def make_package_lines(deps_str, sysdeps_str, with_messages, project_path):
PACKAGE_LINES = '''
## Generate added messages and services with any dependencies listed here
%(comment_symbol)sgenerate_messages(
%(comment_symbol)s DEPENDENCIES %(msg_dependencies)s
%(comment_symbol)s)
# catkin_package parameters: http://ros.org/doc/groovy/api/catkin/html/dev_guide/generated_cmake_api.html#catkin-package
# TODO: fill in what other packages will need to use this package
catkin_package(
DEPENDS %(sysdependencies)s # TODO
CATKIN_DEPENDS %(dependencies)s
INCLUDE_DIRS %(include_dir)s# TODO include
LIBRARIES # TODO
)
include_directories(%(include_dir)s ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
'''
comment_symbol = '' if with_messages else '#'
msg_dependencies = set()
msg_dependencies.update(utils.get_message_dependencies(project_path))
msg_dependencies.update(utils.get_service_dependencies(project_path))
msg_dependencies.update(utils.get_action_dependencies(project_path))
if utils.get_action_files(project_path):
msg_dependencies.add('actionlib_msgs')
dependencies = deps_str if deps_str.strip() else '# TODO add dependencies'
include_dirs = set()
if os.path.exists(os.path.join(project_path, 'include')):
include_dirs.add('include')
if 'Eigen' in sysdeps_str:
include_dirs.add('${EIGEN_INCLUDE_DIRS}')
return PACKAGE_LINES % {
'comment_symbol': comment_symbol,
'msg_dependencies': ' '.join(msg_dependencies),
'dependencies': dependencies,
'sysdependencies': sysdeps_str,
'include_dir': ' '.join(include_dirs)
}
def make_from_manifest(manifest_xml_str,
package_name,
version,
architecture_independent, metapackage,
bugtracker_url, replaces, conflicts, package_path, maintainer_emails):
"""
Return a package.xml sturcture filled with the data from the given
manifest_xml_str.
>>> manifest_xml_str = '\
<package>\
<description brief="one line of text">\
long description goes here, \
<em>XHTML is allowed</em>\
</description>\
<author>Alice/[email protected], Bob/[email protected]</author>\
<license>BSD</license>\
<url>http://pr.willowgarage.com/</url>\
<logo>http://pr.willowgarage.com/blog/photos/sensor_head1_500.jpg</logo>\
<depend package="pkgname"/>\
<depend package="common"/>\
<rosdep name="python" />\
<versioncontrol type="svn"\
url="https://playerstage.svn.sourceforge.net/svnroot/playerstage/code/player/trunk"/>\
<export>\
<cpp cflags="-I${prefix}/include" lflags="-L${prefix}/lib -lros"/>\
<cpp os="osx" cflags="-I${prefix}/include" lflags="-L${prefix}/lib\
-Wl,-rpath,-L${prefix}lib -lrosthread -framework CoreServices"/>\
</export>\
</package>\
'
>>> pkg_xml = make_from_manifest( # doctest: +ELLIPSIS
... manifest_xml_str,
... package_name='my_pkg', version='0.1.2',
... architecture_independent=False,
... metapackage=False,
... bugtracker_url='https://github.com/ros/my_pkg/issues',
... replaces=[], conflicts=[])
>>> import xml.etree.ElementTree as ET
>>> pkg = ET.XML(pkg_xml)
"""
# collect and save infos from the manifest.xml file
manifest = ET.XML(manifest_xml_str)
description = xml_lib.xml_find(manifest, 'description').text.strip()
authors_str = xml_lib.xml_find(manifest, 'author').text
authors = parse_authors_field(authors_str)
licenses_str = xml_lib.xml_find(manifest, 'license').text
licenses = SPACE_COMMA_RX.split(licenses_str)
website_url = xml_lib.xml_find(manifest, 'url').text
maintainers = [(a, {'email': maintainer_emails.get(a, '')})
if is_a_string(a)
else a for a in authors]
depend_tags = manifest.findall('depend')
depends = [d.attrib['package'] for d in depend_tags]
export_tags = xml_lib.xml_find(manifest, 'export').getchildren()
exports = [(e.tag, e.attrib) for e in export_tags]
depends = set(depends)
depends.update(utils.get_message_dependencies(package_path))
depends.update(utils.get_service_dependencies(package_path))
depends.update(utils.get_action_dependencies(package_path))
depends.discard(package_name)
build_depends = set(depends)
run_depends = set(depends)
if utils.get_message_files(package_path) or \
utils.get_service_files(package_path) or \
utils.get_action_files(package_path):
build_depends.add('message_generation')
run_depends.add('message_generation')
build_depends.add('message_runtime')
run_depends.add('message_runtime')
if utils.get_action_files(package_path):
build_depends.add('actionlib_msgs')
run_depends.add('actionlib_msgs')
# put the collected infos into a new (package.)xml structure
xml = create_project_xml(package_name=package_name,
version=version,
description=description,
maintainers=maintainers,
licenses=licenses,
website_url=website_url,
bugtracker_url=bugtracker_url,
authors=authors,
build_depends=build_depends,
run_depends=run_depends,
test_depends=depends,
replaces=replaces,
conflicts=conflicts,
exports=exports,
architecture_independent=architecture_independent,
metapackage=metapackage)
