if not sudo:

call("apt-get update")

else:

cmd = "apt-get install --yes "

if sudo:

cmd = "sudo " + cmd

if len(pkgs) > 0:

if rosdep:

call(cmd + ' '.join(rosdep.to_aptlist(pkgs)))

else:

call(cmd + ' '.join(pkgs))

else:

print "Preparing xml test results"

try:

os.makedirs(os.path.join(workspace, 'test_results'))

print "Created test results directory"

except:

pass

os.chdir(os.path.join(workspace, 'test_results'))

print "Copy all test results"

count = 0

for root, dirnames, filenames in os.walk(os.path.join(buildspace, 'test_results')):

for filename in fnmatch.filter(filenames, '*.xml'):

call("cp %s %s/test_results/"%(os.path.join(root, filename), workspace))

count += 1

if count == 0:

print "No test results, so I'll create a dummy test result xml file, with errors %s" % errors

with open(os.path.join(workspace, 'test_results/dummy.xml'), 'w') as f:

if errors:

f.write('<?xml version="1.0" encoding="UTF-8"?><testsuite tests="1" failures="0" time="1" errors="1" name="%s test"> <testcase name="%s rapport" classname="Results" /><testcase classname="%s_class" name="%sFailure"><error type="%sException">%s</error></testcase></testsuite>' % (prefix, prefix, prefix, prefix, prefix, errors))

else:

res = os.environ

print "Retrieve the ROS build environment by sourcing %s"%setup_file

command = ['bash', '-c', 'source %s && env'%setup_file]

proc = subprocess.Popen(command, stdout = subprocess.PIPE)

for line in proc.stdout:

(key, _, value) = line.partition("=")

res[key] = value.split('\n')[0]

proc.communicate()

if proc.returncode != 0:

msg = "Failed to source %s"%setup_file

print "/!\ %s"%msg

raise BuildException(msg)

print "Executing command '%s'"%' '.join(command)

helper = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, close_fds=True, env=envir)

res = ""

while helper.poll() is None:

output = helper.stdout.readline()

res += output

time.sleep(0.1) # TODO What is a good value here? Without this delay it's busy looping

#make sure to capture the last line(s)

output = helper.stdout.read()

res += output

if verbose:

print res

if helper.returncode != 0:

msg = "Failed to execute command '%s'"%command

print "/!\ %s"%msg

raise BuildException(msg)

import xml.etree.ElementTree as ET

tree = ET.parse(xml_path)

root = tree.getroot()

return list(set([d.text for d in root.findall('depends')] \

+ [d.text for d in root.findall('build_depends')] \

append_pymodules_if_needed()

from catkin_pkg import packages

import rospkg

depends = []

#First, we build the catkin deps

for name, path in catkin_packages.iteritems():

pkg_info = packages.parse_package(path)

depends.extend([d.name \

for d in pkg_info.buildtool_depends + pkg_info.build_depends + pkg_info.test_depends + pkg_info.run_depends \

if not d.name in catkin_packages and not d.name in depends])

#Next, we build the manifest deps for stacks

for name, path in stacks.iteritems():

stack_manifest = rospkg.parse_manifest_file(path, rospkg.STACK_FILE)

if stack_manifest.is_catkin:

depends.extend(get_catkin_stack_deps(os.path.join(path, 'stack.xml')))

else:

depends.extend([d.name \

for d in stack_manifest.depends + stack_manifest.rosdeps \

if not d.name in catkin_packages \

and not d.name in stacks \

and not d.name in depends])

#Next, we build manifest deps for packages

for name, path in manifest_packages.iteritems():

pkg_manifest = rospkg.parse_manifest_file(path, rospkg.MANIFEST_FILE)

depends.extend([d.name \

for d in pkg_manifest.depends + pkg_manifest.rosdeps \

if not d.name in catkin_packages \

and not d.name in stacks \

and not d.name in manifest_packages \

and not d.name in depends])

append_pymodules_if_needed()

from catkin_pkg import packages

import rospkg

depends = {}

#First, we build the catkin dep tree

for name, path in catkin_packages.iteritems():

depends[name] = []

pkg_info = packages.parse_package(path)

for d in pkg_info.buildtool_depends + pkg_info.build_depends + pkg_info.test_depends + pkg_info.run_depends:

if d.name in catkin_packages and d.name != name:

depends[name].append(d.name)

#Next, we build the manifest dep tree

for name, path in manifest_packages.iteritems():

manifest = rospkg.parse_manifest_file(path, rospkg.MANIFEST_FILE)

depends[name] = []

for d in manifest.depends + manifest.rosdeps:

if (d.name in catkin_packages or d.name in manifest_packages) and d.name != name:

depends[name].append(str(d.name))

#we want to make sure that we can still associate packages with paths

new_paths = []

for package in order:

old_index = [i for i, name in enumerate(packages) if package == name][0]

new_paths.append(paths[old_index])

import networkx as nx

graph = nx.DiGraph()

for name, deps in depends.iteritems():

graph.add_node(name)

graph.add_edges_from([(name, d) for d in deps])

order = nx.topological_sort(graph)

order.reverse()

# get the dependencies

print "Get the dependencies of source folder %s"%source_folder

append_pymodules_if_needed()

from catkin_pkg import packages

pkgs = packages.find_packages(source_folder)

local_packages = [p.name for p in pkgs.values()]

if len(pkgs) > 0:

print "In folder %s, found packages %s"%(source_folder, ', '.join(local_packages))

else:

raise BuildException("Found no packages in folder %s. Are you sure your packages have a packages.xml file?"%source_folder)

depends = []

for name, pkg in pkgs.iteritems():

if build_depends:

for d in pkg.build_depends + pkg.buildtool_depends:

if not d.name in depends and not d.name in local_packages:

depends.append(d.name)

if test_depends:

for d in pkg.test_depends + pkg.run_depends:

if not d.name in depends and not d.name in local_packages:

depends.append(d.name)