def make_doc(source_path, doc_path, packages):
if not common.which(DOC_PROGRAM):
console.error('[' + DOC_PROGRAM + '] is not available.')
console.error('Please make sure [' + DOC_PROGRAM + '] is in your python path')
return
if not os.path.exists(doc_path):
os.mkdir(doc_path)
# List up packages with its absolute path
packages_by_name = {p.name: source_path + '/' + path for path, p in packages.iteritems()}
doc_output = {}
console.pretty_println('Generating documents in ' + doc_path, console.cyan)
for name, path in packages_by_name.items():
console.pretty_println(' ' + name)
output = generate_doc(name, path, doc_path)
doc_output[name] = output
generates_index_page(doc_path, packages_by_name.keys())
console.pretty_println('')
console.pretty_println('Document generation result. 0 may mean error. But it is fine most of time', console.bold_white)
for name, err in doc_output.items():
console.pretty_print(name, console.cyan)
console.pretty_print(' : ')
console.pretty_println(str(err))
def create_gradle_package_files(args, author, is_library, sdk_version):
'''
This is almost a direct copy from catkin_create_pkg.
'''
plugin_name = "com.android.library" if is_library else "com.android.application"
try:
package_name = args.name[0].lower()
package_path = os.path.abspath(os.path.join(os.getcwd(), package_name))
console.pretty_println("\nCreating gradle files", console.bold)
for template_name in ['build.gradle']: # 'CMakeLists.txt']:
filename = os.path.join(package_path, template_name)
template = read_template_file(template_name)
contents = instantiate_template(template, package_name, author,
plugin_name, sdk_version)
#if is_library:
# contents += extra_gradle_library_text()
try:
f = open(filename, 'w')
f.write(contents)
console.pretty_print(' File: ', console.cyan)
console.pretty_println(template_name, console.yellow)
finally:
f.close()
except Exception:
raise
def actually_create_android_project(package_name, sdk_version, java_package_name, is_library):
path = os.path.join(os.getcwd(), package_name.lower())
console.pretty_println("\nCreating android project ", console.bold)
console.pretty_print(" Name : ", console.cyan)
console.pretty_println("%s" % package_name, console.yellow)
console.pretty_print(" Sdk Ver : ", console.cyan)
console.pretty_println("%s" % sdk_version, console.yellow)
console.pretty_print(" Java Name : ", console.cyan)
console.pretty_println("%s" % java_package_name, console.yellow)
if is_library:
console.pretty_print(" Library : ", console.cyan)
console.pretty_println("yes\n", console.yellow)
cmd = ['android', 'create', 'lib-project', '-n', package_name, '-p', path, '-k', java_package_name, '-t', 'android-' + sdk_version, ]
else:
activity_name = utils.camel_case(package_name)
console.pretty_print(" Activity : ", console.cyan)
console.pretty_println("%s\n" % activity_name, console.yellow)
cmd = ['android', 'create', 'project', '-n', package_name, '-p', path, '-k', java_package_name, '-t', 'android-' + sdk_version, '-a', activity_name]
try:
subprocess.check_call(cmd)
except subprocess.CalledProcessError:
raise subprocess.CalledProcessError("failed to create android project.")
# This is in the old form, let's shovel the shit around to the new form
utils.mkdir_p(os.path.join(path, 'src', 'main', 'java'))
os.remove(os.path.join(path, 'local.properties'))
os.remove(os.path.join(path, 'project.properties'))
os.remove(os.path.join(path, 'ant.properties'))
os.remove(os.path.join(path, 'proguard-project.txt'))
os.remove(os.path.join(path, 'build.xml'))
os.rmdir(os.path.join(path, 'bin'))
os.rmdir(os.path.join(path, 'libs'))
shutil.move(os.path.join(path, 'AndroidManifest.xml'), os.path.join(path, 'src', 'main'))
shutil.move(os.path.join(path, 'res'), os.path.join(path, 'src', 'main'))
if not is_library:
shutil.move(os.path.join(path, 'src', java_package_name.split('.')[0]), os.path.join(path, 'src', 'main', 'java'))
def add_install_app_to_cmake_targets():
'''
Adds project name to build_depends in package.xml (should be same name as the ros msg package name).
'''
for rel_path in ['.', '..']:
cmakelists_txt_path = os.path.join(os.getcwd(), rel_path,
'CMakeLists.txt')
if os.path.isfile(cmakelists_txt_path):
break
else:
cmakelists_txt_path = None
if cmakelists_txt_path is None:
console.pretty_println(
"\nCouldn't find the root level CMakeLists.txt - not adding to the superproject."
)
return
with open(cmakelists_txt_path, 'r') as cmakelists_txt:
console.pretty_print(' File : ', console.cyan)
console.pretty_println('CMakeLists.txt (gradle task update)',
console.yellow)
old_text = 'catkin_rosjava_setup(publishMavenJavaPublicationToMavenRepository)'
new_text = 'catkin_rosjava_setup(publishMavenJavaPublicationToMavenRepository installApp)'
new_contents = cmakelists_txt.read().replace(old_text, new_text)
with open(cmakelists_txt_path, 'w') as cmakelists_txt:
cmakelists_txt.write(new_contents)
def make_doc(source_path, doc_path, packages):
if not common.which(DOC_PROGRAM):
console.error('[' + DOC_PROGRAM + '] is not available.')
console.error('Please make sure [' + DOC_PROGRAM +
'] is in your python path')
return
if not os.path.exists(doc_path):
os.mkdir(doc_path)
# List up packages with its absolute path
packages_by_name = {
p.name: source_path + '/' + path
for path, p in packages.iteritems()
}
doc_output = {}
console.pretty_println('Generating documents in ' + doc_path, console.cyan)
for name, path in packages_by_name.items():
console.pretty_println(' ' + name)
output = generate_doc(name, path, doc_path)
doc_output[name] = output
generates_index_page(doc_path, packages_by_name.keys())
console.pretty_println('')
console.pretty_println(
'Document generation result. 0 may mean error. But it is fine most of time',
console.bold_white)
for name, err in doc_output.items():
console.pretty_print(name, console.cyan)
console.pretty_print(' : ')
console.pretty_println(str(err))
def create_catkin_package_files(package_name, package_path, args):
'''
This is almost a direct copy from catkin_create_pkg.
