allow catkin_make to compile empty gradle packages, also dynamically add tasks for both library and app projects.

Author: stonier

cmake/rosjava.cmake.em

@@ -71,8 +71,7 @@ macro(catkin_rosjava_setup)
     _rosjava_env()
     find_gradle()
     if( ${ARGC} EQUAL 0 )
-      # Note : COMMAND is a list of variables (semi-colon separated)
-      set(gradle_tasks "publishMavenJavaPublicationToMavenRepository") # old targets "install;installApp;uploadArchives"
+      return() # Nothing to do (typically no subprojects created yet)
     else()
       set(gradle_tasks ${ARGV})
     endif()

src/rosjava_build_tools/create_rosjava_project.py

@@ -7,6 +7,7 @@
 from __future__ import print_function
 
 import os
+import re
 import sys
 import argparse
 import xml.etree.ElementTree as ElementTree
@@ -151,7 +152,7 @@ def add_to_package_xml(name):
         package_xml.write(new_contents)
 
 
-def add_install_app_to_cmake_targets():
+def add_tasks_to_cmake_setup(tasks):
     '''
       Adds project name to build_depends in package.xml (should be same name as the ros msg package name).
     '''
@@ -165,11 +166,23 @@ def add_install_app_to_cmake_targets():
         console.pretty_println("\nCouldn't find the root level CMakeLists.txt - not adding to the superproject.")
         return
     with open(cmakelists_txt_path, 'r') as cmakelists_txt:
+        old_contents = cmakelists_txt.read()
+        result = re.search('^catkin_rosjava_setup\(.*\)', old_contents, re.MULTILINE)
+        if result is None:
+            console.pretty_println("\nCouldn't find a catkin_rosjava_setup entry in the CMakeLists.txt - not adding tasks.")
+            return
+        rosjava_setup_string = result.group(0)
+        gradle_tasks = set([])
+        if rosjava_setup_string.find("publishMavenJavaPublicationToMavenRepository") != -1:
+            gradle_tasks.add("publishMavenJavaPublicationToMavenRepository")
+        if rosjava_setup_string.find("installApp") != -1:
+            gradle_tasks.add("installApp")
+        gradle_tasks |= set(tasks)
         console.pretty_print('  File      : ', console.cyan)
         console.pretty_println('CMakeLists.txt (gradle task update)', console.yellow)
-        old_text = 'catkin_rosjava_setup(publishMavenJavaPublicationToMavenRepository)'
-        new_text = 'catkin_rosjava_setup(publishMavenJavaPublicationToMavenRepository installApp)'
-        new_contents = cmakelists_txt.read().replace(old_text, new_text)
+        old_text = rosjava_setup_string
+        new_text = 'catkin_rosjava_setup(' + ' '.join(gradle_tasks) + ')'
+        new_contents = old_contents.replace(old_text, new_text)
     with open(cmakelists_txt_path, 'w') as cmakelists_txt:
         cmakelists_txt.write(new_contents)
 
@@ -223,14 +236,15 @@ def create_rosjava_project():
     author = args.author
     create_rosjava_project_common(args, 'rosjava_project')
     create_talker_listener_classes(project_name, 'rosjava_project', author)
-    add_install_app_to_cmake_targets()
+    add_tasks_to_cmake_setup(['installApp', 'publishMavenJavaPublicationToMavenRepository'])
 
 
 def create_rosjava_library_project():
     args = parse_arguments()
     project_name = args.name[0]
     create_rosjava_project_common(args, 'rosjava_library_project')
     create_dummy_java_class(project_name)
+    add_tasks_to_cmake_setup(['publishMavenJavaPublicationToMavenRepository'])
 
 
 def create_rosjava_msg_project():
@@ -239,3 +253,4 @@ def create_rosjava_msg_project():
     create_rosjava_project_common(args, 'rosjava_msg_project')
     add_catkin_generate_tree_command()
     add_to_package_xml(project_name)
+    add_tasks_to_cmake_setup(['publishMavenJavaPublicationToMavenRepository'])

src/rosjava_build_tools/templates/rosjava_package/CMakeLists.txt.in

@@ -10,8 +10,13 @@ project(%(repo_name)s)
 ##############################################################################
 
 find_package(catkin REQUIRED rosjava_build_tools)
-# Set the gradle targets you want catkin's make to run by default
-catkin_rosjava_setup(publishMavenJavaPublicationToMavenRepository)
+
+# Set the gradle targets you want catkin's make to run by default, e.g.
+#   catkin_rosjava_setup(installApp)
+# Note that the catkin_create_rosjava_xxx scripts will usually automatically
+# add tasks to this for you when you create subprojects.
+catkin_rosjava_setup()
+
 catkin_package()
 
 ##############################################################################

src/rosjava_build_tools/templates/rosjava_package/build.gradle.in

@@ -59,8 +59,14 @@ subprojects {
 
 /*
   Some useful tasks:
+
     install: deploys jar's to MavenLocal() (i.e. ~/.m2/repository)
     publishMavenJavaPublicationToMavenRepository : deploys jar's to devel/share/maven
     installApp : assembles java apps in the _subproject_/build directories.
+
+  Note that these are dependent on the type of project (e.g. installApp is only valid for
+  java binary subprojects, while publishMavenJav... is only added once a subproject is included.
+  If you're using catkin_make, this is not important, since it will use the task list specified
+  in CMakeLists.txt
 */
-defaultTasks 'install'
+defaultTasks 'tasks'