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 _build_action(self, context):
environment_hooks_path = os.path.join('share',
context.package_manifest.name,
'environment')
ext = '.sh' if not IS_WINDOWS else '.bat'
path_environment_hook = os.path.join(environment_hooks_path,
'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(
environment_hooks_path,
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)
environment_hooks = [
path_environment_hook,
pythonpath_environment_hook,
]
# expand package-level setup files
expand_package_level_setup_files(context, environment_hooks,
environment_hooks_path)
def _build_action(self, context):
environment_hooks_path = os.path.join(
'share', context.package_manifest.name, 'environment')
ext = '.sh' if not IS_WINDOWS else '.bat'
path_environment_hook = os.path.join(
environment_hooks_path, '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(
environment_hooks_path, 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)
environment_hooks = [
path_environment_hook,
pythonpath_environment_hook,
]
# expand package-level setup files
expand_package_level_setup_files(context, environment_hooks, environment_hooks_path)
def on_build(self, context):
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)
environment_hooks_path = os.path.join('share',
context.package_manifest.name,
'environment')
ext = '.sh' if not IS_WINDOWS else '.bat'
path_environment_hook = os.path.join(environment_hooks_path,
'path' + ext)
# expand environment hook for JAVAPATH
ext = '.sh.in' if not IS_WINDOWS else '.bat.in'
template_path = self.get_environment_hook_template_path('javapath' +
ext)
javapath = os.path.join('$AMENT_CURRENT_PREFIX', 'share',
context.package_manifest.name, 'java', '*')
javapath_depends = os.path.join('$AMENT_CURRENT_PREFIX', 'lib', 'java',
'*')
content = configure_file(template_path, {
'JAVAPATH': javapath,
'JAVAPATH_DEPENDS': javapath_depends
})
javapath_environment_hook = os.path.join(
environment_hooks_path,
os.path.basename(template_path)[:-3])
destination_path = os.path.join(context.build_space,
javapath_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)
environment_hooks = [
path_environment_hook,
javapath_environment_hook,
]
# expand package-level setup files
expand_package_level_setup_files(context, environment_hooks,
environment_hooks_path)
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 expand_prefix_level_setup_files(context):
# expand prefix-level setup files
for name in get_prefix_level_template_names():
if name.endswith('.in'):
template_path = get_prefix_level_template_path(name)
content = configure_file(
template_path, {
'CMAKE_INSTALL_PREFIX': context.install_space,
})
destination_path = os.path.join(context.build_space, name[:-3])
with open(destination_path, 'w') as h:
h.write(content)
def expand_prefix_level_setup_files(context):
# expand prefix-level setup files
for name in get_prefix_level_template_names():
if name.endswith('.in'):
template_path = get_prefix_level_template_path(name)
content = configure_file(template_path, {
'CMAKE_INSTALL_PREFIX': context.install_space,
})
destination_path = os.path.join(
context.build_space, name[:-3])
with open(destination_path, 'w') as h:
h.write(content)
def iterate_packages(opts, packages, per_package_callback):
install_space_base = opts.install_space
package_dict = dict([(path, package) for path, package, _ in packages])
workspace_package_names = [pkg.name for pkg in package_dict.values()]
jobs = OrderedDict()
for (path, package, depends) in packages:
if package.name in opts.skip_packages:
print('# Skipping: %s' % package.name)
else:
pkg_path = os.path.join(opts.basepath, path)
package_opts = copy.copy(opts)
package_opts.path = os.path.abspath(
os.path.join(os.getcwd(), pkg_path))
if package_opts.isolated:
package_opts.install_space = os.path.join(
install_space_base, package.name)
# get recursive package dependencies in topological order
ordered_depends = topological_order_packages(package_dict,
whitelisted=depends)
ordered_depends = [
pkg.name for _, pkg, _ in ordered_depends
if pkg.name != package.name
]
# get package share folder for each package
package_opts.build_dependencies = []
for depend in ordered_depends:
install_space = install_space_base
if package_opts.isolated:
install_space = os.path.join(install_space, depend)
package_share = os.path.join(install_space, 'share', depend)