'''
try:
build_depends = []
if 'rosjava_build_tools' not in args.dependencies:
build_depends.append(catkin_pkg.package.Dependency('rosjava_build_tools'))
for depend_name in args.dependencies:
build_depends.append(catkin_pkg.package.Dependency(depend_name))
package_template = PackageTemplate._create_package_template(
package_name=package_name,
description=args.description,
licenses=args.license or [],
maintainer_names=args.maintainer,
author_names=args.author,
version=args.pkg_version,
catkin_deps=[],
system_deps=[],
boost_comps=None)
package_template.exports = []
package_template.build_depends = build_depends
distro_version = utils.distro_version()
package_xml = create_package_xml(package_template=package_template, rosdistro=distro_version)
try:
filename = os.path.join(package_path, 'package.xml')
f = open(filename, 'w')
f.write(package_xml)
console.pretty_print('Created repo file: ', console.cyan)
console.pretty_println('%s' % filename, console.yellow)
finally:
f.close()
except Exception:
raise
def add_tasks_to_cmake_setup(tasks):
'''
Adds project name to build_depends in package.xml (should be same name as the ros msg package name).
'''
for rel_path in ['.', '..']:
cmakelists_txt_path = os.path.join(os.getcwd(), rel_path, 'CMakeLists.txt')
if os.path.isfile(cmakelists_txt_path):
break
else:
cmakelists_txt_path = None
if cmakelists_txt_path is None:
console.pretty_println("\nCouldn't find the root level CMakeLists.txt - not adding to the superproject.")
return
with open(cmakelists_txt_path, 'r') as cmakelists_txt:
old_contents = cmakelists_txt.read()
result = re.search('^catkin_rosjava_setup\(.*\)', old_contents, re.MULTILINE)
if result is None:
console.pretty_println("\nCouldn't find a catkin_rosjava_setup entry in the CMakeLists.txt - not adding tasks.")
return
rosjava_setup_string = result.group(0)
gradle_tasks = set([])
if rosjava_setup_string.find("publish") == -1:
gradle_tasks.add("publish")
if rosjava_setup_string.find("installDist") == -1:
gradle_tasks.add("installDist")
gradle_tasks |= set(tasks)
console.pretty_print(' File : ', console.cyan)
console.pretty_println('CMakeLists.txt (gradle task update)', console.yellow)
old_text = rosjava_setup_string
new_text = 'catkin_rosjava_setup(' + ' '.join(gradle_tasks) + ')'
new_contents = old_contents.replace(old_text, new_text)
with open(cmakelists_txt_path, 'w') as cmakelists_txt:
cmakelists_txt.write(new_contents)
def list_rosinstalls(track):
response = urllib2.urlopen('%s/%s.yaml' % (settings.get_rosinstall_database_uri(), track))
rosinstalls = yaml.load(response.read())
sorted_rosinstalls = rosinstalls.keys()
sorted_rosinstalls.sort()
for r in sorted_rosinstalls:
console.pretty_print(" " + r + ": ", console.cyan)
console.pretty_println("%s" % rosinstalls[r], console.yellow)
def print_details(workspace_dir, uri):
console.pretty_println("\n***************************** Development Workspace ******************************", console.bold)
console.pretty_print("Workspace : ", console.cyan)
console.pretty_println(workspace_dir, console.yellow)
console.pretty_print("Rosinstall: ", console.cyan)
console.pretty_println(uri, console.yellow)
console.pretty_println("**********************************************************************************", console.bold)
console.pretty_println("\nMerge additional source directories with `wstool` and configure parallel builds with 'yujin_init_build'.\n", console.cyan)
def list_rosinstalls(track):
response = urllib2.urlopen('%s/%s.yaml' %
(settings.get_rosinstall_database_uri(), track))
rosinstalls = yaml.load(response.read())
sorted_rosinstalls = rosinstalls.keys()
sorted_rosinstalls.sort()
for r in sorted_rosinstalls:
console.pretty_print(" " + r + ": ", console.cyan)
console.pretty_println("%s" % rosinstalls[r], console.yellow)
def create_rosjava_project_common(args, template_directory):
project_name = args.name[0]
console.pretty_println("\nCreating rosjava project ", console.bold)
console.pretty_print(" Name : ", console.cyan)
console.pretty_println("%s" % project_name, console.yellow)
utils.mkdir_p(os.path.join(os.getcwd(), project_name.lower()))
# This is in the old form, let's shovel the shit around to the new form
create_gradle_package_files(args, template_directory)
add_to_root_gradle_settings(args.name[0])
def create_rosjava_project_common(args, template_directory):
project_name = args.name[0]
console.pretty_println("\nCreating rosjava project ", console.bold)
console.pretty_print(" Name : ", console.cyan)
console.pretty_println("%s" % project_name, console.yellow)
utils.mkdir_p(os.path.join(os.getcwd(), project_name.lower()))
# This is in the old form, let's shovel the shit around to the new form
create_gradle_package_files(args, template_directory)
add_to_root_gradle_settings(args.name[0])
def create_gradle_wrapper(repo_path):
gradle_binary = os.path.join(os.path.dirname(__file__), 'gradle', 'gradlew')
cmd = [gradle_binary, '-p', repo_path, 'wrapper']
console.pretty_print("Creating gradle wrapper: ", console.cyan)
console.pretty_println("%s" % ' '.join(cmd), console.yellow)
try:
subprocess.check_call(cmd)
except subprocess.CalledProcessError:
raise subprocess.CalledProcessError("failed to create the gradle wrapper.")
