setup.py

﻿#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# @file setup.py
# @author Noriaki Ando <n-ando@aist.go.jp>
#
# Copyright (C) 2013
#     Noriaki Ando
#     Intelligent Systems Research Institute, National Institute of
#     Advanced Industrial Science and Technology (AIST), Japan All
#     rights reserved.
#
#------------------------------------------------------------
# How to update this script:
#
# 1. Change version number for "pkg_*_version"
# 2. Change version number in package description "pkg_desc"
# 3. If new author should be added, add he/she in the "pkg_author"
# 4. And modify other pkg_* variables if necessary.
#
# How to use this setup.py script
#
# Usage:
#   setup.py option (build_*|clean_*|install_*|sdist_*) command option
#
# * Build
#   Build command will perform IDL compilation and document generation
#   by doxygen.
#
#   build: perform IDL compilation and document generation
#   build_core: IDL compilation of core modules
#   build_example: IDL compilation of examples
#   build_doc: Document generation by doxygen
#
# * Clean
#   Clean command delete all the generated files, including CORBA
#   stubs and documentation files.
#
#   clean: Cleanup all files generated by build_* commands
#   clean_core: Cleanup generated stubs in core
#   clean_example: Cleanup documentation files
#   clean_doc: Cleanup generated stubs in examples
#
# * Installation
#   This script installs python module files and others according to the
#   following rules
#
#   install: installing all files. 
#   install_core: installing core libraries.
#     core modules: -> <prefix>/lib/pythonX.Y/dist-pacakges/OpenRTM_aist/
#       OpenRTM-aist.pth
#       OpenRTM_aist/*.py
#       OpenRTM_aist/RTM_IDL/*_idl.py
#       OpenRTM_aist/RTM_IDL/(OpenRTM|RTC|RTM|SDOPackage)/*.py
#       OpenRTM_aist/RTM_IDL/(OpenRTM|RTC|RTM|SDOPackage)__POA/*.py
#     data files: -> <prefix>/lib/pythonX.Y/dist-pacakges/OpenRTM_aist/
#       OpenRTM_aist/RTM_IDL/*.idl
#       OpenRTM_aist/RTM_IDL/device_interfaces/*.idl
#     ext modules: -> <prefix>/lib/openrtm-x.y/python
#       OpenRTM_aist/ext/sdo/observer/*.(py|idl|conf|sh) unix
#       OpenRTM_aist/ext/sdo/observer/*.(py|idl|conf|bat) win32
#   install_doc
#     document files: -> <prefix>/share/openrtm-x.y/doc/python/
#       OpenRTM_aist/docs/ClassReference-jp
#       OpenRTM_aist/docs/ClassReference-en
#   install_example
#     example files: -> <prefix>/share/openrtm-x.y/example/python/
#       OpenRTM_aist/examples/*
#
# * Source distribution
#   This command creates source distribution packages.
#
#   sdist: create all source distribution packages
#   sdist_tgz: create tgz type  source distribution packages
#   sdist_zip: create zip type  source distribution packages
#
#------------------------------------------------------------

#==============================
# Package version definition
#==============================
pkg_major_version = "2"
pkg_minor_version = "0"
pkg_revision_num  = "0"

#============================================================
# MODIFICATION IS ALLOWED IF IT IS NEED TO MODIFY.
#============================================================
pkg_name      = "OpenRTM-aist-Python"
pkg_shortver  = pkg_major_version + "." + pkg_minor_version
pkg_version   = pkg_shortver + "." + pkg_revision_num
pkg_desc      = "Python modules for OpenRTM-aist-" + pkg_shortver
pkg_author    = "Shinji Kurihara and Noriaki Ando"
pkg_email     = "n-ando@aist.go.jp"
pkg_url       = "http://openrtm.org/"
pkg_license   = "LGPL"
pkg_long_desc = """\
OpenRTM-aist is a reference implementation of RT-Middleware and
RT-Component framework. RT-Component (RTC) is a component model
standardized in OMG (Object Management Group) as Robotic Technology
Component Specification 1.0 (formal/08-04-04,
http://www.omg.org/spec/RTC/1.0).  OpenRTM-aist is being developed and
distributed by Intelligent Systems Research Institute, National
Institute of Advanced Industrial Science and Technology (AIST), Japan.
Please see http://openrtm.org/ for more details."""
pkg_usage     = """\
Common commands: (see '--help-commands' for more)

  setup.py build            will compile IDL files and documentation
  setup.py build_core       will compile core IDL files
  setup.py build_example    will compile examples' IDL files
  setup.py build_doc        will compile documentation
  setup.py clean            will cleanup all generated files
  setup.py clean_core       will cleanup stubs in core libraries
  setup.py clean_example    will cleanup stubs in examples
  setup.py clean_doc        will cleanup generated documentation files
  setup.py install          will perform build and install the package
  setup.py install_core     will perform build core and install the package
  setup.py install_example  will perform build examples and install them
  setup.py install_doc      will process documentation and install them
  setup.py sdist            will create source package in tgz and zip
  setup.py sdist_tgz        will create tgz source package
  setup.py sdist_zip        will create zip source package
"""

