def __init__(self, prefix=None, version=drake.Version(), cxx_toolkit=None):
"""Build an OpenCV object.
prefix -- Prefix where OpenCV is installed. It must contain, among
other things, lib/libopencv_core.so.
"""
# Fill default arguments.
if prefix is not None:
prefix = [drake.Path(prefix)]
else:
# pkg-config opencv --variable=prefix
prefix = [drake.Path('/usr'), drake.Path('/usr/local')]
cxx_toolkit = cxx_toolkit or drake.cxx.Toolkit()
# Find the prefix
beacon = drake.Path('include/opencv2/core/version.hpp')
prefix = self._search(beacon, prefix)
# Fill the configuration.
self.__config = drake.cxx.Config()
self.__config.add_system_include_path(prefix / 'include')
self.__config.lib_path(prefix / 'lib')
self.__config.lib('opencv_core')
# Check the version
output = cxx_toolkit.preprocess(
'# include<opencv2/core/version.hpp>\nCV_MAJOR_VERSION\nCV_MINOR_VERSION\nCV_SUBMINOR_VERSION'
)
eff_version = drake.Version(*map(int, output.split('\n')[-4:-1]))
if eff_version not in version:
raise Exception('wrong OpenCV version, expected %s, got %s' %
(version, eff_version))
def __init__(self, path=None):
if path is None:
path = drake.Path('valgrind')
elif isinstance(path, Valgrind):
self.__path = drake.Path(path.__path)
self.__version = drake.Version(path.__version)
return
self.__path = drake.Path(path)
try:
output = subprocess.check_output([str(self.path), '--version'])
except Exception as e:
raise Exception('Unable to find %s' % self.path) from e
output = output.decode()
prefix = 'valgrind-'
if not output.startswith(prefix):
raise Exception('Unable to parse valgrind version: %s' % output)
output = output[len(prefix):]
self.__version = drake.Version(output)
def __init__(self, prefix=None, version=drake.Version()):
if prefix is None:
paths = [drake.Path('/usr'), drake.Path('/usr/local')]
else:
paths = [drake.Path(prefix)]
self.__prefix = self._search('bin/urbi', paths)
v = drake.cmd_output([
str(self.urbi()), '--quiet', '--expression',
'System.version;shutdown;'
])
v = v.decode('utf-8').split(' ')[1].strip().split('"')[1].split('.')
v = drake.Version(*map(int, v))
if v not in version:
raise Exception(
'Urbi SDK version (%s) does not match the requested version (%s).'
% (v, version))
self.__version = v
self.__config = drake.cxx.Config()
self.__config.add_system_include_path(self.__prefix / 'include')
self.__config.lib_path(self.__prefix / 'lib')
self.__boost = drake.cxx.boost.Boost(prefix=self.__prefix)
def find(prefix=None,
cxx_toolkit=None,
version=drake.Version(),
prefer_shared=True):
if isinstance(prefix, Qt):
if prefix.version not in version:
raise Exception('given Qt %s does not fit '
'the requested version %s' %
(prefix.version, version))
return prefix
else:
return Qt(prefix=prefix,
cxx_toolkit=cxx_toolkit,
version=version,
prefer_shared=prefer_shared)
def __init__(self, path=None):
if isinstance(path, self.__class__):
self.__path = drake.Path(path.__path)
self.__version = drake.Version(path.__version)
else:
if path is None:
self.__path = drake.Path(self.__class__.name)
else:
self.__path = drake.Path(path)
try:
output = self._get_version()
except Exception as e:
raise Exception('Unable to find %s' % self.path) from e
try:
self.__version = self._parse_version(output)
except Exception as e:
raise Exception('Unable to parse %s version from %r' % \
(self.__class.name, output)) from e
def find(python=None, version=None):
if version is None:
versions = (drake.Version(3, 6), drake.Version(3, 5),
drake.Version(3, 4), drake.Version(3,
3), drake.Version(3, 2))
elif not isinstance(version, collections.Iterable):
versions = (version, )
else: # version is already a list.
