def _uninstall_action_files(self, context):
files = [
# package manifest
os.path.join('share', context.package_manifest.name, 'package.xml'),
# marker file
os.path.join(
'share', 'ament_index', 'resource_index', 'packages',
context.package_manifest.name),
]
# environment hooks
for env_hook_name in ['path', 'pythonpath']:
deploy_file = env_hook_name + ('.sh' if not IS_WINDOWS else '.bat')
files.append(
os.path.join('share', context.package_manifest.name, 'environment', deploy_file))
# package-level setup files
for name in get_package_level_template_names():
assert name.endswith('.in')
files.append(os.path.join('share', context.package_manifest.name, name[:-3]))
# remove all files
for rel_path in files:
abs_path = os.path.join(context.install_space, rel_path)
if os.path.exists(abs_path):
os.remove(abs_path)
self._remove_empty_directories(context, os.path.dirname(abs_path))
def _uninstall_action_files(self, context):
files = [
# package manifest
os.path.join('share', context.package_manifest.name,
'package.xml'),
# marker file
os.path.join('share', 'ament_index', 'resource_index', 'packages',
context.package_manifest.name),
]
# environment hooks
for env_hook_name in ['path', 'pythonpath']:
deploy_file = env_hook_name + ('.sh' if not IS_WINDOWS else '.bat')
files.append(
os.path.join('share', context.package_manifest.name,
'environment', deploy_file))
# package-level setup files
for name in get_package_level_template_names():
assert name.endswith('.in')
files.append(
os.path.join('share', context.package_manifest.name,
name[:-3]))
# remove all files
for rel_path in files:
abs_path = os.path.join(context.install_space, rel_path)
if os.path.exists(abs_path):
os.remove(abs_path)
self._remove_empty_directories(context,
os.path.dirname(abs_path))
def on_install(self, context):
# deploy package manifest
deploy_file(context,
context.source_space,
'package.xml',
dst_subfolder=os.path.join('share',
context.package_manifest.name))
# create marker file
marker_file = os.path.join(context.install_space, 'share',
'ament_index', 'resource_index', 'packages',
context.package_manifest.name)
if not os.path.exists(marker_file):
marker_dir = os.path.dirname(marker_file)
if not os.path.exists(marker_dir):
os.makedirs(marker_dir)
with open(marker_file, 'w'): # "touching" the file
pass
ext = '.sh' if not IS_WINDOWS else '.bat'
# deploy AMENT_PREFIX_PATH environment hook
app_template_path = get_environment_hook_template_path(
'ament_prefix_path' + ext)
deploy_file(context,
os.path.dirname(app_template_path),
os.path.basename(app_template_path),
dst_subfolder=os.path.join('share',
context.package_manifest.name,
'environment'))
# deploy PATH environment hook
path_template_path = get_environment_hook_template_path('path' + ext)
deploy_file(context,
os.path.dirname(path_template_path),
os.path.basename(path_template_path),
dst_subfolder=os.path.join('share',
context.package_manifest.name,
'environment'))
# deploy CLASSPATH environment hook
destination_file = 'classpath' + ('.sh' if not IS_WINDOWS else '.bat')
deploy_file(
context, context.build_space,
os.path.join('share', context.package_manifest.name, 'environment',
destination_file))
# deploy package-level setup files
for name in get_package_level_template_names():
assert name.endswith('.in')
deploy_file(
context, context.build_space,
os.path.join('share', context.package_manifest.name,
name[:-3]))
yield BuildAction(self._prepare_cmd(context, gradle_task='assemble'),
cwd=context.build_space)
def expand_package_level_setup_files(context, environment_hooks, environment_hooks_path):
destinations = []
for name in get_package_level_template_names():
assert name.endswith('.in')
local_environment_hooks = []
if os.path.splitext(name[:-3])[1] in ['.sh', '.bat']:
local_environment_hooks.extend(environment_hooks)
# check if any data files are environment hooks (Python only)
for data_file in context.get('setup.py', {}).get('data_files', {}).values():
if not data_file.startswith(environment_hooks_path):
continue
# ignore data files with different extensions
if os.path.splitext(data_file)[1] != os.path.splitext(name[:-3])[1]:
continue
local_environment_hooks.append(data_file)
template_path = get_package_level_template_path(name)
variables = {'CMAKE_INSTALL_PREFIX': context.install_space}
if name[:-3].endswith('.bat'):
variables['PROJECT_NAME'] = context.package_manifest.name
if local_environment_hooks:
if name[:-3].endswith('.bat'):
t = 'call:ament_append_value AMENT_ENVIRONMENT_HOOKS[%s] "%s"\n'
variables['ENVIRONMENT_HOOKS'] = t % (
context.package_manifest.name,
';'.join([
os.path.join('%AMENT_CURRENT_PREFIX%', environment_hook)