# Most dependencies are build and run depends. Comment out only the
# test_depend dependencies.
for name in ['test_depend']:
xml = xml_lib.comment_out_tags_named(xml, name)
return xml
def convert_snippet(name, funargs, project_path):
"""
Do all replacements that can be done for a single snippet without looking
at anything else.
"""
snippet = '%s%s' % (name, funargs)
converted = False
with_messages = utils.get_message_files(project_path) or \
utils.get_service_files(project_path) or \
utils.get_action_files(project_path)
for a, b in conversions:
if a == name.strip():
if b is not None:
snippet = snippet.replace(a, b)
else:
snippet = comment(
snippet,
'\n# CATKIN_MIGRATION: removed during catkin migration')
converted = True
break
if not converted:
for a, b in manual_conversions:
if a == name.strip():
snippet = comment(snippet, '\n# CATKIN_MIGRATION\n%s' % b)
converted = True
break
if not converted:
if 'include' == name.strip():
if 'rosbuild' in funargs or 'actionbuild.cmake' in funargs or 'cfgbuild.cmake' in funargs:
snippet = comment(
snippet,
'\n# CATKIN_MIGRATION: removed during catkin migration')
converted = True
if not converted:
if 'rosbuild_genmsg' == name.strip():
if utils.get_message_files(project_path):
snippet = 'add_message_files(\n FILES\n' + ''.join(' %s\n' % (filename,) for filename in utils.get_message_files(project_path)) + ')'
else:
snippet = comment(
snippet,
'\n# CATKIN_MIGRATION: removed during catkin migration')
converted = True
elif 'rosbuild_gensrv' == name.strip():
snippet = 'add_service_files(\n FILES\n' + ''.join(' %s\n' % (filename,) for filename in utils.get_service_files(project_path)) + ')'
converted = True
elif 'genaction' == name.strip():
snippet = 'add_action_files(\n FILES\n' + ''.join(' %s\n' % (filename,) for filename in utils.get_action_files(project_path)) + ')'
converted = True
elif 'rosbuild_add_executable' == name.strip():
snippet = 'add_executable' + funargs
target = funargs.strip()[1:-1].split()[0].strip()
snippet += '\ntarget_link_libraries(%s ${catkin_LIBRARIES})' % (target,)
snippet += '\nadd_dependencies(%s ${catkin_EXPORTED_TARGETS})' % (target,)
if with_messages:
snippet += '\nadd_dependencies(%s ${PROJECT_NAME}_generate_messages_cpp)' % (target,)
if utils.get_config_files(project_path):
snippet += '\nadd_dependencies(%s ${PROJECT_NAME}_gencfg)' % (target,)
converted = True
elif 'rosbuild_add_library' == name.strip():
snippet = 'add_library' + funargs
target = funargs.strip()[1:-1].split()[0].strip()
snippet += '\ntarget_link_libraries(%s ${catkin_LIBRARIES})' % (target,)
snippet += '\nadd_dependencies(%s ${catkin_EXPORTED_TARGETS})' % (target,)
if with_messages:
snippet += '\nadd_dependencies(%s ${PROJECT_NAME}_generate_messages_cpp)' % (target,)
if utils.get_config_files(project_path):
snippet += '\nadd_dependencies(%s ${PROJECT_NAME}_gencfg)' % (target,)
converted = True
elif 'add_custom_target' == name.strip():
target = funargs.strip()[1:-1].split()[0].strip()
snippet += '\nadd_dependencies(%s ${catkin_EXPORTED_TARGETS})' % (target,)
if with_messages:
snippet += '\nadd_dependencies(%s ${PROJECT_NAME}_generate_messages_cpp)' % (target,)
if utils.get_config_files(project_path):
snippet += '\nadd_dependencies(%s ${PROJECT_NAME}_gencfg)' % (target,)
converted = True
elif 'add_custom_command' == name.strip():
target = funargs.strip()[1:-1].split()[1].strip()
snippet += '\nadd_custom_command(OUTPUT %s APPEND DEPENDS ${catkin_EXPORTED_TARGETS})' % (target,)
if with_messages:
snippet += '\nadd_custom_command(OUTPUT %s APPEND DEPENDS ${PROJECT_NAME}_generate_messages_cpp)' % (target,)
if utils.get_config_files(project_path):
snippet += '\nadd_custom_command(OUTPUT %s APPEND DEPENDS ${PROJECT_NAME}_gencfg)' % (target,)
converted = True
elif 'gencfg' == name.strip():
snippet = 'generate_dynamic_reconfigure_options(\n' + ''.join(' cfg/%s\n' % (filename,) for filename in utils.get_config_files(project_path)) + ')'
converted = True
elif 'rosbuild_add_compile_flags' == name.strip():
