def test_get_stack_version():
from rospkg import get_stack_version_by_dir, RosStack
path = os.path.join(get_stack_test_path(), 's1')
r = RosStack(ros_paths=[path])
# test by dir option directly
foo_dir = r.get_path('foo')
assert get_stack_version_by_dir(foo_dir) == '1.6.0-manifest'
bar_dir = r.get_path('bar')
assert get_stack_version_by_dir(bar_dir) == '1.5.0-cmake'
# test via rosstack
assert r.get_stack_version('foo') == '1.6.0-manifest'
assert r.get_stack_version('bar') == '1.5.0-cmake'
path = os.path.join(get_stack_test_path(), 's2')
r = RosStack(ros_paths=[path])
foo_dir = r.get_path('foo')
assert get_stack_version_by_dir(foo_dir) is None, get_stack_version_by_dir(
foo_dir)
# test reading from stack.yaml
baz_dir = r.get_path('baz')
assert get_stack_version_by_dir(
baz_dir) == '1-manifest', get_stack_version_by_dir(baz_dir)
assert r.get_stack_version('baz') == '1-manifest'
def test_unary():
from rospkg import RosStack, RosPack
path = get_unary_test_path()
rospack = RosPack(ros_paths=[path])
rosstack = RosStack(ros_paths=[path])
assert rospack.get_path('unary') == rosstack.get_path('unary')
assert rosstack.packages_of('unary') == ['unary']
assert rospack.stack_of('unary') == 'unary'
def test_unary():
from rospkg import RosStack, RosPack
path = get_unary_test_path()
rospack = RosPack(ros_paths=[path])
rosstack = RosStack(ros_paths=[path])
assert rospack.get_path('unary') == rosstack.get_path('unary')
assert rosstack.packages_of('unary') == ['unary']
assert rospack.stack_of('unary') == 'unary'
def __init__(self, alt_paths = None):
self.packages = []
self.rospack = RosPack.get_instance()
self.rosstack = RosStack.get_instance()
if alt_paths is None:
self.altpack = self.rospack
self.altstack = self.rosstack
else:
self.altpack = RosPack.get_instance(alt_paths)
self.altstack = RosStack.get_instance(alt_paths)
def _get_packages_in_environment():
global _packages_in_environment
if _packages_in_environment is None:
if ROS_PACKAGE_PATH not in os.environ or not os.environ[ROS_PACKAGE_PATH]:
raise RuntimeError("The environment variable '%s' must be set when using '%s'" % (ROS_PACKAGE_PATH, ARG_CURRENT_ENVIRONMENT))
_packages_in_environment = set([])
rs = RosStack()
_packages_in_environment.update(set(rs.list()))
rp = RosPack()
_packages_in_environment.update(set(rp.list()))
return _packages_in_environment
def _get_packages_in_environment():
global _packages_in_environment
if _packages_in_environment is None:
if ROS_PACKAGE_PATH not in os.environ or not os.environ[ROS_PACKAGE_PATH]:
raise RuntimeError("The environment variable '%s' must be set when using '%s'" % (ROS_PACKAGE_PATH, ARG_CURRENT_ENVIRONMENT))
_packages_in_environment = set([])
rs = RosStack()
_packages_in_environment.update(set(rs.list()))
rp = RosPack()
_packages_in_environment.update(set(rp.list()))
return _packages_in_environment
def get_test_rospkgs():
test_dir = get_test_tree_dir()
ros_root = os.path.join(test_dir, 'ros')
ros_package_path = os.path.join(test_dir, 'stacks')
ros_paths = [ros_root, ros_package_path]
rospack = RosPack(ros_paths=ros_paths)
rosstack = RosStack(ros_paths=ros_paths)
return rospack, rosstack
def get_rospkg():
# configure inside of the test tree
test_dir = get_test_dir()
ros_root = os.path.join(test_dir, 'ros')
ros_package_path = os.path.join(test_dir, 'stacks')
ros_paths = [ros_root, ros_package_path]
rospack = RosPack(ros_paths=ros_paths)
rosstack = RosStack(ros_paths=ros_paths)
return rospack, rosstack
def test_RosStack_get_depends_explicit():
from rospkg import RosStack, ResourceNotFound, get_ros_paths
path = get_stack_test_path()
s1 = os.path.join(path, 's1')
s3 = os.path.join(path, 's3')
r = RosStack(ros_paths=[s1, s3])
implicit = False
assert set(r.get_depends('baz', implicit)) == set(['bar', 'foo'])
