def get_package_name(path):
"""
Get the name of the ROS package that contains *path*. This is
determined by finding the nearest parent ``manifest.xml`` file.
This routine may not traverse package setups that rely on internal
symlinks within the package itself.
:param path: filesystem path
:return: Package name or ``None`` if package cannot be found, ``str``
"""
#NOTE: the realpath is going to create issues with symlinks, most
#likely.
parent = os.path.dirname(os.path.realpath(path))
#walk up until we hit ros root or ros/pkg
while not os.path.exists(os.path.join(path, MANIFEST_FILE)) and not os.path.exists(os.path.join(path, PACKAGE_FILE)) and parent != path:
path = parent
parent = os.path.dirname(path)
# check termination condition
if os.path.exists(os.path.join(path, MANIFEST_FILE)):
return os.path.basename(os.path.abspath(path))
elif os.path.exists(os.path.join(path, PACKAGE_FILE)):
root = ElementTree(None, os.path.join(path, PACKAGE_FILE))
return root.findtext('name')
else:
return None
def list_by_path(manifest_name, path, cache):
"""
List ROS stacks or packages within the specified path.
The cache will be updated with the resource->path
mappings. list_by_path() does NOT returned cached results
-- it only updates the cache.
:param manifest_name: MANIFEST_FILE or STACK_FILE, ``str``
:param path: path to list resources in, ``str``
:param cache: path cache to update. Maps resource name to directory path, ``{str: str}``
:returns: complete list of resources in ROS environment, ``[str]``
"""
resources = []
path = os.path.abspath(path)
basename = os.path.basename
for d, dirs, files in os.walk(path, topdown=True, followlinks=True):
if 'CATKIN_IGNORE' in files:
del dirs[:]
continue # leaf
if PACKAGE_FILE in files:
# parse package.xml and decide if it matches the search criteria
root = ElementTree(None, os.path.join(d, PACKAGE_FILE))
is_metapackage = root.find('./export/metapackage') is not None
if (
(manifest_name == STACK_FILE and is_metapackage) or
(manifest_name == MANIFEST_FILE and not is_metapackage) or
manifest_name == PACKAGE_FILE
):
resource_name = root.findtext('name').strip(' \n\r\t')
if resource_name not in resources:
resources.append(resource_name)
if cache is not None:
cache[resource_name] = d
del dirs[:]
continue # leaf
if manifest_name in files:
resource_name = basename(d)
if resource_name not in resources:
resources.append(resource_name)
if cache is not None:
cache[resource_name] = d
del dirs[:]
continue # leaf
elif MANIFEST_FILE in files or PACKAGE_FILE in files:
# noop if manifest_name==MANIFEST_FILE, but a good
# optimization for stacks.
del dirs[:]
continue # leaf
elif 'rospack_nosubdirs' in files:
del dirs[:]
continue # leaf
# remove hidden dirs (esp. .svn/.git)
[dirs.remove(di) for di in dirs if di[0] == '.']
return resources
def list_by_path(manifest_name, path, cache):
"""
List ROS stacks or packages within the specified path.
The cache will be updated with the resource->path
mappings. list_by_path() does NOT returned cached results
-- it only updates the cache.
:param manifest_name: MANIFEST_FILE or STACK_FILE, ``str``
:param path: path to list resources in, ``str``
:param cache: path cache to update. Maps resource name to directory path, ``{str: str}``
:returns: complete list of resources in ROS environment, ``[str]``
"""
resources = []
path = os.path.abspath(path)
basename = os.path.basename
for d, dirs, files in os.walk(path, topdown=True, followlinks=True):
if 'CATKIN_IGNORE' in files:
del dirs[:]
continue # leaf
if PACKAGE_FILE in files:
# parse package.xml and decide if it matches the search criteria
root = ElementTree(None, os.path.join(d, PACKAGE_FILE))
is_metapackage = root.find('./export/metapackage') is not None
if ((manifest_name == STACK_FILE and is_metapackage)
or (manifest_name == MANIFEST_FILE and not is_metapackage)
or manifest_name == PACKAGE_FILE):
resource_name = root.findtext('name').strip(' \n\r\t')
if resource_name not in resources:
resources.append(resource_name)
if cache is not None:
cache[resource_name] = d
del dirs[:]
continue # leaf
if manifest_name in files:
resource_name = basename(d)
if resource_name not in resources:
resources.append(resource_name)
if cache is not None:
cache[resource_name] = d
del dirs[:]
continue # leaf
elif MANIFEST_FILE in files or PACKAGE_FILE in files:
# noop if manifest_name==MANIFEST_FILE, but a good
# optimization for stacks.
del dirs[:]
continue # leaf
elif 'rospack_nosubdirs' in files:
del dirs[:]
continue # leaf
# remove hidden dirs (esp. .svn/.git)
[dirs.remove(di) for di in dirs if di[0] == '.']
return resources
