From 21be1b40216e1e4ca8009fb030e549bdf4a5364d Mon Sep 17 00:00:00 2001
From: Lorenz Moesenlechner <moesenle@in.tum.de>
Date: Tue, 27 Apr 2010 22:11:54 +0000
Subject: [PATCH] Improved lisp wrapper script generation.

* Added a per-node instead of a per-package init file that lies in
  $ROS_HOME/roslisp/<package>/<exec_name>-init.lisp

* Removed loading of the global ~/.sbclrc-ros init file.
---
 core/roslisp/scripts/make-roslisp-exec.lisp | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/core/roslisp/scripts/make-roslisp-exec.lisp b/core/roslisp/scripts/make-roslisp-exec.lisp
index 4b72046d..620506e9 100644
--- a/core/roslisp/scripts/make-roslisp-exec.lisp
+++ b/core/roslisp/scripts/make-roslisp-exec.lisp
@@ -8,7 +8,8 @@
 (let ((p (sb-ext:posix-getenv "ROS_ROOT")))
   (unless p (error "ROS_ROOT not set"))
   (let ((roslisp-path (merge-pathnames (make-pathname :directory '(:relative "asdf"))
-                                       (ros-load:ros-package-path "roslisp"))))
+                                       (ros-load:ros-package-path "roslisp")))
+        (output-filename (pathname (fifth sb-ext:*posix-argv*))))
     (handler-case
         (let ((ros-load:*current-ros-package* (second sb-ext:*posix-argv*)))
           (asdf:operate 'asdf:compile-op (third sb-ext:*posix-argv*)))
@@ -16,7 +17,7 @@
         (format *error-output* "Compilation failed due to condition: ~a~&" e)
         (sb-ext:quit :unix-status 1)))
 
-    (with-open-file (strm (fifth sb-ext:*posix-argv*) :if-exists :supersede :direction :output)
+    (with-open-file (strm output-filename :if-exists :supersede :direction :output)
       (let ((*standard-output* strm))
         (pprint '(require :asdf))
         (pprint '(defmethod asdf:perform :around ((o asdf:load-op)
@@ -28,7 +29,6 @@
                       (call-next-method)))))
         (pprint '(push :roslisp-standalone-executable *features*))
         (pprint '(declaim (sb-ext:muffle-conditions sb-ext:compiler-note)))
-        (pprint '(load (format nil "~a/.sbclrc-roslisp" (sb-ext:posix-getenv "HOME")) :if-does-not-exist nil))
         (pprint `(push ,roslisp-path asdf:*central-registry*))
         (pprint '(defun roslisp-debugger-hook (condition me)
                   (declare (ignore me))
@@ -52,14 +52,14 @@
                          ,(second sb-ext:*posix-argv*))                   
                    (let ((*standard-output* (make-broadcast-stream))
                          (sys ,(third sb-ext:*posix-argv*)))
-                      (handler-case (asdf:operate 'asdf:load-op sys :verbose nil)
+                     (handler-case (asdf:operate 'asdf:load-op sys :verbose nil)
                        (asdf:missing-component (c)
                          (error "Couldn't find asdf system (filename ~a.asd and system name ~a) or some dependency.  Original condition was ~a."
-                                 sys sys c))))
-                   (load (merge-pathnames (make-pathname :name ,(format nil "~a-init.lisp" (third sb-ext:*posix-argv*))
+                                sys sys c))))
+                   (load (merge-pathnames (make-pathname :name ,(format nil "~a-init.lisp" (pathname-name output-filename))
                                                          :directory '(:relative "roslisp" ,(second sb-ext:*posix-argv*)))
                                           (funcall (symbol-function (intern "ROS-HOME" :ros-load))))
                          :if-does-not-exist nil)
                    (funcall (symbol-function (read-from-string ,(fourth sb-ext:*posix-argv*))))
-                   (sb-ext:quit)))))))
-(sb-ext:quit)
\ No newline at end of file
+                   (sb-ext:quit))))))
+  (sb-ext:quit))