def test_resolve_dep_oe(self):
"""Test resolve dependency with OpenEmbedded"""
self.assertEqual(resolve_dep('tinyxml2', 'openembedded')[0],
['libtinyxml2@meta-oe'])
# Note: since p2os_msgs is a ROS package, rosdep resolve will fail
with self.assertRaises(UnresolvedDependency):
resolved_deps = resolve_dep('p2os_msgs', 'openembedded')
def get_dependencies(
self, internal_depends, external_depends, is_native=False):
dependencies = set()
system_dependencies = set()
union_deps = internal_depends | external_depends
if len(union_deps) <= 0:
return dependencies, system_dependencies
for dep in union_deps:
if dep in internal_depends:
recipe = self.convert_to_oe_name(dep, is_native)
dependencies.add(recipe)
info('Internal dependency add: ' + recipe)
continue
try:
results = resolve_dep(dep, 'openembedded', self.distro)[0]
if not results:
yoctoRecipe.rosdep_cache[dep] = []
continue
for res in results:
recipe = self.convert_to_oe_name(res, is_native)
dependencies.add(recipe)
system_dependencies.add(self.convert_to_oe_name(res))
yoctoRecipe.rosdep_cache[dep].add(res)
info('External dependency add: ' + recipe)
except UnresolvedDependency:
info('Unresolved dependency: ' + dep)
if dep in yoctoRecipe.rosdep_cache:
cached_deps = yoctoRecipe.rosdep_cache[dep]
if cached_deps == set(['null']):
system_dependencies.add(dep)
recipe = dep + self.get_native_suffix(is_native)
dependencies.add(recipe)
msg = 'Failed to resolve (cached):'
warn('{0} {1}: {2}'.format(msg, dep, recipe))
elif cached_deps:
system_dependencies |= cached_deps
for d in cached_deps:
recipe = self.convert_to_oe_name(d, is_native)
dependencies.add(recipe)
msg = 'Resolved in OpenEmbedded (cached):'
info('{0} {1}: {2}'.format(msg, dep, recipe))
continue
oe_query = OpenEmbeddedLayersDB()
oe_query.query_recipe(self.convert_to_oe_name(dep))
if oe_query.exists():
recipe = self.convert_to_oe_name(oe_query.name, is_native)
dependencies.add(recipe)
oe_name = self.convert_to_oe_name(oe_query.name)
system_dependencies.add(oe_name)
yoctoRecipe.rosdep_cache[dep].add(oe_name)
info('Resolved in OpenEmbedded: ' + dep + ' as ' +
oe_query.name + ' in ' + oe_query.layer +
' as recipe ' + recipe)
else:
recipe = dep + self.get_native_suffix(is_native)
dependencies.add(recipe)
system_dependencies.add(dep)
yoctoRecipe.rosdep_cache[dep].add('null')
warn('Failed to resolve fully: ' + dep)
return dependencies, system_dependencies
def get_recipe_text(self, distributor, license_text, die_msg=None):
"""
Generate the Yocto Recipe, given the distributor line
and the license text.