versions = version
tk = drake.cxx.Toolkit()
windows = tk.os is drake.os.windows
if python is None and drake.cxx.PkgConfig.available:
def options():
for v in versions:
yield ('python', v)
yield ('python3', v) # CentOS
yield ('python-%s' % v, v) # Gentoo
for pkg_name, version in options():
pkg = drake.cxx.PkgConfig(pkg_name, version=version)
if pkg.exists:
python3 = pkg.prefix
break
include_dir = list(
itertools.chain(('include', ),
*(('include/python%s' % v, 'include/python%sm' % v)
for v in versions)))
python = drake.cxx.find_library('pyconfig.h',
prefix=python,
include_dir=include_dir)
python_version = tk.preprocess('''\
#include <patchlevel.h>
PY_MAJOR_VERSION
PY_MINOR_VERSION''',
config=python)
python_version = python_version.split('\n')[-3:-1]
python_version = drake.Version(*map(int, python_version))
if windows:
python_bin = 'python.exe'
else:
python_bin = 'bin/python%s' % python_version
python.python_interpreter = python.prefix / python_bin
python.version = python_version
return python
def _parse_version(self, v):
return drake.Version(v)
def __init__(self,
cxx_toolkit=None,
prefix=None,
version=drake.Version(),
version_effective=None,
prefer_shared=True,
rcc=None,
qmake=None,
uic=None,
moc=None):
"""Find and create a configuration for Qt.
prefix -- Where to find Qt, should contain
include/Qt/qglobal.h among others. /usr and
/usr/local are searched by default. If relative, it
is rooted in the source tree.
version -- Requested version.
prefer_shared -- Check dynamic libraries first.
"""
self.__rcc = rcc
self.__qmake = qmake
self.__uic = uic
self.__moc = moc
self.__moc_cache = {}
self.__dependencies = {}
self.__moc_files = set()
cxx_toolkit = cxx_toolkit or drake.cxx.Toolkit()
self.__cxx_toolkit = cxx_toolkit
self.__prefer_shared = prefer_shared
include_subdirs = set(
drake.Path(p) for p in ['include', 'include/qt5'])
if prefix is None:
test = [
path.dirname() for path in cxx_toolkit.include_path
if path.basename() in include_subdirs
]
else:
test = [drake.Path(prefix)]
for i in range(len(test)):
if not test[i].absolute():
test[i] = drake.path_source() / test[i]
token = drake.Path('QtCore/qglobal.h')
tokens = list(map(lambda p: p / token, include_subdirs))
prefixes = self._search_many_all(tokens, test)
miss = []
# Try every search path
for path, include_subdir in prefixes:
include_subdir = include_subdir.without_suffix(token)
# Create basic configuration for version checking.
cfg = drake.cxx.Config()
cfg.pic = True
if not path.absolute():
path = path.without_prefix(drake.path_build())
cfg.add_system_include_path(path / include_subdir)
if version_effective is None:
try:
version_eff = cxx_toolkit.preprocess(
'#include <QtCore/qglobal.h>\nQT_VERSION',
config=cfg).split('\n')[-2].strip()
version_eff = eval(version_eff, {"__builtins__": None}, {})
version_eff = drake.Version(
version_eff >> 16,
(version_eff >> 8) % 256,
version_eff % 256,
)
