support for a message artifact command line generator.

Author: stonier

src/rosjava_build_tools/__init__.py

@@ -10,3 +10,4 @@
 from create_rosjava_project import create_rosjava_project, create_rosjava_msg_project, create_rosjava_library_project
 from utils import which
 from release import scrape_for_release_message_packages
+import catkin

src/rosjava_build_tools/catkin.py

@@ -0,0 +1,63 @@
+#!/usr/bin/env python
+
+##############################################################################
+# Imports
+##############################################################################
+
+import os
+import catkin_pkg.packages
+import catkin_pkg.topological_order
+
+##############################################################################
+# Methods
+##############################################################################
+
+
+def has_build_depend_on_message_generation(package):
+    '''
+      Checks for a build dependency on message generation to determine if
+      that package contains msgs/srvs.
+
+      @param package : typical catkin package object
+      @type catkin_pkg.Package
+
+      @return True if it is a package that contains msgs/srvs
+      @rtype Bool
+    '''
+    return 'message_generation' in [d.name for d in package.build_depends]
+
+
+def index_message_package_dependencies_from_local_environment(package_name=None, package_paths=None):
+    '''
+      Returns a topologically sorted list of message packages that can
+      be used for sequencing builds of packages.
+
+      @param package_name : sort dependencies for this package only (defaults to all packages if None is given)
+      @param package_paths : a python list of ros workspaces (defaults to ROS_PACKAGE_PATH if None is given)
+      @return dict mapping relative path to a catkin_pkg.Package
+    '''
+    if package_paths is None:
+        package_paths = os.getenv('ROS_PACKAGE_PATH', '')
+        package_paths = [x for x in package_paths.split(':') if x]
+    all_packages = {}  # mapping package name to (path, catkin_pkg.Package) tuple
+    message_packages = {}
+    # use reversed to write over any packages lower down in the overlay heirarchy
+    # i.e. no duplicates!
+    for path in reversed(package_paths):
+        for package_path, package in catkin_pkg.packages.find_packages(path).items():
+            all_packages[package.name] = (package_path, package)
+            if has_build_depend_on_message_generation(package):
+                if package_name is not None:
+                    if package_name == package.name:
+                        message_packages[package.name] = (package_path, package)
+                else:
+                    message_packages[package.name] = (package_path, package)
+    # put into the correct form for sorting
+    # The following returns: A list of tuples containing the relative path and a ``Package`` object,
+    sorted_package_tuples = catkin_pkg.topological_order.topological_order_packages(
+                                packages=dict(message_packages.values()),
+                                whitelisted=None,
+                                blacklisted=None,
+                                underlay_packages=dict(all_packages.values()))
+    # print("%s" % [p.name for (unused_relative_path, p) in sorted_package_tuples])
+    return sorted_package_tuples

src/rosjava_build_tools/release.py

@@ -6,26 +6,13 @@
 
 import rosdistro
 import catkin_pkg
+from . import catkin
 
 ##############################################################################
 # Imports
 ##############################################################################
 
 
-def has_build_depend_on_message_generation(package):
-    '''
-      Checks for a build dependency on message generation to determine if
-      that package contains msgs/srvs.
-
-      @param package : typical catkin package object
-      @type catkin_pkg.Package
-
-      @return True if it is a package that contains msgs/srvs
-      @rtype Bool
-    '''
-    return 'message_generation' in [d.name for d in package.build_depends]
-
-
 def scrape_for_release_message_packages(track):
     url = rosdistro.get_index_url()
     index = rosdistro.get_index(url)
@@ -35,6 +22,6 @@ def scrape_for_release_message_packages(track):
         package = catkin_pkg.package.parse_package_string(package_string)
         #print("  Name: %s" % package_name)
         #print("  Buildtool Depends %s" % package.build)
-        if has_build_depend_on_message_generation(package):
+        if catkin.has_build_depend_on_message_generation(package):
             packages.append({'name': package_name, 'version': package.version})
     return packages