#============================================================
# importing modules
#============================================================
import os,os.path
import sys
import string
if sys.version_info[0] == 2:
  import commands
else:
  import subprocess
import glob
import shutil
from distutils import core
from distutils.core import Command
from distutils import cmd
from distutils import log
from distutils import util
from distutils import dir_util
from distutils import errors
from distutils import version
from distutils.command.build import build
from distutils.command.clean import clean
from distutils.command.sdist import sdist
from distutils.command.install import install
from distutils.command.install_lib import install_lib
from distutils.command.install_data import install_data

#------------------------------------------------------------
# Getting OS type
#------------------------------------------------------------
def os_is():
  if os.sep == '/':
    return "unix"
  elif os.sep == ':':
    return None
  elif os.sep == '\\':
    return "win32"
  else:
    return None

#============================================================
# Directory settings for file list
#============================================================
current_dir  = os.getcwd()
#
# core settings
#
module_dir = "OpenRTM_aist"
openrtm_core_packages = [
  "OpenRTM_aist",
  "OpenRTM_aist.RTM_IDL",
  "OpenRTM_aist.RTM_IDL.OpenRTM",
  "OpenRTM_aist.RTM_IDL.OpenRTM__POA",
  "OpenRTM_aist.RTM_IDL.RTC",
  "OpenRTM_aist.RTM_IDL.RTC__POA",
  "OpenRTM_aist.RTM_IDL.RTM",
  "OpenRTM_aist.RTM_IDL.RTM__POA",
  "OpenRTM_aist.RTM_IDL.SDOPackage",
  "OpenRTM_aist.RTM_IDL.SDOPackage__POA",
  "OpenRTM_aist.RTM_IDL.device_interfaces",
  "OpenRTM_aist.RTM_IDL._GlobalIDL",
  "OpenRTM_aist.RTM_IDL._GlobalIDL__POA",
  "OpenRTM_aist.RTM_IDL.CSP",
  "OpenRTM_aist.RTM_IDL.CSP__POA",
  ]
openrtm_ext_packages = [
  "OpenRTM_aist.ext",
  "OpenRTM_aist.ext.sdo",
  "OpenRTM_aist.ext.sdo.observer",
  "OpenRTM_aist.ext.ssl",
  "OpenRTM_aist.ext.logger",
  "OpenRTM_aist.ext.logger.fluentbit_stream",
  "OpenRTM_aist.ext.transport",
  "OpenRTM_aist.ext.transport.ROSTransport",
  "OpenRTM_aist.ext.transport.ROS2Transport",
  "OpenRTM_aist.ext.transport.OpenSplice",
  "OpenRTM_aist.ext.local_service",
  "OpenRTM_aist.ext.local_service.nameservice_file",
  "OpenRTM_aist.ext.extended_fsm",
  "OpenRTM_aist.ext.fsm4rtc_observer",
  ]
openrtm_utils_packages = [
  "OpenRTM_aist.utils",
  "OpenRTM_aist.utils.rtcd",
  "OpenRTM_aist.utils.rtcprof",
  "OpenRTM_aist.utils.rtc-template",
  "OpenRTM_aist.utils.rtm-naming",
  ]

#
# IDL settings
#
baseidl_dir   = "OpenRTM_aist/RTM_IDL"
baseidl_files = [
  "BasicDataType.idl",
  "DataPort.idl",
  "ExtendedDataTypes.idl",
  "InterfaceDataTypes.idl",
  "Manager.idl",
  "OpenRTM.idl",
  "RTC.idl",
  "SDOPackage.idl",
  "SharedMemory.idl",
  "IORProfile.idl",
  "../ext/sdo/observer/ComponentObserver_OpenRTM.idl",
  "ExtendedFsmService.idl",
  "DataPort_OpenRTM.idl",
  "CSPPort.idl",
  "../ext/fsm4rtc_observer/ComponentObserver.idl",
  "ext/rtmCamera/CameraCommonInterface.idl",
  "ext/rtmManipulator/ManipulatorCommonInterface_Common.idl",
  "ext/rtmManipulator/ManipulatorCommonInterface_DataTypes.idl",
  "ext/rtmManipulator/ManipulatorCommonInterface_Middle.idl"
  ]
baseidl_mods  = ["RTM", "RTC", "SDOPackage", "OpenRTM"]
baseidl_path  = os.path.normpath(current_dir + "/" + baseidl_dir)

