def test_get_workspaces(self):
try:
root_dir = tempfile.mkdtemp()
ws1 = os.path.join(root_dir, 'ws1')
ws2 = os.path.join(root_dir, 'ws2')
os.makedirs(ws1)
os.makedirs(ws2)
with open(os.path.join(ws1, CATKIN_WORKSPACE_MARKER_FILE),
'w') as fhand:
fhand.write('loc1;loc2')
with open(os.path.join(ws2, CATKIN_WORKSPACE_MARKER_FILE),
'w') as fhand:
fhand.write('loc3;loc4')
catkin.workspace.os.environ = {}
self.assertEqual([], get_workspaces())
catkin.workspace.os.environ = {'CMAKE_PREFIX_PATH': ''}
self.assertEqual([], get_workspaces())
catkin.workspace.os.environ = {'CMAKE_PREFIX_PATH': ws1}
self.assertEqual([ws1], get_workspaces())
catkin.workspace.os.environ = {'CMAKE_PREFIX_PATH': 'nowhere'}
self.assertEqual([], get_workspaces())
catkin.workspace.os.environ = {
'CMAKE_PREFIX_PATH': ws2 + os.pathsep + ws1
}
self.assertEqual([ws2, ws1], get_workspaces())
finally:
shutil.rmtree(root_dir)
catkin.workspace.os.environ = os.environ
def test_get_workspaces(self):
old_environ = os.environ
try:
root_dir = tempfile.mkdtemp()
ws1 = os.path.join(root_dir, 'ws1')
ws2 = os.path.join(root_dir, 'ws2')
os.makedirs(ws1)
os.makedirs(ws2)
with open(os.path.join(ws1, CATKIN_MARKER_FILE), 'w') as fhand:
fhand.write('loc1;loc2')
with open(os.path.join(ws2, CATKIN_MARKER_FILE), 'w') as fhand:
fhand.write('loc3;loc4')
catkin.workspace.os.environ = {}
self.assertEqual([], get_workspaces())
catkin.workspace.os.environ = {'CMAKE_PREFIX_PATH': ''}
self.assertEqual([], get_workspaces())
catkin.workspace.os.environ = {'CMAKE_PREFIX_PATH': ws1}
self.assertEqual([ws1], get_workspaces())
catkin.workspace.os.environ = {'CMAKE_PREFIX_PATH': 'nowhere'}
self.assertEqual([], get_workspaces())
catkin.workspace.os.environ = {'CMAKE_PREFIX_PATH': ws2 + os.pathsep + ws1}
self.assertEqual([ws2, ws1], get_workspaces())
finally:
shutil.rmtree(root_dir)
os.environ = old_environ
catkin.workspace.os.environ = os.environ
def find_in_workspaces(search_dirs=None,
project=None,
path=None,
_workspaces=get_workspaces()):
'''
Find all paths which match the search criteria.
All workspaces are searched in order.
Each workspace, each search_in subfolder, the project name and the path are concatenated to define a candidate path.
If the candidate path exists it is appended to the result list.
Note: the search might return multiple paths for a 'share' from build- and source-space.
:param search_dir: The list of subfolders to search in (default contains all valid values: 'bin', 'etc', 'lib', 'libexec', 'share'), ``list``
:param project: The project name to search for (optional, not possible with the global search_in folders 'bin' and 'lib'), ``str``
:param path: The path, ``str``
:param _workspaces: (optional, used for unit tests), the list of workspaces to use.
:raises ValueError: if search_dirs contains an invalid folder name
:returns: List of paths, ``list``
'''
search_dirs = _get_valid_search_dirs(search_dirs, project)
# collect candidate paths
paths = []
for workspace in (_workspaces or []):
for sub in search_dirs:
# search in workspace
p = os.path.join(workspace, sub if sub != 'libexec' else 'lib')
if project:
p = os.path.join(p, project)
if path:
p = os.path.join(p, path)
paths.append(p)
# for search in share also consider source spaces
if project is not None and sub == 'share':
source_paths = get_source_paths(workspace)
for source_path in source_paths:
p = os.path.join(source_path, project)
if path is not None:
p = os.path.join(p, path)
paths.append(p)
# find all existing candidates
existing = [p for p in paths if os.path.exists(p)]
return (existing, paths)
def find_in_workspaces(search_dirs=None, project=None, path=None, _workspaces=get_workspaces()):
'''
Find all paths which match the search criteria.
All workspaces are searched in order.
Each workspace, each search_in subfolder, the project name and the path are concatenated to define a candidate path.
If the candidate path exists it is appended to the result list.
Note: the search might return multiple paths for a 'share' from build- and source-space.
:param search_dir: The list of subfolders to search in (default contains all valid values: 'bin', 'etc', 'lib', 'libexec', 'share'), ``list``
:param project: The project name to search for (optional, not possible with the global search_in folders 'bin' and 'lib'), ``str``
:param path: The path, ``str``
:param _workspaces: (optional, used for unit tests), the list of workspaces to use.