for environment_hook in local_environment_hooks
])
)
else:
variables['ENVIRONMENT_HOOKS'] = \
'ament_append_value AMENT_ENVIRONMENT_HOOKS "%s"\n' % \
':'.join([
os.path.join('$AMENT_CURRENT_PREFIX', environment_hook)
for environment_hook in local_environment_hooks
])
content = configure_file(template_path, variables)
destination_path = os.path.join(
context.build_space,
'share', context.package_manifest.name,
name[:-3])
destination_dir = os.path.dirname(destination_path)
if not os.path.exists(destination_dir):
os.makedirs(destination_dir)
destinations.append(destination_path)
with open(destination_path, 'w') as h:
h.write(content)
return destinations
def _build_action(self, context):
ext = '.sh' if not IS_WINDOWS else '.bat'
path_environment_hook = os.path.join('share',
context.package_manifest.name,
'environment', 'path' + ext)
# expand environment hook for PYTHONPATH
ext = '.sh.in' if not IS_WINDOWS else '.bat.in'
template_path = get_environment_hook_template_path('pythonpath' + ext)
content = configure_file(
template_path, {
'PYTHON_INSTALL_DIR': self._get_python_lib(context),
})
pythonpath_environment_hook = os.path.join(
'share', context.package_manifest.name, 'environment',
os.path.basename(template_path)[:-3])
destination_path = os.path.join(context.build_space,
pythonpath_environment_hook)
destination_dir = os.path.dirname(destination_path)
if not os.path.exists(destination_dir):
os.makedirs(destination_dir)
with open(destination_path, 'w') as h:
h.write(content)
# expand package-level setup files
for name in get_package_level_template_names():
assert name.endswith('.in')
template_path = get_package_level_template_path(name)
variables = {'CMAKE_INSTALL_PREFIX': context.install_space}
if name[:-3].endswith('.sh'):
variables['ENVIRONMENT_HOOKS'] = \
'ament_append_value AMENT_ENVIRONMENT_HOOKS "%s"\n' % \
':'.join([
os.path.join('$AMENT_CURRENT_PREFIX', path_environment_hook),
os.path.join('$AMENT_CURRENT_PREFIX', pythonpath_environment_hook),
])
elif name[:-3].endswith('.bat'):
t = 'call:ament_append_value AMENT_ENVIRONMENT_HOOKS[%s] "%s"\n'
variables['ENVIRONMENT_HOOKS'] = t % (
context.package_manifest.name, ';'.join([
os.path.join('%AMENT_CURRENT_PREFIX%',
path_environment_hook),
os.path.join('%AMENT_CURRENT_PREFIX%',
pythonpath_environment_hook),
]))
variables['PROJECT_NAME'] = context.package_manifest.name
content = configure_file(template_path, variables)
destination_path = os.path.join(context.build_space, 'share',
context.package_manifest.name,
name[:-3])
with open(destination_path, 'w') as h:
h.write(content)
def _build_action(self, context):
ext = '.sh' if not IS_WINDOWS else '.bat'
path_environment_hook = os.path.join(
'share', context.package_manifest.name, 'environment', 'path' + ext)
# expand environment hook for PYTHONPATH
ext = '.sh.in' if not IS_WINDOWS else '.bat.in'
template_path = get_environment_hook_template_path('pythonpath' + ext)
content = configure_file(template_path, {
'PYTHON_INSTALL_DIR': self._get_python_lib(context),
})
pythonpath_environment_hook = os.path.join(
'share', context.package_manifest.name, 'environment',
os.path.basename(template_path)[:-3])
destination_path = os.path.join(
context.build_space, pythonpath_environment_hook)
destination_dir = os.path.dirname(destination_path)
if not os.path.exists(destination_dir):
os.makedirs(destination_dir)
with open(destination_path, 'w') as h:
h.write(content)
# expand package-level setup files
for name in get_package_level_template_names():
assert name.endswith('.in')
template_path = get_package_level_template_path(name)
variables = {'CMAKE_INSTALL_PREFIX': context.install_space}
if name[:-3].endswith('.sh'):
variables['ENVIRONMENT_HOOKS'] = \
'ament_append_value AMENT_ENVIRONMENT_HOOKS "%s"\n' % \
':'.join([
os.path.join('$AMENT_CURRENT_PREFIX', path_environment_hook),
os.path.join('$AMENT_CURRENT_PREFIX', pythonpath_environment_hook),
])
elif name[:-3].endswith('.bat'):
t = 'call:ament_append_value AMENT_ENVIRONMENT_HOOKS[%s] "%s"\n'
variables['ENVIRONMENT_HOOKS'] = t % (
context.package_manifest.name,
';'.join([
os.path.join('%AMENT_CURRENT_PREFIX%', path_environment_hook),
os.path.join('%AMENT_CURRENT_PREFIX%', pythonpath_environment_hook),
])
)
variables['PROJECT_NAME'] = context.package_manifest.name
content = configure_file(template_path, variables)
destination_path = os.path.join(
context.build_space,
'share', context.package_manifest.name,
name[:-3])
with open(destination_path, 'w') as h:
h.write(content)
def generate_cmake_code():
"""
Return a list of CMake set() commands containing the template information.