#
# scripts settings
#
pkg_scripts_unix  = ['OpenRTM_aist/utils/rtcd/rtcd_python',
                     'OpenRTM_aist/utils/rtcprof/rtcprof_python']
pkg_scripts_win32 = ['OpenRTM_aist/utils/rtcd/rtcd.py',
#                     'OpenRTM_aist/utils/rtcd/rtcd_python.exe',
                     'OpenRTM_aist/utils/rtcd/rtcd_python.bat',
                     'OpenRTM_aist/utils/rtcprof/rtcprof_python.py',
                     'OpenRTM_aist/utils/rtcprof/rtcprof_python.bat']


pkg_data_files_unix  = []

rtcd_python = 'OpenRTM_aist/utils/rtcd/rtcd_python.exe'
if os.path.exists(rtcd_python):
  pkg_data_files_win32 = [("Scripts", [rtcd_python])]
else:
  pkg_data_files_win32 = [("Scripts", [])]


#
# ext modules
#
ext_dir               = "OpenRTM_aist/ext"
target_ext_dir        = "lib/openrtm-" + pkg_shortver + "/python"
ext_match_regex_unix  = ".*\.(py|conf|sh|xml|idl)$"
ext_match_regex_win32 = ".*\.(py|conf|bat|xml|idl)$"
#
# examples
#
example_dir           = "OpenRTM_aist/examples"
target_example_dir    = "share/openrtm-" + pkg_shortver + "/components/python"
example_match_regex   = ".*\.(py|conf|sh|xml|idl)$"
example_path          = os.path.normpath(current_dir + "/" + example_dir)
#
# documents
#
document_dir          = "OpenRTM_aist/docs"
target_doc_dir        = "share/openrtm-" + pkg_shortver + "/doc/python"
document_match_regex  = ".*\.(css|gif|png|html||hhc|hhk|hhp)$"
document_path         = os.path.normpath(current_dir + "/" + document_dir)


################################################################################
# DO NOT CHANGE FROM HERE !!!
################################################################################

#============================================================
# utility functions
#============================================================
#------------------------------------------------------------
# Creating file list to be passed to distutils.core.setup
#
# This function creates the following file list.
#
# [(<install dir name0>, [<path to file0 from current dir>, <file1>, ...]),
#  (<install dir name1>, [file2, file3, ....]), ...]
#
# usage:
#   create_filelist(start_path, subs_path, target_path, regex_match)
#
# @param start_path A path to start walking through recursively.
# @param subs_path  A partial path to be removed from the file pathes obtained.
# @param target_path Target directory shere you want to install the files.
# @param regex_match A regular expression to match the files to be installed.
#
# example:
# Now we assume that the following arguments are set to create_filelist()
# start_path  = OpenRTM_aist/examples/
# subs_path   = OpenRTM_aist/examples/
# target_path = share/openrtm-2.0/components/python/
# regex_match = .*\.py$
#
# A file matched: OpenRTM_aist/examples/SimpleIO/ConsoleIn.py
# "OpenRTM_aist/examples" (subs_path) is removed from the
# path. obtained file path: SimpleIO/ConsoleIn.py is merged
# target_path, and then we get final target path
# <prefix>/share/openrtm-2.0/components/python/SimpleIO/ConsoleIn.py
#
#------------------------------------------------------------
def create_filelist(start_path, subs_path, target_path, regex_match, 
not_included_modules=[]):
  filelist = []
  temp_hash = {}
  if start_path[-1] != "/": start_path += "/"
  if subs_path[-1] != "/": subs_path += "/"
  import re
  for root, dirs, files in os.walk(start_path):
    if root.replace("\\","/") in not_included_modules:
      continue
    for filename in files:
      if re.match(regex_match, filename):
        subdir = re.sub(subs_path, "", root)
        dir_name = os.path.join(target_path, subdir)
        file_path = os.path.join(root, filename)
        if not dir_name in temp_hash:
          temp_hash[dir_name] = []
        temp_hash[dir_name].append(file_path)

  for k in temp_hash.keys():
    filelist.append((k, temp_hash[k]))
  return filelist

