pax_global_header00006660000000000000000000000064127623421370014521gustar00rootroot0000000000000052 comment=205f5bc7da190e7c021956fff6092e932b191a6e rospack-2.3.1/000077500000000000000000000000001276234213700131665ustar00rootroot00000000000000rospack-2.3.1/CHANGELOG.rst000066400000000000000000000073101276234213700152100ustar00rootroot00000000000000^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package rospack ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2.3.1 (2016-09-02) ------------------ * fix FTBFS on hurd-i386 (`#64 `_) 2.3.0 (2016-03-09) ------------------ * allow caching of rospack results (`#49 `_) * fix memory leak in Rosstackage::addStackage (`#59 `_) * return false in depsOnDetail if the package name in rospack plugins can not be found (`#51 `_) * #undef symbols before #defining them to avoid preprocessor warnings in the case that they were already #defined (`#50 `_) 2.2.5 (2014-09-04) ------------------ * support tags defined in package format 2 (`#43 `_) 2.2.4 (2014-07-10) ------------------ * fix find_package(PythonLibs ...) with CMake 3 (`#42 `_) 2.2.3 (2014-05-07) ------------------ * find library for exact Python version (even if not in CMake provided list of version numbers) (`#40 `_) * find TinyXML using cmake_modules (`#24 `_) * make error messages tool specific (rospack vs. rosstack) (`#38 `_) 2.2.2 (2014-02-25) ------------------ * python 3 compatibility (`#35 `_) 2.2.1 (2014-02-24) ------------------ * only perform backquote substitution when needed (`#34 `_) 2.2.0 (2014-01-30) ------------------ * add hash of ROS_PACKAGE_PATH to rospack/rosstack cache filename, remove ROS_ROOT from cache (`#28 `_) 2.1.22 (2014-01-07) ------------------- * use specific python version catkin has decided on (`#29 `_) * python 3 compatibility (`#25 `_, `#27 `_) * fall back gracefully whe gtest is not available * update package urls 2.1.21 (2013-07-05) ------------------- * honor CATKIN_IGNORE marker file when crawling for packages (`#21 `_) 2.1.20 (2013-07-03) ------------------- * improve error message to include package names when circular dependency is detected (`#18 `_) * check for CATKIN_ENABLE_TESTING to enable configure without tests * add '-h' option 2.1.19 (2013-06-06) ------------------- * modified command 'list-duplicates' to output the paths where the packages were found (`#3 `_) * modified 'rospack plugins' to not use rosdep (`#5 `_) * improve Windows support (`#10 `_) * use find_package() for tinyxml (if available) 2.1.18 (2013-03-21) ------------------- * invert order of package type detection (dry before wet) (`ros-infrastructure/rospkg#30 `_) 2.1.17 (2013-03-08) ------------------- * output full pkg-config command in case of errors (`#8 `_) * handle None as return value for call_pkg_config (`#8 `_) * fix crawling to always recrawl when forced (`#9 `_) 2.1.16 (2013-01-13) ------------------- * fix segfault for command depends1 which ignores exceptions and calls isSysPackage again (`#4 `_) 2.1.15 (2012-12-06) ------------------- * first public release for Groovy rospack-2.3.1/CMakeLists.txt000066400000000000000000000045601276234213700157330ustar00rootroot00000000000000cmake_minimum_required(VERSION 2.8.3) project(rospack) find_package(catkin REQUIRED COMPONENTS cmake_modules) find_package(Boost REQUIRED COMPONENTS filesystem program_options system) set(Python_ADDITIONAL_VERSIONS "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}") find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}" REQUIRED) find_package(TinyXML REQUIRED) catkin_package( INCLUDE_DIRS include LIBRARIES rospack ${PYTHON_LIBRARIES} DEPENDS Boost TinyXML ) #add_definitions(-Wall) set(API_BACKCOMPAT_V1 "YES" CACHE BOOL "Whether to enable backwards compatibility with old C++ API") if(API_BACKCOMPAT_V1) add_definitions(-DROSPACK_API_BACKCOMPAT_V1) set(backcompat_source src/rospack_backcompat.cpp) endif() include_directories(include ${TinyXML_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${PYTHON_INCLUDE_DIRS}) add_library(rospack src/rospack.cpp ${backcompat_source} src/rospack_cmdline.cpp src/utils.cpp ) target_link_libraries(rospack ${TinyXML_LIBRARIES} ${Boost_LIBRARIES} ${PYTHON_LIBRARIES}) add_executable(rospackexe src/rospack_main.cpp) # Set the name, and make it a "global" executable set_target_properties(rospackexe PROPERTIES OUTPUT_NAME rospack RUNTIME_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/bin) target_link_libraries(rospackexe rospack ${Boost_LIBRARIES}) add_executable(rosstackexe src/rosstack_main.cpp) target_link_libraries(rosstackexe rospack ${Boost_LIBRARIES}) # Set the name, and make it a "global" executable set_target_properties(rosstackexe PROPERTIES OUTPUT_NAME rosstack RUNTIME_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/bin) install(TARGETS rospack rospackexe rosstackexe ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} FILES_MATCHING PATTERN "*.h") # uninstall target configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" IMMEDIATE @ONLY) add_custom_target(uninstall COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake) if(CATKIN_ENABLE_TESTING) add_subdirectory(test) endif() if(DOXYGEN_FOUND) add_custom_target(rospack-docs COMMAND doxygen Doxyfile WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}) endif() rospack-2.3.1/Doxyfile000066400000000000000000001776301276234213700147120ustar00rootroot00000000000000# Doxyfile 