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00036 """
00037 Implements the roscreate-stack tool.
00038
00039 The focus of this module is on supporting the command-line tool. The
00040 code API of this module is *not* stable.
00041 """
00042
00043 from __future__ import with_statement
00044 import roslib; roslib.load_manifest('roscreate')
00045
00046 NAME='roscreate-stack'
00047
00048 import os
00049 import sys
00050 import roslib.manifest
00051 import roslib.packages
00052 import roslib.stacks
00053 import roslib.stack_manifest
00054
00055 from roscreate.core import read_template, author_name, print_warning, on_ros_path
00056
00057 def get_templates():
00058 """
00059 @return: mapping of file names to templates to instantiate
00060 @rtype: {str: str}
00061 """
00062 templates = {}
00063 templates['stack.xml'] = read_template('stack.tmpl')
00064 templates['CMakeLists.txt'] = read_template('CMakeLists.stack.tmpl')
00065 templates['Makefile'] = read_template('Makefile.stack.tmpl')
00066 return templates
00067
00068 def instantiate_template(template, stack, brief, description, author, depends, licenses, review):
00069 """
00070 @return: template instantiated with properties
00071 @rtype: str
00072 """
00073 return template%locals()
00074
00075 def _update_depends(depends):
00076 new_depends = []
00077 for s, pkgs in depends.iteritems():
00078 d = roslib.stack_manifest.StackDepend(s)
00079 d.annotation = ', '.join(set(pkgs))
00080 new_depends.append(d)
00081 new_depends.sort(lambda x, y: -1 if x.stack < y.stack else 1)
00082 return ''.join([" %s\n"%d.xml() for d in new_depends])
00083
00084 def create_stack(stack, stack_dir, stack_manifest, author, depends, licenses, show_deps):
00085 """
00086 @param stack: name of stack
00087 @type stack: str
00088 @param stack_dir: path to stack
00089 @type stack_dir: str
00090 @param stack_manifest: existing stack manifest or None
00091 @type stack_manifest: L{roslib.stack_manifest.StackManifest}
00092 @param author: name of stack maintainer. Overrides stack_manifest.
00093 @type author: str
00094 @param depends: map of stack name to packages that use that stack. Overrides stack_manifest.
00095 @type depends: {str: [str]}
00096 @param licenses: list of licenses present in stack
00097 @type licenses: set(str)
00098 """
00099
00100 if show_deps:
00101 print ''.join([' <depend stack="%s"/> <!-- %s --> \n'%(s, ', '.join(set(pkgs))) for s, pkgs in depends.iteritems()])
00102 return
00103
00104
00105 if stack_manifest is not None:
00106 try:
00107 licenses.update([l.strip() for l in stack_manifest.license.split(',')])
00108 except: pass
00109 brief = stack_manifest.brief or stack
00110 description = stack_manifest.description
00111 review = ' <review status="%s" notes="%s"/>'%(stack_manifest.status, stack_manifest.notes)
00112 else:
00113 stack_manifest = roslib.stack_manifest.StackManifest()
00114 brief = description = stack
00115 review = ' <review status="unreviewed" notes=""/>'
00116
00117 licenses = ','.join(licenses)
00118 depends = _update_depends(depends)
00119
00120 p = os.path.abspath(stack_dir)
00121 if not os.path.exists(p):
00122 print "Creating stack directory", p
00123 os.makedirs(p)
00124
00125 templates = get_templates()
00126 for filename, template in templates.iteritems():
00127 contents = instantiate_template(template, stack, brief, description, author, depends, licenses, review)
00128 p = os.path.abspath(os.path.join(stack_dir, filename))
00129 if not os.path.exists(filename) or filename == 'stack.xml':
00130 print "Creating stack file", p
00131 with open(p, 'w') as f:
00132 f.write(contents.encode('utf-8'))
