New plugin for generating catkin recipes
Currently the plugin only allow for processing a single ROS package in a repository. If a repository contains more than one package, or the package is not in the root of the repository, then use the `--src-subdir=<dir>` option. ROS repositories generally do not use `master` as their default branch, so be sure to include the correct branch for the desired distribution as part of the URI: `<URI>;branch=indigo-devel`
This commit is contained in:
Mark D Horn
parent
8dcc2ba0c5
commit
f7dbc8bba0
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Extension to recipetool to enable automatic creation of
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BitBake recipe files for ROS packages.
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## REQUIREMENTS ##
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Two changes to the recipetool are required to use this plugin:
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Requires either:
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From OE-Core rev: 1df60b09f7a60427795ec828c9c7180e4e52f98c
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From OE-Core rev: 3bb979c13463705c4db6c59034661c4cd8100756
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or
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From poky rev: b1f237ebd0d4180c5d23a0ecd9aaf7193c63a48a
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From poky rev: a7baa47c876c7895499909731aaa451c6009610a
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These changes are currently in the master branch as of 2017-Aug-24.
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## USAGE ##
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Initialize the build environment:
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source oe-init-build-env
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Currently the plugin only allow for processing a single
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ROS package in a repository. If a repository contains more than
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one package, or the package is not in the root of the repository,
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then use the `--src-subdir=<dir>` option.
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ROS repositories generally do not use `master` as their default
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branch, so be sure to include the correct branch for the desired
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distribution as part of the URI: `<URI>;branch=indigo-devel`
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## EXAMPLES ##
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Build the Vector Nav package
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```
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devtool add https://github.com/dawonn/vectornav
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```
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Use the XBox Kinect Camera
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```
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devtool add --src-subdir=freenect_stack "https://github.com/ros-drivers/freenect_stack.git"
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devtool add --src-subdir=freenect_launch "https://github.com/ros-drivers/freenect_stack.git"
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devtool add --src-subdir=freenect_camera "https://github.com/ros-drivers/freenect_stack.git"
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```
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## TO DO ##
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* Wrapper to generate recipes for each package in a repository.
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* Add support for ament for ROS2 packages.
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* Wrapper for using rosdistro data to generate recipes for various ROS distributions.
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# Enable other layers to have modules in the same named directory
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from pkgutil import extend_path
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__path__ = extend_path(__path__, __name__)
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#!/usr/bin/python3
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"""Recipe creation tool - catkin support plugin."""
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# Copyright (C) 2017 Intel Corporation
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License version 2 as
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# published by the Free Software Foundation.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program; if not, write to the Free Software Foundation, Inc.,
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# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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import re
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import logging
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from html.parser import HTMLParser
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from lxml import etree
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import hashlib
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from recipetool.create import RecipeHandler
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from recipetool.create_buildsys import CmakeExtensionHandler
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LOGGER = logging.getLogger('recipetool')
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class RosHTMLParser(HTMLParser):
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"""ROS HTML Parser class.
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Primarily for removing any XHTML from the <description> tag.
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See: http://www.ros.org/reps/rep-0127.html#description (Format 1)
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See: http://www.ros.org/reps/rep-0140.html#description (Format 2)
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"""
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basic_text = ""
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def handle_data(self, data):
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"""Override HTMLParser handle_data method."""
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if len(self.basic_text) > 0:
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self.basic_text = self.basic_text + " "
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self.basic_text = self.basic_text + data.strip()
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class RosXmlParser:
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"""ROS package.xml Parser class.
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Uses the etree class from lxml to parse the ROS package.xml file.
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This file is main source for information for constructing the BitBake
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recipe for the ROS package.
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See: http://www.ros.org/reps/rep-0127.html (Format 1)
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See: http://www.ros.org/reps/rep-0140.html (Format 2)
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"""
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package_format = 0
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def __init__(self, xml_path):
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"""Initialize the class by finding the package format version."""