#------------------------------------------------------------
# convert_file_code()
#
# converting file encoding and CR-LF code
#
# Usage:
#  convert_file_code(file_name, to_code, to_crlf_code)
#
# Example:
#    -- converting to DOS/Windows code (SJIS/CRLF) --
#    convert_file_code("hoge.txt", "shift_jis", "\r\n")
#
#    -- converting to UNIX/Mac OS X code (EUC/LF) --
#    convert_file_code("hoge.txt", "euc_jp", "\n")
#
#------------------------------------------------------------
def convert_file_code(file_name, char_code, crlf_code, hint=None):
  import codecs
  import os
  def conv_encoding(data, to_enc="utf_8"):
    default_lookup = ('utf_8',
                      'euc_jp', 'euc_jis_2004', 'euc_jisx0213',
                      'shift_jis', 'shift_jis_2004','shift_jisx0213',
                      'iso2022jp', 'iso2022_jp_1', 'iso2022_jp_2',
                      'iso2022_jp_3', 'iso2022_jp_ext',
                      'latin_1', 'ascii')
    if hint:
      lookup = (hint, 'ascii', 'shift_jis', 'euc_jp')
    else:
      lookup = default_lookup
    for encoding in lookup:
      try:
        data = data.decode(encoding)
        break
      except:
        pass
    if isinstance(data, unicode):
      return data.encode(to_enc)
    else:
      return data
    # end of conv_encoding()
  temp_fname = file_name + ".tmp"
  outfd = open(temp_fname, "w")
  def coding_name(coding):
    conv = {"euc_jp": "euc-jp",
            "shift_jis": "cp932"}
    if coding in conv:
      return conv[coding]
    return coding
  sub_str = "coding: " + coding_name(char_code)
  import re
  infd = open(file_name, "r")
  for line in infd:
    try:
      outdata = conv_encoding(line.rstrip('\r\n'), char_code)
      outdata = re.sub("coding: [^ ]*", sub_str, outdata)
      outdata = re.sub("encoding: [^ ]*", sub_str, outdata)
    except Exception as e:
      print("Exception cought in " + file_name + ": " + line)
      print(e)
      infd.close()
      outfd.close()
      os.remove(temp_fname)
      sys.exit(1)
    outfd.write(outdata + crlf_code)
  infd.close()
  os.remove(file_name)
  outfd.close()
  os.rename(temp_fname, file_name)

#------------------------------------------------------------
# compiling IDL files
#------------------------------------------------------------
def compile_idl(idl_compiler, include_dirs, current_dir, files):
  """
  compile_idl
    - idl_compiler: [string] path to omniidl executable
    - include_dirs: [list] path list for include directories
    - current_dir : [string] directory where stubs are generated
    - files       : [list] IDL file list
  """
  # create command and option list
  cmd = [idl_compiler, "-bpython"]
  if include_dirs: cmd += ["-I" + inc for inc in include_dirs]
  if current_dir : cmd += ["-C" + current_dir]
  cmd += files
  # function to be given dist.util.execute
  def exec_idl_compile(cmd_str):
    #cmdline = string.join(cmd_str)
    cmdline = " ".join(cmd_str)
    if os_is() == "win32":
      os.system(cmdline)
      return
    log.info(cmdline)
    if sys.version_info[0] == 2:
      status, output = commands.getstatusoutput(cmdline)
      log.info(output)
    else:
      try:
        proc = subprocess.run(cmdline, shell=True, check=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
        status = 0
        log.info(proc.stdout.decode("UTF-8"))
      except:
        status = 1
    if status != 0:
      raise errors.DistutilsExecError("Return status of %s is %d" %
                                      (cmd, status))
    return
  # compile IDL by using dist.util.execute
  util.execute(exec_idl_compile, [cmd],
               "Generating python stubs from IDL files")

#------------------------------------------------------------
# compiling doxygen
#------------------------------------------------------------
def create_doc(doxygen_conf, target_dir):
  """
  create_doc
    - doxygen_conf: [string] path to Doxygen's conf file
    - target_dir  : [string] directory to where doxygen generates documentation
  """
  def exec_doxygen(cmd):
    # remove target dir
    if os.path.exists(target_dir + "/html/index.html"):
      return
    if os.path.exists(target_dir):
      shutil.rmtree(target_dir)

