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# -*- Mode:Python; indent-tabs-mode:nil; tab-width:4 -*-
#
# Copyright © 2015 Canonical Ltd
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License version 3 as
# published by the Free Software Foundation.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
import lxml.etree
import os
import tempfile
import logging
import snapcraft
logger = logging.getLogger(__name__)
class CatkinPlugin (snapcraft.BasePlugin):
_PLUGIN_STAGE_SOURCES = '''
deb http://packages.ros.org/ros/ubuntu/ trusty main
deb http://${prefix}.ubuntu.com/${suffix}/ trusty main universe
deb http://${prefix}.ubuntu.com/${suffix}/ trusty-updates main universe
deb http://${prefix}.ubuntu.com/${suffix}/ trusty-security main universe
deb http://${security}.ubuntu.com/${suffix} trusty-security main universe
'''
@classmethod
def schema(cls):
schema = super().schema()
schema['properties']['rosversion'] = {
'type': 'string',
'default': 'indigo'
}
schema['properties']['catkin-packages'] = {
'type': 'array',
'minitems': 1,
'uniqueItems': True,
'items': {
'type': 'string'
},
'default': [],
}
schema['required'].append('catkin-packages')
return schema
def __init__(self, name, options):
super().__init__(name, options)
self.packages = set(options.catkin_packages)
self.dependencies = ['ros-core']
self.package_deps_found = False
self.package_local_deps = {}
def env(self, root):
return [
'PYTHONPATH={0}'.format(
os.path.join(
self.installdir,
'usr',
'lib',
self.python_version,
'dist-packages')),
'DESTDIR={0}'.format(self.installdir),
# ROS needs it but doesn't set it :-/
'CPPFLAGS="-std=c++11 $CPPFLAGS -I{0} -I{1}"'.format(
os.path.join(root, 'usr', 'include', 'c++', self.gcc_version),
os.path.join(root,
'usr',
'include',
snapcraft.common.get_arch_triplet(),
'c++',
self.gcc_version)),
'LD_LIBRARY_PATH=$LD_LIBRARY_PATH:{0}/opt/ros/{1}/lib'.format(
root,
self.options.rosversion),
'ROS_MASTER_URI=http://localhost:11311',
'_CATKIN_SETUP_DIR={}'.format(os.path.join(
root, 'opt', 'ros', self.options.rosversion)),
'echo FOO=BAR\nif `test -e {0}` ; then\n. {0} ;\nfi\n'.format(
os.path.join(
root, 'opt', 'ros', self.options.rosversion, 'setup.sh'))
]
@property
def python_version(self):
return self.run_output(['pyversions', '-i'])
@property
def gcc_version(self):
return self.run_output(['gcc', '-dumpversion'])
@property
def rosdir(self):
return os.path.join(self.installdir,
'opt', 'ros', self.options.rosversion)
def _deps_from_packagesxml(self, f, pkg):
try:
tree = lxml.etree.parse(f)
except lxml.etree.ParseError:
logger.warning("Unable to read packages.xml file for '{}'".format(
pkg))
return
for deptype in ('buildtool_depend', 'build_depend', 'run_depend'):
for xmldep in tree.xpath('/package/' + deptype):
dep = xmldep.text
self.dependencies.append(dep)
# Make sure we're not providing the dep ourselves
if dep in self.packages:
self.package_local_deps[pkg].add(dep)
continue
# If we're already getting this through a stage package,
# we don't need it
if self.options.stage_packages and (
dep in self.options.stage_packages or
dep.replace('_', '-') in self.options.stage_packages):
continue
# Get the ROS package for it
self.stage_packages.append(
'ros-'+self.options.rosversion+'-'+dep.replace('_', '-'))
if dep == 'roscpp':
self.stage_packages.append('g++')
def _find_package_deps(self):
if self.package_deps_found:
return
# Look for a package definition and pull deps if there are any
for pkg in self.packages:
if pkg not in self.package_local_deps:
self.package_local_deps[pkg] = set()
try:
filename = os.path.join(
self.builddir, 'src', pkg, 'package.xml')
with open(filename, 'r') as f:
self._deps_from_packagesxml(f, pkg)
except os.FileNotFound:
logger.warning("Unable to find packages.xml for '" + pkg + "'")
pass
self.package_deps_found = True
def setup_stage_packages(self):
if not self.handle_source_options():
return False
self._find_package_deps()
return super().setup_stage_packages()
def _rosrun(self, commandlist, cwd=None):
with tempfile.NamedTemporaryFile(mode='w') as f:
f.write('set -ex\n')
f.write('exec {}\n'.format(' '.join(commandlist)))
f.flush()
return self.run(['/bin/bash', f.name], cwd=cwd)
def build(self):
# Fixup ROS Cmake files that have hardcoded paths in them
if not self.run([
'find', self.rosdir, '-name', '*.cmake',
'-exec', 'sed', '-i', '-e',
r's|\(\W\)/usr/lib/|\1{0}/usr/lib/|g'.format(self.installdir),
'{}', ';'
]):
return False
self._find_package_deps()
if not self._build_packages_deps():
return False
# the hacks
findcmd = ['find', self.installdir, '-name', '*.cmake', '-delete']
if not self.run(findcmd):
return False
if not self.run(
['rm', '-f',
'opt/ros/' + self.options.rosversion + '/.catkin',
'opt/ros/' + self.options.rosversion + '/.rosinstall',
'opt/ros/' + self.options.rosversion + '/setup.sh',
'opt/ros/' + self.options.rosversion + '/_setup_util.py'],
cwd=self.installdir):
return False
os.remove(os.path.join(self.installdir, 'usr/bin/xml2-config'))
return True
def _build_packages_deps(self):
# Ugly dependency resolution, just loop through until we can
# find something to build. When we do, build it. Loop until we
# either can't build anything or we built everything.
built = set()
built_pkg = True
while len(built) < len(self.packages) and built_pkg:
built_pkg = False
for pkg in self.packages - built:
if len(self.package_local_deps[pkg] - built) > 0:
continue
if not self._handle_package(pkg):
return False
built.add(pkg)
built_pkg = True
if not built_pkg:
return False
return True
def _handle_package(self, pkg):
catkincmd = ['catkin_make_isolated']
catkincmd.append('--pkg')
catkincmd.append(pkg)
# Define the location
catkincmd.extend(['--directory', self.builddir])
# Start the CMake Commands
catkincmd.append('--cmake-args')
# CMake directories
catkincmd.append('-DCATKIN_DEVEL_PREFIX={}'.format(self.rosdir))
catkincmd.append('-DCMAKE_INSTALL_PREFIX={}'.format(self.installdir))
# Dep CMake files
for dep in self.dependencies:
catkincmd.append('-D{0}_DIR={1}'.format(
dep.replace('-', '_'),
os.path.join(self.rosdir, 'share', dep, 'cmake')))
# Compiler fun
catkincmd.extend([
'-DCMAKE_C_FLAGS="$CFLAGS"',
'-DCMAKE_CXX_FLAGS="$CPPFLAGS"',
'-DCMAKE_LD_FLAGS="$LDFLAGS"',
'-DCMAKE_C_COMPILER={}'.format(
os.path.join(self.installdir, 'usr', 'bin', 'gcc')),
'-DCMAKE_CXX_COMPILER={}'.format(
os.path.join(self.installdir, 'usr', 'bin', 'g++'))
])
if not self._rosrun(catkincmd):
return False
return True
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