args = funargs.strip()[1:-1].split()
snippet = 'set_target_properties(%s PROPERTIES COMPILE_FLAGS %s)' % (
args[0],
' '.join(args[1:]),
)
converted = True
elif 'set' == name.strip() and (
'EXECUTABLE_OUTPUT_PATH' in funargs or
'LIBRARY_OUTPUT_PATH' in funargs):
snippet = comment(snippet,
'\n# CATKIN_MIGRATION: removed during catkin migration')
converted = True
return snippet
def convert_cmake(project_path, cmakelists_path=None, manifest_xml_path=None):
# handle default arguments
if not cmakelists_path:
cmakelists_path = os.path.join(project_path, 'CMakeLists.txt')
if not manifest_xml_path:
manifest_xml_path = os.path.join(project_path, 'manifest.xml')
project_name = os.path.basename(os.path.abspath(project_path))
print('Converting %s' % cmakelists_path, file=sys.stderr)
with open(cmakelists_path, 'r') as f_in:
content = f_in.read()
# get dependencies from manifest file
catkin_depends, system_depends = get_dependencies(manifest_xml_path, project_path)
catkin_depends.update(utils.get_message_dependencies(project_path))
catkin_depends.update(utils.get_service_dependencies(project_path))
catkin_depends.update(utils.get_action_dependencies(project_path))
catkin_depends.discard(project_name)
if utils.get_message_files(project_path) or \
utils.get_service_files(project_path) or \
utils.get_action_files(project_path):
catkin_depends.add('message_generation')
catkin_depends.add('message_runtime')
if utils.get_action_files(project_path):
catkin_depends.add('actionlib_msgs')
if 'eigen' in system_depends:
system_depends.remove('eigen')
system_depends.add('Eigen')
# anything that looks like a macro or function call
tokens = list(parse(content))
# storing the originals allows interactive mode where user confirms each
# change
result = tokens[:1]
original = tokens[:1]
boost_components = set()
# find replacement for each snippet. Chunks are (funcall, argslist,
# otherlines)
first_boost = -1
for count, (name, fun_args, rest) in enumerate(chunks(tokens[1:], 3)):
oldsnippet = '%s%s' % (name, fun_args)
original.append(oldsnippet)
newsnippet, components = convert_boost_snippet(name, fun_args)
if newsnippet is None:
newsnippet = convert_snippet(name, fun_args, project_path)
if newsnippet != oldsnippet:
result.append(newsnippet)
else:
result.append(None)
else:
if first_boost < 0:
first_boost = count * 2 + 1
boost_components = boost_components.union(components)
result.append(newsnippet)
result.append(None)
original.append(rest)
if boost_components:
# reverse order due to insert
result.insert(first_boost,
'include_directories(${Boost_INCLUDE_DIRS})\n')
result.insert(
first_boost,
'find_package(Boost REQUIRED COMPONENTS %s)\n' %
' '.join(boost_components))
original.insert(first_boost, '')
original.insert(first_boost, '')
result_string = ''
lines = content.splitlines()
if not [l for l in lines if 'catkin_package' in l]:
header = make_header_lines(project_name, ' '.join(catkin_depends))
result_string += ('\n'.join(header))
if utils.get_python_packages(project_path):
result_string += '\ncatkin_python_setup()\n'
added_package_lines = False
def my_make_package_lines():
with_messages = ('add_message_files' in result_string or
'add_service_files' in result_string or
'add_action_files' in result_string)
return make_package_lines(' '.join(catkin_depends), ' '.join(system_depends), with_messages, project_path)
for (old_snippet, new_snippet) in zip(original, result):
if old_snippet or new_snippet:
this_snippet = new_snippet or old_snippet
if not added_package_lines and (
'add_library' in this_snippet or
'add_executable' in this_snippet or
'add_custom' in this_snippet):
result_string += my_make_package_lines()
added_package_lines = True
result_string += this_snippet
if not added_package_lines:
result_string += my_make_package_lines()
if utils.get_scripts(project_path):
result_string += '\ninstall(PROGRAMS %s DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})\n' % (
' '.join(utils.get_scripts(project_path)),
)
return result_string