"""
ret = "# Copyright " + strftime("%Y", gmtime()) + " "
ret += distributor + "\n"
ret += '# Distributed under the terms of the ' + license_text
ret += ' license\n\n'
# description
if self.description:
self.description = self.description.replace('\n', ' ')
ret += 'DESCRIPTION = "' + self.description + '"\n'
else:
ret += 'DESCRIPTION = "None"\n'
# author
ret += 'AUTHOR = "' + self.author + '"\n'
# section
ret += 'SECTION = "devel"\n'
self.get_license_line()
if isinstance(self.license, str):
ret += 'LICENSE = "%s"\n' % get_license(self.license)
elif isinstance(self.license, list):
ret += 'LICENSE = "'
ret += ' & '.join([get_license(l) for l in self.license]) + '"\n'
ret += 'LIC_FILES_CHKSUM = "file://package.xml;beginline='
ret += str(self.license_line)
ret += ';endline='
ret += str(self.license_line)
ret += ';md5='
ret += str(self.license_md5)
ret += '"\n\n'
# DEPEND
first = True
ret += 'DEPENDS = "'
for dep in sorted(self.depends):
if not first:
ret += ' '
ret += resolve_dep(dep, 'oe')
first = False
ret += '"\n'
# SRC_URI
self.src_uri = self.src_uri.replace(self.name, '${PN}')
ret += 'SRC_URI = "' + self.src_uri + ';'
ret += 'downloadfilename=${ROS_SP}.tar.gz"\n\n'
ret += 'SRC_URI[md5sum] = "' + self.src_md5 + '"\n'
ret += 'SRC_URI[sha256sum] = "' + self.src_sha256 + '"\n'
ret += 'S = "${WORKDIR}/'
ret += self.get_src_location() + '"\n\n'
ret += 'inherit catkin\n'
return ret
def get_dependencies(self,
internal_depends,
external_depends,
is_native=False):
dependencies = set()
system_dependencies = set()
union_deps = internal_depends | external_depends
if len(union_deps) <= 0:
return dependencies, system_dependencies
for dep in union_deps:
if dep in internal_depends:
recipe = self.convert_to_oe_name(dep, is_native)
recipe = "ros{0}-{1}".format(
self._get_ros_version(self.distro), recipe)
dependencies.add(recipe)
info('Internal dependency add: ' + recipe)
continue
try:
results = resolve_dep(dep, 'openembedded', self.distro)[0]
if not results:
yoctoRecipe.rosdep_cache[dep] = []
continue
for res in results:
recipe = self.convert_to_oe_name(res, is_native)
dependencies.add(recipe)
system_dependencies.add(recipe)
yoctoRecipe.rosdep_cache[dep].add(res)
info('External dependency add: ' + recipe)
except UnresolvedDependency:
unresolved_name = UNRESOLVED_PLATFORM_PKG_REFERENCE_PREFIX\
+ dep + '}'
recipe = self.convert_to_oe_name(unresolved_name, is_native)
dependencies.add(recipe)
system_dependencies.add(recipe)
# Never add -native.
rosdep_name = self.convert_to_oe_name(unresolved_name, False)
yoctoRecipe.rosdep_cache[dep].add(rosdep_name)
info('Unresolved external dependency add: ' + recipe)
return dependencies, system_dependencies
def get_dependencies(
self, internal_depends, external_depends, is_native=False):
dependencies = set()
system_dependencies = set()
union_deps = internal_depends | external_depends
if len(union_deps) <= 0:
return dependencies, system_dependencies
for dep in union_deps:
if dep in internal_depends:
recipe = self.convert_to_oe_name(dep, is_native)
dependencies.add(recipe)
info('Internal dependency add: ' + recipe)
continue
try:
results = resolve_dep(dep, 'openembedded', self.distro)[0]
if not results:
yoctoRecipe.rosdep_cache[dep] = []
continue
for res in results:
recipe = self.convert_to_oe_name(res, is_native)
dependencies.add(recipe)
system_dependencies.add(recipe)
yoctoRecipe.rosdep_cache[dep].add(res)
info('External dependency add: ' + recipe)
except UnresolvedDependency:
oe_dep = self.convert_to_oe_name(dep, is_native)
recipe = UNRESOLVED_DEP_REF_PREFIX\
+ oe_dep + '}'
dependencies.add(recipe)
system_dependencies.add(recipe)
# Never add -native.
rosdep_dep = self.convert_to_oe_name(dep, False)
rosdep_name = UNRESOLVED_DEP_REF_PREFIX\
+ rosdep_dep + '}'
yoctoRecipe.rosdep_cache[dep].add(rosdep_name)
info('Unresolved external dependency add: ' + recipe)
return dependencies, system_dependencies
def test_unknown_platform(self):
"""Test resolve_dep with bad OS"""
with self.assertRaises(UnknownPlatform):
ret = resolve_dep('cmake', 'Windoughs8')
def test_resolve_dep_oe(self):
"""Test resolve dependency with Open Embedded"""
# Note(allenh1): we're not going to test the hard-coded resolutions.
self.assertEqual(resolve_dep('tinyxml2', 'oe'), 'libtinyxml2')
self.assertEqual(resolve_dep('p2os_msgs', 'oe'), 'p2os-msgs')
def get_recipe_text(self, distributor, license_text):
"""
Generate the Yocto Recipe, given the distributor line
and the license text.
