def install_rosdeps(base_path, source_path, rosdistro, no_color):
# -r continue even with errors
cmd = ['rosdep', 'install'
] # if you want it to continue installing despite errors, '-r']
underlays = config_cache.get_underlays_list_from_config_cmake(base_path)
print("Rosdep Search Paths")
for underlay in underlays:
underlay_path = underlay
underlay_source_path = os.path.abspath(
os.path.join(underlay, os.pardir, "src"))
if os.path.isdir(underlay_source_path):
underlay_path = underlay_source_path
if os.path.isdir(underlay_path):
cmd += ['--from-paths', underlay_path]
print(" - adding underlay '%s'" % underlay_path)
else:
print(" - not adding underlay '%s' [not found]" % underlay_path)
cmd += [
'--from-paths', source_path, '--ignore-src', '--rosdistro', rosdistro,
'-y'
]
env = os.environ.copy()
try:
builder.print_command_banner(cmd, source_path, color=not no_color)
if no_color:
builder.run_command(cmd, source_path, env=env)
else:
builder.run_command_colorized(cmd, source_path, env=env)
except subprocess.CalledProcessError:
return 1 # rosdep will already have provided its own error message, no need to regurgitate
return 0
def install_rosdeps(base_path, source_path, rosdistro, no_color):
# -r continue even with errors
cmd = ['rosdep', 'install'] # if you want it to continue installing despite errors, '-r']
underlays = config_cache.get_underlays_list_from_config_cmake(base_path)
print("Rosdep Search Paths")
for underlay in underlays:
underlay_path = underlay
underlay_source_path = os.path.abspath(os.path.join(underlay, os.pardir, "src"))
if os.path.isdir(underlay_source_path):
underlay_path = underlay_source_path
if os.path.isdir(underlay_path):
cmd += ['--from-paths', underlay_path]
print(" - adding underlay '%s'" % underlay_path)
else:
print(" - not adding underlay '%s' [not found]" % underlay_path)
cmd += ['--from-paths', source_path, '--ignore-src', '--rosdistro', rosdistro, '-y']
env = os.environ.copy()
try:
builder.print_command_banner(cmd, source_path, color=not no_color)
if no_color:
builder.run_command(cmd, source_path, env=env)
else:
builder.run_command_colorized(cmd, source_path, env=env)
except subprocess.CalledProcessError:
return 1 # rosdep will already have provided its own error message, no need to regurgitate
return 0
def generate_pkg_config_path(base_path):
'''
Generate a list of pkg_config_paths from the underlays
@param base_path : used to find the config.cmake which lists the underlays
@return list of paths
'''
underlays_list = config_cache.get_underlays_list_from_config_cmake(base_path)
pkg_config_path = []
for underlay in underlays_list:
if os.path.isdir(os.path.join(underlay, 'lib', 'pkgconfig')):
pkg_config_path.append(os.path.join(underlay, 'lib', 'pkgconfig'))
return pkg_config_path
def generate_pkg_config_path(base_path):
'''
Generate a list of pkg_config_paths from the underlays
@param base_path : used to find the config.cmake which lists the underlays
@return list of paths
'''
underlays_list = config_cache.get_underlays_list_from_config_cmake(
base_path)
pkg_config_path = []
for underlay in underlays_list:
if os.path.isdir(os.path.join(underlay, 'lib', 'pkgconfig')):
pkg_config_path.append(os.path.join(underlay, 'lib', 'pkgconfig'))
return pkg_config_path
def generate_underlay_environment(base_path):
'''
Parse all the underlay environment scripts to setup an initial environment for us to work in. This
should be easier than manually crafting everything. We do maintain some more complexity than
catkin_make though as we support a pyramid of underlays, not a linear chain.
UNUSED and UNTESTED!