:raises ValueError: if search_dirs contains an invalid folder name
:returns: List of paths, ``list``
'''
search_dirs = _get_valid_search_dirs(search_dirs, project)
# collect candidate paths
paths = []
for workspace in (_workspaces or []):
for sub in search_dirs:
# search in workspace
p = os.path.join(workspace, sub if sub != 'libexec' else 'lib')
if project:
p = os.path.join(p, project)
if path:
p = os.path.join(p, path)
paths.append(p)
# for search in share also consider source spaces
if project is not None and sub == 'share':
source_paths = get_source_paths(workspace)
for source_path in source_paths:
p = os.path.join(source_path, project)
if path is not None:
p = os.path.join(p, path)
paths.append(p)
# find all existing candidates
existing = [p for p in paths if os.path.exists(p)]
return (existing, paths)
def init_workspace(workspace_dir):
"""
Create a toplevel CMakeLists.txt in the root of a workspace.
The toplevel.cmake file is looked up either in the catkin
workspaces contained in the CMAKE_PREFIX_PATH or relative to this
file. Then it tries to create a symlink first and if that fails
copies the file.
It installs ``manifest.xml`` to ``share/${PROJECT_NAME}``.
.. note:: The symlink is absolute when catkin is found outside
the workspace_dir (since that indicates a different workspace
and it may change relative location to the workspace referenced
as a parameter). The symlink is relative when catkin is part of
the to-be-initialized workspace.
:param workspace_dir: the path to the workspace where the
CMakeLists.txt should be created
:type workspace_dir: string
"""
# verify that destination file does not exist
dst = os.path.join(workspace_dir, 'CMakeLists.txt')
if os.path.exists(dst):
raise RuntimeError('File "%s" already exists' % dst)
src_file_path = None
checked = []
# look in to-be-initialized workspace first
src = os.path.join(workspace_dir, 'catkin', 'cmake', 'toplevel.cmake')
if os.path.isfile(src):
src_file_path = os.path.relpath(src, workspace_dir)
else:
checked.append(src)
# search for toplevel file in all workspaces
if src_file_path is None:
workspaces = get_workspaces()
for workspace in workspaces:
source_paths = get_source_paths(workspace)
if len(source_paths) == 0:
# try from install space
src = os.path.join(workspace, 'catkin', 'cmake', 'toplevel.cmake')
if os.path.isfile(src):
src_file_path = src
break
else:
checked.append(src)
else:
# try from all source spaces
for source_path in source_paths:
src = os.path.join(source_path, 'catkin', 'cmake', 'toplevel.cmake')
if os.path.isfile(src):
src_file_path = src
break
else:
checked.append(src)
# search for toplevel file in relative locations
if src_file_path is None:
relative_cmake_paths = []
# when catkin is in source space
relative_cmake_paths.append(os.path.join('..', '..', 'cmake'))
# when catkin is installed (with Python code in lib/pythonX.Y/[dist|site]-packages)
relative_cmake_paths.append(os.path.join('..', '..', '..', '..', 'share', 'catkin', 'cmake'))
# when catkin is installed (with Python code in lib/site-packages)
relative_cmake_paths.append(os.path.join('..', '..', '..', 'share', 'catkin', 'cmake'))
for relative_cmake_path in relative_cmake_paths:
src = os.path.abspath(os.path.join(os.path.dirname(__file__), relative_cmake_path, 'toplevel.cmake'))
if os.path.isfile(src):
src_file_path = src
break
else:
checked.append(src)
if src_file_path is None:
raise RuntimeError('Could neither find file "toplevel.cmake" in any workspace nor relative, checked the following paths:\n%s' % ('\n'.join(checked)))
_symlink_or_copy(src_file_path, dst)
def find_in_workspaces(search_dirs=None, project=None, path=None, _workspaces=get_workspaces(), considered_paths=None, first_matching_workspace_only=False, first_match_only=False, workspace_to_source_spaces=None, source_path_to_packages=None):
'''
Find all paths which match the search criteria.
All workspaces are searched in order.
Each workspace, each search_in subfolder, the project name and the path are concatenated to define a candidate path.
If the candidate path exists it is appended to the result list.
Note: the search might return multiple paths for 'share' from devel- and source-space.
:param search_dir: The list of subfolders to search in (default contains all valid values: 'bin', 'etc', 'lib', 'libexec', 'share'), ``list``
:param project: The project name to search for (optional, not possible with the global search_in folders 'bin' and 'lib'), ``str``
:param path: The path, ``str``
:param _workspaces: (optional, used for unit tests), the list of workspaces to use.