def actually_create_android_project(package_name, sdk_version,
java_package_name, is_library):
path = os.path.join(os.getcwd(), package_name.lower())
console.pretty_println("\nCreating android project ", console.bold)
console.pretty_print(" Name : ", console.cyan)
console.pretty_println("%s" % package_name, console.yellow)
console.pretty_print(" Sdk Ver : ", console.cyan)
console.pretty_println("%s" % sdk_version, console.yellow)
console.pretty_print(" Java Name : ", console.cyan)
console.pretty_println("%s" % java_package_name, console.yellow)
if is_library:
console.pretty_print(" Library : ", console.cyan)
console.pretty_println("yes\n", console.yellow)
cmd = [
'android',
'create',
'lib-project',
'-n',
package_name,
'-p',
path,
'-k',
java_package_name,
'-t',
'android-' + sdk_version,
]
else:
activity_name = utils.camel_case(package_name)
console.pretty_print(" Activity : ", console.cyan)
console.pretty_println("%s\n" % activity_name, console.yellow)
cmd = [
'android', 'create', 'project', '-n', package_name, '-p', path,
'-k', java_package_name, '-t', 'android-' + sdk_version, '-a',
activity_name
]
try:
subprocess.check_call(cmd)
except subprocess.CalledProcessError:
raise subprocess.CalledProcessError(
"failed to create android project.")
# This is in the old form, let's shovel the shit around to the new form
utils.mkdir_p(os.path.join(path, 'src', 'main', 'java'))
os.remove(os.path.join(path, 'local.properties'))
os.remove(os.path.join(path, 'project.properties'))
os.remove(os.path.join(path, 'ant.properties'))
os.remove(os.path.join(path, 'proguard-project.txt'))
os.remove(os.path.join(path, 'build.xml'))
os.rmdir(os.path.join(path, 'bin'))
os.rmdir(os.path.join(path, 'libs'))
shutil.move(os.path.join(path, 'AndroidManifest.xml'),
os.path.join(path, 'src', 'main'))
shutil.move(os.path.join(path, 'res'), os.path.join(path, 'src', 'main'))
if not is_library:
shutil.move(os.path.join(path, 'src',
java_package_name.split('.')[0]),
os.path.join(path, 'src', 'main', 'java'))
def create_gradle_wrapper(repo_path):
gradle_binary = os.path.join(os.path.dirname(__file__), 'gradle',
'gradlew')
cmd = [gradle_binary, '-p', repo_path, 'wrapper']
console.pretty_print("Creating gradle wrapper: ", console.cyan)
console.pretty_println("%s" % ' '.join(cmd), console.yellow)
try:
subprocess.check_call(cmd)
except subprocess.CalledProcessError:
raise subprocess.CalledProcessError(
"failed to create the gradle wrapper.")
def create_dummy_java_class(project_name):
path = os.path.join(os.getcwd(), project_name.lower())
java_package_path = os.path.join(path, 'src', 'main', 'java', 'com', 'github', 'rosjava', project_name)
utils.mkdir_p(java_package_path)
filename = os.path.join(java_package_path, 'Dude.java')
java_class = "package com.github.rosjava.%s.Dude;\n" % project_name
java_class += "\n"
java_class += "public class Dude {\n"
java_class += "}\n"
console.pretty_print(' File : ', console.cyan)
console.pretty_println('Dude.class', console.yellow)
with open(filename, 'w') as dude_class:
dude_class.write(java_class)
def populate_repo(repo_path, package_type):
author = utils.author_name()
repo_name = os.path.basename(repo_path)
templates = get_templates(package_type)
for filename, template in templates.iteritems():
contents = instantiate_template(template, repo_name, author)
try:
p = os.path.abspath(os.path.join(repo_path, filename))
f = open(p, 'w')
f.write(contents)
console.pretty_print("Created repo file: ", console.cyan)
console.pretty_println("%s" % p, console.yellow)
finally:
f.close()
def create_dummy_java_class(project_name):
path = os.path.join(os.getcwd(), project_name.lower())
package_name = os.path.basename(os.getcwd())
java_package_path = os.path.join(path, 'src', 'main', 'java', 'com', 'github', package_name, project_name)
utils.mkdir_p(java_package_path)
filename = os.path.join(java_package_path, 'Dude.java')
java_class = "package com.github.%s.%s;\n" % (package_name, project_name)
java_class += "\n"
java_class += "public class Dude {\n"
java_class += "}\n"
console.pretty_print(' File : ', console.cyan)
console.pretty_println('Dude.class', console.yellow)
with open(filename, 'w') as dude_class:
dude_class.write(java_class)
def populate_repo(repo_path):
author = utils.author_name()
repo_name = os.path.basename(repo_path)
templates = get_templates()
for filename, template in templates.iteritems():
contents = instantiate_template(template, repo_name, author)
try:
p = os.path.abspath(os.path.join(repo_path, filename))
f = open(p, 'w')
f.write(contents)
console.pretty_print("Created repo file: ", console.cyan)
console.pretty_println("%s" % p, console.yellow)
finally:
f.close()
def add_catkin_generate_tree_command():
for rel_path in ['.', '..']:
build_gradle_path = os.path.join(os.getcwd(), rel_path, 'build.gradle')
if os.path.isfile(build_gradle_path):
break
else:
build_gradle_path = None
if build_gradle_path is None:
console.pretty_println("\nCouldn't find the root level build.gradle file - not adding to the superproject.")
