def _package_args_handler(command, parser, options, args):
# package or stack names as args. have to convert stack names to packages.
# - overrides to enable testing
rospack = rospkg.RosPack()
rosstack = rospkg.RosStack()
lookup = _get_default_RosdepLookup(options)
loader = lookup.get_loader()
if options.rosdep_all:
if args:
parser.error("cannot specify additional arguments with -a")
else:
# let the loader filter the -a. This will take out some
# packages that are catkinized (for now).
args = loader.get_loadable_resources()
not_found = []
elif not args:
parser.error("no packages or stacks specified")
val = rospkg.expand_to_packages(args, rospack, rosstack)
packages = val[0]
not_found = val[1]
if not_found:
raise rospkg.ResourceNotFound(not_found[0], rospack.get_ros_paths())
if 0 and not packages: # disable, let individual handlers specify behavior
# possible with empty stacks
print("No packages in arguments, aborting")
return
return command_handlers[command](lookup, packages, options)
def test_expand_to_packages():
from rospkg import expand_to_packages, RosPack, RosStack
path = os.path.join(get_stack_test_path(), 's1')
rospack = RosPack(ros_paths=[path])
rosstack = RosStack(ros_paths=[path])
try:
expand_to_packages('foo', rospack, rosstack)
assert False, "should have raised ValueError"
except ValueError:
pass
valid, invalid = expand_to_packages(['foo'], rospack, rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2'])
assert not invalid
valid, invalid = expand_to_packages(['foo_pkg'], rospack, rosstack)
assert set(valid) == set(['foo_pkg'])
assert not invalid
valid, invalid = expand_to_packages(['foo', 'foo_pkg'], rospack, rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2'])
assert not invalid
valid, invalid = expand_to_packages(['foo', 'bar'], rospack, rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2', 'bar_pkg'])
assert not invalid
valid, invalid = expand_to_packages(['foo', 'bar_pkg'], rospack, rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2', 'bar_pkg'])
assert not invalid
valid, invalid = expand_to_packages(['foo', 'bar_pkg', 'bar'], rospack,
rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2', 'bar_pkg'])
assert not invalid
valid, invalid = expand_to_packages(
['foo', 'fake1', 'bar_pkg', 'bar', 'fake2'], rospack, rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2', 'bar_pkg'])
assert set(invalid) == set(['fake1', 'fake2'])
def test_expand_to_packages():
from rospkg import expand_to_packages, RosPack, RosStack
path = os.path.join(get_stack_test_path(), 's1')
rospack = RosPack(ros_paths=[path])
rosstack = RosStack(ros_paths=[path])
try:
expand_to_packages('foo', rospack, rosstack)
assert False, "should have raised ValueError"
except ValueError:
pass
valid, invalid = expand_to_packages(['foo'], rospack, rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2'])
assert not invalid
valid, invalid = expand_to_packages(['foo_pkg'], rospack, rosstack)
assert set(valid) == set(['foo_pkg'])
assert not invalid
valid, invalid = expand_to_packages(['foo', 'foo_pkg'], rospack, rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2'])
assert not invalid
valid, invalid = expand_to_packages(['foo', 'bar'], rospack, rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2', 'bar_pkg'])
assert not invalid
valid, invalid = expand_to_packages(['foo', 'bar_pkg'], rospack, rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2', 'bar_pkg'])
assert not invalid
valid, invalid = expand_to_packages(['foo', 'bar_pkg', 'bar'], rospack, rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2', 'bar_pkg'])
assert not invalid
valid, invalid = expand_to_packages(['foo', 'fake1', 'bar_pkg', 'bar', 'fake2'], rospack, rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2', 'bar_pkg'])
assert set(invalid) == set(['fake1', 'fake2'])
def expand_to_packages(names, env=None):
"""
Expand names into a list of packages. Names can either be of packages or stacks.
