support veresion specific install for pip (and other installeres)

Author: k-okada

src/rosdep2/installers.py

@@ -278,8 +278,9 @@ def get_depends(self, rosdep_args):
         """
         return []  # Default return empty list
 
-    def resolve(self, rosdep_args_dict):
+    def resolve(self, rosdep, rosdep_args_dict):
         """
+        :param rosdep: rosdep key (catkin_pkg.package.Dependency object) to resolve
         :param rosdep_args_dict: argument dictionary to the rosdep rule for this package manager
         :returns: [resolutions].  resolved objects should be printable to a user, but are otherwise opaque.
         """
@@ -336,7 +337,7 @@ def elevate_priv(self, cmd):
         """
         return (self.sudo_command.split() if self.as_root else []) + cmd
 
-    def resolve(self, rosdep_args):
+    def resolve(self, rosdep, rosdep_args):
         """
         See :meth:`Installer.resolve()`
         """

src/rosdep2/lookup.py

@@ -226,10 +226,11 @@ def merge(self, update_entry, override=False, verbose=False):
                 db[dep_name].reverse_merge(dep_data, update_entry.origin, verbose=verbose)
 
 
-def prune_catkin_packages(rosdep_keys, verbose=False):
+def prune_catkin_packages(rosdeps, verbose=False):
     workspace_pkgs = catkin_packages.get_workspace_packages()
     if not workspace_pkgs:
-        return rosdep_keys
+        return rosdeps
+    rosdep_keys = [d.name for d in rosdeps]
     for i, rosdep_key in reversed(list(enumerate(rosdep_keys))):
         if rosdep_key in workspace_pkgs:
             # If workspace packages listed (--catkin-workspace)
@@ -239,22 +240,23 @@ def prune_catkin_packages(rosdep_keys, verbose=False):
                 print("rosdep key '{0}'".format(rosdep_key) +
                       ' is in the catkin workspace, skipping.',
                       file=sys.stderr)
-            del rosdep_keys[i]
-    return rosdep_keys
+            del rosdeps[i]
+    return rosdeps
 
 
-def prune_skipped_packages(rosdep_keys, skipped_keys, verbose=False):
+def prune_skipped_packages(rosdeps, skipped_keys, verbose=False):
     if not skipped_keys:
-        return rosdep_keys
+        return rosdeps
+    rosdep_keys = [d.name for d in rosdeps]
     for i, rosdep_key in reversed(list(enumerate(rosdep_keys))):
         if rosdep_key in skipped_keys:
             # If the key is in the list of keys to explicitly skip, skip it
             if verbose:
                 print("rosdep key '{0}'".format(rosdep_key) +
                       ' was listed in the skipped packages, skipping.',
                       file=sys.stderr)
-            del rosdep_keys[i]
-    return rosdep_keys
+            del rosdeps[i]
+    return rosdeps
 
 
 class RosdepLookup(object):
@@ -320,7 +322,7 @@ def get_resources_that_need(self, rosdep_name):
 
         :returns: list of package names that require rosdep, ``[str]``
         """
-        return [k for k in self.loader.get_loadable_resources() if rosdep_name in self.get_rosdeps(k, implicit=False)]
+        return [k for k in self.loader.get_loadable_resources() if rosdep_name in [d.name for d in self.get_rosdeps(k, implicit=False)]]
 