:param considered_paths: If not None, function will append all path that were searched
:param first_matching_workspace_only: if True returns all results found for first workspace with results
:param first_match_only: if True returns first path found (supercedes first_matching_workspace_only)
:param workspace_to_source_spaces: the dictionary is populated with mappings from workspaces to source paths, pass in the same dictionary to avoid repeated reading of the catkin marker file
:param source_path_to_packages: the dictionary is populated with mappings from source paths to packages, pass in the same dictionary to avoid repeated crawling
:raises ValueError: if search_dirs contains an invalid folder name
:returns: List of paths
'''
search_dirs = _get_valid_search_dirs(search_dirs, project)
if 'libexec' in search_dirs:
search_dirs.insert(search_dirs.index('libexec'), 'lib')
if workspace_to_source_spaces is None:
workspace_to_source_spaces = {}
if source_path_to_packages is None:
source_path_to_packages = {}
paths = []
existing_paths = []
try:
for workspace in (_workspaces or []):
for sub in search_dirs:
# search in workspace
p = os.path.join(workspace, sub)
if project:
p = os.path.join(p, project)
if path:
p = os.path.join(p, path)
paths.append(p)
if os.path.exists(p):
existing_paths.append(p)
if first_match_only:
raise StopIteration
# for search in share also consider source spaces
if project is not None and sub == 'share':
if workspace not in workspace_to_source_spaces:
workspace_to_source_spaces[workspace] = get_source_paths(workspace)
for source_path in workspace_to_source_spaces[workspace]:
if source_path not in source_path_to_packages:
source_path_to_packages[source_path] = find_packages(source_path)
matching_packages = [p for p, pkg in source_path_to_packages[source_path].items() if pkg.name == project]
if matching_packages:
p = source_path
if matching_packages[0] != os.curdir:
p = os.path.join(p, matching_packages[0])
if path is not None:
p = os.path.join(p, path)
paths.append(p)
if os.path.exists(p):
existing_paths.append(p)
if first_match_only:
raise StopIteration
if first_matching_workspace_only and existing_paths:
break
except StopIteration:
pass
if considered_paths is not None:
considered_paths.extend(paths)
return existing_paths
def find_in_workspaces(search_dirs=None,
project=None,
path=None,
_workspaces=get_workspaces(),
considered_paths=None,
first_matching_workspace_only=False,
first_match_only=False,
workspace_to_source_spaces=None,
source_path_to_packages=None):
'''
Find all paths which match the search criteria.
All workspaces are searched in order.
Each workspace, each search_in subfolder, the project name and the path are concatenated to define a candidate path.
If the candidate path exists it is appended to the result list.
Note: the search might return multiple paths for 'share' from devel- and source-space.
:param search_dir: The list of subfolders to search in (default contains all valid values: 'bin', 'etc', 'lib', 'libexec', 'share'), ``list``
:param project: The project name to search for (optional, not possible with the global search_in folders 'bin' and 'lib'), ``str``
:param path: The path, ``str``
:param _workspaces: (optional, used for unit tests), the list of workspaces to use.
:param considered_paths: If not None, function will append all path that were searched
:param first_matching_workspace_only: if True returns all results found for first workspace with results
:param first_match_only: if True returns first path found (supercedes first_matching_workspace_only)
:param workspace_to_source_spaces: the dictionary is populated with mappings from workspaces to source paths, pass in the same dictionary to avoid repeated reading of the catkin marker file
:param source_path_to_packages: the dictionary is populated with mappings from source paths to packages, pass in the same dictionary to avoid repeated crawling
:raises ValueError: if search_dirs contains an invalid folder name
:returns: List of paths
'''
search_dirs = _get_valid_search_dirs(search_dirs, project)
if 'libexec' in search_dirs:
search_dirs.insert(search_dirs.index('libexec'), 'lib')
if workspace_to_source_spaces is None:
workspace_to_source_spaces = {}
if source_path_to_packages is None:
source_path_to_packages = {}
paths = []
existing_paths = []
try:
for workspace in (_workspaces or []):
for sub in search_dirs:
# search in workspace
p = os.path.join(workspace, sub)
if project:
p = os.path.join(p, project)
if path:
p = os.path.join(p, path)
paths.append(p)
if os.path.exists(p):
existing_paths.append(p)
if first_match_only:
raise StopIteration
# for search in share also consider source spaces
if project is not None and sub == 'share':
if workspace not in workspace_to_source_spaces:
workspace_to_source_spaces[
workspace] = get_source_paths(workspace)
for source_path in workspace_to_source_spaces[workspace]:
if source_path not in source_path_to_packages:
source_path_to_packages[
source_path] = find_packages(source_path)
matching_packages = [
p for p, pkg in
source_path_to_packages[source_path].items()
if pkg.name == project
]
if matching_packages:
p = source_path
if matching_packages[0] != os.curdir:
p = os.path.join(p, matching_packages[0])
if path is not None:
p = os.path.join(p, path)
paths.append(p)
if os.path.exists(p):
existing_paths.append(p)
if first_match_only:
raise StopIteration
if first_matching_workspace_only and existing_paths:
break
except StopIteration:
pass
if considered_paths is not None:
considered_paths.extend(paths)
return existing_paths