:returns: list of str
"""
variables = []
if not IS_WINDOWS:
variables.append((
'ENVIRONMENT_HOOK_LIBRARY_PATH',
'"%s"' % get_environment_hook_template_path('library_path.sh')))
else:
variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
ext = '.bat.in' if IS_WINDOWS else '.sh.in'
variables.append((
'ENVIRONMENT_HOOK_PYTHONPATH',
'"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
templates = []
for name in get_package_level_template_names():
templates.append('"%s"' % get_package_level_template_path(name))
variables.append((
'PACKAGE_LEVEL',
templates))
templates = []
for name in get_prefix_level_template_names():
templates.append('"%s"' % get_prefix_level_template_path(name))
variables.append((
'PREFIX_LEVEL',
templates))
lines = []
for (k, v) in variables:
if isinstance(v, list):
lines.append('set(ament_cmake_package_templates_%s "")' % k)
for vv in v:
lines.append('list(APPEND ament_cmake_package_templates_%s %s)'
% (k, vv))
else:
lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
# Ensure backslashes are replaced with forward slashes because CMake cannot
# parse files with backslashes in it.
return [l.replace('\\', '/') for l in lines]
def _install_action_files(self, context):
# deploy package manifest
deploy_file(context,
context.source_space,
'package.xml',
dst_subfolder=os.path.join('share',
context.package_manifest.name))
# create marker file
marker_file = os.path.join(context.install_space, 'share',
'ament_index', 'resource_index', 'packages',
context.package_manifest.name)
if not os.path.exists(marker_file):
marker_dir = os.path.dirname(marker_file)
if not os.path.exists(marker_dir):
os.makedirs(marker_dir)
with open(marker_file, 'w'): # "touching" the file
pass
# deploy PATH environment hook
ext = '.sh' if not IS_WINDOWS else '.bat'
template_path = get_environment_hook_template_path('path' + ext)
deploy_file(context,
os.path.dirname(template_path),
os.path.basename(template_path),
dst_subfolder=os.path.join('share',
context.package_manifest.name,
'environment'),
executable=True)
# deploy PYTHONPATH environment hook
destination_file = 'pythonpath' + ('.sh' if not IS_WINDOWS else '.bat')
deploy_file(context,
context.build_space,
os.path.join('share', context.package_manifest.name,
'environment', destination_file),
executable=True)
# deploy package-level setup files
for name in get_package_level_template_names():
assert name.endswith('.in')
deploy_file(context,
context.build_space,
os.path.join('share', context.package_manifest.name,
name[:-3]),
executable=True)
def generate_cmake_code():
"""
Return a list of CMake set() commands containing the template information.