     @staticmethod
     def create_from_rospkg(rospack=None, rosstack=None,
@@ -390,15 +392,16 @@ def resolve_all(self, resources, installer_context, implicit=False):
         # TODO: resolutions dictionary should be replaced with resolution model instead of mapping (undefined) keys.
         for resource_name in resources:
             try:
-                rosdep_keys = self.get_rosdeps(resource_name, implicit=implicit)
+                rosdeps = self.get_rosdeps(resource_name, implicit=implicit)
                 if self.verbose:
-                    print('resolve_all: resource [%s] requires rosdep keys [%s]' % (resource_name, ', '.join(rosdep_keys)), file=sys.stderr)
-                rosdep_keys = prune_catkin_packages(rosdep_keys, self.verbose)
-                rosdep_keys = prune_skipped_packages(rosdep_keys, self.skipped_keys, self.verbose)
-                for rosdep_key in rosdep_keys:
+                    print('resolve_all: resource [%s] requires rosdep keys [%s]' % (resource_name, ', '.join([d.name for d in rosdeps])), file=sys.stderr)
+                rosdeps = prune_catkin_packages(rosdeps, self.verbose)
+                rosdeps = prune_skipped_packages(rosdeps, self.skipped_keys, self.verbose)
+                for rosdep in rosdeps:
                     try:
                         installer_key, resolution, dependencies = \
-                            self.resolve(rosdep_key, resource_name, installer_context)
+                            self.resolve(rosdep, resource_name, installer_context)
+                        rosdep_key = rosdep.name
                         depend_graph[rosdep_key]['installer_key'] = installer_key
                         depend_graph[rosdep_key]['install_keys'] = list(resolution)
                         depend_graph[rosdep_key]['dependencies'] = list(dependencies)
@@ -430,13 +433,13 @@ def resolve_all(self, resources, installer_context, implicit=False):
 
         return resolutions_flat, errors
 
-    def resolve(self, rosdep_key, resource_name, installer_context):
+    def resolve(self, rosdep, resource_name, installer_context):
         """
         Resolve a :class:`RosdepDefinition` for a particular
         os/version spec.
 
         :param resource_name: resource (e.g. ROS package) to resolve key within
-        :param rosdep_key: rosdep key to resolve
+        :param rosdeps: rosdep key (catkin_pkg.package.Dependency object) to resolve
         :param os_name: OS name to use for resolution
         :param os_version: OS name to use for resolution
 
@@ -450,6 +453,7 @@ def resolve(self, rosdep_key, resource_name, installer_context):
         :raises: :exc:`ResolutionError` If *rosdep_key* cannot be resolved for *resource_name* in *installer_context*
         :raises: :exc:`rospkg.ResourceNotFound` if *resource_name* cannot be located
         """
+        rosdep_key = rosdep.name
         os_name, os_version = installer_context.get_os_name_and_version()
 
         view = self.get_rosdep_view_for_resource(resource_name)
@@ -489,7 +493,7 @@ def resolve(self, rosdep_key, resource_name, installer_context):
             installer = installer_context.get_installer(installer_key)
         except KeyError:
             raise ResolutionError(rosdep_key, definition.data, os_name, os_version, 'Unsupported installer [%s]' % (installer_key))
-        resolution = installer.resolve(rosdep_args_dict)
+        resolution = installer.resolve(rosdep, rosdep_args_dict)
         dependencies = installer.get_depends(rosdep_args_dict)
 
         # cache value

src/rosdep2/main.py

@@ -619,7 +619,7 @@ def command_keys(lookup, packages, options):
     rosdep_keys = get_keys(lookup, packages, options.recursive)
     prune_catkin_packages(rosdep_keys, options.verbose)
     _print_lookup_errors(lookup)
-    print('\n'.join(rosdep_keys))
+    print('\n'.join([d.name for d in rosdep_keys]))
 
 
 def get_keys(lookup, packages, recursive):

src/rosdep2/platforms/osx.py

@@ -281,7 +281,7 @@ def get_version_strings(self):
         except OSError:
             return ['Homebrew not-found']
 
-    def resolve(self, rosdep_args):
+    def resolve(self, rosdep, rosdep_args):
         """
         See :meth:`Installer.resolve()`
         """
@@ -318,7 +318,7 @@ def handle_options(options):
 
             return options
 
-        packages = super(HomebrewInstaller, self).resolve(rosdep_args)
+        packages = super(HomebrewInstaller, self).resolve(rosdep, rosdep_args)
         resolution = []
         if packages:
             options = []

src/rosdep2/platforms/pip.py

@@ -32,7 +32,7 @@
 import pkg_resources
 import subprocess
 
-from ..core import InstallFailed
+from ..core import InstallFailed, InvalidData
 from ..installers import PackageManagerInstaller
 from ..shell_utils import read_stdout
 
