def output(self, new_fn=None):
if CFG.should('enforce_manifest_ordering'):
self.enforce_ordering()
if new_fn is None:
new_fn = self.fn
s = self.tree.toxml()
if not self.header:
s = s.replace('<?xml version="1.0" ?>', '').strip()
else:
s = s.replace(' ?><package>', '?>\n<package>')
if CFG.should('remove_dumb_package_comments'):
for line in IGNORE_LINES:
s = s.replace(line, '')
if CFG.should('remove_empty_package_lines'):
while '\n\n\n' in s:
s = s.replace('\n\n\n', '\n\n')
old_s = open(new_fn, 'r').read()
if old_s.strip() == s:
return
f = open(new_fn, 'w')
f.write(s)
f.write('\n')
f.close()
def update_manifest(self):
build_depends = self.get_build_dependencies()
run_depends = self.get_run_dependencies()
test_depends = self.get_test_dependencies()
self.manifest.add_packages(build_depends, run_depends, test_depends)
if len(self.files['msg']) + len(self.files['srv']) + len(
self.files['action']) > 0:
md = self.get_dependencies_from_msgs()
self.manifest.add_packages(md, md)
self.manifest.add_message_dependencies()
if CFG.should('remove_empty_export_tag'):
self.manifest.remove_empty_export()
if self.manifest.is_metapackage() and CFG.should(
'update_metapackage_deps'):
parent_path = os.path.abspath(os.path.join(self.root, '..'))
parent_folder = os.path.split(parent_path)[1]
if self.name == parent_folder:
for package in get_packages(parent_path, create_objects=False):
pkg_name = os.path.split(package)[1]
if pkg_name != self.name:
self.manifest.add_packages([], [pkg_name],
allow_depend_tag=False)
self.manifest.output()
def output(self, new_fn=None):
if CFG.should('enforce_manifest_ordering'):
self.enforce_ordering()
if CFG.should('enforce_package_tabbing'):
self.enforce_tabbing(self.root)
if self.format == 2 and CFG.should(
'consolidate_depend_in_package_xml'):
self.replace_package_set(
['build_depend', 'build_export_depend', 'exec_depend'],
'depend')
if new_fn is None:
new_fn = self.fn
s = self.tree.toxml(self.tree.encoding)
if not self.header:
s = s.replace('<?xml version="1.0" ?>', '').strip()
else:
s = s.replace('?><package', '?>\n<package')
s = s.replace(' ?>', '?>')
if CFG.should('remove_dumb_package_comments'):
s = clean_contents(s, 'package', {'package': self.name})
if CFG.should('remove_empty_package_lines'):
s = remove_blank_lines(s)
old_s = open(new_fn, 'r').read().decode('UTF-8')
if old_s.strip() == s:
return
f = open(new_fn, 'w')
f.write(s.encode('UTF-8'))
f.write('\n')
f.close()
def __init__(self, fn):
self.tree = parse(fn)
self.root = self.tree.childNodes[0]
self.header = '<?xml' in open(fn).read()
self.fn = fn
self._format = None
if self.format > 1:
raise Exception('Only catkin format 1 is supported')
tab_ct = collections.defaultdict(int)
for c in self.root.childNodes:
if c.nodeType == c.TEXT_NODE:
spaces = count_trailing_spaces(c.data)
tab_ct[spaces] += 1
self.std_tab = max(tab_ct.iteritems(), key=operator.itemgetter(1))[0]
if CFG.should('enforce_package_tabbing'):
for c in self.root.childNodes:
if c.nodeType == c.TEXT_NODE and c!=self.root.childNodes[-1]:
spaces = count_trailing_spaces(c.data)
if spaces > self.std_tab:
c.data = c.data[: self.std_tab-spaces]
elif spaces < self.std_tab:
c.data = c.data + ' '*(self.std_tab-spaces)
def add_packages(self,
build_depends,
run_depends,
test_depends=None,
allow_depend_tag=True):
if self.format == 1:
run_depends += build_depends
existing_build = self.get_packages('build')
existing_run = self.get_packages('run')
build_depends = set(build_depends) - existing_build
run_depends = set(run_depends) - existing_run
if self.format == 1:
self.insert_new_elements('build_depend', build_depends)
self.insert_new_elements('run_depend', run_depends)
elif CFG.should('always_add_depend_in_format_2') and allow_depend_tag:
self.insert_new_elements('depend',
build_depends.union(run_depends))
else:
both = build_depends.intersection(run_depends)
self.insert_new_elements('depend', both)
self.insert_new_elements('build_depend', build_depends - both)
self.insert_new_elements('exec_depend',
build_depends - both - existing_run)
self.insert_new_elements('exec_depend', run_depends - both)
if test_depends is not None and len(test_depends) > 0:
existing_test = self.get_packages('test')
test_depends = set(
test_depends) - existing_build - build_depends - existing_test
self.insert_new_elements('test_depend', test_depends)
def output(self, fn=None):
if CFG.should('enforce_cmake_ordering'):
self.enforce_ordering()
s = str(self)
if CFG.should('remove_dumb_cmake_comments'):
s = remove_all_hashes(s)
s = clean_contents(s, 'cmake', {'package': self.name})
if CFG.should('remove_empty_cmake_lines'):
s = remove_blank_lines(s)
if '(\n)' in s:
s = s.replace('(\n)', '()')
if fn is None:
fn = self.fn
with open(fn, 'w') as cmake:
cmake.write(s)
def get_build_dependencies(self):
packages = set()
if CFG.should('read_source'):
for source in self.sources:
packages.update(source.get_dependencies())
if self.name in packages:
packages.remove(self.name)
return sorted(list(packages))
def update_cmake(self):
