adding rosdep.py for scott to play with
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Tully Foote
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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 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 copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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# * Neither the name of the Willow Garage, Inc. nor the names of its
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# contributors may be used to endorse or promote products derived from
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# 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 "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN 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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# Author Tully Foote/tfoote@willowgarage.com
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import roslib.scriptutil
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import os
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import sys
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import subprocess
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import yaml
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########## Class for interacting with rosdep.yaml files
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class RosdepLookup:
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"""This is a class for interacting with rosdep.yaml files. It
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will load all rosdep.yaml files in the current configuration at
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startup. It has accessors to allow lookups into the rosdep.yaml
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from rosdep name and returns the string from the yaml file for the
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appropriate OS/version.
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It uses the OSIndex class for OS detection.
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"""
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def __init__(self, osindex):
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""" Read all rosdep.yaml files found at the root of stacks in
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the current environment and build them into a map."""
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self.os_index = osindex
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self.rosdep_map = {}
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self.rosdep_source = {}
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## Find all rosdep.yamls here and load them into a map
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stacks = roslib.scriptutil.rosstackexec(["list-names"]).split()
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#print stacks
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for s in stacks:
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path = os.path.join(roslib.scriptutil.rosstackexec(["find", s]), "rosdep.yaml")
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if os.path.exists(path):
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try:
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f = open(path)
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yaml_text = f.read()
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f.close()
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yaml_dict = yaml.load(yaml_text)
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for key in yaml_dict:
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if key in self.rosdep_source.keys():
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print "rosdep already loaded %s from %s. But it is also defined in %s. This will not be overwritten"%(key, self.rosdep_source[key], path)
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#exit(-1)
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else:
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self.rosdep_source[key] = path
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self.rosdep_map[key] = yaml_dict[key]
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except yaml.YAMLError, exc:
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print "Failed parsing yaml while processing %s\n"%path, exc
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sys.exit(1)
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#print "built map", self.rosdep_map
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def lookup_rosdep(self, rosdep):
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""" Lookup the OS specific packages or script from the
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prebuilt maps."""
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os_name = self.os_index.get_os_name()
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os_version = self.os_index.get_os_version()
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if rosdep in self.rosdep_map:
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individual_rosdep_map = self.rosdep_map[rosdep]
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# See if the version for this OS exists
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if os_name in individual_rosdep_map:
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os_specific = individual_rosdep_map[os_name]
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# See if there are different versions called out
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if type(os_specific) == type("String"):
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return os_specific
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else:# it must be a map of versions
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if os_version in os_specific.keys():
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return os_specific[versions]
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else:
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## Hack to match rounding errors in pyyaml load 9.04 != 9.03999999999999996 in string space
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for key in os_specific.keys():
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if float(key) == float(os_version):
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#print "Matched %s"%(os_version)
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return os_specific[key]
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print "failed to find specific version %s of %s within"%(os_version, rosdep), os_specific
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return False
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else:
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print "failed to find OS(%s) version of %s "%(os_name, rosdep)
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return False
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else:
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return False
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########## Class for interacting with customized OS detectors ############
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class OSIndex:
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""" This class will iterate over registered classes to lookup the
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active OS and Version of that OS for lookup in rosdep.yaml"""
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def __init__(self):
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self._os_map = {}
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self._os_detected = False
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self._os_version = False
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def add_os(self, name, class_ref):
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self._os_map[name] = class_ref
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# \TODO look at throwing here
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def get_os_name(self):
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if not self._os_detected:
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for name in self._os_map.keys():
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if self._os_map[name].check_presence:
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self._os_detected = name
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return name
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if not self._os_detected:
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print "Failed to detect OS"
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sys.exit(1)
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return self._os_detected
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def get_os_version(self):
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return self._os_map[self.get_os_name()].get_version()
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def detect_packages(self, packages):
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return self._os_map[self.get_os_name()].detect_packages(packages)
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def build_script(self, packages):
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return self._os_map[self.get_os_name()].build_script(packages)
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###### UBUNTU SPECIALIZATION #########################
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class Ubuntu:
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""" This is an implementation of a standard interface for
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interacting with rosdep. This defines all Ubuntu sepecific
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methods, including detecting the OS/Version number. As well as
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how to check for and install packages."""
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def __init__(self, index):
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index.add_os("ubuntu", self)
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def check_presence(self):
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try:
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filename = "/etc/issue"
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if os.path.exists(filename):
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fh = open(filename, 'r')
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os_list = fh.read().split()
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if os_list[0] == "Ubuntu":
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return True
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except:
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print "Ubuntu failed to detect OS"
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return False
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return False
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def get_version(self):
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try:
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filename = "/etc/issue"
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if os.path.exists(filename):
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fh = open(filename, 'r')
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os_list = fh.read().split()
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if os_list[0] == "Ubuntu":
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return os_list[1]
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except:
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print "Ubuntu failed to get version"
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return False
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return False
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def detect_packages(self, packages):
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packages_not_detected = []
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for p in packages:
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fnull = open(os.devnull, 'w')
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if not subprocess.call(['dpkg', '-s', p], stdout= fnull, stderr = fnull):
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pass#print "Detected %s"%p
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else:
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packages_not_detected.append(p)
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#print "Didn't detect %s"%p
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return packages_not_detected
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def build_script(self, packages):
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apt = "#Packages\nsudo apt-get install "
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for p in packages:
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apt += " " + p
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return apt + other
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###### END UBUNTU SPECIALIZATION ########################
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######################## REPLACE WITH COMMANDLINE #################
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pkgs = ["rxdeps", "roscpp", "tf"]
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### Find all dependencies
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rosdeps = set()
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for p in pkgs:
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args = ["rosdep", p]
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#print "\n\n\nmy args are", args
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deps_list = roslib.scriptutil.rospackexec(args).split('\n')
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for dep_str in deps_list:
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dep = dep_str.split()
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if len(dep) == 2 and dep[0] == "name:":
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rosdeps.add(dep[1])
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else:
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print len(dep)
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print "rospack returned wrong number of values \n%s"%dep
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#print rosdeps
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rosdeps = list(rosdeps)
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### Detect OS name and version
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osi = OSIndex()
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rdl = RosdepLookup(osi)
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################ Add All specializations here ##############################
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ubuntu = Ubuntu(osi)
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############## Testing ################################
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print "Detected OS: " + osi.get_os_name()
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print "Detected Version: " + osi.get_os_version()
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native_packages = []
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scripts = []
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for r in rosdeps:
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specific = rdl.lookup_rosdep(r)
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if specific:
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if len(specific.split('\n')) == 1:
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for pk in specific.split():
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native_packages.append(pk)
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else:
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scripts.append(specific)
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undetected = osi.detect_packages(native_packages)
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print "Undetected packages", undetected
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if len(undetected) > 0:
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print osi.build_script(undetected)
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for sc in scripts:
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print sc
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