roswtf: #1527 check for invalid stack dependencies. This required beefing up roslib stack libraries
This commit is contained in:
Ken Conley
parent
8a6ee0137f
commit
2debf49d7e
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@ -58,13 +58,18 @@ PRODUCT = 'ros'
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## caller ID for master calls where caller ID is not vital
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_GLOBAL_CALLER_ID = '/script'
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## Name resolver for scripts. Supports ROS_NAMESPACE. Does not
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## support remapping arguments.
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## @param name str: name to resolve
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## @param script_name str: name of script. script_name must not
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## contain a namespace.
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## @return str: resolved name
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def script_resolve_name(script_name, name):
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"""
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Name resolver for scripts. Supports ROS_NAMESPACE. Does not
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support remapping arguments.
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@param name: name to resolve
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@type name: str
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@param script_name: name of script. script_name must not
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contain a namespace.
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@type script_name: str
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@return: resolved name
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@rtype: str
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"""
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if not name: #empty string resolves to namespace
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return roslib.names.get_ros_namespace()
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#Check for global name: /foo/name resolves to /foo/name
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@ -75,49 +80,110 @@ def script_resolve_name(script_name, name):
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return ns_join(roslib.names.make_caller_id(script_name), name[1:])
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return roslib.names.get_ros_namespace() + name
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## @return str: result of executing command (via subprocess). string will be strip()ed.
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def rospackexec(args):
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"""
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@return: result of executing rospack command (via subprocess). string will be strip()ed.
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@rtype: str
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@raise roslib.exceptions.ROSLibException: if rospack command fails
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"""
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val = (subprocess.Popen(['rospack'] + args, stdout=subprocess.PIPE).communicate()[0] or '').strip()
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if val.startswith('rospack:'): #rospack error message
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raise Exception(val)
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raise roslib.exceptions.ROSLibException(val)
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return val
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## @return list: A list of the names of the packages which depend directly on pkg
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def rospack_depends_on_1(pkg):
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"""
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@param pkg: package name
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@type pkg: str
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@return list: A list of the names of the packages which depend directly on pkg
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"""
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return rospackexec(['depends-on1', pkg]).split()
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## @return list: A list of the names of the packages which depend on pkg
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def rospack_depends_on(pkg):
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"""
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@param pkg: package name
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@type pkg: str
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@return list: A list of the names of the packages which depend on pkg
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"""
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return rospackexec(['depends-on', pkg]).split()
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## @return list: A list of the names of the packages which pkg directly depends on
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def rospack_depends_1(pkg):
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"""
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@param pkg: package name
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@type pkg: str
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@return list: A list of the names of the packages which pkg directly depends on
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"""
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return rospackexec(['deps1', pkg]).split()
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## @return list: A list of the names of the packages which pkg depends on
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def rospack_depends(pkg):
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"""
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@param pkg: package name
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@type pkg: str
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@return list: A list of the names of the packages which pkg depends on
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"""
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return rospackexec(['deps', pkg]).split()
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## @return list: A list of the names of the packages which provide a plugin for pkg
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def rospack_plugins(pkg):
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"""
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@param pkg: package name
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@type pkg: str
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@return list: A list of the names of the packages which provide a plugin for pkg
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"""
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val = rospackexec(['plugins', '--attrib=plugin', pkg])
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if val:
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return [tuple(x.split(' ')) for x in val.split('\n')]
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else:
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return []
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## @return str: result of executing command (via subprocess). string will be strip()ed.
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def rosstackexec(args):
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"""
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@return: result of executing rosstack command (via subprocess). string will be strip()ed.