@param names: names of stacks or packages
@type names: [str]
@return: ([packages], [not_found]). expand_packages() returns two
lists. The first is of packages names. The second is a list of
names for which no matching stack or package was found. Lists may have duplicates.
@rtype: ([str], [str])
"""
if env is None:
env = os.environ
ros_paths = rospkg.get_ros_paths(env)
rospack = rospkg.RosPack(ros_paths)
rosstack = rospkg.RosStack(ros_paths)
return rospkg.expand_to_packages(names, rospack, rosstack)
def expand_to_packages(names, env=None):
"""
Expand names into a list of packages. Names can either be of packages or stacks.
@param names: names of stacks or packages
@type names: [str]
@return: ([packages], [not_found]). expand_packages() returns two
lists. The first is of packages names. The second is a list of
names for which no matching stack or package was found. Lists may have duplicates.
@rtype: ([str], [str])
"""
if env is None:
env = os.environ
ros_paths = rospkg.get_ros_paths(env)
rospack = rospkg.RosPack(ros_paths)
rosstack = rospkg.RosStack(ros_paths)
return rospkg.expand_to_packages(names, rospack, rosstack)
def _package_args_handler(command, parser, options, args):
if options.rosdep_all:
if args:
parser.error('cannot specify additional arguments with -a')
else:
# let the loader filter the -a. This will take out some
# packages that are catkinized (for now).
lookup = _get_default_RosdepLookup(options)
loader = lookup.get_loader()
args = loader.get_loadable_resources()
not_found = []
elif not args:
parser.error('no packages or stacks specified')
# package or stack names as args. have to convert stack names to packages.
# - overrides to enable testing
packages = []
not_found = []
if options.from_paths:
for path in args:
if options.verbose:
print("Using argument '{0}' as a path to search.".format(path))
if not os.path.exists(path):
print("given path '{0}' does not exist".format(path))
return 1
path = os.path.abspath(path)
if 'ROS_PACKAGE_PATH' not in os.environ:
os.environ['ROS_PACKAGE_PATH'] = '{0}'.format(path)
else:
os.environ['ROS_PACKAGE_PATH'] = '{0}{1}{2}'.format(
path, os.pathsep, os.environ['ROS_PACKAGE_PATH'])
pkgs = find_catkin_packages_in(path, options.verbose)
packages.extend(pkgs)
# Make packages list unique
packages = list(set(packages))
else:
rospack = rospkg.RosPack()
rosstack = rospkg.RosStack()
val = rospkg.expand_to_packages(args, rospack, rosstack)
packages = val[0]
not_found = val[1]
if not_found:
raise rospkg.ResourceNotFound(not_found[0], rospack.get_ros_paths())
# Handle the --ignore-src option
if command in ['install', 'check'] and options.ignore_src:
if options.verbose:
print('Searching ROS_PACKAGE_PATH for '
'sources: ' + str(os.environ['ROS_PACKAGE_PATH'].split(':')))
ws_pkgs = get_workspace_packages()
for path in os.environ['ROS_PACKAGE_PATH'].split(':'):
path = os.path.abspath(path.strip())
if os.path.exists(path):
pkgs = find_catkin_packages_in(path, options.verbose)
ws_pkgs.extend(pkgs)
elif options.verbose:
print('Skipping non-existent path ' + path)
set_workspace_packages(ws_pkgs)
lookup = _get_default_RosdepLookup(options)
# Handle the --skip-keys option by pretending that they are packages in the catkin workspace
if command in ['install', 'check'] and options.skip_keys:
if options.verbose:
print('Skipping the specified rosdep keys:\n- ' +
'\n- '.join(options.skip_keys))
lookup.skipped_keys = options.skip_keys
if 0 and not packages: # disable, let individual handlers specify behavior
# possible with empty stacks
print('No packages in arguments, aborting')
return
return command_handlers[command](lookup, packages, options)
def main(self):
"""
main command-line entrypoint
"""
parser = OptionParser(
usage="usage: %prog [options] [PACKAGE]...",
description=
"rosmake recursively builds all dependencies before building a package",
prog='rosmake')
parser.add_option("--test-only",
dest="test_only",
default=False,
action="store_true",
help="only run tests")
parser.add_option("-t",
dest="test",
default=False,
action="store_true",
help="build and test packages")
parser.add_option("-a",
"--all",
dest="build_all",
default=False,
action="store_true",
help="select all packages")
parser.add_option(
"-i",
"--mark-installed",
dest="mark_installed",
default=False,
action="store_true",
help=
"On successful build, mark specified packages as installed with ROS_NOBUILD"
)
parser.add_option(
"-u",
"--unmark-installed",
dest="unmark_installed",
default=False,
action="store_true",
help=
"Remove ROS_NOBUILD from the specified packages. This will not build anything."
