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# Author Ken Conley/kwc@willowgarage.com
"""
Underlying model of rosdep data. The basic data model of rosdep is to
store a dictionary of data indexed by view name (i.e. ROS stack name).
This data includes a dictionary mapping rosdep dependency names to
rules and the view dependencies.
This is a lower-level representation. Higher-level representation can
combine these rosdep dependency maps and view dependencies together
into a combined view on which queries can be made.
"""
[docs]class RosdepDatabaseEntry(object):
"""
Stores rosdep data and metadata for a single view.
"""
def __init__(self, rosdep_data, view_dependencies, origin):
"""
:param rosdep_data: raw rosdep dictionary map for view
:param view_dependencies: list of view dependency names
:param origin: name of where data originated, e.g. filename
"""
assert isinstance(rosdep_data, dict), 'RosdepDatabaseEntry() rosdep_data is not a dict: %s' % rosdep_data
self.rosdep_data = rosdep_data
self.view_dependencies = view_dependencies
self.origin = origin
[docs]class RosdepDatabase(object):
"""
Stores loaded rosdep data for multiple views.
"""
def __init__(self):
self._rosdep_db = {} # {view_name: RosdepDatabaseEntry}
[docs] def is_loaded(self, view_name):
"""
:param view_name: name of view to check, ``str``
:returns: ``True`` if *view_name* has been loaded into this
database.
"""
return view_name in self._rosdep_db
[docs] def mark_loaded(self, view_name):
"""
If view is not already loaded, this will mark it as such. This in effect sets the data for the view to be empty.
:param view_name: name of view to mark as loaded
"""
self.set_view_data(view_name, {}, [], None)
[docs] def set_view_data(self, view_name, rosdep_data, view_dependencies, origin):
"""
Set data associated with view. This will create a new
:class:`RosdepDatabaseEntry`.
:param rosdep_data: rosdep data map to associated with view.
This will be copied.
:param origin: origin of view data, e.g. filepath of ``rosdep.yaml``
"""
self._rosdep_db[view_name] = RosdepDatabaseEntry(rosdep_data.copy(), view_dependencies, origin)
[docs] def get_view_names(self):
"""
:returns: list of view names that are loaded into this database.
"""
return self._rosdep_db.keys()
[docs] def get_view_data(self, view_name):
"""
:returns: :class:`RosdepDatabaseEntry` of given view.
:raises: :exc:`KeyError` if no entry for *view_name*
"""
return self._rosdep_db[view_name]
[docs] def get_view_dependencies(self, view_name):
"""
:raises: :exc:`KeyError` if *view_name* is not an entry, or if
all of view's dependencies have not been properly loaded.
"""
entry = self.get_view_data(view_name)
dependencies = entry.view_dependencies[:]
# compute full set of dependencies by iterating over
# dependencies in reverse order and prepending.
for s in reversed(entry.view_dependencies):
dependencies = self.get_view_dependencies(s) + dependencies
# make unique preserving order
unique_deps = []
for d in dependencies:
if d not in unique_deps:
unique_deps.append(d)
return unique_deps