assert r.get_depends('bar', implicit) == ['foo']
assert r.get_depends('foo', implicit) == []
# stress test: test default environment against rospack
if get_ros_paths():
r = RosStack()
for p in rosstack_list():
retval = set(r.get_depends(p, implicit))
rospackval = set(rosstack_depends1(p))
assert retval == rospackval, "[%s]: %s vs. %s"%(p, retval, rospackval)
def test_RosStack_get_depends():
from rospkg import RosStack, ResourceNotFound, get_ros_paths
path = get_stack_test_path()
s1 = os.path.join(path, 's1')
s3 = os.path.join(path, 's3')
r = RosStack(ros_paths=[s1, s3])
# TODO: need one more step
assert set(r.get_depends('baz')) == set(['foo', 'bar'])
assert r.get_depends('bar') == ['foo']
assert r.get_depends('foo') == []
if get_ros_paths():
# stress test: test default environment against rosstack
r = RosStack()
for p in rosstack_list():
retval = set(r.get_depends(p))
rospackval = set(rosstack_depends(p))
assert retval == rospackval, "[%s]: %s vs. %s"%(p, retval, rospackval)
def test_RosStack_list():
from rospkg import RosStack, get_ros_paths, get_ros_package_path
print("ROS paths", get_ros_paths())
if get_ros_paths() is not None:
r = RosStack()
l = rosstack_list()
retval = r.list()
assert set(l) == set(retval), "%s vs %s"%(l, retval)
# test twice for caching
retval = r.list()
assert set(l) == set(retval), "%s vs %s"%(l, retval)
# make sure stress test works with rospack_cache invalidated
delete_cache()
r = RosStack()
retval = r.list()
assert set(l) == set(retval), "%s vs %s"%(l, retval)
def create_from_rospkg(rospack=None,
rosstack=None,
sources_loader=None,
verbose=False):
"""
Create :class:`RosdepLookup` based on current ROS package
environment.
:param rospack: (optional) Override :class:`rospkg.RosPack`
instance used to crawl ROS packages.
:param rosstack: (optional) Override :class:`rospkg.RosStack`
instance used to crawl ROS stacks.
:param sources_loader: (optional) Override SourcesLoader used
for managing sources.list data sources.
"""
# initialize the loader
if rospack is None:
rospack = RosPack()
if rosstack is None:
rosstack = RosStack()
if sources_loader is None:
sources_loader = SourcesListLoader.create_default(verbose=verbose)
rosdep_db = RosdepDatabase()
# Use sources list to initialize rosdep_db. Underlay has no
# notion of specific resources, and its view keys are just the
# individual sources it can load from. SourcesListLoader
# cannot do delayed evaluation of OS setting due to matcher.
underlay_key = SourcesListLoader.ALL_VIEW_KEY
# Create the rospkg loader on top of the underlay
loader = RosPkgLoader(rospack=rospack,
rosstack=rosstack,
underlay_key=underlay_key)
# create our actual instance
lookup = RosdepLookup(rosdep_db, loader)
# load in the underlay
lookup._load_all_views(loader=sources_loader)
# use dependencies to implement precedence
view_dependencies = sources_loader.get_loadable_views()
rosdep_db.set_view_data(underlay_key, {}, view_dependencies,
underlay_key)
return lookup
def test_ManifestManager_constructor():
from rospkg import RosPack, RosStack, get_ros_paths
r = RosPack()
assert r._manifest_name == 'manifest.xml'
r = RosStack()
assert r._manifest_name == 'stack.xml'
for c in [RosPack, RosStack]:
r = c()
assert r.ros_paths == get_ros_paths()
tmp = tempfile.gettempdir()
r = c(ros_paths=[tmp])
assert r.ros_paths == [tmp]
# make sure we can't accidentally mutate the actual data
r.ros_paths.append('foo')
assert r.ros_paths == [tmp]
def test_expand_to_packages():
from rospkg import expand_to_packages, RosPack, RosStack
path = os.path.join(get_stack_test_path(), 's1')
rospack = RosPack(ros_paths=[path])
rosstack = RosStack(ros_paths=[path])
try:
expand_to_packages('foo', rospack, rosstack)
assert False, "should have raised ValueError"