)
parser.add_option("-v",
dest="verbose",
default=False,
action="store_true",
help="display errored builds")
parser.add_option("-r",
"-k",
"--robust",
dest="best_effort",
default=False,
action="store_true",
help="do not stop build on error")
parser.add_option("--build-everything",
dest="robust",
default=False,
action="store_true",
help="build all packages regardless of errors")
parser.add_option("-V",
dest="full_verbose",
default=False,
action="store_true",
help="display all builds")
parser.add_option(
"-s",
"--specified-only",
dest="specified_only",
default=False,
action="store_true",
help="only build packages specified on the command line")
parser.add_option("--buildtest",
dest="buildtest",
action="append",
help="package to buildtest")
parser.add_option("--buildtest1",
dest="buildtest1",
action="append",
help="package to buildtest1")
parser.add_option("--output",
dest="output_dir",
action="store",
help="where to output results")
parser.add_option("--pre-clean",
dest="pre_clean",
action="store_true",
help="run make clean first")
parser.add_option("--bootstrap",
dest="bootstrap",
default=False,
action="store_true",
help="DEPRECATED, UNUSED")
parser.add_option("--disable-logging",
dest="logging_enabled",
default=True,
action="store_false",
help="turn off all logs")
parser.add_option("--target",
dest="target",
action="store",
help="run make with this target")
parser.add_option(
"--pjobs",
dest="ros_parallel_jobs",
type="int",
action="store",
help=
"Override ROS_PARALLEL_JOBS environment variable with this number of jobs."
)
parser.add_option("--threads",
dest="threads",
type="int",
default=os.environ.get("ROSMAKE_THREADS",
parallel_build.num_cpus()),
action="store",
help="Build up to N packages in parallel")
parser.add_option("--profile",
dest="print_profile",
default=False,
action="store_true",
help="print time profile after build")
parser.add_option(
"--skip-blacklist",
dest="skip_blacklist",
default=False,
action="store_true",
help=
"skip packages containing a file called ROS_BUILD_BLACKLIST (Default behavior will ignore the presence of ROS_BUILD_BLACKLIST)"
)
parser.add_option(
"--skip-blacklist-osx",
dest="skip_blacklist_osx",
default=False,
action="store_true",
help=
"deprecated option. it will do nothing, please use platform declarations and --require-platform instead"
)
parser.add_option(
"--status-rate",
dest="status_update_rate",
action="store",
help="How fast to update the status bar in Hz. Default: 5Hz")
options, args = parser.parse_args()
self.printer.print_all('rosmake starting...')