00133 print "\nPlease edit %s/stack.xml to finish creating your stack"%stack
00134
00135 def compute_stack_depends_and_licenses(stack_dir):
00136 """
00137 @return: depends, licenses
00138 @rtype: {str: [str]}, [str]
00139 @raise: roslib.packages.InvalidROSPkgException
00140 """
00141 stack = os.path.basename(os.path.abspath(stack_dir))
00142 if os.path.exists(stack_dir):
00143 packages = roslib.packages.list_pkgs_by_path(os.path.abspath(stack_dir))
00144 depends, licenses = _compute_stack_depends_and_licenses(stack, packages)
00145 else:
00146 depends = dict()
00147 licenses = ['BSD']
00148
00149 if not 'ros' in depends and stack != 'ros':
00150 depends['ros'] = []
00151 return depends, licenses
00152
00153 def _compute_stack_depends_and_licenses(stack, packages):
00154 pkg_depends = []
00155 licenses = []
00156 stack_depends = {}
00157 for pkg in packages:
00158 m = roslib.manifest.parse_file(roslib.manifest.manifest_file(pkg))
00159 pkg_depends.extend([d.package for d in m.depends])
00160 licenses.extend([l.strip() for l in m.license.split(',')])
00161
00162
00163 pkg_dir = roslib.packages.get_pkg_dir(pkg)
00164 if (os.path.isdir(os.path.join(pkg_dir, 'msg')) or \
00165 os.path.isdir(os.path.join(pkg_dir, 'srv'))) and \
00166 stack not in ['ros', 'ros_comm']:
00167 if not 'ros_comm' in stack_depends:
00168 stack_depends['ros_comm'] = []
00169
00170
00171
00172 for pkg in pkg_depends:
00173 if pkg in packages:
00174 continue
00175 try:
00176 st = roslib.stacks.stack_of(pkg)
00177 except roslib.packages.InvalidROSPkgException:
00178 print_warning("WARNING: cannot locate package [%s], which is a dependency in the [%s] stack"%(pkg, stack))
00179 continue
00180 if not st:
00181 print_warning("WARNING: stack depends on [%s], which is not in a stack"%pkg)
00182 continue
00183 if st == stack:
00184 continue
00185 if not st in stack_depends:
00186 stack_depends[st] = []
00187 stack_depends[st].append(pkg)
00188
00189 return stack_depends, set(licenses)
00190
00191 def roscreatestack_main():
00192 from optparse import OptionParser
00193 parser = OptionParser(usage="usage: %prog <path-to-stack>", prog=NAME)
00194 parser.add_option("--show-deps",
00195 dest="show_deps", default=False,
00196 action="store_true",
00197 help="show stack dependencies, instead of generating stack.xml")
00198 options, args = parser.parse_args()
00199 if not args:
00200 parser.error("you must specify the path to a stack")
00201 stack_dir = args[0]
00202 stack = os.path.basename(os.path.abspath(stack_dir))
00203
00204 if not on_ros_path(stack_dir):
00205 print >> sys.stderr, "ERROR: roscreate-stack only work in directories in ROS_PACKAGE_PATH\nPlease update your ROS_PACKAGE_PATH environment variable."
00206 sys.exit(1)
00207
00208 try:
00209 depends, licenses = compute_stack_depends_and_licenses(stack_dir)
00210 except roslib.packages.InvalidROSPkgException, e:
00211 print >> sys.stderr, str(e)
00212 sys.exit(1)
00213
00214
00215 stack_manifest = None
00216 author = "Maintained by %s"%author_name()
00217
00218 if not options.show_deps:
00219
00220 stack_xml_path = os.path.join(stack_dir, 'stack.xml')
00221 if os.path.exists(stack_xml_path):
00222 import shutil
00223 stack_xml_path_bak = os.path.join(stack_dir, 'stack.xml.bak')
00224 print 'Backing up existing stack.xml to %s'%(stack_xml_path_bak)
00225 shutil.copyfile(stack_xml_path, stack_xml_path_bak)
00226
00227
00228 stack_manifest = roslib.stack_manifest.parse_file(stack_xml_path)
00229 author = stack_manifest.author
00230
00231 create_stack(stack, stack_dir, stack_manifest, author, depends, licenses, options.show_deps)
00232
00233 if __name__ == "__main__":
00234 roscreatestack_main()