except ValueError:
pass
valid, invalid = expand_to_packages(['foo'], rospack, rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2'])
assert not invalid
valid, invalid = expand_to_packages(['foo_pkg'], rospack, rosstack)
assert set(valid) == set(['foo_pkg'])
assert not invalid
valid, invalid = expand_to_packages(['foo', 'foo_pkg'], rospack, rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2'])
assert not invalid
valid, invalid = expand_to_packages(['foo', 'bar'], rospack, rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2', 'bar_pkg'])
assert not invalid
valid, invalid = expand_to_packages(['foo', 'bar_pkg'], rospack, rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2', 'bar_pkg'])
assert not invalid
valid, invalid = expand_to_packages(['foo', 'bar_pkg', 'bar'], rospack,
rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2', 'bar_pkg'])
assert not invalid
valid, invalid = expand_to_packages(
['foo', 'fake1', 'bar_pkg', 'bar', 'fake2'], rospack, rosstack)
assert set(valid) == set(['foo_pkg', 'foo_pkg_2', 'bar_pkg'])
assert set(invalid) == set(['fake1', 'fake2'])
def test_RosStack_get_depends_explicit():
from rospkg import RosStack, ResourceNotFound, get_ros_paths
path = get_stack_test_path()
s1 = os.path.join(path, 's1')
s3 = os.path.join(path, 's3')
r = RosStack(ros_paths=[s1, s3])
implicit = False
assert set(r.get_depends('baz', implicit)) == set(['bar', 'foo'])
assert r.get_depends('bar', implicit) == ['foo']
assert r.get_depends('foo', implicit) == []
# stress test: test default environment against rospack
if get_ros_paths() and rosstack_is_available():
r = RosStack()
for p in rosstack_list():
retval = set(r.get_depends(p, implicit))
rospackval = set(rosstack_depends1(p))
assert retval == rospackval, "[%s]: %s vs. %s"%(p, retval, rospackval)
def test_RosStack_get_depends():
from rospkg import get_ros_paths, RosStack
path = get_stack_test_path()
s1 = os.path.join(path, 's1')
s3 = os.path.join(path, 's3')
r = RosStack(ros_paths=[s1, s3])
# TODO: need one more step
assert set(r.get_depends('baz')) == set(['foo', 'bar'])
assert r.get_depends('bar') == ['foo']
assert r.get_depends('foo') == []
if get_ros_paths() and rosstack_is_available():
# stress test: test default environment against rosstack
r = RosStack()
for p in rosstack_list():
retval = set(r.get_depends(p))
rospackval = set(rosstack_depends(p))
assert retval == rospackval, "[%s]: %s vs. %s" % (p, retval,
rospackval)
def test_RosStack_list():
from rospkg import get_ros_paths, RosStack
print("ROS paths", get_ros_paths())
if get_ros_paths() is not None and rosstack_is_available():
r = RosStack()
l = rosstack_list()
retval = r.list()
assert set(l) == set(retval), "%s vs %s" % (l, retval)
# test twice for caching
retval = r.list()
assert set(l) == set(retval), "%s vs %s" % (l, retval)
# make sure stress test works with rospack_cache invalidated
delete_cache()
r = RosStack()
retval = r.list()
assert set(l) == set(retval), "%s vs %s" % (l, retval)
def test_get_stack_version():
from rospkg import get_stack_version_by_dir, RosStack
path = os.path.join(get_stack_test_path(), 's1')
r = RosStack(ros_paths=[path])
# test by dir option directly
foo_dir = r.get_path('foo')
assert get_stack_version_by_dir(foo_dir) == '1.6.0-manifest'
bar_dir = r.get_path('bar')
assert get_stack_version_by_dir(bar_dir) == '1.5.0-cmake'
# test via rosstack
assert r.get_stack_version('foo') == '1.6.0-manifest'
assert r.get_stack_version('bar') == '1.5.0-cmake'
path = os.path.join(get_stack_test_path(), 's2')
r = RosStack(ros_paths=[path])
foo_dir = r.get_path('foo')
assert get_stack_version_by_dir(foo_dir) == None, get_stack_version_by_dir(foo_dir)
# test reading from stack.yaml
baz_dir = r.get_path('baz')