    #cmdline = string.join(cmd)
    cmdline = " ".join(cmd)
    if os_is() == "win32":
      os.system(cmdline)
      return
    log.info(cmdline)
    if sys.version_info[0] == 2:
      status, output = commands.getstatusoutput(cmdline)
      log.info(output)
    else:
      try:
        proc = subprocess.run(cmdline, shell=True, check=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
        status = 0
        log.info(proc.stdout.decode("UTF-8"))
      except:
        status = 1
      
    if status != 0:
      raise errors.DistutilsExecError("Return status of %s is %d" %
                                      (cmd, status))
    return
  # compile IDL by using dist.util.execute
  docdir = os.path.dirname(doxygen_conf)
  tmp = os.getcwd()
  os.chdir(docdir)
  cmd = ["doxygen", doxygen_conf]
  util.execute(exec_doxygen, [cmd],
               "Generating documentation")
  os.chdir(tmp)


#============================================================
# command classes
#
# build
#   build_core
#   build_example
#   build_doc
# clean
#   clean_core
#   clean_example
# clean_doc (clean_doc is not subcommand of clean, because
#            documentation files are included sdist pakcage
#            )
# sdist
#   sdist_tgz
#   sdist_zip
# install
#   install_core
#   install_example
#   install_doc
#============================================================

#============================================================
# build command family
#============================================================
#------------------------------------------------------------
# "build" command
#------------------------------------------------------------
class build_all(build):
  """
  This class is a parent command of build to compile IDL into CORBA
  stubs and to make documentation.
  """
  description = "Generate python CORBA stubs from IDL files and documentation"
  user_options = build.user_options + [
    ("omniidl=", "i",
     "omniidl program used to build stubs"),
    ("idldir=",  "i",
     "directory where IDL files reside"),
    ("doxygen=",  "d",
     "path to doxygen executable")
    ]

  def initialize_options(self):
    self.omniidl = None
    self.idldir  = None
    self.doxygen = None
    build.initialize_options(self)
    return

  def finalize_options(self):
    build.finalize_options(self)
    if not self.omniidl:
      self.omniidl = "omniidl"

    if not self.idldir:
      self.idldir = baseidl_path

    if not self.doxygen:
      self.doxygen = "doxygen"
    # Transferring options to sub-commands
    self.distribution.omniidl = self.omniidl
    self.distribution.idldir  = self.idldir
    self.distribution.doxygen = self.doxygen

  def run(self):
    return build.run(self)

  # sub_command member attribute
  sub_commands = [
    ('build_core', None),
    ('build_doc',  None),
    ('build_example', None)
    ]

#------------------------------------------------------------
# "build_sub" base class
#------------------------------------------------------------
class build_sub(build):
  """
  This class is a subcommand base class for compiling IDL and
  generating stubs.
  """
  description = "Generate python CORBA stubs for core from IDL files"
  user_options = build.user_options + [
    ("omniidl=", "i",
     "omniidl program used to build stubs"),
    ("idldir=",  "d",
     "directory where IDL files reside")
    ]

  def initialize_options(self):
    self.idldir  = None
    self.omniidl = None
    build.initialize_options(self)

  def finalize_options(self):
    build.finalize_options(self)
    if not self.omniidl:
      if hasattr(self.distribution, "omniidl"):
        self.omniidl = self.distribution.omniidl
      else:
        self.omniidl = "omniidl"

    if not self.idldir:
      if hasattr(self.distribution, "idldir"):
        self.idldir = self.distribution.idldir
      else:
        self.idldir = None
    return

#------------------------------------------------------------
# "build_core" sub command
#------------------------------------------------------------
class build_core(build_sub):
  """
  This class is a subcommand of build command. The command compiles
  IDL files and generates CORBA stubs for core packages.
  """
  description = "Generate python CORBA stubs for core packages."
  def run(self):
    idldir = baseidl_path
    include_dirs = [baseidl_path]
    current_dir = baseidl_path
    idl_files   = [os.path.join(baseidl_path, f) for f in baseidl_files]
    compile_idl(self.omniidl, include_dirs, current_dir, idl_files)
    self.run_command("build_py")

from distutils.command.build_py import build_py as _build_py
class build_py(_build_py):
  """
  This class is a subcommand of build_core command. The command copies
  modules into build directory.
  # This class was created for only copying OpenRTM-aist.pth file
  """
  description = "Copying pure python modules into build directory."
  def run(self):
    # Preparering rtcprof_python.py for Windows
    if os_is() == "win32":
      rtcprof_dir = os.path.join("OpenRTM_aist", "utils", "rtcprof/")
      self.copy_file(os.path.join(rtcprof_dir, "rtcprof.py"),
                     os.path.join(rtcprof_dir, "rtcprof_python.py"))
    _build_py.run(self)
    # copying OpenRTM-aist.pth file
    self.copy_file(os.path.join(".", "OpenRTM-aist.pth"), self.build_lib,
                   preserve_mode=False)