return
with open(build_gradle_path, 'r') as build_gradle:
console.pretty_print(' File : ', console.cyan)
console.pretty_println('build.gradle (catkin_generate_tree update)', console.yellow)
new_contents = build_gradle.read().replace("apply plugin: 'catkin'", "apply plugin: 'catkin'\nproject.catkin.tree.generate()\n")
with open(build_gradle_path, 'w') as build_gradle:
build_gradle.write(new_contents)
def add_catkin_generate_tree_command():
for rel_path in ['.', '..']:
build_gradle_path = os.path.join(os.getcwd(), rel_path, 'build.gradle')
if os.path.isfile(build_gradle_path):
break
else:
build_gradle_path = None
if build_gradle_path is None:
console.pretty_println("\nCouldn't find the root level build.gradle file - not adding to the superproject.")
return
with open(build_gradle_path, 'r') as build_gradle:
console.pretty_print(' File : ', console.cyan)
console.pretty_println('build.gradle (catkin_generate_tree update)', console.yellow)
new_contents = build_gradle.read().replace("apply plugin: 'catkin'", "apply plugin: 'catkin'\nproject.catkin.tree.generate()\n")
with open(build_gradle_path, 'w') as build_gradle:
build_gradle.write(new_contents)
def add_to_root_gradle_settings(name):
'''
Adds project name to the root level settings.gradle file.
'''
for rel_path in ['.', '..']:
settings_gradle_path = os.path.join(os.getcwd(), rel_path, 'settings.gradle')
if os.path.isfile(settings_gradle_path):
break
else:
settings_gradle_path = None
if settings_gradle_path is None:
console.pretty_println("\nCouldn't find the root level settings.gradle file - not adding to the superproject.")
return
with open(settings_gradle_path, 'a') as settings_gradle:
console.pretty_print(' File : ', console.cyan)
console.pretty_println('settings.gradle', console.yellow)
settings_gradle.write("include '%s'\n" % name)
def add_to_root_gradle_settings(name):
'''
Adds project name to the root level settings.gradle file.
'''
for rel_path in ['.', '..']:
settings_gradle_path = os.path.join(os.getcwd(), rel_path, 'settings.gradle')
if os.path.isfile(settings_gradle_path):
break
else:
settings_gradle_path = None
if settings_gradle_path is None:
console.pretty_println("\nCouldn't find the root level settings.gradle file - not adding to the superproject.")
return
with open(settings_gradle_path, 'a') as settings_gradle:
console.pretty_print(' File : ', console.cyan)
console.pretty_println('settings.gradle', console.yellow)
settings_gradle.write("include '%s'\n" % name)
def make_isolated_main():
args = _parse_args()
# disable colors if asked
if args.no_color:
terminal_color.disable_ANSI_colors()
# Default paths
base_path = os.path.abspath('.')
source_path = os.path.join(base_path, 'src')
build_path = os.path.join(base_path, 'build')
devel_path = os.path.join(base_path, 'devel')
install_path = config_cache.get_install_prefix_from_config_cmake()
unused_catkin_toplevel, catkin_python_path, catkin_cmake_path = common.find_catkin()
# 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(install_path, ignore_errors=True)
if not os.path.exists(build_path):
os.mkdir(build_path)
make.validate_build_space(base_path) # raises a RuntimeError if there is a problem
build_workspace_isolated(
workspace=base_path,
sourcespace=source_path,
buildspace=build_path,
develspace=devel_path,
installspace=install_path,
merge=args.merge,
install=args.install,
jobs=args.jobs,
force_cmake=args.force_cmake,
build_packages=args.packages,
quiet=args.quiet,
cmake_args=args.cmake_args,
make_args=args.make_args,
catkin_cmake_path=catkin_cmake_path,
catkin_python_path=catkin_python_path
)
def list_platforms():
console.pretty_println("\n********************************* Platform List **********************************", console.bold)
platforms = get_toolchains_or_platforms(os.path.join(os.path.dirname(__file__), 'platforms'))
console.pretty_println("Official:", console.bold)
for family in platforms:
for platform in platforms[family]:
console.pretty_print(" -- %s/" % family, console.cyan)
console.pretty_println("%s" % platform, console.yellow)
console.pretty_println("Custom:", console.bold)
platforms = get_toolchains_or_platforms(os.path.join(settings.yujin_tools_home(), 'platforms'))
if platforms:
for family in platforms:
for platform in platforms[family]:
console.pretty_print(" -- %s/" % family, console.cyan)
console.pretty_println("%s" % platform, console.yellow)
else:
console.pretty_println(" -- ", console.cyan)
console.pretty_println("**********************************************************************************\n", console.bold)
def add_to_package_xml(name):
'''
Adds project name to build_depends in package.xml (should be same name as the ros msg package name).
'''
for rel_path in ['.', '..']:
package_xml_path = os.path.join(os.getcwd(), rel_path, 'package.xml')
if os.path.isfile(package_xml_path):
break
else:
package_xml_path = None
if package_xml_path is None:
console.pretty_println("\nCouldn't find the root level package.xml file - not adding to the superproject.")
return
with open(package_xml_path, 'r') as package_xml:
console.pretty_print(' File : ', console.cyan)
console.pretty_println('package.xml (dependency update)', console.yellow)
new_contents = package_xml.read().replace("</package>", "<build_depend>%s</build_depend>\n</package>" % name)
with open(package_xml_path, 'w') as package_xml:
package_xml.write(new_contents)
def create_talker_listener_classes(project_name, template_directory, author):
path = os.path.join(os.getcwd(), project_name.lower())
package_name = os.path.basename(os.getcwd())
java_package_path = os.path.join(path, 'src', 'main', 'java', 'com', 'github', package_name, project_name)
utils.mkdir_p(java_package_path)
try:
for template_name in ['Talker.java', 'Listener.java']:
filename = os.path.join(java_package_path, template_name)
template = utils.read_template_file(template_directory, template_name)
contents = instantiate_code_template(template, package_name, project_name, author)
try:
f = open(filename, 'w')
f.write(contents)
console.pretty_print(' File : ', console.cyan)
console.pretty_println(template_name, console.yellow)
finally:
f.close()
except Exception:
raise
def add_to_package_xml(name):
'''
Adds project name to build_depends in package.xml (should be same name as the ros msg package name).