deps = self.get_dependencies_from_msgs()
self.cmake.check_dependencies(self.get_build_dependencies() + deps)
if CFG.should('check_exported_dependencies'):
self.cmake.check_exported_dependencies(
self.name, self.get_message_dependencies())
if CFG.should('target_catkin_libraries'):
self.cmake.check_libraries()
self.cmake.check_generators(self.files['msg'], self.files['srv'],
self.files['action'], self.files['cfg'],
deps)
if self.has_header_files():
self.cmake.check_include_path()
if len(self.get_cpp_source()) > 0:
self.cmake.add_catkin_include_path()
self.cmake.check_library_setup()
setup = self.get_setup_py()
if setup and setup.valid and 'catkin_python_setup' not in self.cmake.content_map:
self.cmake.add_command_string('catkin_python_setup()')
if CFG.should('prettify_catkin_package_cmd'):
self.cmake.catkin_package_cleanup()
if CFG.should('prettify_package_lists'):
self.cmake.package_lists_cleanup()
if CFG.should('prettify_msgs_srvs'):
self.cmake.msg_srv_cleanup()
if CFG.should('prettify_installs'):
self.cmake.install_cleanup()
if CFG.should('check_installs'):
self.cmake.update_cplusplus_installs()
if setup:
self.cmake.update_python_installs(setup.execs)
if CFG.should('check_misc_installs'):
extra_files_by_folder = collections.defaultdict(list)
the_root = os.path.join(self.root, '')
for category, files in self.files.iteritems():
if category in [
'source', 'msg', 'srv', 'action', 'cfg', None
]:
continue
for fn in files:
path, base = os.path.split(fn.replace(the_root, '', 1))
if base in FILES_TO_NOT_INSTALL:
continue
extra_files_by_folder[path].append(base)
for folder, files in extra_files_by_folder.iteritems():
self.cmake.update_misc_installs(files, folder)
self.cmake.output()
def get_run_dependencies(self):
packages = set()
if CFG.should('read_launches'):
for launch in self.files['launch']:
x = Launch(launch)
packages.update(x.get_dependencies())
if self.name in packages:
packages.remove(self.name)
return sorted(list(packages))
def __repr__(self):
if CFG.should('alphabetize') and self.name in SHOULD_ALPHABETIZE:
self.values = sorted(self.values)
s = self.style.prename
if len(self.name) > 0:
s += self.name
s += self.style.name_val_sep
s += self.style.val_sep.join(self.values)
return s
def output(self, fn=None):
if CFG.should('enforce_cmake_ordering'):
self.enforce_ordering()
s = str(self)
if CFG.should('remove_dumb_cmake_comments'):
D = {'package': self.name}
for line in IGNORE_LINES:
s = s.replace(line, '')
for pattern in IGNORE_PATTERNS:
s = s.replace(pattern % D, '')
if CFG.should('remove_empty_cmake_lines'):
while '\n\n\n' in s:
s = s.replace('\n\n\n', '\n\n')
if fn is None:
fn = self.fn
with open(fn, 'w') as cmake:
cmake.write(s)
def update_cmake(self):
deps = self.get_dependencies_from_msgs()
self.cmake.check_dependencies( self.get_dependencies() + deps)
if CFG.should('check_exported_dependencies'):
self.cmake.check_exported_dependencies(self.name, self.get_message_dependencies())
self.cmake.check_generators( self.files['msg'], self.files['srv'], self.files['action'], self.files['cfg'], deps)
setup = self.get_setup_py()
if setup and setup.valid and \
'catkin_python_setup' not in self.cmake.content_map:
self.cmake.add_command('catkin_python_setup()')
if CFG.should('check_installs'):
self.cmake.update_cplusplus_installs()
if setup:
self.cmake.update_python_installs(setup.execs)
self.cmake.output()
def update_manifest(self):
for build in [True, False]:
dependencies = self.get_dependencies(build)
if build:
self.manifest.add_packages(dependencies, build)
self.manifest.add_packages(dependencies, False)
if len(self.files['msg']) + len(self.files['srv']) + len(self.files['action']) > 0:
self.manifest.add_packages(['message_runtime'], True)
if CFG.should('remove_empty_export_tag'):
self.manifest.remove_empty_export()
self.manifest.output()
def __repr__(self):
if CFG.should('alphabetize_cmake_options') and self.name in SHOULD_ALPHABETIZE:
self.values = sorted(self.values)
s = self.pre
if len(self.name)>0:
s += self.name
if self.tab is None and len(self.values)>0:
s += ' '
elif len(self.values)>0:
s += '\n' + ' ' *self.tab
if self.tab is None:
s += ' '.join(self.values)
else:
s += ('\n' + ' '*self.tab).join(self.values)
return s
def enforce_ordering(self):
chunks = []
current = []
for x in self.root.childNodes:
current.append(x)
if x.nodeType == x.ELEMENT_NODE:
chunks.append((x, current))
current = []
if len(current) > 0:
chunks.append((None, current))
self.root.childNodes = []
alpha = CFG.should('alphabetize')
key = lambda d: get_sort_key(d[0], alpha)
for a, b in sorted(chunks, key=key):
self.root.childNodes += b
def enforce_ordering(self):
chunks = []
current = []
group = None
for x in self.root.childNodes:
current.append(x)
if x.nodeType==x.ELEMENT_NODE:
chunks.append( (x, current) )
current = []
if len(current)>0:
chunks.append( (None, current) )
self.root.childNodes = []
alpha = CFG.should('alphabetize_depends')
key = lambda d: get_sort_key(d[0], alpha)
for a,b in sorted(chunks, key=key):
self.root.childNodes += b