rospack = self.rospack
rosstack = self.rosstack
testing = False
building = True
if options.test_only:
testing = True
building = False
elif options.test:
testing = True
if options.ros_parallel_jobs:
self.ros_parallel_jobs = options.ros_parallel_jobs
self.robust_build = options.robust
self.best_effort = options.best_effort
self.threads = options.threads
self.skip_blacklist = options.skip_blacklist
if options.skip_blacklist_osx:
self.printer.print_all(
"Option --skip-blacklist-osx is deprecated. It will do nothing, please use platform declarations and --require-platform instead"
)
self.logging_enabled = options.logging_enabled
# pass through verbosity options
self.printer.full_verbose = options.full_verbose
self.printer.verbose = options.verbose
if options.status_update_rate:
if float(options.status_update_rate) > 0:
self.printer.duration = 1.0 / float(options.status_update_rate)
else:
self.printer.duration = 0
packages = []
#load packages from arguments
if options.build_all:
packages = [
x for x in rospack.list()
if not self.rospack.get_manifest(x).is_catkin
]
self.printer.print_all("Building all packages")
else: # no need to extend if all already selected
if options.buildtest:
for p in options.buildtest:
packages.extend(self.rospack.get_depends_on(p))
self.printer.print_all(
"buildtest requested for package %s adding it and all dependent packages: "
% p)
if options.buildtest1:
for p in options.buildtest1:
packages.extend(
self.rospack.get_depends_on(p, implicit=False))
self.printer.print_all(
"buildtest1 requested for package %s adding it and all depends-on1 packages: "
% p)
if len(packages) == 0 and len(args) == 0:
p = os.path.basename(os.path.abspath('.'))
try:
if os.path.samefile(rospack.get_path(p), '.'):
packages = [p]
self.printer.print_all(
"No package specified. Building %s" % packages)
else:
self.printer.print_all(
"No package selected and the current directory is not the correct path for package '%s'."
% p)
except rospkg.ResourceNotFound as ex:
try:
stack_dir = rosstack.get_path(p)
if os.path.samefile(stack_dir, '.'):
packages = [p]
self.printer.print_all(
"No package specified. Building stack %s" %
packages)
else:
self.printer.print_all(
"No package or stack arguments and the current directory is not the correct path for stack '%s'. Stack directory is: %s."
% (p, rosstack.get_path(p)))
except:
self.printer.print_all(
"No package or stack specified. And current directory '%s' is not a package name or stack name."
% p)
else:
packages.extend(args)
self.printer.print_all("Packages requested are: %s" % packages)
# Setup logging
if self.logging_enabled:
date_time_stamp = "rosmake_output-" + time.strftime(
"%Y%m%d-%H%M%S")
if options.output_dir:
#self.log_dir = os.path.join(os.getcwd(), options.output_dir, date_time_stamp);
self.log_dir = os.path.abspath(options.output_dir)
else:
self.log_dir = os.path.join(rospkg.get_ros_home(), "rosmake",
date_time_stamp)
self.printer.print_all("Logging to directory %s" % self.log_dir)
if os.path.exists(
self.log_dir) and not os.path.isdir(self.log_dir):
self.printer.print_all(
"Log destination %s is a file; please remove it or choose a new destination"
% self.log_dir)
sys.exit(1)
if not os.path.exists(self.log_dir):
self.printer.print_verbose("%s doesn't exist: creating" %
self.log_dir)
makedirs_with_parent_perms(self.log_dir)
self.printer.print_verbose("Finished setting up logging")
stacks_arguments = [s for s in packages if s in rosstack.list()]
(self.specified_packages,
self.rejected_packages) = rospkg.expand_to_packages(
packages, rospack, rosstack)
self.printer.print_all("Expanded args %s to:\n%s" %
(packages, self.specified_packages))
if self.rejected_packages:
self.printer.print_all(
"WARNING: The following args could not be parsed as stacks or packages: %s"
% self.rejected_packages)
if len(self.specified_packages) + len(stacks_arguments) == 0:
self.printer.print_all(
"ERROR: No arguments could be parsed into valid package or stack names."