'''
for rel_path in ['.', '..']:
package_xml_path = os.path.join(os.getcwd(), rel_path, 'package.xml')
if os.path.isfile(package_xml_path):
break
else:
package_xml_path = None
if package_xml_path is None:
console.pretty_println("\nCouldn't find the root level package.xml file - not adding to the superproject.")
return
with open(package_xml_path, 'r') as package_xml:
console.pretty_print(' File : ', console.cyan)
console.pretty_println('package.xml (dependency update)', console.yellow)
new_contents = package_xml.read().replace("</package>", "<build_depend>%s</build_depend>\n</package>" % name)
with open(package_xml_path, 'w') as package_xml:
package_xml.write(new_contents)
def main():
args = parse_arguments()
if args.get_default_track:
# console.pretty_print("\nDefault Track: ", console.cyan)
# console.pretty_println("%s\n" % get_default_track(), console.yellow)
print get_default_track()
sys.exit(0)
if args.set_default_track:
console.pretty_print("\nNew Default Track: ", console.cyan)
console.pretty_println("%s\n" % set_default_track(args.set_default_track), console.yellow)
sys.exit(0)
if args.get_rosinstall_database_uri:
print get_rosinstall_database_uri()
sys.exit(0)
if args.set_rosinstall_database_uri:
console.pretty_print("\nNew Rosisntall Database Uri: ", console.cyan)
console.pretty_println("%s\n" % set_rosinstall_database_uri(args.set_rosinstall_database_uri), console.yellow)
sys.exit(0)
print ("%s" % help_string())
def create_talker_listener_classes(project_name, template_directory, author):
path = os.path.join(os.getcwd(), project_name.lower())
package_name = os.path.basename(os.getcwd())
java_package_path = os.path.join(path, 'src', 'main', 'java', 'com', 'github', package_name, project_name)
utils.mkdir_p(java_package_path)
try:
for template_name in ['Talker.java', 'Listener.java']:
filename = os.path.join(java_package_path, template_name)
template = utils.read_template_file(template_directory, template_name)
contents = instantiate_code_template(template, package_name, project_name, author)
try:
f = open(filename, 'w')
f.write(contents)
console.pretty_print(' File : ', console.cyan)
console.pretty_println(template_name, console.yellow)
finally:
f.close()
except Exception:
raise
def create_gradle_package_files(args, template_directory):
'''
This is almost a direct copy from catkin_create_pkg.
'''
try:
project_name = args.name[0].lower()
package_path = os.path.abspath(os.path.join(os.getcwd(), project_name))
for template_name in ['build.gradle']: # 'CMakeLists.txt']:
filename = os.path.join(package_path, template_name)
template = utils.read_template_file(template_directory, template_name)
contents = instantiate_template(template, project_name, args.author)
try:
f = open(filename, 'w')
f.write(contents)
console.pretty_print(' File : ', console.cyan)
console.pretty_println(template_name, console.yellow)
finally:
f.close()
except Exception:
raise
def create_gradle_package_files(args, template_directory):
'''
This is almost a direct copy from catkin_create_pkg.
'''
try:
project_name = args.name[0].lower()
package_path = os.path.abspath(os.path.join(os.getcwd(), project_name))
for template_name in ['build.gradle']: # 'CMakeLists.txt']:
filename = os.path.join(package_path, template_name)
template = utils.read_template_file(template_directory, template_name)
contents = instantiate_template(template, project_name, args.author)
try:
f = open(filename, 'w')
f.write(contents)
console.pretty_print(' File : ', console.cyan)
console.pretty_println(template_name, console.yellow)
finally:
f.close()
except Exception:
raise
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 add_install_app_to_cmake_targets():
'''
Adds project name to build_depends in package.xml (should be same name as the ros msg package name).
'''
for rel_path in ['.', '..']:
cmakelists_txt_path = os.path.join(os.getcwd(), rel_path, 'CMakeLists.txt')
if os.path.isfile(cmakelists_txt_path):
break
else:
cmakelists_txt_path = None
if cmakelists_txt_path is None:
console.pretty_println("\nCouldn't find the root level CMakeLists.txt - not adding to the superproject.")