"""
ret = "# Copyright " + strftime("%Y", gmtime()) + " "
ret += distributor + "\n"
ret += '# Distributed under the terms of the ' + license_text
ret += ' license\n\n'
# description
if self.description:
self.description = self.description.replace('\n', ' ')
ret += 'DESCRIPTION = "' + self.description + '"\n'
else:
ret += 'DESCRIPTION = "None"\n'
# author
ret += 'AUTHOR = "' + self.author + '"\n'
# section
ret += 'SECTION = "devel"\n'
# ROS distro
ret += 'ROSDISTRO = "%s"\n' % (self.distro)
self.get_license_line()
if isinstance(self.license, str):
ret += 'LICENSE = "%s"\n' % get_license(self.license)
elif isinstance(self.license, list):
ret += 'LICENSE = "'
ret += ' & '.join([get_license(l) for l in self.license]) + '"\n'
ret += 'LIC_FILES_CHKSUM = "file://package.xml;beginline='
ret += str(self.license_line)
ret += ';endline='
ret += str(self.license_line)
ret += ';md5='
ret += str(self.license_md5)
ret += '"\n\n'
# check for catkin
if self.name == 'catkin':
ret += 'CATKIN_NO_BIN="True"\n\n'
# DEPEND
first = True
ret += 'DEPENDS = "'
for dep in sorted(self.depends):
if not first:
ret += ' '
# TODO: pass self.distro to resolve_dep
ret += resolve_dep(dep, 'gentoo', '2.4.0', self.distro)
first = False
ret += '"\n'
# SRC_URI
self.src_uri = self.src_uri.replace(self.name, '${PN}')
ret += 'SRC_URI = "' + self.src_uri + ';'
ret += 'downloadfilename=${ROS_SP}.tar.gz"\n\n'
ret += 'SRC_URI[md5sum] = "' + self.src_md5 + '"\n'
ret += 'SRC_URI[sha256sum] = "' + self.src_sha256 + '"\n'
ret += 'S = "${WORKDIR}/'
ret += self.get_src_location() + '"\n\n'
# Check for patches
if self.patch_files:
ret += 'SRC_URI += "\\\n'
ret += ' \\\n'.join(self.patch_files) + '"\n\n'
if self.inc_files:
self.inc_files = ['require %s' % f for f in self.inc_files]
ret += '\n'.join(self.inc_files)
ret += 'inherit catkin\n'
return ret
def get_ebuild_text(self, distributor, license_text):
"""
Generate the ebuild in text, given the distributor line
and the license text.
"""
ret = "# Copyright " + strftime("%Y", gmtime()) + " "
ret += distributor + "\n"
ret += "# Distributed under the terms of the " + license_text
ret += " license\n\n"
# EAPI=<eapi>
ret += "EAPI=" + self.eapi + "\n"
if self.python_3:
ret += "PYTHON_COMPAT=( python{2_7,3_5} )\n\n"
else:
ret += "PYTHON_COMPAT=( python2_7 )\n\n"
# inherits
ret += "inherit ros-cmake\n\n"
# description, homepage, src_uri
self.description =\
sanitize_string(self.description, self.illegal_desc_chars)
self.description = trim_string(self.description)
ret += "DESCRIPTION=\"" + self.description + "\"\n"
ret += "HOMEPAGE=\"" + self.homepage + "\"\n"
self.src_uri = self.src_uri.replace(self.name, '${PN}')
ret += "SRC_URI=\"" + self.src_uri
ret += " -> ${PN}-" + self.distro + "-release-${PV}.tar.gz\"\n\n"
# license -- only add if valid
if isinstance(self.upstream_license, str):
split = self.upstream_license.split(',')
if len(split) > 1:
# they did something like "BSD,GPL,blah"
ret += 'LICENSE="( '
ret += ' '.join([get_license(l) for l in split])
ret += ') "\n'
else:
ret += "LICENSE=\""
ret += get_license(self.upstream_license) + "\"\n\n"
elif isinstance(self.upstream_license, list):
ret += "LICENSE=\"( "
ret += ' '.join([get_license(ul) for ul in self.upstream_license])
ret += " )\"\n"