#------------------------------------------------------------
# "build_example" sub command
#------------------------------------------------------------
class build_example(build_sub):
  """
  This class is a subcommand of build command. The command compiles
  IDL files and generates CORBA stubs for example packages.
  """
  description = "Generate python CORBA stubs for example packages."
  def run(self):
    # SimpleService
    current_dir  = os.path.join(example_dir, "SimpleService")
    include_dirs = [baseidl_path, current_dir]
    idl_files    = [os.path.join(current_dir, "MyService.idl")]
    compile_idl(self.omniidl, include_dirs, current_dir, idl_files)

    # AutoTest
    current_dir  = os.path.join(example_dir, "AutoTest")
    include_dirs = [baseidl_path, current_dir]
    idl_files    = [os.path.join(current_dir, "AutoTestService.idl")]
    compile_idl(self.omniidl, include_dirs, current_dir, idl_files)


#------------------------------------------------------------
# "build_doc" sub command
#------------------------------------------------------------
class build_doc(build):
  """
  This class is a subcommand of build command. The command generates
  documentation from source code.
  """
  description = "Generate documentation from source code."
  user_options =  build.user_options + [
    ("doxygen=", "d",
     "path to doxygen executable")
    ]

  def initialize_options(self):
    self.doxygen = None
    build.initialize_options(self)

  def finalize_options(self):
    build.finalize_options(self)
    if not self.doxygen:
      if hasattr(self.distribution, "doxygen"):
        self.doxygen = self.distribution.doxygen
      else:
        self.doxygen = "doxygen"

  def build_doc_common(self, infile, outfile):
    f_input = open(infile, 'r')
    src = f_input.read()
    f_input.close()
    dst = src.replace("__VERSION__", pkg_version)
    f_output = open(outfile, 'w')
    f_output.write(dst)
    f_output.close()
  
  def run(self):
    conf_in_file = os.path.normpath(document_path + "/Doxyfile_en.in")
    conf_file = os.path.normpath(document_path + "/Doxyfile_en")
    self.build_doc_common(conf_in_file, conf_file)
    target_dir = os.path.normpath(document_path + "/ClassReference-en")
    create_doc(conf_file, target_dir)

    conf_in_file = os.path.normpath(document_path + "/Doxyfile_jp.in")
    conf_file = os.path.normpath(document_path + "/Doxyfile_jp")
    self.build_doc_common(conf_in_file, conf_file)
    target_dir = os.path.normpath(document_path + "/ClassReference-jp")
    create_doc(conf_file, target_dir)


#============================================================
# clean command classes
#============================================================
def remove_stubs(target_dir, idl_files, module_names):
  files = [f.replace(".idl", "_idl.py") for f in idl_files]
  for f in files:
    file_path = os.path.normpath(target_dir + "/" + f)
    if os.path.exists(file_path):
      os.remove(file_path)
  # removing <modname> dirs and <modname__POA dirs
  for d in module_names:
    mod_dir = os.path.normpath(target_dir + "/" + d)
    if os.path.exists(mod_dir):
      shutil.rmtree(mod_dir)
    poa_dir = os.path.normpath(target_dir + "/" + d + "__POA")
    if os.path.exists(poa_dir):
      shutil.rmtree(poa_dir)

def remove_dirs(base_dir, dir_names):
  for d in dir_names:
    target_dir = os.path.normpath(base_dir + "/" + d)
    if os.path.exists(target_dir):
      shutil.rmtree(target_dir)

def remove_files(base_dir, file_names):
  for f in file_names:
    target_file = os.path.normpath(base_dir + "/" + f)
    if os.path.exists(target_file):
      os.remove(target_file)

#------------------------------------------------------------
# "clean" command
#------------------------------------------------------------
class clean_all(Command):
  """
  This class is a parent command of clean to compile IDL into CORBA
  stubs and to make documentation.
  """
  description = "Generate python CORBA stubs from IDL files and documentation"
  user_options = []
  boolean_options = []
  def initialize_options(self):
    return

  def finalize_options(self):
    return

  def run(self):
    for cmd_name in self.get_sub_commands():
      self.run_command(cmd_name)
    return

  # sub_command member attribute
  sub_commands = [
    ('clean_core', None),
    ('clean_example', None),
    ('clean_doc', None)
    ]


#------------------------------------------------------------
# "clean_core" sub command
#------------------------------------------------------------
class clean_core(Command):
  """
  This class is a parent command of clean to compile IDL into CORBA
  stubs and to make documentation.
  """
  description = "Removing generated CORBA stubs in core"
  user_options = []
  boolean_options = []

  def initialize_options(self):
    return
  def finalize_options(self):
    return
  def run(self):
    remove_stubs(baseidl_path, baseidl_files, baseidl_mods)
    remove_dirs('.', ["build"])
    remove_dirs('.', ["dist"])
    remove_files('.', ["MANIFEST"])