return
with open(cmakelists_txt_path, 'r') as cmakelists_txt:
console.pretty_print(' File : ', console.cyan)
console.pretty_println('CMakeLists.txt (gradle task update)', console.yellow)
old_text = 'catkin_rosjava_setup(publishMavenJavaPublicationToMavenRepository)'
new_text = 'catkin_rosjava_setup(publishMavenJavaPublicationToMavenRepository installApp)'
new_contents = cmakelists_txt.read().replace(old_text, new_text)
with open(cmakelists_txt_path, 'w') as cmakelists_txt:
cmakelists_txt.write(new_contents)
def clean(dir_to_be_cleaned, dir_sources):
if common.is_same_dir(dir_to_be_cleaned, os.getcwd()):
if not os.path.isfile(os.path.join(dir_to_be_cleaned, 'config.cmake')):
console.logerror(
"Could not clean the current directory [build artifacts do not exist]"
)
return
console.pretty_print(
"\nCleaning current directory of yujin_init_build artifacts : ",
console.cyan)
for f in [
os.path.join(dir_to_be_cleaned, x) for x in [
'config.cmake', 'eclipse', 'gnome-terminal', 'konsole',
'toolchain.cmake', '.bashrc', 'android-studio'
]
]:
if os.path.isfile(f):
os.remove(f)
for f in [
os.path.join(dir_to_be_cleaned, dir_sources, x)
for x in ['CMakeLists.txt', '.yujin_init_build']
]:
if os.path.isfile(f):
os.remove(f)
for d in [
os.path.join(dir_to_be_cleaned, x) for x in ['build', 'devel']
]:
if os.path.isdir(d):
shutil.rmtree(d)
console.pretty_println('done.\n', console.yellow)
else:
if os.path.isdir(os.path.abspath(dir_to_be_cleaned)):
console.pretty_print("Cleaning build directory : ", console.cyan)
console.pretty_println(dir_to_be_cleaned, console.yellow)
shutil.rmtree(os.path.abspath(dir_to_be_cleaned))
else:
console.logerror("Could not clean %s [does not exist]" %
dir_to_be_cleaned)
def main():
args = parse_arguments()
if args.get_default_track:
#console.pretty_print("\nDefault Track: ", console.cyan)
#console.pretty_println("%s\n" % get_default_track(), console.yellow)
print get_default_track()
sys.exit(0)
if args.set_default_track:
console.pretty_print("\nNew Default Track: ", console.cyan)
console.pretty_println(
"%s\n" % set_default_track(args.set_default_track), console.yellow)
sys.exit(0)
if args.get_rosinstall_database_uri:
print get_rosinstall_database_uri()
sys.exit(0)
if args.set_rosinstall_database_uri:
console.pretty_print("\nNew Rosisntall Database Uri: ", console.cyan)
console.pretty_println(
"%s\n" %
set_rosinstall_database_uri(args.set_rosinstall_database_uri),
console.yellow)
sys.exit(0)
print("%s" % help_string())
def clean(dir_to_be_cleaned, dir_sources):
if common.is_same_dir(dir_to_be_cleaned, os.getcwd()):
if not os.path.isfile(os.path.join(dir_to_be_cleaned, 'config.cmake')):
console.logerror("Could not clean the current directory [build artifacts do not exist]")
return
console.pretty_print("\nCleaning current directory of yujin_init_build artifacts : ", console.cyan)
for f in [os.path.join(dir_to_be_cleaned, x) for x in ['config.cmake', 'eclipse', 'gnome-terminal', 'konsole', 'toolchain.cmake', '.bashrc', 'android-studio']]:
if os.path.isfile(f):
os.remove(f)
for f in [os.path.join(dir_to_be_cleaned, dir_sources, x) for x in ['CMakeLists.txt', '.yujin_init_build']]:
if os.path.isfile(f):
os.remove(f)
for d in [os.path.join(dir_to_be_cleaned, x) for x in ['build', 'devel']]:
if os.path.isdir(d):
shutil.rmtree(d)
console.pretty_println('done.\n', console.yellow)
else:
if os.path.isdir(os.path.abspath(dir_to_be_cleaned)):
console.pretty_print("Cleaning build directory : ", console.cyan)
console.pretty_println(dir_to_be_cleaned, console.yellow)
shutil.rmtree(os.path.abspath(dir_to_be_cleaned))
else:
console.logerror("Could not clean %s [does not exist]" % dir_to_be_cleaned)
def create_gradle_package_files(args, author, is_library, sdk_version):
'''
This is almost a direct copy from catkin_create_pkg.
'''
plugin_name = "android-library" if is_library else "android"
try:
package_name = args.name[0].lower()
package_path = os.path.abspath(os.path.join(os.getcwd(), package_name))
console.pretty_println("\nCreating gradle files", console.bold)
for template_name in ['build.gradle']: # 'CMakeLists.txt']:
filename = os.path.join(package_path, template_name)
template = read_template_file(template_name)
contents = instantiate_template(template, package_name, author, plugin_name, sdk_version)
#if is_library:
# contents += extra_gradle_library_text()
try:
f = open(filename, 'w')
f.write(contents)
console.pretty_print(' File: ', console.cyan)
console.pretty_println(template_name, console.yellow)
finally:
f.close()
except Exception:
raise
def create_catkin_package_files(package_name, package_path, args):
'''
This is almost a direct copy from catkin_create_pkg.
'''
try:
build_depends = []
if 'rosjava_tools' not in args.dependencies:
build_depends.append(
catkin_pkg.package.Dependency('rosjava_tools'))
for depend_name in args.dependencies:
build_depends.append(catkin_pkg.package.Dependency(depend_name))
package_template = PackageTemplate._create_package_template(
package_name=package_name,
description=args.description,
licenses=args.license or [],
maintainer_names=args.maintainer,
author_names=args.author,
version=args.pkg_version,
catkin_deps=[],
system_deps=[],
boost_comps=None)
package_template.exports = []
package_template.build_depends = build_depends
distro_version = utils.distro_version()
package_xml = create_package_xml(package_template=package_template,
rosdistro=distro_version)
try:
filename = os.path.join(package_path, 'package.xml')
f = open(filename, 'w')
f.write(package_xml)
console.pretty_print('Created repo file: ', console.cyan)
console.pretty_println('%s' % filename, console.yellow)
finally:
f.close()
except Exception:
raise
def list_platforms():
console.pretty_println(
"\n********************************* Platform List **********************************",
console.bold)
platforms = get_toolchains_or_platforms(
os.path.join(os.path.dirname(__file__), 'platforms'))
console.pretty_println("Official:", console.bold)
for family in platforms:
for platform in platforms[family]:
console.pretty_print(" -- %s/" % family, console.cyan)
console.pretty_println("%s" % platform, console.yellow)
console.pretty_println("Custom:", console.bold)
platforms = get_toolchains_or_platforms(
os.path.join(settings.yujin_tools_home(), 'platforms'))
if platforms:
for family in platforms:
for platform in platforms[family]:
console.pretty_print(" -- %s/" % family, console.cyan)
console.pretty_println("%s" % platform, console.yellow)
else:
console.pretty_println(" -- ", console.cyan)
console.pretty_println(
"**********************************************************************************\n",
console.bold)
def create_symlink(src, dst, quiet=False):
"""
Creates a symlink at dst to src.
