#! /usr/bin/env python

# Copyright (c) 2009, Willow Garage, Inc.
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#       this software without specific prior written permission.
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# Author Tully Foote/tfoote@willowgarage.com
from __future__ import with_statement

import os
import sys
import subprocess

def assert_rospack_built():
    if os.path.exists(os.path.join(os.environ["ROS_ROOT"], "tools/rospack", "ROS_NOBUILD")):
        # Do not try to build rospack if a ROS_NOBUILD flag is present
        return True

    #cmd = ["make", "-C", os.path.join(os.environ["ROS_ROOT"], "tools/rospack")] Doesn't work with cmake 2.6, will trigger rebuilds due to different paths.  Fixed in 2.8.
    cmd = ["bash", "-c", "cd %s && make"%(os.path.join(os.environ["ROS_ROOT"], "tools/rospack"))]
    if subprocess.call(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE) :
        print "Rospack failed to build" 
        return False

    if subprocess.call(["which", "rospack"], stdout=subprocess.PIPE, stderr=subprocess.PIPE):
        print "Rospack not in path.  Please add ROS_ROOT/bin to PATH"
        return False
    return True
    


## make sure that rospack is built, it is a requirement for rosmake
if not assert_rospack_built():
    sys.exit(-1)

from ros import rosmake
result = 1
with rosmake.rosmake.Printer():
    rma = rosmake.RosMakeAll()
    
    if rma.main():
        result = 0

#make sure the thread is done
rosmake.rosmake.Printer().join()
import threading
for t in threading.enumerate():
    if t != threading.currentThread():
        # Join all threads before exiting
        print "Cleaning up thread", t
        t.join()
sys.exit(result)