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# Default to ROS package format 1
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# http://wiki.ros.org/catkin/package.xml#Format_1_.28Legacy.29
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self.package_format = 1
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self.xml_path = xml_path
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self.tree = etree.parse(self.xml_path)
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# Check the ROS package format
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# http://wiki.ros.org/catkin/package.xml#Format_1_.28Legacy.29
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# or
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# http://wiki.ros.org/catkin/package.xml#Format_2_.28Recommended.29
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package_format_list = self.tree.xpath("/package[@format]")
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for pkg_format in package_format_list:
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self.package_format = int(pkg_format.get('format',
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self.package_format))
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if self.package_format > 2:
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self.package_format = 2
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LOGGER.warning("FORCING ROS Package Format to version " +
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str(self.package_format))
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elif self.package_format < 1:
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self.package_format = 1
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LOGGER.warning("FORCING ROS Package Format to version " +
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str(self.package_format))
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LOGGER.debug("ROS Package Format version " + str(self.package_format))
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def get_format(self):
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"""Return the package.xml format version."""
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return str(self.package_format)
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def clean_string(self, raw_string):
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"""Remove white space and sanitize the string.
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Replace double quotes with single quotes as bitbake
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recipes variables will be set with double quotes.
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"""
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return re.sub(r'\s+', ' ', raw_string.strip().replace('"', "'"))
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def get_single(self, xpath, required=True):
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"""Return a single string value for the given xpath."""
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xpath_list = self.tree.xpath(xpath)
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if len(xpath_list) < 1:
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if required:
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LOGGER.error("ROS package.xml missing element " + str(xpath))
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return None
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elif len(xpath_list) > 1:
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LOGGER.warning("ROS package.xml has more than 1 match for " +
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str(xpath))
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return self.clean_string(xpath_list[0].text)
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def get_multiple_with_type(self, xpath, required=False):
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"""Return dict of type attributes and the matching urls from xpath."""
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items = {}
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xpath_list = self.tree.xpath(xpath)
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if len(xpath_list) < 1:
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if required:
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LOGGER.error("ROS package.xml missing element " + str(xpath))
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for item in xpath_list:
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url_string = self.clean_string(item.text)
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url_type = self.clean_string(item.get('type', '')).lower()
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items[url_type] = url_string
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return items
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def get_multiple_with_email(self, xpath, required=True):
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"""Return list of string values and email attrib for given xpath."""
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items = []
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xpath_list = self.tree.xpath(xpath)
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if len(xpath_list) < 1:
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if required:
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LOGGER.error("ROS package.xml missing element " + str(xpath))
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for item in xpath_list:
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fullstring = self.clean_string(item.text)
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email = self.clean_string(item.get('email', ''))
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if len(email) > 0:
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fullstring = fullstring + " <" + email + ">"
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items.append(fullstring)
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return items
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def get_multiple_with_version(self, xpath, required=False):
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"""Return list of dependencies and version attribs for given xpath."""
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def catkin_to_bitbake(version_type):
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"""Map the Catkin version modifier to BitBake."""
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mapper = {
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"version_lt": "<",
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"version_lte": "<=",
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"version_eq": "=",
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"version_gte": ">=",
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"version_gt": ">",
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}
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return mapper.get(version_type, "UNDEFINED")
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items = []
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xpath_list = self.tree.xpath(xpath)
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if len(xpath_list) < 1:
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if required:
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LOGGER.error("ROS package.xml missing element " + str(xpath))
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for item in xpath_list:
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fullstring = self.clean_string(item.text)
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if len(item.attrib) > 1:
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LOGGER.error("ROS package.xml element " + str(xpath) +
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" has too many attributes!")
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for version_type in item.attrib:
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c_version_type = catkin_to_bitbake(version_type)
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c_value = self.clean_string(item.attrib[version_type])
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if len(c_value) > 1:
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c_version_type = c_version_type + " " + c_value
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if len(c_version_type) > 1:
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fullstring = fullstring + " (" + c_version_type + ")"
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items.append(fullstring)
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return items
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def get_multiple_with_linenumber(self, xpath, required=False):
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"""Return dict of string and their line numbers for given xpath."""