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@rtype: str
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@raise roslib.exceptions.ROSLibException: if rosstack command fails
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"""
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val = (subprocess.Popen(['rosstack'] + args, stdout=subprocess.PIPE).communicate()[0] or '').strip()
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if val.startswith('rosstack:'): #rospack error message
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raise Exception(val)
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return val
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## @return list: A list of the names of the packages which depend directly on pkg
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def rosstack_depends_on(s):
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"""
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@param s: stack name
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@type s: str
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@return: A list of the names of the stacks which depend on s
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@rtype: list
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"""
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return rosstackexec(['depends-on', s]).split()
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def rosstack_depends_on_1(s):
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"""
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@param s: stack name
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@type s: str
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@return: A list of the names of the stacks which depend directly on s
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@rtype: list
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"""
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return rosstackexec(['depends-on1', s]).split()
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def rosstack_depends(s):
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"""
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@param s: stack name
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@type s: str
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@return: A list of the names of the stacks which s depends on
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@rtype: list
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"""
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return rosstackexec(['depends', s]).split()
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def rosstack_depends_1(s):
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"""
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@param s: stack name
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@type s: str
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@return: A list of the names of the stacks which s depends on directly
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@rtype: list
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"""
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print "rossstack", s
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return rosstackexec(['depends1', s]).split()
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## @return ServerProxy XML-RPC proxy to ROS master
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def get_master():
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import xmlrpclib
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@ -58,11 +58,10 @@ class StackManifest(roslib.manifestlib._Manifest):
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super(StackManifest, self).__init__('stack')
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## @param stack_dir str: path to stack directory
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## @param environ dict: environment dictionary
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## @param required bool: require that the directory exist
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## @return str: path to manifest file of stack
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## @throws InvalidROSPkgException if required is True and manifest file cannot be located
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def _stack_file_by_dir(stack_dir, required=True, environ=os.environ):
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def _stack_file_by_dir(stack_dir, required=True):
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try:
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p = os.path.join(stack_dir, STACK_FILE)
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if not required and not os.path.exists(p):
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@ -77,16 +76,12 @@ Stack '%(stack_dir)s' is improperly configured: no manifest file is present.
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raise
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## @param stack str: stack name
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## @param environ dict: environment dictionary
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## @param required bool: require that the directory exist
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## @return str: path to manifest file of stack
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## @throws InvalidROSPkgException if required is True and manifest file cannot be located
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def stack_file(stack, required=True, environ=os.environ):
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# ros_root needs to be determined from the environment or else
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# everything breaks when trying to launch nodes via ssh where the
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# path isn't setup correctly.
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d = roslib.stacks.get_stack_dir(stack, required, ros_root=environ[roslib.rosenv.ROS_ROOT])
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return _stack_file_by_dir(d, required, environ)
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def stack_file(stack, required=True):
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d = roslib.stacks.get_stack_dir(stack)
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return _stack_file_by_dir(d, required)
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## @internal
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## Parse stack.xml file
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@ -134,6 +134,10 @@ def list_stacks(env=os.environ):
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pkg_dirs = roslib.packages.get_package_paths(environ=env)
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stacks = []
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# ros is assumed to be at ROS_ROOT
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if os.path.exists(os.path.join(ros_root, 'stack.xml')):
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stacks.append('ros')
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_dir_cache['ros'] = ros_root
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for pkg_root in pkg_dirs:
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for dir, dirs, files in os.walk(pkg_root, topdown=True):
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@ -118,9 +118,9 @@ def _roswtf_main():
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from roswtf.context import WtfContext
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from roswtf.environment import wtf_check_environment, invalid_url
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from roswtf.graph import wtf_check_graph
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from roswtf.packages import wtf_check_packages
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from roswtf.roslaunchwtf import wtf_check_roslaunch_static, wtf_check_roslaunch_online
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import roswtf.packages
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import roswtf.roslaunchwtf
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import roswtf.stacks
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import roswtf.plugins
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static_plugins, online_plugins = roswtf.plugins.load_plugins()
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@ -136,14 +136,19 @@ def _roswtf_main():
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print "Package:",curr_package
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ctx = WtfContext.from_package(curr_package)
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#TODO: load all .launch files in package
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elif os.path.isfile('stack.xml'):
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curr_stack = os.path.basename(os.path.abspath('.'))