# iterate through the keywords, adding to the KEYWORDS line.
ret += "KEYWORDS=\""
ret += ' '.join([key.to_string() for key in self.keys])
ret += "\"\n"
# RDEPEND
ret += "RDEPEND=\"\n"
for rdep in sorted(self.rdepends):
ret += " " + "ros-" + self.distro + "/" + rdep + "\n"
for rdep in sorted(self.rdepends_external):
try:
for res in resolve_dep(rdep, 'gentoo')[0]:
if res in depend_only_pkgs:
self.depends_external.append(rdep)
break
else:
ret += " " + res + "\n"
except UnresolvedDependency:
self.unresolved_deps.append(rdep)
ret += "\"\n"
# DEPEND
ret += "DEPEND=\"${RDEPEND}\n"
for bdep in sorted(self.depends):
ret += " " + 'ros-{0}/{1}\n'.format(self.distro, bdep)
for bdep in sorted(self.depends_external):
try:
for res in resolve_dep(bdep, 'gentoo')[0]:
ret += " " + res + "\n"
except UnresolvedDependency:
self.unresolved_deps.append(bdep)
ret += "\"\n\n"
# SLOT
ret += "SLOT=\"0\"\n"
# CMAKE_BUILD_TYPE
if self.name == "catkin":
ret += "BUILD_BINARY=\"0\"\n"
ret += "ROS_DISTRO=\"{0}\"\n".format(self.distro)
ret += "ROS_PREFIX=\"opt/ros/${ROS_DISTRO}\"\n"
# Patch source if needed.
if self.has_patches:
ret += "\nsrc_prepare() {\n"
ret += " cd ${P}\n"
ret += " EPATCH_SOURCE=\"${FILESDIR}\""
ret += " EPATCH_SUFFIX=\"patch\" \\\n"
ret += " EPATCH_FORCE=\"yes\" epatch\n"
ret += " ros-cmake_src_prepare\n"
ret += "}\n"
special_pkgs = ['opencv3', 'stage']
# source configuration
if self.name in special_pkgs:
ret += "\nsrc_configure() {\n"
if self.name == 'opencv3':
ret += " filter-flags '-march=*' '-mcpu=*' '-mtune=*'\n"
elif self.name == 'stage':
ret += " filter-flags '-std=*'\n"
ret += " ros-cmake_src_configure\n"
ret += "}\n"
if len(self.unresolved_deps) > 0:
raise UnresolvedDependency("failed to satisfy dependencies!")
return ret.replace(' ', '\t')
def get_ebuild_text(self, distributor, license_text):
"""
Generate the ebuild in text, given the distributor line
and the license text.
"""
# EAPI=<eapi>
ret = self.get_license_line(distributor, license_text)
ret += self.get_eapi_line()
if self.python_3 and not self.is_ros2:
# enable python 2.7 and python 3.5
ret += self.get_python_compat(['2_7', '3_5'])
elif self.python_3:
# only use 3.5, 3.6 for ROS 2
ret += self.get_python_compat(['3_5', '3_6'])
else:
# fallback to python 2.7
ret += self.get_python_compat(['2_7'])
# inherits
ret += self.get_inherit_line()
# description, homepage, src_uri
self.description =\
sanitize_string(self.description, self.illegal_desc_chars)
self.description = trim_string(self.description)
ret += "DESCRIPTION=\"" + self.description + "\"\n"
ret += "HOMEPAGE=\"" + self.homepage + "\"\n"
self.src_uri = self.src_uri.replace(self.name, '${PN}')
ret += "SRC_URI=\"" + self.src_uri
ret += " -> ${PN}-" + self.distro + "-release-${PV}.tar.gz\"\n\n"
# license -- only add if valid
if len(self.upstream_license) == 1:
self.upstream_license = [
l.replace(', ', ' ') for l in self.upstream_license
]
split = self.upstream_license[0].split(',')
if len(split) > 1:
# they did something like "BSD,GPL,blah"
ret += 'LICENSE="( '
ret += ' '.join([get_license(l.strip()) for l in split])
ret += ' )"\n'
else:
ret += "LICENSE=\""
ret += get_license(self.upstream_license[0]) + "\"\n\n"
else:
ret += "LICENSE=\"( "
ret += ' '.join(
[get_license(ul) for ul in self.upstream_license]
)
ret += " )\"\n"
