cyan)
console.pretty_println("%s" % buildspace, console.yellow)
console.pretty_print("Source Path: ", console.cyan)
console.pretty_println("%s" % sourcespace, console.yellow)
console.pretty_print("Devel Path: ", console.cyan)
console.pretty_println("%s" % develspace, console.yellow)
console.pretty_print("Install Path: ", console.cyan)
console.pretty_println("%s" % installspace, console.yellow)
console.pretty_print("Catkin CMake Path: ", console.cyan)
console.pretty_println("%s" % catkin_cmake_path, console.yellow)
console.pretty_print("Catkin Python Path: ", console.cyan)
console.pretty_println("%s" % catkin_python_path, console.yellow)
# Find packages
packages = find_packages(sourcespace, exclude_subspaces=True)
if not packages:
raise RuntimeError("No packages found in source space: %s" % sourcespace)
# verify that specified package exists in workspace
if build_packages:
packages_by_name = {p.name: path for path, p in packages.iteritems()}
unknown_packages = [p for p in build_packages if p not in packages_by_name]
if unknown_packages:
raise RuntimeError('Packages not found in the workspace: %s' % ', '.join(unknown_packages))
# Report topological ordering
ordered_packages = topological_order_packages(packages)
unknown_build_types = []
msg = []
msg.append('@{pf}~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~' + ('~' * len(str(len(ordered_packages)))))
msg.append('@{pf}~~@| traversing %d packages in topological order:' % len(ordered_packages))
for path, package in ordered_packages:
export_tags = [e.tagname for e in package.exports]
if 'build_type' in export_tags:
build_type_tag = [e.content for e in package.exports if e.tagname == 'build_type'][0]
else:
build_type_tag = 'catkin'
if build_type_tag == 'catkin':
msg.append('@{pf}~~@| - @!@{bf}' + package.name + '@|')
elif build_type_tag == 'cmake':
msg.append(
'@{pf}~~@| - @!@{bf}' + package.name + '@|' +
' (@!@{cf}plain cmake@|)'
)
else:
msg.append(
'@{pf}~~@| - @!@{bf}' + package.name + '@|' +
' (@{rf}unknown@|)'
)
unknown_build_types.append(package)
msg.append('@{pf}~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~' + ('~' * len(str(len(ordered_packages)))))
for index in range(len(msg)):
msg[index] = fmt(msg[index])
print('\n'.join(msg))
# Error if there are packages with unknown build_types
if unknown_build_types:
raise RuntimeError('Can not build workspace with packages of unknown build_type.')
# Check to see if the workspace has changed
if not force_cmake:
force_cmake, install_toggled = builder.cmake_input_changed(
packages,
buildspace,
install=install,
cmake_args=cmake_args,
filename='catkin_make_isolated'
)
if force_cmake:
print('The packages or cmake arguments have changed, forcing cmake invocation')
elif install_toggled:
print('The install argument has been toggled, forcing cmake invocation on plain cmake package')
# Build packages
original_develspace = copy.deepcopy(develspace)
for index, path_package in enumerate(ordered_packages):
path, package = path_package
if not merge:
develspace = os.path.join(original_develspace, package.name)
if not build_packages or package.name in build_packages:
try:
export_tags = [e.tagname for e in package.exports]
is_cmake_package = 'cmake' in [e.content for e in package.exports if e.tagname == 'build_type']
builder.build_package(
path, package,
workspace, buildspace, develspace, installspace,
install, jobs, force_cmake or (install_toggled and is_cmake_package),
quiet, cmake_args, make_args,
number=index + 1, of=len(ordered_packages),
catkin_cmake_path=catkin_cmake_path,
catkin_python_path=catkin_python_path
)
except Exception as e:
import traceback
traceback.print_exc()
builder.cprint(
'@{rf}@!<==@| ' +
'Failed to process package \'@!@{bf}' +
package.name + '@|\': \n ' +
('KeyboardInterrupt' if isinstance(e, KeyboardInterrupt)
else str(e))
)
if isinstance(e, subprocess.CalledProcessError):
cmd = ' '.join(e.cmd) if isinstance(e.cmd, list) else e.cmd
print(fmt("\n@{rf}Reproduce this error by running:"))
print(fmt("@{gf}@!==> @|") + cmd + "\n")
sys.exit('Command failed, exiting.')
else:
builder.cprint("Skipping package: '@!@{bf}" + package.name + "@|'")
# Provide a top level devel space environment setup script
if not merge and not build_packages:
# generate env.sh and setup.sh which relay to last devel space
generated_env = os.path.join(original_develspace, 'env.sh')
with open(generated_env, 'w') as f:
f.write("""\
#!/usr/bin/env sh
# generated from catkin.builder module
{0} "$@"
""".format(os.path.join(develspace, 'env.sh')))
os.chmod(generated_env, stat.S_IXUSR | stat.S_IWUSR | stat.S_IRUSR)
with open(os.path.join(original_develspace, 'setup.sh'), 'w') as f:
f.write("""\
#!/usr/bin/env sh
# generated from catkin.builder module
. "{0}/setup.sh"
""".format(develspace))
# generate setup.bash and setup.zsh for convenience
variables = {'SETUP_DIR': original_develspace}
with open(os.path.join(original_develspace, 'setup.bash'), 'w') as f:
f.write(configure_file(os.path.join(catkin_cmake_path, 'templates', 'setup.bash.in'), variables))
with open(os.path.join(original_develspace, 'setup.zsh'), 'w') as f:
f.write(configure_file(os.path.join(catkin_cmake_path, 'templates', 'setup.zsh.in'), variables))
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)