:returns: list of str
"""
variables = []
if not IS_WINDOWS:
variables.append((
'ENVIRONMENT_HOOK_LIBRARY_PATH',
'"%s"' % get_environment_hook_template_path('library_path.sh')))
else:
variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
ext = '.bat.in' if IS_WINDOWS else '.sh.in'
variables.append((
'ENVIRONMENT_HOOK_PYTHONPATH',
'"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
templates = []
for name in get_package_level_template_names():
templates.append('"%s"' % get_package_level_template_path(name))
variables.append((
'PACKAGE_LEVEL',
templates))
templates = []
for name in get_prefix_level_template_names():
templates.append('"%s"' % get_prefix_level_template_path(name))
variables.append((
'PREFIX_LEVEL',
templates))
lines = []
for (k, v) in variables:
if isinstance(v, list):
lines.append('set(ament_cmake_package_templates_%s "")' % k)
for vv in v:
lines.append('list(APPEND ament_cmake_package_templates_%s %s)'
% (k, vv))
else:
lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
# Ensure backslashes are replaced with forward slashes because CMake cannot
# parse files with backslashes in it.
return [l.replace('\\', '/') for l in lines]
def _install_action_files(self, context):
# deploy package manifest
deploy_file(
context, context.source_space, 'package.xml',
dst_subfolder=os.path.join('share', context.package_manifest.name))
# create marker file
marker_file = os.path.join(
context.install_space,
'share', 'ament_index', 'resource_index', 'packages',
context.package_manifest.name)
if not os.path.exists(marker_file):
marker_dir = os.path.dirname(marker_file)
os.makedirs(marker_dir, exist_ok=True)
with open(marker_file, 'w'): # "touching" the file
pass
ext = '.sh' if not IS_WINDOWS else '.bat'
# deploy AMENT_PREFIX_PATH environment hook
app_template_path = get_environment_hook_template_path('ament_prefix_path' + ext)
deploy_file(
context, os.path.dirname(app_template_path), os.path.basename(app_template_path),
dst_subfolder=os.path.join('share', context.package_manifest.name, 'environment'))
# deploy PATH environment hook
path_template_path = get_environment_hook_template_path('path' + ext)
deploy_file(
context, os.path.dirname(path_template_path), os.path.basename(path_template_path),
dst_subfolder=os.path.join('share', context.package_manifest.name, 'environment'))
# deploy PYTHONPATH environment hook
destination_file = 'pythonpath' + ('.sh' if not IS_WINDOWS else '.bat')
deploy_file(
context, context.build_space,
os.path.join(
'share', context.package_manifest.name, 'environment',
destination_file))
# deploy package-level setup files
for name in get_package_level_template_names():
assert name.endswith('.in')
deploy_file(
context, context.build_space,
os.path.join(
'share', context.package_manifest.name, name[:-3]))
def on_install(self, context):
# deploy PATH environment hook
ext = '.sh' if not IS_WINDOWS else '.bat'
template_path = get_environment_hook_template_path('path' + ext)
deploy_file(context,
os.path.dirname(template_path),
os.path.basename(template_path),
dst_subfolder=os.path.join('share',
context.package_manifest.name,
'environment'))
# deploy JAVAPATH environment hook
destination_file = 'javapath' + ('.sh' if not IS_WINDOWS else '.bat')
deploy_file(
context, context.build_space,
os.path.join('share', context.package_manifest.name, 'environment',
destination_file))
# create marker file
marker_file = os.path.join(context.install_space, 'share',
'ament_index', 'resource_index', 'packages',
context.package_manifest.name)
if not os.path.exists(marker_file):
marker_dir = os.path.dirname(marker_file)
if not os.path.exists(marker_dir):
os.makedirs(marker_dir)
with open(marker_file, 'w'): # "touching" the file
pass
for name in get_package_level_template_names():
assert name.endswith('.in')
deploy_file(
context, context.build_space,
os.path.join('share', context.package_manifest.name,
name[:-3]))
cmd_args = [
'-Pament.build_space=' + context.build_space,
'-Pament.install_space=' + context.install_space,
'-Pament.dependencies=' + ':'.join(context.build_dependencies),
'-Pament.build_tests=' + str(context.build_tests),
]
cmd_args += context.ament_gradle_args
cmd = [get_gradle_executable(context)]
cmd += cmd_args
cmd += ['assemble']
yield BuildAction(cmd, cwd=context.source_space)
#Deploy libs dependencies
filesDir = os.path.join(context.build_space, 'lib', 'java')
if os.path.exists(filesDir):
for filename in os.listdir(filesDir):
deploy_file(
context, context.build_space,
os.path.join('lib', 'java', os.path.basename(filename)))
#Deploy share files
self.deploy_files(
context,
os.path.join('share', context.package_manifest.name, 'java'))
#Deploy scripts
filesDir = os.path.join(context.build_space, 'bin')
if os.path.exists(filesDir):
for filename in os.listdir(filesDir):
deploy_file(context, context.build_space,
os.path.join('bin', os.path.basename(filename)))