#------------------------------------------------------------
# "clean_example" sub command
#------------------------------------------------------------
class clean_example(Command):
  """
  This class is a parent command of clean to compile IDL into CORBA
  stubs and to make documentation.
  """
  description = "Removing generated CORBA stubs in examples"
  user_options = []
  boolean_options = []

  def initialize_options(self):
    return
  def finalize_options(self):
    return
  def run(self):
    target_dir = os.path.normpath(example_dir + "/SimpleService")
    remove_stubs(target_dir, ["MyService.idl"], ["SimpleService"])
    target_dir = os.path.normpath(example_dir + "/AutoTest")
    remove_stubs(target_dir, ["AutoTestService.idl"], ["AutoTest"])

#------------------------------------------------------------
# "clean_doc" sub command
#------------------------------------------------------------
class clean_doc(Command):
  """
  This class is a parent command of clean to compile IDL into CORBA
  stubs and to make documentation.
  """
  description = "Delete generated documentation files"
  user_options = []
  boolean_options = []

  def initialize_options(self):
    return
  def finalize_options(self):
    return
  def run(self):
    remove_dirs(document_path, ["ClassReference-en", "ClassReference-jp"])
    remove_files(document_path, ["Doxyfile_en", "Doxyfile_jp"])

#============================================================
# sdist command classes
#============================================================
from distutils.filelist import FileList

class sdist_all(sdist):
  def run(self):
    for cmd_name in self.get_sub_commands():
      self.run_command(cmd_name)
    return
  # sub_commands
  sub_commands = [
    ('sdist_tgz', None),
    ('sdist_zip',  None),
    ]

class sdist_tgz(sdist):
  def run(self):
    self.formats = ["gztar"]
    self.filelist = FileList()
    self.check_metadata()
    self.get_file_list()
    if self.manifest_only:
      return
    self.make_distribution()

class sdist_zip(sdist):
  def run(self):
    self.formats = ["zip"]
    self.filelist = FileList()
    self.check_metadata()
    self.get_file_list()
    if self.manifest_only:
      return
    """
    # converting character code into Shift-JIS
    import re
    for f in self.filelist.files:
      if not re.match('OpenRTM_aist.*\.py$', f): continue
      convert_file_code(f, "shift_jis", "\r\n", "euc_jp")
    """
    self.make_distribution()
    """
    # reverting character code
    for f in self.filelist.files:
      if not re.match('OpenRTM_aist.*\.py$', f): continue
      convert_file_code(f, "euc_jp", "\n", "shift_jis")
    """

#============================================================
# install command classes
#------------------------------------------------------------
# "install" command
#
# install_all: top level install command
#  +(install_lib)
#  +(install_scripts)
#  +(install_egg_info)
#  + install_core
#    + install_core_lib = install_lib
#    + install_core_scripts = install_scripts
#    + install_core_egg_info = install_egg_info
#  + install_example
#  + install_doc
#============================================================

class install_all(install):
  """
  This class is a parent command of install to compile IDL into CORBA
  stubs and to make documentation.
  """
  description = "Generate python CORBA stubs from IDL files and documentation"
  def run(self):
    for cmd_name in self.get_sub_commands():
      self.run_command(cmd_name) 
    return
  sub_commands = [('install_lib',     install.has_lib),
                  ('install_scripts', install.has_scripts),
                  ('install_data', install.has_data),
                  ('install_egg_info', lambda self:True),
                  ('install_example', lambda self:True),
                  ('install_doc', lambda self:True),
                  ]

class install_core(install):
  description = "Installing core modules and data files"
  sub_commands = [('install_core_lib',     install.has_lib),
                  ('install_core_scripts', install.has_scripts),
                  ('install_data', install.has_data),
                  ('install_core_egg_info', lambda self:True)
                  ]

from distutils.command.install_lib import install_lib as _install_lib
# sub-command "install_core_lib" which is called from install_core
class install_core_lib(_install_lib):
  def finalize_options (self):
    self.set_undefined_options('install_core',
                               ('build_lib', 'build_dir'),
                               ('install_lib', 'install_dir'),
                               ('force', 'force'),
                               ('compile', 'compile'),
                               ('optimize', 'optimize'),
                               ('skip_build', 'skip_build'),
                               )