"""
if not os.path.exists(src):
raise RuntimeError("'%s' is not a valid path" % src)
try:
os.symlink(src, dst)
if not quiet:
console.pretty_print('Creating symlink', console.white)
console.pretty_print(' "%s" ' % dst, console.bold)
console.pretty_print("->", console.white)
console.pretty_println(' "%s." ' % src, console.bold)
except Exception as ex_symlink:
raise RuntimeError("Could not symlink '%s' to %s [%s]." % (src, dst, str(ex_symlink)))
def create_symlink(src, dst, quiet=False):
"""
Creates a symlink at dst to src.
"""
if not os.path.exists(src):
raise RuntimeError("'%s' is not a valid path" % src)
try:
os.symlink(src, dst)
if not quiet:
console.pretty_print('Creating symlink', console.white)
console.pretty_print(' "%s" ' % dst, console.bold)
console.pretty_print("->", console.white)
console.pretty_println(' "%s." ' % src, console.bold)
except Exception as ex_symlink:
raise RuntimeError("Could not symlink '%s' to %s [%s]." %
(src, dst, str(ex_symlink)))
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 print_build_details(build_dir, source_dir, install_prefix, build_type, underlays, name, toolchain, platform):
console.pretty_println("\n************************** Parallel Buildspace Details ***************************", console.bold)
console.pretty_print(" -- Build directory : ", console.cyan)
console.pretty_println(build_dir, console.yellow)
console.pretty_print(" -- Source directory: ", console.cyan)
console.pretty_println(source_dir, console.yellow)
console.pretty_print(" -- Install prefix : ", console.cyan)
console.pretty_println(install_prefix, console.yellow)
console.pretty_print(" -- Build Type : ", console.cyan)
console.pretty_println(build_type, console.yellow)
console.pretty_print(" -- Underlays : ", console.cyan)
console.pretty_println(underlays, console.yellow)
console.pretty_print(" -- Eclipse Name : ", console.cyan)
console.pretty_println(name, console.yellow)
if not toolchain == "":
console.pretty_print(" -- Toolchain : ", console.cyan)
console.pretty_println(toolchain, console.yellow)
if not platform == "":
console.pretty_print(" -- Platform : ", console.cyan)
console.pretty_println(platform, console.yellow)
console.pretty_println("**********************************************************************************\n", console.bold)
def print_details(workspace_dir, uri_list, lookup_name_list, lookup_track, lookup_database):
console.pretty_println("\n***************************** Development Workspace ******************************", console.bold)
console.pretty_print("Workspace : ", console.cyan)
console.pretty_println(workspace_dir, console.yellow)
if lookup_name_list:
console.pretty_print(" Names : ", console.cyan)
for lookup_name in lookup_name_list:
console.pretty_print("%s " % lookup_name, console.yellow)
console.pretty_println('', console.yellow)
console.pretty_print(" Track : ", console.cyan)
console.pretty_println(lookup_track, console.yellow)
console.pretty_print(" Database: ", console.cyan)
console.pretty_println(lookup_database, console.yellow)
console.pretty_print(" Sources : ", console.cyan)
if uri_list:
console.pretty_println("%s " % uri_list[0], console.yellow)
for uri in uri_list[1:]:
console.pretty_print(" : ", console.cyan)
console.pretty_println("%s " % uri, console.yellow)
else:
console.pretty_println("empty workspace", console.yellow)
console.pretty_println("**********************************************************************************", console.bold)
console.pretty_println("\nMerge additional source directories with `wstool` and configure parallel builds with 'yujin_init_build'.\n", console.cyan)
def print_build_details(build_dir, source_dir, install_prefix, doc_prefix, build_type, underlays, name, toolchain, platform):
console.pretty_println("\n************************** Parallel Buildspace Details ***************************", console.bold)
console.pretty_print(" -- Build directory : ", console.cyan)
console.pretty_println(build_dir, console.yellow)
console.pretty_print(" -- Source directory: ", console.cyan)
console.pretty_println(source_dir, console.yellow)
console.pretty_print(" -- Install prefix : ", console.cyan)
console.pretty_println(install_prefix, console.yellow)
console.pretty_print(" -- Document prefix : ", console.cyan)
console.pretty_println(doc_prefix, console.yellow)
console.pretty_print(" -- Build Type : ", console.cyan)
console.pretty_println(build_type, console.yellow)
underlays_list = underlays.split(';')
console.pretty_print(" -- Underlays : ", console.cyan)
if len(underlays_list) == 0:
console.pretty_println("-", console.yellow)
else:
underlay = underlays_list.pop(0)
console.pretty_println(underlay, console.yellow)
for underlay in underlays_list:
console.pretty_print(" : ", console.cyan)
console.pretty_println(underlay, console.yellow)
console.pretty_print(" -- Eclipse Name : ", console.cyan)
console.pretty_println(name, console.yellow)
if not toolchain == "":
console.pretty_print(" -- Toolchain : ", console.cyan)
console.pretty_println(toolchain, console.yellow)
if not platform == "":
console.pretty_print(" -- Platform : ", console.cyan)
console.pretty_println(platform, console.yellow)
console.pretty_println("**********************************************************************************\n", console.bold)
def print_details(workspace_dir, uri_list, lookup_name_list, lookup_track,
lookup_database):
console.pretty_println(
"\n***************************** Development Workspace ******************************",
console.bold)
console.pretty_print("Workspace : ", console.cyan)