)
self.printer.running = False
return False
if options.unmark_installed:
for p in self.specified_packages:
if self.flag_tracker.remove_nobuild(p):
self.printer.print_all("Removed ROS_NOBUILD from %s" % p)
self.printer.running = False
return True
required_packages = self.specified_packages[:]
# catch packages of dependent stacks when specified stack is zero-sized #3528
# add them to required list but not the specified list.
for s in stacks_arguments:
if not rosstack.packages_of(s):
for d in rosstack.get_depends(s, implicit=False):
try:
required_packages.extend(rosstack.packages_of(d))
except ResourceNotFound:
self.printer.print_all(
'WARNING: The stack "%s" was not found. We will assume it is using the new buildsystem and try to continue...'
% d)
# deduplicate required_packages
required_packages = list(set(required_packages))
# make sure all dependencies are satisfied and if not warn
buildable_packages = []
for p in required_packages:
(buildable, error,
str) = self.flag_tracker.can_build(p, self.skip_blacklist, [],
False)
if buildable:
buildable_packages.append(p)
#generate the list of packages necessary to build(in order of dependencies)
counter = 0
for p in required_packages:
counter = counter + 1
self.printer.print_verbose(
"Processing %s and all dependencies(%d of %d requested)" %
(p, counter, len(packages)))
self.build_or_recurse(p)
# remove extra packages if specified-only flag is set
if options.specified_only:
new_list = []
for pkg in self.build_list:
if pkg in self.specified_packages:
new_list.append(pkg)
self.dependency_tracker = parallel_build.DependencyTracker(
self.specified_packages, rospack=self.rospack
) # this will make the tracker only respond to packages in the list
self.printer.print_all(
"specified-only option was used, only building packages %s" %
new_list)
self.build_list = new_list
if options.pre_clean:
build_queue = parallel_build.BuildQueue(
self.build_list,
parallel_build.DependencyTracker([], rospack=self.rospack),
robust_build=True)
self.parallel_build_pkgs(build_queue,
"clean",
threads=options.threads)
build_passed = True
if building:
self.printer.print_verbose("Building packages %s" %
self.build_list)
build_queue = parallel_build.BuildQueue(self.build_list,
self.dependency_tracker,
robust_build=options.robust
or options.best_effort)
if None not in self.result.keys():
self.result[None] = {}
build_passed = self.parallel_build_pkgs(build_queue,
options.target,
threads=options.threads)
tests_passed = True
if build_passed and testing:
self.printer.print_verbose("Testing packages %s" % packages)
build_queue = parallel_build.BuildQueue(
self.specified_packages,
parallel_build.DependencyTracker(self.specified_packages,
rospack=self.rospack),
robust_build=True)
tests_passed = self.parallel_build_pkgs(build_queue,
"test",
threads=1)
if options.mark_installed:
if build_passed and tests_passed:
for p in self.specified_packages:
if self.flag_tracker.add_nobuild(p):
self.printer.print_all(
"Marking %s as installed with a ROS_NOBUILD file" %
p)
else:
self.printer.print_all(
"All builds and tests did not pass cannot mark packages as installed. "
)
self.finish_time = time.time() #note: before profiling
self.generate_summary_output(self.log_dir)
if options.print_profile:
self.printer.print_all(self.get_profile_string())
self.printer.running = False
return build_passed and tests_passed
def _package_args_handler(command, parser, options, args):
if options.rosdep_all:
if args:
parser.error("cannot specify additional arguments with -a")
else:
# let the loader filter the -a. This will take out some
# packages that are catkinized (for now).
lookup = _get_default_RosdepLookup(options)
loader = lookup.get_loader()
args = loader.get_loadable_resources()
not_found = []
elif not args:
parser.error("no packages or stacks specified")