from distutils.command.install_scripts import install_scripts as _install_scripts
# sub-command "install_core_script" which is called from install_core
class install_core_scripts(_install_scripts):
  def finalize_options (self):
    self.set_undefined_options('build', ('build_scripts', 'build_dir'))
    self.set_undefined_options('install_core',
                               ('install_scripts', 'install_dir'),
                               ('force', 'force'),
                               ('skip_build', 'skip_build'),
                               )
from distutils.command.install_egg_info import install_egg_info as _install_egg_info
# sub-command "install_core_egg_info" which is called from install_core
class install_core_egg_info(_install_egg_info):
  def finalize_options(self):
    self.set_undefined_options('install_core_lib',
                               ('install_dir','install_dir'))
    if hasattr(self, 'install_layout'):
      self.set_undefined_options('install_core',
                                 ('install_layout','install_layout'))
    if hasattr(self, 'prefix_option'):
      self.set_undefined_options('install_core',
                                 ('prefix_option','prefix_option'))
    _install_egg_info.finalize_options(self)


class install_example(install_data):
  description = "Installing example scripts"
  def initialize_options(self):
    self.example_files = None
    install_data.initialize_options(self)

  def finalize_options(self):
    install_data.finalize_options(self)
    self.example_files = self.distribution.example_files
    self.data_files = self.example_files

class install_doc(install_data):
  description = "Installing document files"
  def initialize_options(self):
    self.document_files = None
    install_data.initialize_options(self)

  def finalize_options(self):
    install_data.finalize_options(self)
    self.document_files = self.distribution.document_files
    self.data_files = self.document_files


from distutils.dist import Distribution

class MyDistribution(Distribution):
    def __init__(self, attrs=None):
        self.coredata_files= None
        self.example_files= None
        self.document_files= None
        Distribution.__init__(self, attrs)

#============================================================
# file list
#============================================================
#
# core package list
#
pkg_packages   = openrtm_core_packages \
               + openrtm_ext_packages  \
               + openrtm_utils_packages
#
# IDL file list
#
pkg_package_data_files = {
  'OpenRTM_aist': ['RTM_IDL/*.idl',
                   'RTM_IDL/device_interfaces/*.idl',
                   'ext/sdo/observer/*.conf',
                   'ext/sdo/observer/*.bat',
                   'ext/sdo/observer/*.sh',
                   'ext/sdo/observer/*.idl',
                   ],
  }
#
# scripts
#
if os_is() == "win32":
  pkg_scripts = pkg_scripts_win32
  pkg_data_files = pkg_data_files_win32
else:
  pkg_scripts = pkg_scripts_unix
  pkg_data_files = pkg_data_files_unix


#
# example file list -> MyDistribution.example_files
#
pkg_example_files   = create_filelist(example_dir,
                                      example_dir,
                                      target_example_dir,
                                      example_match_regex,
                                      ["OpenRTM_aist/examples/NXTRTC"])


#
# document file list -> MyDistribution.document_files
#
pkg_document_files_en = create_filelist(document_dir + "/ClassReference-en",
                                        document_dir,
                                        target_doc_dir,
                                        document_match_regex)
pkg_document_files_jp = create_filelist(document_dir + "/ClassReference-jp",
                                        document_dir,
                                        target_doc_dir,
                                        document_match_regex)
pkg_document_files = pkg_document_files_en + pkg_document_files_jp

#==============================
# main
#==============================
core.setup(name             = pkg_name,
           version          = pkg_version,
           description      = pkg_desc,
           author           = pkg_author,
           author_email     = pkg_email,
           url              = pkg_url,
           long_description = pkg_long_desc,
           license          = pkg_license,
           distclass        = MyDistribution,
           cmdclass         = { "build": build_all,
                                "build_core": build_core,
                                "build_py": build_py,
                                "build_example": build_example,
                                "build_doc": build_doc,
                                "clean": clean_all,
                                "clean_core": clean_core,
                                "clean_example": clean_example,
                                "clean_doc": clean_doc,
                                "install": install_all,
                                "install_core_lib": install_core_lib,
                                "install_core_scripts": install_core_scripts,
                                "install_core_egg_info": install_core_egg_info,
                                "install_core": install_core,
                                "install_example": install_example,
                                "install_doc": install_doc,
                                "sdist": sdist_all,
                                "sdist_tgz": sdist_tgz,
                                "sdist_zip": sdist_zip,
                                },
           packages         = pkg_packages,
           package_dir      = {module_dir: module_dir},
           package_data     = pkg_package_data_files,
           scripts          = pkg_scripts,
           data_files       = pkg_data_files,
           example_files    = pkg_example_files,
           document_files   = pkg_document_files,
           )