From 05e0ce60611c332fde26aef5271c6c90dc9256b9 Mon Sep 17 00:00:00 2001
From: Ken Conley <kwc@kwc.org>
Date: Wed, 25 May 2011 00:14:00 +0000
Subject: [PATCH] unary stacks support for rosstack and roslib

---
 test/test_roslib/test/test_roslib_packages.py |  7 +++++
 test/test_roslib/test/test_roslib_stacks.py   | 26 +++++++++++++++++++
 tools/rospack/rosstack.cpp                    |  6 ++---
 3 files changed, 36 insertions(+), 3 deletions(-)

diff --git a/test/test_roslib/test/test_roslib_packages.py b/test/test_roslib/test/test_roslib_packages.py
index 16c95df5..4814e9b6 100644
--- a/test/test_roslib/test/test_roslib_packages.py
+++ b/test/test_roslib/test/test_roslib_packages.py
@@ -98,6 +98,13 @@ class RoslibPackagesTest(unittest.TestCase):
     self.assertEquals(foo_p, cache['foo'][0])
     self.assertEquals(bar_p, cache['bar'][0])
     
+  def test_list_pkgs_unary(self):
+    d = roslib.packages.get_pkg_dir('test_roslib')
+    d = os.path.join(d, 'test', 'stack_tests_unary')
+    cache = {}
+    packages = roslib.packages.list_pkgs(pkg_dirs=[d], cache=cache)
+    self.assertEquals(set(['foo', 'bar']), set(packages))
+
   def test_find_node(self):
     import roslib.packages
     d = roslib.packages.get_pkg_dir('test_roslib')
diff --git a/test/test_roslib/test/test_roslib_stacks.py b/test/test_roslib/test/test_roslib_stacks.py
index 0ca3dedf..477f0fd8 100644
--- a/test/test_roslib/test/test_roslib_stacks.py
+++ b/test/test_roslib/test/test_roslib_stacks.py
@@ -113,6 +113,32 @@ class RoslibStacksTest(unittest.TestCase):
         test_dir = os.path.join(roslib.packages.get_pkg_dir('test_roslib'), 'test', 'stack_tests2')
         self.assertEquals(set(['foo', 'bar']), set(list_stacks_by_path(test_dir)))
         
+    def test_list_stacks_by_path_unary(self):
+        from roslib.stacks import list_stacks_by_path
+        # test with synthetic stacks
+        test_dir = os.path.join(roslib.packages.get_pkg_dir('test_roslib'), 'test', 'stack_tests_unary')
+        self.assertEquals(set(['bar', 'foo', 'baz']), set(list_stacks_by_path(test_dir)))
+
+    def test_get_stack_dir_unary(self):
+        # now manipulate the environment to test precedence
+        # - save original RPP as we popen rosstack in other tests
+        d = roslib.packages.get_pkg_dir('test_roslib')
+        d = os.path.join(d, 'test', 'stack_tests_unary')
+        s1_d = os.path.join(d, 's1')
+        rpp = os.environ.get(roslib.rosenv.ROS_PACKAGE_PATH, None)
+        try:
+            paths = [d]
+            os.environ[roslib.rosenv.ROS_PACKAGE_PATH] = os.pathsep.join(paths)
+            self.assertEquals(os.path.join(s1_d, 'foo'), roslib.stacks.get_stack_dir('foo'))
+            self.assertEquals(os.path.join(s1_d, 'bar'), roslib.stacks.get_stack_dir('bar'))
+            self.assertEquals(os.path.join(s1_d, 'baz'), roslib.stacks.get_stack_dir('baz'))
+        finally:
+            #restore rpp
+            if rpp is not None:
+                os.environ[roslib.rosenv.ROS_PACKAGE_PATH] = rpp
+            else:
+                del os.environ[roslib.rosenv.ROS_PACKAGE_PATH] 
+        
     def test_get_stack_dir(self):
         import roslib.rosenv
         import roslib.packages
diff --git a/tools/rospack/rosstack.cpp b/tools/rospack/rosstack.cpp
index 1d9609b7..ce9c0884 100644
--- a/tools/rospack/rosstack.cpp
+++ b/tools/rospack/rosstack.cpp
@@ -1152,9 +1152,7 @@ void ROSStack::crawl_for_stacks(bool force_crawl)
         continue;
       if (ent->d_name[0] == '.')
         continue; // ignore hidden dirs
-      else if (Stack::is_package(child_path))
-        continue; // ignore this guy, he's a leaf.
-      if (Stack::is_stack(child_path))
+      else if (Stack::is_stack(child_path))
       {
         add_stack(child_path);
         /*
@@ -1179,6 +1177,8 @@ void ROSStack::crawl_for_stacks(bool force_crawl)
           Stack::stacks.push_back(newp);
           */
       }
+      else if (Stack::is_package(child_path))
+        continue; // ignore this guy, he's a leaf.
       //check to make sure we're allowed to descend
       else if (!Stack::is_no_subdirs(child_path)) 
         q.push_front(CrawlQueueEntry(child_path));