# If the token doesn't exists, ignore.
except Exception as e:
continue
else:
version_eff = version_effective
if version_eff not in version:
miss.append(version_eff)
continue
# Fill configuration
self.__prefix = path
self.__cfg = cfg
for prop in self.__libraries:
setattr(self, '_Qt__config_%s_dynamic' % prop, None)
setattr(self, '_Qt__config_%s_static' % prop, None)
setattr(self, '_Qt__config_%s_dynamic_header' % prop, None)
setattr(self, '_Qt__config_%s_static_header' % prop, None)
setattr(self, '_Qt__%s_dynamic' % prop, None)
setattr(self, '_Qt__%s_static' % prop, None)
self.__version = version_eff
Qt.__include_dir = path / include_subdir
return
raise Exception(
'no matching Qt ({}) in {}. Found versions: {}.'.format(
pretty_listing(version, any=True),
pretty_listing([p for p, _ in prefixes], quantifier=True),
pretty_listing(miss)))
def _parse_version(self, v):
return drake.Version(v.split(' ')[-1])
def runtime_nodes(self):
res = []
res.append('bin/urbi')
res.append('bin/urbi-launch')
res.append('lib/gostai/engine/libuobject.so')
res.append('lib/gostai/remote/libuobject.so')
res.append('lib/gostai/uobjects/urbi/fusion.so')
res.append('lib/gostai/uobjects/urbi/logger.so')
res.append('lib/gostai/uobjects/urbi/md5.so')
res.append('lib/gostai/uobjects/urbi/process.so')
res.append('lib/gostai/uobjects/urbi/regexp.so')
res.append('lib/gostai/uobjects/urbi/rtp.so')
res.append('lib/gostai/uobjects/urbi/stream.so')
res.append('lib/libjpeg4urbi.so')
res.append('lib/libport.so')
res.append('lib/libsched.so')
res.append('lib/libserialize.so')
res.append('lib/liburbi.so')
res.append('lib/liburbijava.so.0.0.0')
res.append('share/gostai/urbi/binary.u')
res.append('share/gostai/urbi/boolean.u')
res.append('share/gostai/urbi/call-message.u')
res.append('share/gostai/urbi/channel.u')
res.append('share/gostai/urbi/code.u')
res.append('share/gostai/urbi/comparable.u')
res.append('share/gostai/urbi/component.u')
res.append('share/gostai/urbi/container.u')
res.append('share/gostai/urbi/control.u')
res.append('share/gostai/urbi/dataflow.u')
res.append('share/gostai/urbi/date.u')
res.append('share/gostai/urbi/dictionary.u')
res.append('share/gostai/urbi/directory.u')
res.append('share/gostai/urbi/duration.u')
res.append('share/gostai/urbi/enumeration.u')
res.append('share/gostai/urbi/event.u')
res.append('share/gostai/urbi/exception.u')
res.append('share/gostai/urbi/file.u')
res.append('share/gostai/urbi/float.u')
res.append('share/gostai/urbi/formatter.u')
res.append('share/gostai/urbi/global.u')
res.append('share/gostai/urbi/group.u')
res.append('share/gostai/urbi/input-stream.u')
res.append('share/gostai/urbi/job.u')
res.append('share/gostai/urbi/kernel1.u')
res.append('share/gostai/urbi/lazy.u')
res.append('share/gostai/urbi/list.u')
res.append('share/gostai/urbi/loadable.u')
res.append('share/gostai/urbi/lobby.u')
res.append('share/gostai/urbi/logger.u')
res.append('share/gostai/urbi/math.u')
res.append('share/gostai/urbi/mutex.u')
res.append('share/gostai/urbi/naming-standard.u')
res.append('share/gostai/urbi/nil.u')
res.append('share/gostai/urbi/object.u')
res.append('share/gostai/urbi/orderable.u')
res.append('share/gostai/urbi/package-info.u')
res.append('share/gostai/urbi/package-info/urbi-sdk.u')
res.append('share/gostai/urbi/package-info/libport.u')
res.append('share/gostai/urbi/path.u')
res.append('share/gostai/urbi/pattern.u')