# iterate through the keywords, adding to the KEYWORDS line.
ret += "KEYWORDS=\""
ret += ' '.join([key.to_string() for key in self.keys])
ret += "\"\n"
if len(self.tdepends) or len(self.tdepends_external):
ret += 'IUSE="test"\n'
# RDEPEND
ret += "RDEPEND=\"\n"
for rdep in sorted(self.rdepends):
ret += " " + "ros-" + self.distro + "/" + rdep + "\n"
# internal test dependencies
for tdep in sorted(self.tdepends):
ret += " " + "test? ( ros-" + self.distro + "/" + tdep + " )\n"
for rdep in sorted(self.rdepends_external):
try:
for res in resolve_dep(rdep, 'gentoo')[0]:
if res in depend_only_pkgs:
self.depends_external.append(rdep)
break
else:
ret += " " + res + "\n"
except UnresolvedDependency:
self.unresolved_deps.append(rdep)
# external test dependencies
for tdep in sorted(self.tdepends_external):
try:
for res in resolve_dep(tdep, 'gentoo')[0]:
ret += " test? ( " + res + " )\n"
except UnresolvedDependency:
self.unresolved_deps.append(tdep)
ret += "\"\n"
# DEPEND
ret += "DEPEND=\"${RDEPEND}\n"
for bdep in sorted(self.depends):
ret += " " + 'ros-{0}/{1}\n'.format(self.distro, bdep)
for bdep in sorted(self.depends_external):
try:
for res in resolve_dep(bdep, 'gentoo')[0]:
ret += " " + res + "\n"
except UnresolvedDependency:
self.unresolved_deps.append(bdep)
ret += "\"\n\n"
# SLOT
ret += "SLOT=\"0\"\n"
# CMAKE_BUILD_TYPE
if self.name == "catkin":
ret += "BUILD_BINARY=\"0\"\n"
ret += "ROS_DISTRO=\"{0}\"\n".format(self.distro)
ret += "ROS_PREFIX=\"opt/ros/${ROS_DISTRO}\"\n"
# Patch source if needed.
if self.has_patches:
# TODO(allenh1): explicitly list patches
ret += "\nsrc_prepare() {\n"
ret += " cd ${P}\n"
ret += " EPATCH_SOURCE=\"${FILESDIR}\""
ret += " EPATCH_SUFFIX=\"patch\" \\\n"
ret += " EPATCH_FORCE=\"yes\" epatch\n"
if self.build_type in ['catkin', 'cmake']:
ret += " ros-cmake_src_prepare\n"
ret += "}\n"
# source configuration
if self.name == 'opencv3':
ret += "\nsrc_configure() {\n"
ret += " filter-flags '-march=*' '-mcpu=*' '-mtune=*'\n"
ret += " if [[ $(gcc-major-version) -gt 4 ]]; then\n"
ret += " local mycmakeargs=(\n"
ret += " -DWITH_CUDA=OFF\n"
ret += " )\n"
ret += ' ewarn "Cuda does not support GCC > 4, so cuda'
ret += ' has been disabled."\n'
ret += " fi\n"
ret += " ros-cmake_src_configure\n"
ret += "}\n"
elif self.name == 'stage':
ret += "\nsrc_configure() {\n"
ret += " filter-flags '-std=*'\n"
ret += " ros-cmake_src_configure\n"
ret += "}\n"
if len(self.unresolved_deps) > 0:
raise UnresolvedDependency("failed to satisfy dependencies!")
return ret.replace(' ', '\t')