# package or stack names as args. have to convert stack names to packages.
# - overrides to enable testing
packages = []
not_found = []
if options.from_paths:
for path in args:
if options.verbose:
print("Using argument '{0}' as a path to search.".format(path))
if not os.path.exists(path):
print("given path '{0}' does not exist".format(path))
return 1
path = os.path.abspath(path)
if 'ROS_PACKAGE_PATH' not in os.environ:
os.environ['ROS_PACKAGE_PATH'] = '{0}'.format(path)
else:
os.environ['ROS_PACKAGE_PATH'] += ':{0}'.format(path)
pkgs = find_catkin_packages_in(path, options.verbose)
packages.extend(pkgs)
# Make packages list unique
packages = list(set(packages))
else:
rospack = rospkg.RosPack()
rosstack = rospkg.RosStack()
val = rospkg.expand_to_packages(args, rospack, rosstack)
packages = val[0]
not_found = val[1]
if not_found:
raise rospkg.ResourceNotFound(not_found[0], rospack.get_ros_paths())
# Handle the --ignore-src option
if command in ['install', 'check'] and options.ignore_src:
if options.verbose:
print("Searching ROS_PACKAGE_PATH for "
"sources: " + str(os.environ['ROS_PACKAGE_PATH'].split(':')))
ws_pkgs = get_workspace_packages()
for path in os.environ['ROS_PACKAGE_PATH'].split(':'):
path = os.path.abspath(path.strip())
if os.path.exists(path):
pkgs = find_catkin_packages_in(path, options.verbose)
ws_pkgs.extend(pkgs)
elif options.verbose:
print("Skipping non-existent path " + path)
set_workspace_packages(ws_pkgs)
lookup = _get_default_RosdepLookup(options)
if 0 and not packages: # disable, let individual handlers specify behavior
# possible with empty stacks
print("No packages in arguments, aborting")
return
return command_handlers[command](lookup, packages, options)
def main(self):
"""
main command-line entrypoint
"""
parser = OptionParser(usage="usage: %prog [options] [PACKAGE]...",
description="rosmake recursively builds all dependencies before building a package", prog='rosmake')
parser.add_option("--test-only", dest="test_only", default=False,
action="store_true", help="only run tests")
parser.add_option("-t", dest="test", default=False,
action="store_true", help="build and test packages")
parser.add_option("-a", "--all", dest="build_all", default=False,
action="store_true", help="select all packages")
parser.add_option("-i", "--mark-installed", dest="mark_installed", default=False,
action="store_true", help="On successful build, mark specified packages as installed with ROS_NOBUILD")
parser.add_option("-u", "--unmark-installed", dest="unmark_installed", default=False,
action="store_true", help="Remove ROS_NOBUILD from the specified packages. This will not build anything.")
parser.add_option("-v", dest="verbose", default=False,
action="store_true", help="display errored builds")
parser.add_option("-r","-k", "--robust", dest="best_effort", default=False,
action="store_true", help="do not stop build on error")
parser.add_option("--build-everything", dest="robust", default=False,
action="store_true", help="build all packages regardless of errors")
parser.add_option("-V", dest="full_verbose", default=False,
action="store_true", help="display all builds")
parser.add_option("-s", "--specified-only", dest="specified_only", default=False,
action="store_true", help="only build packages specified on the command line")
parser.add_option("--buildtest", dest="buildtest",
action="append", help="package to buildtest")
parser.add_option("--buildtest1", dest="buildtest1",
action="append", help="package to buildtest1")
parser.add_option("--output", dest="output_dir",
action="store", help="where to output results")
parser.add_option("--pre-clean", dest="pre_clean",
action="store_true", help="run make clean first")
parser.add_option("--bootstrap", dest="bootstrap", default=False,
action="store_true", help="DEPRECATED, UNUSED")
parser.add_option("--disable-logging", dest="logging_enabled", default=True,
action="store_false", help="turn off all logs")
parser.add_option("--target", dest="target",
action="store", help="run make with this target")
parser.add_option("--pjobs", dest="ros_parallel_jobs", type="int",
action="store", help="Override ROS_PARALLEL_JOBS environment variable with this number of jobs.")