'''
underlays_list = config_cache.get_underlays_list_from_config_cmake(
base_path)
env = os.environ.copy()
for underlay in reversed(underlays_list):
print("\nUnderlay: %s" % underlay)
env_script = os.path.join(underlay, 'env.sh')
# Should validate that the script exists
python_code = 'import os; print(dict(os.environ))'
print[env_script, sys.executable, '-c', python_code]
output = subprocess.check_output(
[env_script, sys.executable, '-c', python_code])
print output
# Not really positive what's going on here - this is what is in catkin.environment_cache.generate_environment_scripot
# I think it just safely decodes strings in the dictionary.
if hasattr(sys.stdout, 'encoding') and sys.stdout.encoding:
output = output.decode(sys.stdout.encoding)
env_after = ast.literal_eval(output)
# calculate added and modified environment variables
modified = {}
for key, value in env_after.items():
if key not in env:
env[key] = value
elif env[key] != value:
# Need to be careful here - we are dealing with paths that will need to be merged.
modified[key] = [env[key], value]
# Deal with modified keys
for key in sorted(modified.keys()):
(old_value, new_value) = modified[key]
if (key.contains('PATH') or old_value.contains(os.pathsep)
or new_value.contains(os.pathsep)):
# Merge paths
old_elements = os.pathsep.split(old_value)
new_elements = os.pathsep.split(new_value)
for element in new_elements:
if not old_elements.contains(element):
env[key] = env[key] + os.pathsep + element
else:
# it's a regular variable - take the latest value assigned to it (not we're sorting underlays in the correct (reverse) order of priority
env[key] = new_value
return env
def install_rosdeps(base_path, source_path, rosdistro, no_color):
# -r continue even with errors
cmd = ['rosdep', 'install', '-r']
underlays = config_cache.get_underlays_list_from_config_cmake(base_path)
for underlay in underlays:
cmd += ['--from-paths', underlay]
cmd += ['--from-paths', source_path, '--ignore-src', '--rosdistro', rosdistro, '-y']
env = os.environ.copy()
try:
builder.print_command_banner(cmd, source_path, color=not no_color)
if no_color:
builder.run_command(cmd, source_path, env=env)
else:
builder.run_command_colorized(cmd, source_path, env=env)
except subprocess.CalledProcessError:
return fmt('@{rf}Invoking @{boldon}"rosdep install failed')
def find_catkin(base_path, underlays_list=None):
'''
Search the underlays looking for catkin's toplevel.cmake and python module.
'''
if underlays_list is None:
underlays_list = config_cache.get_underlays_list_from_config_cmake(base_path)
catkin_toplevel = None
catkin_python_path = None
catkin_cmake_path = None
for underlay in underlays_list:
if os.path.isfile(os.path.join(underlay, 'share', 'catkin', 'cmake', 'toplevel.cmake')):
catkin_cmake_path = os.path.join(underlay, 'share', 'catkin', 'cmake')
catkin_toplevel = os.path.join(underlay, 'share', 'catkin', 'cmake', 'toplevel.cmake')
if os.path.isfile(os.path.join(underlay, python_setup.get_global_python_destination(), 'catkin', 'builder.py')):
catkin_python_path = os.path.join(underlay, python_setup.get_global_python_destination())
break
return catkin_toplevel, catkin_python_path, catkin_cmake_path
def generate_underlay_environment(base_path):
'''
Parse all the underlay environment scripts to setup an initial environment for us to work in. This
should be easier than manually crafting everything. We do maintain some more complexity than
catkin_make though as we support a pyramid of underlays, not a linear chain.
UNUSED and UNTESTED!