@@ -100,6 +100,53 @@ class PipInstaller(PackageManagerInstaller):
     def __init__(self):
         super(PipInstaller, self).__init__(pip_detect, supports_depends=True)
 
+    def resolve(self, rosdep, rosdep_args):
+        """
+        See :meth:`Installer.resolve()`
+        """
+        packages = None
+        if type(rosdep_args) == dict:
+            packages = rosdep_args.get('packages', [])
+            if isinstance(packages, str):
+                packages = packages.split()
+        elif isinstance(rosdep_args, str):
+            packages = rosdep_args.split(' ')
+        elif type(rosdep_args) == list:
+            packages = rosdep_args
+        else:
+            raise InvalidData('Invalid rosdep args: %s' % (rosdep_args))
+
+        pip_specify_version = None
+        if rosdep.version_eq:
+            for i, package in list(enumerate(packages)):
+                packages[i] = package + '==' + rosdep.version_eq
+            pip_specify_version = True
+        if rosdep.version_gte:
+            for i, package in list(enumerate(packages)):
+                package = package + ',' if pip_specify_version else package
+                packages[i] = package + '>=' + rosdep.version_gte
+            pip_specify_version = True
+        if rosdep.version_lte:
+            for i, package in list(enumerate(packages)):
+                package = package + ',' if pip_specify_version else package
+                packages[i] = package + '<=' + rosdep.version_lte
+            pip_specify_version = True
+        if rosdep.version_gt:
+            for i, package in list(enumerate(packages)):
+                package = package + ',' if pip_specify_version else package
+                packages[i] = package + '>' + rosdep.version_gt
+            pip_specify_version = True
+        if rosdep.version_lt:
+            for i, package in list(enumerate(packages)):
+                package = package + ',' if pip_specify_version else package
+                packages[i] = package + '<' + rosdep.version_lt
+            pip_specify_version = True
+        if pip_specify_version:
+            for i, package in list(enumerate(packages)):
+                packages[i] = "'" + package + "'"
+
+        return packages
+
     def get_version_strings(self):
         pip_version = pkg_resources.get_distribution('pip').version
         setuptools_version = pkg_resources.get_distribution('setuptools').version

src/rosdep2/platforms/source.py

@@ -201,7 +201,7 @@ def __init__(self):
         super(SourceInstaller, self).__init__(source_detect, supports_depends=True)
         self._rdmanifest_cache = {}
 
-    def resolve(self, rosdep_args):
+    def resolve(self, rosdep, rosdep_args):
         """
         :raises: :exc:`InvalidData` If format invalid or unable
           to retrieve rdmanifests.
@@ -246,7 +246,7 @@ def get_install_command(self, resolved, interactive=True, reinstall=False, quiet
 
     def get_depends(self, rosdep_args):
         deps = rosdep_args.get('depends', [])
-        for r in self.resolve(rosdep_args):
+        for r in self.resolve({}, rosdep_args):
             deps.extend(r.dependencies)
         return deps
 

src/rosdep2/rospkg_loader.py

@@ -136,14 +136,35 @@ def get_rosdeps(self, resource_name, implicit=True):
 