parser.add_option("--threads", dest="threads", type="int", default = os.environ.get("ROSMAKE_THREADS", parallel_build.num_cpus()),
action="store", help="Build up to N packages in parallel")
parser.add_option("--profile", dest="print_profile", default=False,
action="store_true", help="print time profile after build")
parser.add_option("--skip-blacklist", dest="skip_blacklist",
default=False, action="store_true",
help="skip packages containing a file called ROS_BUILD_BLACKLIST (Default behavior will ignore the presence of ROS_BUILD_BLACKLIST)")
parser.add_option("--skip-blacklist-osx", dest="skip_blacklist_osx",
default=False, action="store_true",
help="deprecated option. it will do nothing, please use platform declarations and --require-platform instead")
parser.add_option("--status-rate", dest="status_update_rate",
action="store", help="How fast to update the status bar in Hz. Default: 5Hz")
options, args = parser.parse_args()
self.printer.print_all('rosmake starting...')
rospack = self.rospack
rosstack = self.rosstack
testing = False
building = True
if options.test_only:
testing = True
building = False
elif options.test:
testing = True
if options.ros_parallel_jobs:
self.ros_parallel_jobs = options.ros_parallel_jobs
self.robust_build = options.robust
self.best_effort = options.best_effort
self.threads = options.threads
self.skip_blacklist = options.skip_blacklist
if options.skip_blacklist_osx:
self.printer.print_all("Option --skip-blacklist-osx is deprecated. It will do nothing, please use platform declarations and --require-platform instead");
self.logging_enabled = options.logging_enabled
# pass through verbosity options
self.printer.full_verbose = options.full_verbose
self.printer.verbose = options.verbose
if options.status_update_rate:
if float(options.status_update_rate)> 0:
self.printer.duration = 1.0/float(options.status_update_rate)
else:
self.printer.duration = 0
packages = []
#load packages from arguments
if options.build_all:
packages = [x for x in rospack.list() if not self.rospack.get_manifest(x).is_catkin]
self.printer.print_all( "Building all packages")
else: # no need to extend if all already selected
if options.buildtest:
for p in options.buildtest:
packages.extend(self.rospack.get_depends_on(p))
self.printer.print_all( "buildtest requested for package %s adding it and all dependent packages: "%p)
if options.buildtest1:
for p in options.buildtest1:
packages.extend(self.rospack.get_depends_on(p, implicit=False))
self.printer.print_all( "buildtest1 requested for package %s adding it and all depends-on1 packages: "%p)
if len(packages) == 0 and len(args) == 0:
p = os.path.basename(os.path.abspath('.'))
try:
if os.path.samefile(rospack.get_path(p), '.'):
packages = [p]
self.printer.print_all( "No package specified. Building %s"%packages)
else:
self.printer.print_all("No package selected and the current directory is not the correct path for package '%s'."%p)
except rospkg.ResourceNotFound as ex:
try:
stack_dir = rosstack.get_path(p)
if os.path.samefile(stack_dir, '.'):
packages = [p]
self.printer.print_all( "No package specified. Building stack %s"%packages)
else:
self.printer.print_all("No package or stack arguments and the current directory is not the correct path for stack '%s'. Stack directory is: %s."%(p, rosstack.get_path(p)))
except:
self.printer.print_all("No package or stack specified. And current directory '%s' is not a package name or stack name."%p)
else:
packages.extend(args)
self.printer.print_all( "Packages requested are: %s"%packages)
# Setup logging
if self.logging_enabled:
date_time_stamp = "rosmake_output-" + time.strftime("%Y%m%d-%H%M%S")
if options.output_dir:
#self.log_dir = os.path.join(os.getcwd(), options.output_dir, date_time_stamp);
self.log_dir = os.path.abspath(options.output_dir)
else:
self.log_dir = os.path.join(rospkg.get_ros_home(), "rosmake", date_time_stamp);
self.printer.print_all("Logging to directory %s"%self.log_dir)
if os.path.exists (self.log_dir) and not os.path.isdir(self.log_dir):
self.printer.print_all( "Log destination %s is a file; please remove it or choose a new destination"%self.log_dir)
sys.exit(1)
if not os.path.exists (self.log_dir):
self.printer.print_verbose("%s doesn't exist: creating"%self.log_dir)
makedirs_with_parent_perms(self.log_dir)
self.printer.print_verbose("Finished setting up logging")
stacks_arguments = [s for s in packages if s in rosstack.list()]
(self.specified_packages, self.rejected_packages) = rospkg.expand_to_packages(packages, rospack, rosstack)
self.printer.print_all("Expanded args %s to:\n%s"%(packages, self.specified_packages))
if self.rejected_packages:
self.printer.print_all("WARNING: The following args could not be parsed as stacks or packages: %s"%self.rejected_packages)
if len(self.specified_packages) + len(stacks_arguments) == 0:
self.printer.print_all("ERROR: No arguments could be parsed into valid package or stack names.")