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print "Stack:",curr_stack
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ctx = WtfContext.from_stack(curr_stack)
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else:
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print "No package in context"
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ctx = WtfContext.from_env()
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# static checks
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wtf_check_environment(ctx)
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wtf_check_packages(ctx)
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wtf_check_roslaunch_static(ctx)
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roswtf.packages.wtf_check(ctx)
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roswtf.stacks.wtf_check(ctx)
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roswtf.roslaunchwtf.wtf_check_static(ctx)
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for p in static_plugins:
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p(ctx)
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@ -185,7 +190,7 @@ def _roswtf_main():
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rospy.init_node('roswtf', anonymous=True)
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online_checks = True
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wtf_check_roslaunch_online(ctx)
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roswtf.roslaunchwtf.wtf_check_online(ctx)
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for p in online_plugins:
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online_checks = True
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@ -37,6 +37,7 @@ import sys
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import roslib.manifest
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import roslib.packages
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import roslib.stacks
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import roslib.rosenv
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import roslib.scriptutil
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import roslib.substitution_args
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@ -51,6 +52,7 @@ class WtfException(Exception): pass
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## system we are attempting to debug
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class WtfContext(object):
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__slots__ = ['pkg', 'pkg_dir', 'pkgs',
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'stack', 'stack_dir', 'stacks',
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'manifest_file', 'manifest',
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'env', 'ros_root', 'ros_package_path', 'pythonpath',
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'ros_master_uri',
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@ -74,8 +76,13 @@ class WtfContext(object):
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# main package we are running
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self.pkg = None
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self.pkg_dir = None
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# main stack we are running
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self.stack = None
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# - list of all packages involved in this check
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self.pkgs = []
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# - list of all stacks involved in this check
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self.stacks = []
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# manifest location of package that we are running
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self.manifest_file = None
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@ -126,16 +133,29 @@ class WtfContext(object):
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ctx = WtfContext()
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ctx.launch_files = roslaunch_files
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_load_roslaunch(ctx, roslaunch_files)
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# ctx.pkg initialized by _load_roslaunch
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# ctx.pkg and ctx.stack initialized by _load_roslaunch
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_load_pkg(ctx, ctx.pkg)
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_load_stack(ctx, ctx.stack)
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_load_env(ctx, env)
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return ctx
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@staticmethod
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## @throws WtfException: if context state cannot be initialized
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def from_stack(stack, env=os.environ):
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ctx = WtfContext()
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_load_stack(ctx, stack)
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ctx.pkgs = roslib.stacks.packages_of(stack)
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_load_env(ctx, env)
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return ctx
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@staticmethod
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## @throws WtfException: if context state cannot be initialized
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def from_package(pkg, env=os.environ):
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ctx = WtfContext()
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_load_pkg(ctx, pkg)
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stack = roslib.stacks.stack_of(pkg)
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if stack:
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_load_stack(ctx, stack)
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_load_env(ctx, env)
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return ctx
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@ -165,11 +185,20 @@ def _load_pkg(ctx, pkg):
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ctx.pkgs = [pkg] + roslib.scriptutil.rospack_depends(pkg)
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try:
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ctx.pkg_dir = roslib.packages.get_pkg_dir(pkg)
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ctx.manifest_file = roslib.manifest.manifest_file(pkg)
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ctx.manifest_file = roslib.manifest.parse_file(ctx.manifest_file)
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except roslib.packages.InvalidROSPkgException:
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raise WtfException("Cannot locate manifest file for package [%s]"%pkg)
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## utility for initializing WtfContext state
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## @throws WtfException: if context state cannot be initialized
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def _load_stack(ctx, stack):
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ctx.stack = stack
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ctx.stacks = [stack] + roslib.scriptutil.rosstack_depends(stack)
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try:
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ctx.stack_dir = roslib.stacks.get_stack_dir(stack)
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except roslib.stacks.InvalidROSStackException:
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raise WtfException("Cannot locate manifest file for stack [%s]"%stack)
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## utility for initializing WtfContext state