console.pretty_println(workspace_dir, console.yellow)
if lookup_name_list:
console.pretty_print(" Names : ", console.cyan)
for lookup_name in lookup_name_list:
console.pretty_print("%s " % lookup_name, console.yellow)
console.pretty_println('', console.yellow)
console.pretty_print(" Track : ", console.cyan)
console.pretty_println(lookup_track, console.yellow)
console.pretty_print(" Database: ", console.cyan)
console.pretty_println(lookup_database, console.yellow)
console.pretty_print(" Sources : ", console.cyan)
if uri_list:
console.pretty_println("%s " % uri_list[0], console.yellow)
for uri in uri_list[1:]:
console.pretty_print(" : ", console.cyan)
console.pretty_println("%s " % uri, console.yellow)
else:
console.pretty_println("empty workspace", console.yellow)
console.pretty_println(
"**********************************************************************************",
console.bold)
console.pretty_println(
"\nMerge additional source directories with `wstool` and configure parallel builds with 'yujin_init_build'.\n",
console.cyan)
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)
def make_isolated_main():
args = _parse_args()
if args.no_color:
terminal_color.disable_ANSI_colors()
(base_path, build_path, devel_path, source_path) = common.get_default_paths(isolated=args.suffixes)
unused_catkin_toplevel, catkin_python_path, unused_catkin_cmake_path = common.find_catkin(base_path)
install_path = config_cache.get_install_prefix_from_config_cmake(isolated=args.suffixes)
sys.path.insert(0, catkin_python_path)
from catkin.builder import build_workspace_isolated
# 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(install_path, ignore_errors=True)
if not os.path.exists(build_path):
os.mkdir(build_path)
# Validate package argument
packages = find_packages(source_path, exclude_subspaces=True)
packages_by_name = {p.name: path for path, p in packages.iteritems()}
if args.packages:
for package in args.packages:
if package not in packages_by_name:
raise RuntimeError('Package %s not found in the workspace' % package)
make.validate_build_space(base_path) # raises a RuntimeError if there is a problem
make.check_and_update_source_repo_paths(source_path)
build_workspace_isolated(
workspace=base_path,
sourcespace=source_path,
buildspace=build_path,
develspace=devel_path,
installspace=install_path,
merge=args.merge,
install=args.install,
force_cmake=args.force_cmake,
build_packages=args.packages,
quiet=args.quiet,
cmake_args=args.cmake_args,
make_args=args.make_args
)
# this is a really fugly way of building a specific target after all else has been built
# (and rebuilt), usually this is enough as the check of already built packages is quick
if args.target:
env = os.environ.copy()
cmd = ['make', args.target]
make_paths = []
if args.packages:
for package in args.packages:
# It's an isolated build, so packages are listed under the build path as a flat list (not fully traceable dirs like in catkin_make)
# make_path = os.path.join(make_path, packages_by_name[package])
make_paths.append(os.path.join(build_path, package))
else:
for (unused_path, package) in topological_order_packages(packages):
# 3rd party builds put make targets under an install directory
# catkin package builds put make targets under the package name
# why? no bloody idea, but just detect what is what here
third_party_build_path = os.path.join(build_path, package.name, 'install')
catkin_build_path = os.path.join(build_path, package.name)
package_build_path = third_party_build_path if os.path.exists(third_party_build_path) else catkin_build_path
make_paths.append(package_build_path)
for make_path in make_paths:
builder.print_command_banner(cmd, make_path, color=not args.no_color)
if args.no_color:
builder.run_command(cmd, make_path, env=env)
else:
builder.run_command_colorized(cmd, make_path, env=env)
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 print_build_details(build_dir, source_dir, install_prefix, doc_prefix,
build_type, underlays, name, toolchain, platform):
console.pretty_println(
"\n************************** Parallel Buildspace Details ***************************",
console.bold)
console.pretty_print(" -- Build directory : ", console.cyan)
console.pretty_println(build_dir, console.yellow)
console.pretty_print(" -- Source directory: ", console.cyan)
console.pretty_println(source_dir, console.yellow)
console.pretty_print(" -- Install prefix : ", console.cyan)
console.pretty_println(install_prefix, console.yellow)
console.pretty_print(" -- Document prefix : ", console.cyan)
console.pretty_println(doc_prefix, console.yellow)
console.pretty_print(" -- Build Type : ", console.cyan)
console.pretty_println(build_type, console.yellow)
underlays_list = underlays.split(';')
console.pretty_print(" -- Underlays : ", console.cyan)
if len(underlays_list) == 0:
console.pretty_println("-", console.yellow)
else:
underlay = underlays_list.pop(0)
console.pretty_println(underlay, console.yellow)
for underlay in underlays_list:
console.pretty_print(" : ", console.cyan)
console.pretty_println(underlay, console.yellow)
console.pretty_print(" -- Eclipse Name : ", console.cyan)
console.pretty_println(name, console.yellow)
if not toolchain == "":
console.pretty_print(" -- Toolchain : ", console.cyan)
console.pretty_println(toolchain, console.yellow)
if not platform == "":
console.pretty_print(" -- Platform : ", console.cyan)
console.pretty_println(platform, console.yellow)
console.pretty_println(
"**********************************************************************************\n",
console.bold)