'''
underlays_list = config_cache.get_underlays_list_from_config_cmake(base_path)
env = os.environ.copy()
for underlay in reversed(underlays_list):
print("\nUnderlay: %s" % underlay)
env_script = os.path.join(underlay, 'env.sh')
# Should validate that the script exists
python_code = 'import os; print(dict(os.environ))'
print [env_script, sys.executable, '-c', python_code]
output = subprocess.check_output([env_script, sys.executable, '-c', python_code])
print output
# Not really positive what's going on here - this is what is in catkin.environment_cache.generate_environment_scripot
# I think it just safely decodes strings in the dictionary.
if hasattr(sys.stdout, 'encoding') and sys.stdout.encoding:
output = output.decode(sys.stdout.encoding)
env_after = ast.literal_eval(output)
# calculate added and modified environment variables
modified = {}
for key, value in env_after.items():
if key not in env:
env[key] = value
elif env[key] != value:
# Need to be careful here - we are dealing with paths that will need to be merged.
modified[key] = [env[key], value]
# Deal with modified keys
for key in sorted(modified.keys()):
(old_value, new_value) = modified[key]
if(key.contains('PATH') or old_value.contains(os.pathsep) or new_value.contains(os.pathsep)):
# Merge paths
old_elements = os.pathsep.split(old_value)
new_elements = os.pathsep.split(new_value)
for element in new_elements:
if not old_elements.contains(element):
env[key] = env[key] + os.pathsep + element
else:
# it's a regular variable - take the latest value assigned to it (not we're sorting underlays in the correct (reverse) order of priority
env[key] = new_value
return env
def find_catkin(base_path, underlays_list=None):
'''
Search the underlays looking for catkin's toplevel.cmake and python module.
'''
if underlays_list is None:
underlays_list = config_cache.get_underlays_list_from_config_cmake(base_path)
catkin_toplevel = None
catkin_python_path = None
catkin_cmake_path = None
for underlay in underlays_list:
if os.path.isfile(os.path.join(underlay, 'share', 'catkin', 'cmake', 'toplevel.cmake')):
# it is in an underlay's install space
catkin_cmake_path = os.path.join(underlay, 'share', 'catkin', 'cmake')
catkin_toplevel = os.path.join(underlay, 'share', 'catkin', 'cmake', 'toplevel.cmake')
if os.path.isfile(os.path.join(underlay, python_setup.get_global_python_destination(), 'catkin', 'builder.py')):
catkin_python_path = os.path.join(underlay, python_setup.get_global_python_destination())
break
elif os.path.isfile(os.path.join(underlay, python_setup.get_global_python_destination(), 'catkin', '__init__.py')):
# it's probably a devel space
console.error('Error: catkin seems to be buried in a chained devel space - not yet supporting this')
# catkin_python_path = os.path.join(underlay, python_setup.get_global_python_destination())
break
return catkin_toplevel, catkin_python_path, catkin_cmake_path
def find_catkin(base_path, underlays_list=None):
'''
Search the underlays looking for catkin's toplevel.cmake and python module.
'''
if underlays_list is None:
underlays_list = config_cache.get_underlays_list_from_config_cmake(
base_path)
catkin_toplevel = None
catkin_python_path = None
catkin_cmake_path = None
for underlay in underlays_list:
if os.path.isfile(
os.path.join(underlay, 'share', 'catkin', 'cmake',
'toplevel.cmake')):
# it is in an underlay's install space
catkin_cmake_path = os.path.join(underlay, 'share', 'catkin',
'cmake')
catkin_toplevel = os.path.join(underlay, 'share', 'catkin',
'cmake', 'toplevel.cmake')
if os.path.isfile(
os.path.join(underlay,
python_setup.get_global_python_destination(),
'catkin', 'builder.py')):
catkin_python_path = os.path.join(
underlay, python_setup.get_global_python_destination())
break
elif os.path.isfile(
os.path.join(underlay,
python_setup.get_global_python_destination(),
'catkin', '__init__.py')):
# it's probably a devel space
console.error(
'Error: catkin seems to be buried in a chained devel space - not yet supporting this'
)
# catkin_python_path = os.path.join(underlay, python_setup.get_global_python_destination())
break
return catkin_toplevel, catkin_python_path, catkin_cmake_path
