def set_install_prefix(prefix):
'''
Sets a new install prefix:
- checks for an rosconfig.cmake, creates if not already present.
- parses for cmake's install prefix command.
- if present, modify the existing prefix.
- if not present, its a custom config, simply insert a new install prefix.
@return result : 0,1,2 depending on what was done (moved logging to outside because toolchain calls this function)
'''
result = 0
if not os.path.exists(core.rosconfig_cmake()):
create_vanilla_config()
result = 1
updated = False
for line in fileinput.input(core.rosconfig_cmake(),inplace=1,mode='r'):
if ( line.find("set(CMAKE_INSTALL_PREFIX") != -1):
line = 'set(CMAKE_INSTALL_PREFIX '+prefix+' CACHE PATH "Install location" FORCE)'
updated = True
if line.endswith("\n"):
line = line[:-1]
print line
if not updated:
result = 2
f = open(core.rosconfig_cmake(), 'a')
line = 'set(CMAKE_INSTALL_PREFIX '+prefix+' CACHE PATH "Install location" FORCE)'
f.write(line)
return result
def show_current_build_mode():
pretext = core.bold_string("Current build mode: ")
found = False
if os.path.exists(core.rosconfig_cmake()):
for line in fileinput.input(core.rosconfig_cmake(),mode='r'):
if (line.find("set(ROS_BUILD_TYPE Debug") != -1):
sys.stdout.write(pretext + "Debug\n")
found = True
break
elif (line.find("set(ROS_BUILD_TYPE Release") != -1):
sys.stdout.write(pretext + "Release\n")
found = True
break
elif (line.find("set(ROS_BUILD_TYPE RelWithDebInfo") != -1):
sys.stdout.write(pretext + "RelWithDebInfo\n")
found = True
break
elif (line.find("set(ROS_BUILD_TYPE MinSizeRel") != -1):
sys.stdout.write(pretext + "MinSizeRel\n")
found = True
break
if not found:
print core.red_string("Unknown") + "(please check ROS_ROOT/rosconfig.cmake for problems)."
else:
print pretext + "RelWithDebInfo"
def __init__(self, platform_dir, platform_pathname, platform_id):
# e.g.
# platform_dir = /home/snorri/.ros/eros/platforms
# platform_pathname = /home/snorri/.ros/eros/platforms/arm/arm1176jzf-s.cmake
self.pathname = platform_pathname
# Could check here, but if calling from platform_list, will always be arg 1 we want.
tail = self.pathname.split(platform_dir)[1] # e.g. /arm/arm1176jzf-s.cmake
cmake_name = os.path.basename(tail) # e.g. arm1176jzf-s.cmake
self.name = os.path.splitext(cmake_name)[0] # e.g. arm1176jzf-s
if ( self.pathname.find(eros_platform_dir()) != -1 ):
self.group = "eros"
else:
self.group = "user"
self.family = os.path.dirname(platform_pathname).split(platform_dir)[1] # e.g. /arm
self.family = os.path.split(self.family)[1] # remove dir separators e.g. arm
if ( self.family == '' ):
self.family = "unknown"
platform_exists = os.path.exists(core.rosconfig_cmake())
self.current = False
if ( platform_exists ) :
name_string = "PLATFORM_NAME \"" + self.name + "\""
if name_string in open(core.rosconfig_cmake()).read():
family_string = "PLATFORM_FAMILY \"" + self.family + "\""
if family_string in open(core.rosconfig_cmake()).read():
self.current = True
self.id = platform_id
def set_platform(platform):
# Copy across the platform specific file and append the default section as well
shutil.copyfile(platform.pathname,core.rosconfig_cmake())
rosconfig_tail = open(eros_rosconfig_tail()).read()
f = open(core.rosconfig_cmake(), 'a')
f.write(rosconfig_tail)
f.close()
check_install_prefix()
print "-- Platform configured (rosconfig.cmake)."
print
def get_install_prefix():
prefix = None
if os.path.exists(core.rosconfig_cmake()):
file = core.rosconfig_cmake()
for line in fileinput.input(file,mode='r'):
if ( line[0] != '#'):
index = line.find("set(CMAKE_INSTALL_PREFIX")
if (index != -1):
cache_index = line.find("CACHE")
prefix = line[index+len("set(CMAKE_INSTALL_PREFIX")+1:cache_index-1]
return prefix
def select_default():
'''
Quietly selects and generates the default (vanilla) platform configuration.