assert get_stack_version_by_dir(baz_dir) == '1.7.3', get_stack_version_by_dir(baz_dir)
assert r.get_stack_version('baz') == '1.7.3'
def test_RosStack_get_path():
from rospkg import RosStack, ResourceNotFound, get_ros_paths
path = get_stack_test_path()
bar_path = os.path.join(path, 's1', 'bar')
baz_path = os.path.join(path, 's2', 'baz')
# point ROS_ROOT at top, should spider entire tree
print("ROS_PATHS: %s"%str([path]))
print("ROS_PACKAGE_PATH: ")
r = RosStack(ros_paths=[path])
assert bar_path == r.get_path('bar'), "%s vs. %s"%(bar_path, r.get_path('bar'))
try:
r.get_path('fake')
assert False
except ResourceNotFound:
pass
# divide tree in half to test precedence
print("ROS PATH 1: %s"%(os.path.join(path, 'p1')))
print("ROS PATH 2: %s"%(os.path.join(path, 'p2')))
foo_path = os.path.join(path, 's1', 'foo')
r = RosStack(ros_paths=[os.path.join(path, 's1'), os.path.join(path, 's2')])
assert foo_path == r.get_path('foo'), "%s vs. %s"%(foo_path, r.get_path('foo'))
assert bar_path == r.get_path('bar')
assert baz_path == r.get_path('baz')
# divide tree in half again and test precedence of ROS_PACKAGE_PATH (foo should switch)
print("ROS_ROOT: %s"%(os.path.join(path, 'p1')))
print("ROS_PACKAGE_PATH: %s"%(os.path.join(path, 'p2')))
foo_path = os.path.join(path, 's2', 'foo')
ros_paths = [os.path.join(path, 'notapath'), os.path.join(path, 's2'), os.path.join(path, 's1')]
r = RosStack(ros_paths=ros_paths)
assert foo_path == r.get_path('foo'), "%s vs. %s"%(foo_path, r.get_path('foo'))
if get_ros_paths():
# stresstest against rospack
r = RosStack()
listval = rosstack_list()
for p in listval:
retval = r.get_path(p)
rospackval = rosstack_find(p)
assert retval == rospackval, "[%s]: %s vs. %s"%(p, retval, rospackval)
# stresstest with cache invalidated
delete_cache()
r = RosStack()
for p in listval:
retval = r.get_path(p)
rospackval = rosstack_find(p)
assert retval == rospackval, "[%s]: %s vs. %s"%(p, retval, rospackval)
def test_RosStack_get_path():
from rospkg import RosStack, ResourceNotFound, get_ros_paths
path = get_stack_test_path()
bar_path = os.path.join(path, 's1', 'bar')
baz_path = os.path.join(path, 's2', 'baz')
# point ROS_ROOT at top, should spider entire tree
print("ROS_PATHS: %s" % str([path]))
print("ROS_PACKAGE_PATH: ")
r = RosStack(ros_paths=[path])
assert bar_path == r.get_path('bar'), "%s vs. %s" % (bar_path,
r.get_path('bar'))
try:
r.get_path('fake')
assert False
except ResourceNotFound:
pass
# divide tree in half to test precedence
print("ROS PATH 1: %s" % (os.path.join(path, 'p1')))
print("ROS PATH 2: %s" % (os.path.join(path, 'p2')))
foo_path = os.path.join(path, 's1', 'foo')
r = RosStack(
ros_paths=[os.path.join(path, 's1'),
os.path.join(path, 's2')])
assert foo_path == r.get_path('foo'), "%s vs. %s" % (foo_path,
r.get_path('foo'))
assert bar_path == r.get_path('bar')
assert baz_path == r.get_path('baz')
# divide tree in half again and test precedence of ROS_PACKAGE_PATH (foo should switch)
print("ROS_ROOT: %s" % (os.path.join(path, 'p1')))
print("ROS_PACKAGE_PATH: %s" % (os.path.join(path, 'p2')))
foo_path = os.path.join(path, 's2', 'foo')
ros_paths = [
os.path.join(path, 'notapath'),
os.path.join(path, 's2'),
os.path.join(path, 's1')
]
r = RosStack(ros_paths=ros_paths)
assert foo_path == r.get_path('foo'), "%s vs. %s" % (foo_path,
r.get_path('foo'))
if get_ros_paths() and rosstack_is_available():
# stresstest against rospack
r = RosStack()
listval = rosstack_list()
for p in listval:
retval = r.get_path(p)
rospackval = rosstack_find(p)
assert retval == rospackval, "[%s]: %s vs. %s" % (p, retval,
rospackval)
# stresstest with cache invalidated
delete_cache()
r = RosStack()
for p in listval:
retval = r.get_path(p)
rospackval = rosstack_find(p)
assert retval == rospackval, "[%s]: %s vs. %s" % (p, retval,
rospackval)