res.append('share/gostai/urbi/platform.u')
res.append('share/gostai/urbi/process.u')
res.append('share/gostai/urbi/profile.u')
res.append('share/gostai/urbi/pubsub.u')
res.append('share/gostai/urbi/python.u')
res.append('share/gostai/urbi/range-iterable.u')
res.append('share/gostai/urbi/regexp.u')
res.append('share/gostai/urbi/require-file.u')
res.append('share/gostai/urbi/semaphore.u')
res.append('share/gostai/urbi/singleton.u')
res.append('share/gostai/urbi/socket.u')
res.append('share/gostai/urbi/stack-frame.u')
res.append('share/gostai/urbi/string.u')
res.append('share/gostai/urbi/system.u')
res.append('share/gostai/urbi/tag.u')
res.append('share/gostai/urbi/test-suite.u')
res.append('share/gostai/urbi/timeout.u')
res.append('share/gostai/urbi/traceable.u')
res.append('share/gostai/urbi/trajectory-generator.u')
res.append('share/gostai/urbi/tuple.u')
res.append('share/gostai/urbi/uobject.u')
res.append('share/gostai/urbi/updatehook-stack.u')
res.append('share/gostai/urbi/urbi.u')
res.append('share/gostai/urbi/utags.u')
res.append('share/gostai/urbi/weak-pointer.u')
if self.__version >= drake.Version(2, 7, 4):
res.append('lib/libboost_date_time.so.1.40.0')
res.append('lib/libboost_filesystem.so.1.40.0')
res.append('lib/libboost_graph.so.1.40.0')
res.append('lib/libboost_math_c99f.so.1.40.0')
res.append('lib/libboost_math_c99l.so.1.40.0')
res.append('lib/libboost_math_c99.so.1.40.0')
res.append('lib/libboost_math_tr1f.so.1.40.0')
res.append('lib/libboost_math_tr1l.so.1.40.0')
res.append('lib/libboost_math_tr1.so.1.40.0')
res.append('lib/libboost_prg_exec_monitor.so.1.40.0')
res.append('lib/libboost_program_options.so.1.40.0')
res.append('lib/libboost_regex.so.1.40.0')
res.append('lib/libboost_serialization.so.1.40.0')
res.append('lib/libboost_signals.so.1.40.0')
res.append('lib/libboost_system.so.1.40.0')
res.append('lib/libboost_thread.so.1.40.0')
res.append('lib/libboost_unit_test_framework.so.1.40.0')
res.append('lib/libboost_wave.so.1.40.0')
res.append('lib/libboost_wserialization.so.1.40.0')
res.append('lib/libicudata.so.42')
res.append('lib/libicui18n.so.42')
res.append('lib/libicuuc.so.42')
else:
res.append('lib/libboost_date_time-gcc41-mt-1_38.so.1.38.0')
res.append('lib/libboost_filesystem-gcc41-mt-1_38.so.1.38.0')
res.append('lib/libboost_graph-gcc41-mt-1_38.so.1.38.0')
res.append('lib/libboost_math_c99f-gcc41-mt-1_38.so.1.38.0')
res.append('lib/libboost_math_c99l-gcc41-mt-1_38.so.1.38.0')
res.append('lib/libboost_math_c99-gcc41-mt-1_38.so.1.38.0')
res.append('lib/libboost_math_tr1f-gcc41-mt-1_38.so.1.38.0')
res.append('lib/libboost_math_tr1l-gcc41-mt-1_38.so.1.38.0')
res.append('lib/libboost_math_tr1-gcc41-mt-1_38.so.1.38.0')
res.append('lib/libboost_prg_exec_monitor-gcc41-mt-1_38.so.1.38.0')
res.append('lib/libboost_program_options-gcc41-mt-1_38.so.1.38.0')
res.append('lib/libboost_regex-gcc41-mt-1_38.so.1.38.0')
res.append('lib/libboost_serialization-gcc41-mt-1_38.so.1.38.0')
res.append('lib/libboost_signals-gcc41-mt-1_38.so.1.38.0')
res.append('lib/libboost_system-gcc41-mt-1_38.so.1.38.0')
res.append('lib/libboost_thread-gcc41-mt-1_38.so.1.38.0')
res.append(
'lib/libboost_unit_test_framework-gcc41-mt-1_38.so.1.38.0')
res.append('lib/libboost_wave-gcc41-mt-1_38.so.1.38.0')
res.append('lib/libboost_wserialization-gcc41-mt-1_38.so.1.38.0')
return list(
map(lambda p: drake.Node('%s/%s' % (self.prefix(), p)), res))