self.printer.running = False
return False
if options.unmark_installed:
for p in self.specified_packages:
if self.flag_tracker.remove_nobuild(p):
self.printer.print_all("Removed ROS_NOBUILD from %s"%p)
self.printer.running = False
return True
required_packages = self.specified_packages[:]
# catch dependent packages which are inside of zero sized stacks #3528
# add them to required list but not the specified list.
for s in stacks_arguments:
for d in rosstack.get_depends(s, implicit=False):
required_packages.extend(rosstack.packages_of(d))
# deduplicate required_packages
required_packages = list(set(required_packages))
# make sure all dependencies are satisfied and if not warn
buildable_packages = []
for p in required_packages:
(buildable, error, str) = self.flag_tracker.can_build(p, self.skip_blacklist, [], False)
if buildable:
buildable_packages.append(p)
#generate the list of packages necessary to build(in order of dependencies)
counter = 0
for p in required_packages:
counter = counter + 1
self.printer.print_verbose( "Processing %s and all dependencies(%d of %d requested)"%(p, counter, len(packages)))
self.build_or_recurse(p)
# remove extra packages if specified-only flag is set
if options.specified_only:
new_list = []
for pkg in self.build_list:
if pkg in self.specified_packages:
new_list.append(pkg)
self.dependency_tracker = parallel_build.DependencyTracker(self.specified_packages, rospack=self.rospack) # this will make the tracker only respond to packages in the list
self.printer.print_all("specified-only option was used, only building packages %s"%new_list)
self.build_list = new_list
if options.pre_clean:
build_queue = parallel_build.BuildQueue(self.build_list, parallel_build.DependencyTracker([], rospack=self.rospack), robust_build = True)
self.parallel_build_pkgs(build_queue, "clean", threads = options.threads)
build_passed = True
if building:
self.printer.print_verbose ("Building packages %s"% self.build_list)
build_queue = parallel_build.BuildQueue(self.build_list, self.dependency_tracker, robust_build = options.robust or options.best_effort)
if None not in self.result.keys():
self.result[None] = {}
build_passed = self.parallel_build_pkgs(build_queue, options.target, threads = options.threads)
tests_passed = True
if build_passed and testing:
self.printer.print_verbose ("Testing packages %s"% packages)
build_queue = parallel_build.BuildQueue(self.specified_packages, parallel_build.DependencyTracker(self.specified_packages, rospack=self.rospack), robust_build = True)
tests_passed = self.parallel_build_pkgs(build_queue, "test", threads = 1)
if options.mark_installed:
if build_passed and tests_passed:
for p in self.specified_packages:
if self.flag_tracker.add_nobuild(p):
self.printer.print_all("Marking %s as installed with a ROS_NOBUILD file"%p)
else:
self.printer.print_all("All builds and tests did not pass cannot mark packages as installed. ")
self.finish_time = time.time() #note: before profiling
self.generate_summary_output(self.log_dir)
if options.print_profile:
self.printer.print_all (self.get_profile_string())
self.printer.running = False
return build_passed and tests_passed