         :raises: :exc:`rospkg.ResourceNotFound` if *resource_name* cannot be found.
         """
-
         if resource_name in self.get_catkin_paths():
             pkg = catkin_pkg.package.parse_package(self.get_catkin_paths()[resource_name])
             pkg.evaluate_conditions(os.environ)
             deps = pkg.build_depends + pkg.buildtool_depends + pkg.run_depends + pkg.test_depends
-            return [d.name for d in deps if d.evaluated_condition]
+            return [d for d in deps if d.evaluated_condition]
         elif resource_name in self.get_loadable_resources():
-            return self._rospack.get_rosdeps(resource_name, implicit=implicit)
+            # expand 'self._rospack.get_rosdeps(resource_name, implicit=implicit)' to return Dependency
+            def rospack_get_rosdeps(rospack, package, implicit=implicit):
+                if implicit:
+                    return rospack_implicit_rosdeps(rospack, package)
+                else:
+                    m = rospack.get_manifest(package)
+                    return m.rosdeps
+
+            def rospack_implicit_rosdeps(rospack, package):
+                # set the key before recursive call to prevent infinite case
+                s = set()
+                # take the union of all dependencies
+                packages = rospack.get_depends(package, implicit=True)
+                for p in packages:
+                    s.update(rospack_get_rosdeps(rospack, p, implicit=False))
+                # add in our own deps
+                m = rospack.get_manifest(package)
+                s.update(m.rosdeps)
+                # cache the return value as a list
+                s = list(s)
+                return s
+
+            return rospack_get_rosdeps(self._rospack, resource_name, implicit)
         elif resource_name in self._rosstack.list():
             # stacks currently do not have rosdeps of their own, implicit or otherwise
             return []

test/test_rosdep_installers.py

@@ -293,6 +293,7 @@ class FakeInstaller2(Installer):
 
 
 def test_Installer_tripwire():
+    from catkin_pkg.package import Dependency
     from rosdep2.installers import Installer
     try:
         Installer().is_installed('foo')
@@ -305,7 +306,7 @@ def test_Installer_tripwire():
     except NotImplementedError:
         pass
     try:
-        Installer().resolve({})
+        Installer().resolve(Dependency('null'), {})
         assert False
     except NotImplementedError:
         pass
@@ -340,26 +341,27 @@ def test_PackageManagerInstaller():
 
 
 def test_PackageManagerInstaller_resolve():
+    from catkin_pkg.package import Dependency
     from rosdep2 import InvalidData
     from rosdep2.installers import PackageManagerInstaller
 
     installer = PackageManagerInstaller(detect_fn_all)
-    assert ['baz'] == installer.resolve(dict(depends=['foo', 'bar'], packages=['baz']))
-    assert ['baz', 'bar'] == installer.resolve(dict(packages=['baz', 'bar']))
+    assert ['baz'] == installer.resolve(Dependency('baz'), dict(depends=['foo', 'bar'], packages=['baz']))
+    assert ['baz', 'bar'] == installer.resolve(Dependency('baz'), dict(packages=['baz', 'bar']))
 
     # test string logic
-    assert ['baz'] == installer.resolve(dict(depends=['foo', 'bar'], packages='baz'))
-    assert ['baz', 'bar'] == installer.resolve(dict(packages='baz bar'))
-    assert ['baz'] == installer.resolve('baz')
-    assert ['baz', 'bar'] == installer.resolve('baz bar')
+    assert ['baz'] == installer.resolve(Dependency('baz'), dict(depends=['foo', 'bar'], packages='baz'))
+    assert ['baz', 'bar'] == installer.resolve(Dependency('baz'), dict(packages='baz bar'))
+    assert ['baz'] == installer.resolve(Dependency('baz'), 'baz')
+    assert ['baz', 'bar'] == installer.resolve(Dependency('baz'), 'baz bar')
 
     # test list logic
-    assert ['baz'] == installer.resolve(['baz'])
-    assert ['baz', 'bar'] == installer.resolve(['baz', 'bar'])
+    assert ['baz'] == installer.resolve(Dependency('baz'), ['baz'])
+    assert ['baz', 'bar'] == installer.resolve(Dependency('baz'), ['baz', 'bar'])
 
     # test invalid data
     try:
-        installer.resolve(0)
+        installer.resolve(Dependency('baz'), 0)
         assert False, 'should have raised'
     except InvalidData:
         pass