package_opts.build_dependencies.append(package_share)
# get the package share folder for each exec depend of the package
package_opts.exec_dependency_paths_in_workspace = []
for dep_object in package.exec_depends:
dep_name = dep_object.name
if dep_name not in workspace_package_names:
# do not add to this list if the dependency is not in the workspace
continue
install_space = install_space_base
if package_opts.isolated:
install_space = os.path.join(install_space, dep_name)
package_share = os.path.join(install_space, 'share', dep_name)
package_opts.exec_dependency_paths_in_workspace.append(
package_share)
jobs[package.name] = {
'callback': per_package_callback,
'opts': package_opts,
'depends': ordered_depends,
}
if package.name == opts.end_with:
break
if not opts.parallel:
rc = processSequentially(jobs)
else:
rc = processInParallel(jobs)
if not rc and opts.end_with:
print("Stopped after package '{0}'".format(opts.end_with))
# expand prefix-level setup files for the root of the install-space
if opts.isolated:
for name in get_isolated_prefix_level_template_names():
template_path = get_isolated_prefix_level_template_path(name)
if name.endswith('.in'):
content = configure_file(
template_path, {
'CMAKE_INSTALL_PREFIX': install_space_base,
'PYTHON_EXECUTABLE': sys.executable,
})
destination_path = os.path.join(install_space_base, name[:-3])
with open(destination_path, 'w') as h:
h.write(content)
else:
dst = os.path.join(install_space_base, name)
if os.path.exists(dst):
if not opts.symlink_install or \
not os.path.islink(dst) or \
not os.path.samefile(template_path, dst):
os.remove(dst)
if not os.path.exists(dst):
if not opts.symlink_install:
shutil.copy(template_path, dst)
else:
os.symlink(template_path, dst)
return rc
def iterate_packages(opts, packages, per_package_callback):
install_space_base = opts.install_space
package_dict = {path: package for path, package, _ in packages}
workspace_package_names = [pkg.name for pkg in package_dict.values()]
jobs = OrderedDict()
for (path, package, depends) in packages:
if package.name in opts.skip_packages:
print('# Skipping: %s' % package.name)
else:
pkg_path = os.path.join(opts.basepath, path)
package_opts = copy.copy(opts)
package_opts.path = os.path.abspath(os.path.join(os.getcwd(), pkg_path))
if package_opts.isolated:
package_opts.install_space = os.path.join(install_space_base, package.name)
# get recursive package dependencies in topological order
ordered_depends = topological_order_packages(
package_dict, whitelisted=depends)
ordered_depends = [
pkg.name
for _, pkg, _ in ordered_depends
if pkg.name != package.name]
# get package share folder for each package
package_opts.build_dependencies = []
for depend in ordered_depends:
install_space = install_space_base
if package_opts.isolated:
install_space = os.path.join(install_space, depend)
package_share = os.path.join(install_space, 'share', depend)
package_opts.build_dependencies.append(package_share)
# get the package share folder for each exec depend of the package
# also consider group dependencies
package_opts.exec_dependency_paths_in_workspace = []
dep_names = [d.name for d in package.exec_depends]
for g in package.group_depends:
dep_names += g.members
for dep_name in dep_names:
if dep_name not in workspace_package_names:
# do not add to this list if the dependency is not in the workspace
continue
install_space = install_space_base
if package_opts.isolated:
install_space = os.path.join(install_space, dep_name)
package_share = os.path.join(install_space, 'share', dep_name)
package_opts.exec_dependency_paths_in_workspace.append(package_share)
jobs[package.name] = {
'callback': per_package_callback,
'opts': package_opts,
'depends': ordered_depends,
}
if package.name == opts.end_with:
break
if not opts.parallel:
rc = process_sequentially(jobs)
else:
rc = process_in_parallel(jobs)
if not rc and opts.end_with:
print("Stopped after package '{0}'".format(opts.end_with))
# expand prefix-level setup files for the root of the install-space
if opts.isolated:
for name in get_isolated_prefix_level_template_names():
template_path = get_isolated_prefix_level_template_path(name)
if name.endswith('.in'):
content = configure_file(template_path, {
'CMAKE_INSTALL_PREFIX': install_space_base,
'PYTHON_EXECUTABLE': opts.python_interpreter,
})
destination_path = os.path.join(
install_space_base, name[:-3])
with open(destination_path, 'w') as h:
h.write(content)