'''
pathname = os.path.join(eros_platform_dir(),"generic","vanilla.cmake")
shutil.copyfile(pathname,core.rosconfig_cmake())
rosconfig_tail = open(eros_rosconfig_tail()).read()
f = open(core.rosconfig_cmake(), 'a')
f.write(rosconfig_tail)
f.close()
check_install_prefix()
def set_debug_mode(mode):
if not validate_mode(mode):
return 1
if not os.path.exists(core.rosconfig_cmake()):
create_vanilla_config()
for line in fileinput.input(core.rosconfig_cmake(),inplace=1,mode='r'):
if ( line.find("set(ROS_BUILD_TYPE") != -1):
line = " set(ROS_BUILD_TYPE "+mode+")"
if line.endswith("\n"):
line = line[:-1]
print line
print core.bold_string("New build mode: ") + mode
return 0
def check_platform():
rosconfig_exists = os.path.exists(core.rosconfig_cmake())
if rosconfig_exists:
print "-- Found rosconfig.cmake."
print " -- Setting the install prefix to ${TOOLCHAIN_INSTALL_PREFIX}"
prefix.set_install_prefix("${TOOLCHAIN_INSTALL_PREFIX}")
print " -- Confirm that it is compatible with the current toolchain."
else:
print "-- No rosconfig.cmake, generating a default (vanilla) configuration."
platform.select_default()
def show_current_platform():
'''
Print the identity of the currently configured platform:
- checks eros/user platform libraries for a match
- if not eros/user platform, checks if platform configured, but unknown
- otherwise prints none
'''
pretext = core.bold_string("Current platform: ")
platforms = platform_list()
found = False
for platform in platforms:
if ( platform.current ):
found = True
current_platform = platform
if ( found ):
print pretext + current_platform.family + os.sep + current_platform.name
else:
if ( os.path.exists(core.rosconfig_cmake()) ):
print pretext + "unknown"
else:
print pretext + "none"
def main():
from config import ErosConfig
config = ErosConfig()
from optparse import OptionParser
usage = "\n\
%prog : shows the currently set ros platform\n\
%prog clear : clear the currently set ros platform\n\
%prog create : create a user-defined platform configuration\n\
%prog delete : delete a platform configuration\n\
%prog help : print this help information\n\
%prog list : list available eros and user-defined platforms\n\
%prog select : interactively select a platform configuration\n\
%prog select <str> : directly select the specified platform configuration\n\
%prog validate : attempt to validate a platform (not yet implemented)\n\
\n\
Description: \n\
Create/delete and manage the platform configuration for this ros environment\n\
Location of the user platform directory can be modified via --dir or more \n\
permanently via " + core.eros_config() + "."
parser = OptionParser(usage=usage)
parser.add_option("-d","--dir", action="store", default=config.user_platforms_dir(), help="location of the user platforms directory.")
#parser.add_option("-v","--validate", action="store_true", dest="validate", help="when creating, attempt to validate the configuration")
options, args = parser.parse_args()
# Configure the user platform directory.
user_platform_dir(options.dir)
###################
# Show current
###################
if not args:
show_current_platform()
return 0
command = args[0]
###################
# Help
###################
if command == 'help':
parser.print_help()
return 0
###################
# List
###################
if command == 'list':
list_platforms()
return 0
###################
# Clear
###################
if command == 'clear':
if os.path.exists(core.rosconfig_cmake()):
os.remove(core.rosconfig_cmake())
print
print "-- Platform configuration cleared."
print
else:
print
print "-- Nothing to do (no rosconfig.cmake)."
print
return 0
###################
# Create
###################
if command == 'create':
return create_platform()
###################
# Delete
###################
if command == 'delete':
return delete_platform()
###################
# Select
###################
if command == 'select':
if len(args) == 1: # interactive selection
if not select_platform():
return 1
else:
if not select_platform_by_name(args[1]):
return 1
print
return 0
###################
# Validate
###################
if command == 'validate':
print
print "-- This command is not yet available."
print
return 0
# If we reach here, we have not received a valid command.
print
print "-- Not a valid command [" + command + "]."
print
parser.print_help()
print
return 1