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## @throws WtfException: if context state cannot be initialized
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def _load_env(ctx,env):
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@ -225,7 +225,7 @@ def cmakelists_package_valid(ctx):
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missing.remove('rospack')
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return missing
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packages_warnings = [
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warnings = [
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# disabling as it is too common and regular
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#(makefile_exists,
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# "The following packages have no Makefile:"),
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@ -241,19 +241,19 @@ packages_warnings = [
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(cmake_gensrv,
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'The following packages need rosbuild_gensrv() in CMakeLists.txt:'),
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]
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packages_errors = [
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errors = [
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(msgs_built, "Messages have not been built in the following package(s).\nYou can fix this by typing 'rosmake %(pkg)s':"),
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(srvs_built, "Services have not been built in the following package(s).\nYou can fix this by typing 'rosmake %(pkg)s':"),
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(manifest_rpath_flags, "The following packages have rpath issues in manifest.xml:"),
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]
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def wtf_check_packages(ctx):
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def wtf_check(ctx):
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# no package in context to verify
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if not ctx.pkg:
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return
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for r in packages_warnings:
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for r in warnings:
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warning_rule(r, r[0](ctx), ctx)
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for r in packages_errors:
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for r in errors:
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error_rule(r, r[0](ctx), ctx)
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@ -295,7 +295,7 @@ static_roslaunch_errors = [
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(roslaunch_load_check, "roslaunch load failed"),
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]
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def wtf_check_roslaunch_static(ctx):
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def wtf_check_static(ctx):
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if not ctx.launch_files:
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return
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@ -312,7 +312,7 @@ def wtf_check_roslaunch_static(ctx):
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def _load_online_ctx(ctx):
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ctx.roslaunch_uris = roslaunch.netapi.get_roslaunch_uris()
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def wtf_check_roslaunch_online(ctx):
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def wtf_check_online(ctx):
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_load_online_ctx(ctx)
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for r in online_roslaunch_warnings:
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warning_rule(r, r[0](ctx), ctx)
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@ -0,0 +1,93 @@
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# Software License Agreement (BSD License)
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#
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# Copyright (c) 2009, Willow Garage, Inc.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above
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# copyright notice, this list of conditions and the following
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# disclaimer in the documentation and/or other materials provided
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# with the distribution.
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# * Neither the name of Willow Garage, Inc. nor the names of its
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# contributors may be used to endorse or promote products derived
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# from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Revision $Id: packages.py 6258 2009-09-22 22:08:20Z kwc $
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import os
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import time
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from roswtf.environment import paths, is_executable
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from roswtf.rules import warning_rule, error_rule
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import roslib.msgs
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import roslib.packages
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import roslib.scriptutil
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import roslib.stacks
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import roslib.stack_manifest
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_packages_of_cache = {}
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def _packages_of(d):
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if d in _packages_of_cache:
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return _packages_of_cache[d]
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else:
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_packages_of_cache[d] = pkgs = roslib.stacks.packages_of(d)
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return pkgs
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def manifest_depends(ctx):
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# This rule should probably be cache optimized
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errors = []
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stack_list = roslib.stacks.list_stacks()
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#print stack_list
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for s in ctx.stacks:
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s_deps = []
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s_pkgs = _packages_of(s)
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||||
for p in s_pkgs:
|
||||
s_deps.extend(roslib.scriptutil.rospack_depends_1(p))
|
||||
pkg_dir = roslib.stacks.get_stack_dir(s)
|
||||
m_file = roslib.stack_manifest.stack_file(s, True)
|
||||
m = roslib.stack_manifest.parse_file(m_file)
|
||||
for d in m.depends:
|
||||
if not d.stack in stack_list:
|
||||
errors.append("%s (%s does not exist)"%(m_file, d))
|
||||
else:
|
||||
pkgs = _packages_of(d.stack)
|
||||
if not [p for p in pkgs if p in s_deps]:
|
||||
errors.append("%s (%s appears to be an unnecessary depend)"%(m_file, d))
|
||||
return errors
|
||||
|
||||
warnings = [
|
||||
(manifest_depends, "The following stack.xml file list invalid dependencies:"),
|
||||
|
||||
]
|
||||
errors = [
|
||||
]
|
||||
|
||||
def wtf_check(ctx):
|
||||
# no package in context to verify
|
||||
if not ctx.stacks:
|
||||
return
|
||||
|
||||
for r in warnings:
|
||||
warning_rule(r, r[0](ctx), ctx)
|
||||
for r in errors:
|
||||
error_rule(r, r[0](ctx), ctx)
|
||||
|
||||
Loading…
Reference in New Issue