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items = {}
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xpath_list = self.tree.xpath(xpath)
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if len(xpath_list) < 1:
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if required:
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LOGGER.error("ROS package.xml missing element " + str(xpath))
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for item in xpath_list:
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c_string = self.clean_string(item.text)
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items[c_string] = item.sourceline
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return items
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def get_name(self):
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"""Return the Name of the ROS package."""
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return self.get_single("/package/name")
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def get_version(self):
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"""Return the Version of the ROS package."""
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return self.get_single("/package/version")
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def get_description(self):
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"""Return the Description of the ROS package.
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Remove the XHTML information, if present, and only return
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a simple text string description for the package.
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"""
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parser = RosHTMLParser()
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parser.feed(self.get_single("/package/description"))
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return self.clean_string(parser.basic_text)
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def get_authors(self):
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"""Return list of Authors of the ROS package."""
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return self.get_multiple_with_email("/package/author", required=False)
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def get_maintainers(self):
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"""Return list of Maintainers of the ROS package."""
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return self.get_multiple_with_email("/package/maintainer")
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def get_urls(self):
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"""Return list of Website URLs for the ROS package."""
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return self.get_multiple_with_type("/package/url", required=False)
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def get_licenses(self):
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"""Return list of Licenses of the ROS package."""
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return self.get_multiple_with_linenumber("/package/license")
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def get_build_dependencies(self):
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"""Return list of package Build Dependencies of the ROS package."""
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dependencies = []
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# build_depend is both format 1 & 2
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for dependency in self.get_multiple_with_version(
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"/package/build_depend"):
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dependencies.append(dependency.replace("_", "-"))
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if self.package_format > 1:
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for dependency in self.get_multiple_with_version(
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"/package/depend"):
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dependencies.append(dependency.replace("_", "-"))
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# remove any duplicates
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dependencies = list(set(dependencies))
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return dependencies
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def get_runtime_dependencies(self):
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"""Return list of package Run Dependencies of the ROS package."""
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dependencies = []
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# run_depend is format 1 only
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if self.package_format == 1:
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for dependency in self.get_multiple_with_version(
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"/package/run_depend"):
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dependencies.append(dependency.replace("_", "-"))
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if self.package_format == 2:
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for dependency in self.get_multiple_with_version(
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"/package/exec_depend"):
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dependencies.append(dependency.replace("_", "-"))
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for dependency in self.get_multiple_with_version(
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"/package/depend"):
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dependencies.append(dependency.replace("_", "-"))
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# remove any duplicates
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dependencies = list(set(dependencies))
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return dependencies
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class CatkinRecipeHandler(RecipeHandler):
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"""Catkin handler extension for recipetool."""
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def process_license(self,
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srctree, classes, lines_before,
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lines_after, handled, extravalues,
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licenses, license_file):
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"""Generate the Catkin license data.
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licenses: a dictionary of license:line_number
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license_file: the name of the license file
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"""
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all_lines = []
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license_keys = list(licenses.keys())
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def get_license_checksum(license):
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"""Output the license details."""
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line_number = licenses[license]
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m = hashlib.md5()
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try:
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lic_line = all_lines[line_number - 1]
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m.update(lic_line.encode('utf-8'))
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md5val = m.hexdigest()
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except UnicodeEncodeError:
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md5val = None
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LOGGER.debug("License: '" + license + "' on line " +
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str(line_number) + " with md5 " + md5val)
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checksum = "file://" + os.path.basename(license_file) + \
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";" + "beginline=" + str(line_number) + ";endline=" + \
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str(line_number) + ";md5=" + md5val
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return checksum
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try:
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lic_file = open(license_file)
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all_lines = lic_file.readlines()
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lic_file.close()
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except:
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LOGGER.error("License file '" + license_file + "'not readable!")