else:
dst = os.path.join(install_space_base, name)
if os.path.exists(dst):
if not opts.symlink_install or \
not os.path.islink(dst) or \
not os.path.samefile(template_path, dst):
os.remove(dst)
if not os.path.exists(dst):
if not opts.symlink_install:
shutil.copy(template_path, dst)
else:
os.symlink(template_path, dst)
return rc
def iterate_packages(opts, packages, per_package_callback):
start_with_found = not opts.start_with
install_space_base = opts.install_space
package_dict = dict([(path, package) for path, package, _ in packages])
for (path, package, depends) in packages:
if package.name == opts.start_with:
start_with_found = True
if not start_with_found:
print('# Skipping: %s' % package.name)
continue
pkg_path = os.path.join(opts.basepath, path)
opts.path = pkg_path
if opts.isolated:
opts.install_space = os.path.join(install_space_base, package.name)
# get recursive package dependencies in topological order
ordered_depends = topological_order_packages(package_dict,
whitelisted=depends)
ordered_depends = [
pkg.name for _, pkg, _ in ordered_depends
if pkg.name != package.name
]
# get package share folder for each package
opts.build_dependencies = []
for depend in ordered_depends:
install_space = install_space_base
if opts.isolated:
install_space = os.path.join(install_space, depend)
package_share = os.path.join(install_space, 'share', depend)
opts.build_dependencies.append(package_share)
rc = per_package_callback(opts)
if rc:
return rc
if package.name == opts.end_with:
print("Stopped after package '{0}'".format(package.name))
break
# expand prefix-level setup files for the root of the install-space
if opts.isolated:
for name in get_isolated_prefix_level_template_names():
template_path = get_isolated_prefix_level_template_path(name)
if name.endswith('.in'):
content = configure_file(
template_path, {
'CMAKE_INSTALL_PREFIX': install_space_base,
'PYTHON_EXECUTABLE': sys.executable,
})
destination_path = os.path.join(install_space_base, name[:-3])
with open(destination_path, 'w') as h:
h.write(content)
else:
dst = os.path.join(install_space_base, name)
if os.path.exists(dst):
if not opts.symlink_install or \
not os.path.islink(dst) or \
not os.path.samefile(template_path, dst):
os.remove(dst)
if not os.path.exists(dst):
if not opts.symlink_install:
shutil.copy(template_path, dst)
else:
os.symlink(template_path, dst)
def iterate_packages(opts, packages, per_package_callback):
start_with_found = not opts.start_with
install_space_base = opts.install_space
package_dict = dict([(path, package) for path, package, _ in packages])
for (path, package, depends) in packages:
if package.name == opts.start_with:
start_with_found = True
if not start_with_found:
print('# Skipping: %s' % package.name)
continue
pkg_path = os.path.join(opts.basepath, path)
opts.path = pkg_path
if opts.isolated:
opts.install_space = os.path.join(install_space_base, package.name)
# get recursive package dependencies in topological order
ordered_depends = topological_order_packages(
package_dict, whitelisted=depends)
ordered_depends = [
pkg.name
for _, pkg, _ in ordered_depends
if pkg.name != package.name]
# get package share folder for each package
opts.build_dependencies = []
for depend in ordered_depends:
install_space = install_space_base
if opts.isolated:
install_space = os.path.join(install_space, depend)
package_share = os.path.join(install_space, 'share', depend)
opts.build_dependencies.append(package_share)
rc = per_package_callback(opts)
if rc:
return rc
if package.name == opts.end_with:
print("Stopped after package '{0}'".format(package.name))
break
# expand prefix-level setup files for the root of the install-space
if opts.isolated:
for name in get_isolated_prefix_level_template_names():
template_path = get_isolated_prefix_level_template_path(name)
if name.endswith('.in'):
content = configure_file(template_path, {
'CMAKE_INSTALL_PREFIX': install_space_base,
'PYTHON_EXECUTABLE': sys.executable,
})
destination_path = os.path.join(
install_space_base, name[:-3])
with open(destination_path, 'w') as h:
h.write(content)
else:
dst = os.path.join(install_space_base, name)
if os.path.exists(dst):
if not opts.symlink_install or \
not os.path.islink(dst) or \
not os.path.samefile(template_path, dst):
os.remove(dst)
if not os.path.exists(dst):
if not opts.symlink_install:
shutil.copy(template_path, dst)
else:
os.symlink(template_path, dst)