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return False
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checksum_files = []
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if len(license_keys) > 0:
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checksum_files.append(get_license_checksum(license_keys[0]))
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del license_keys[0]
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for license in license_keys:
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checksum_files.append(get_license_checksum(license))
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# Commas are not valid in BitBake License name
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clean_keys = [re.sub(r',', '', lic) for lic in licenses.keys()]
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extravalues['LICENSE'] = " & ".join(clean_keys)
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extravalues['LIC_FILES_CHKSUM'] = " ".join(checksum_files)
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handled.append('license')
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def process(self, srctree, classes, lines_before, lines_after, handled,
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extravalues):
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"""Process the Catkin recipe.
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Read the key tags from the package.xml ROS file and generate
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the corresponding recipe variables for the recipe file.
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"""
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package_list = RecipeHandler.checkfiles(srctree, ['package.xml'],
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recursive=False)
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if len(package_list) > 0:
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handled.append('buildsystem')
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for package_file in package_list:
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LOGGER.info("Found package_file: " + package_file)
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xml = RosXmlParser(package_file)
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classes.append('catkin')
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extravalues['PN'] = xml.get_name() # Ignored if set
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extravalues['PV'] = xml.get_version()
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licenses = xml.get_licenses()
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if len(licenses) < 1:
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LOGGER.error("package.xml missing required LICENSE field!")
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else:
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self.process_license(srctree, classes, lines_before,
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lines_after, handled, extravalues,
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licenses, package_file)
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lines_after.append('# This is a Catkin (ROS) based recipe')
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lines_after.append('# ROS package.xml format version ' +
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xml.get_format())
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lines_after.append('')
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lines_after.append("SUMMARY = \"" +
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"ROS package " + xml.get_name() + "\"")
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lines_after.append("DESCRIPTION = \"" +
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xml.get_description() + "\"")
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# Map the Catkin URLs to BitBake
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urls = xml.get_urls()
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if 'website' in urls:
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lines_after.append("HOMEPAGE = \"" +
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urls['website'] + "\"")
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else:
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if '' in urls:
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lines_after.append("HOMEPAGE = \"" +
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urls[''] + "\"")
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if 'bugtracker' in urls:
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lines_after.append("# ROS_BUGTRACKER = \"" +
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urls['bugtracker'] + "\"")
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if 'repository' in urls:
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lines_after.append("# SRC_URI = \"" +
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urls['repository'] + "\"")
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authors = xml.get_authors()
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if len(authors) > 0:
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lines_after.append("# ROS_AUTHOR = \"" +
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authors[0] + "\"")
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del authors[0]
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for author in authors:
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lines_after.append("# ROS_AUTHOR += \"" +
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author + "\"")
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maintainers = xml.get_maintainers()
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if len(maintainers) > 0:
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lines_after.append("# ROS_MAINTAINER = \"" +
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maintainers[0] + "\"")
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del maintainers[0]
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for maintainer in maintainers:
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lines_after.append("# ROS_MAINTAINER += \"" +
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maintainer + "\"")
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lines_after.append("SECTION = \"devel\"")
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dependencies = xml.get_build_dependencies()
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if len(dependencies) > 0:
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lines_after.append("DEPENDS = \"" +
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dependencies[0] + "\"")
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del dependencies[0]
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for dependency in dependencies:
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lines_after.append("DEPENDS += \"" +
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dependency + "\"")
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||||
dependencies = xml.get_runtime_dependencies()
|
||||
if len(dependencies) > 0:
|
||||
lines_after.append("RDEPENDS_${PN}-dev = \"" +
|
||||
dependencies[0] + "\"")
|
||||
del dependencies[0]
|
||||
for dependency in dependencies:
|
||||
lines_after.append("RDEPENDS_${PN}-dev += \"" +
|
||||
dependency + "\"")
|
||||
return True
|
||||
|
||||
return False
|
||||
|
||||
|
||||
def register_recipe_handlers(handlers):
|
||||
"""Register our recipe handler in front of default cmake handler.
|
||||
|
||||
Catkin needs to be a higher priority than CMake (50).
|
||||
"""
|
||||
handlers.append((CatkinRecipeHandler(), 90))
|
||||
Loading…
Reference in New Issue