1.6.3 # This file describes the settings to be used by the documentation system # doxygen (www.doxygen.org) for a project # # All text after a hash (#) is considered a comment and will be ignored # The format is: # TAG = value [value, ...] # For lists items can also be appended using: # TAG += value [value, ...] # Values that contain spaces should be placed between quotes (" ") #--------------------------------------------------------------------------- # Project related configuration options #--------------------------------------------------------------------------- # This tag specifies the encoding used for all characters in the config file # that follow. The default is UTF-8 which is also the encoding used for all # text before the first occurrence of this tag. Doxygen uses libiconv (or the # iconv built into libc) for the transcoding. See # http://www.gnu.org/software/libiconv for the list of possible encodings. DOXYFILE_ENCODING = UTF-8 # The PROJECT_NAME tag is a single word (or a sequence of words surrounded # by quotes) that should identify the project. PROJECT_NAME = librospack # The PROJECT_NUMBER tag can be used to enter a project or revision number. # This could be handy for archiving the generated documentation or # if some version control system is used. PROJECT_NUMBER = # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) # base path where the generated documentation will be put. # If a relative path is entered, it will be relative to the location # where doxygen was started. If left blank the current directory will be used. OUTPUT_DIRECTORY = doxygen_output # If the CREATE_SUBDIRS tag is set to YES, then doxygen will create # 4096 sub-directories (in 2 levels) under the output directory of each output # format and will distribute the generated files over these directories. # Enabling this option can be useful when feeding doxygen a huge amount of # source files, where putting all generated files in the same directory would # otherwise cause performance problems for the file system. CREATE_SUBDIRS = NO # The OUTPUT_LANGUAGE tag is used to specify the language in which all # documentation generated by doxygen is written. Doxygen will use this # information to generate all constant output in the proper language. # The default language is English, other supported languages are: # Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, # Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, # Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English # messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, # Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrilic, Slovak, # Slovene, Spanish, Swedish, Ukrainian, and Vietnamese. OUTPUT_LANGUAGE = English # If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will # include brief member descriptions after the members that are listed in # the file and class documentation (similar to JavaDoc). # Set to NO to disable this. BRIEF_MEMBER_DESC = YES # If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend # the brief description of a member or function before the detailed description. # Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the # brief descriptions will be completely suppressed. REPEAT_BRIEF = YES # This tag implements a quasi-intelligent brief description abbreviator # that is used to form the text in various listings. Each string # in this list, if found as the leading text of the brief description, will be # stripped from the text and the result after processing the whole list, is # used as the annotated text. Otherwise, the brief description is used as-is. # If left blank, the following values are used ("$name" is automatically # replaced with the name of the entity): "The $name class" "The $name widget" # "The $name file" "is" "provides" "specifies" "contains" # "represents" "a" "an" "the" ABBREVIATE_BRIEF = # If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then # Doxygen will generate a detailed section even if there is only a brief # description. ALWAYS_DETAILED_SEC = NO # If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all # inherited members of a class in the documentation of that class as if those # members were ordinary class members. Constructors, destructors and assignment # operators of the base classes will not be shown. INLINE_INHERITED_MEMB = NO # If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full # path before files name in the file list and in the header files. If set # to NO the shortest path that makes the file name unique will be used. FULL_PATH_NAMES = NO # If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag # can be used to strip a user-defined part of the path. Stripping is # only done if one of the specified strings matches the left-hand part of # the path. The tag can be used to show relative paths in the file list. # If left blank the directory from which doxygen is run is used as the # path to strip. STRIP_FROM_PATH = # The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of # the path mentioned in the documentation of a class, which tells # the reader which header file to include in order to use a class. # If left blank only the name of the header file containing the class # definition is used. Otherwise one should specify the include paths that # are normally passed to the compiler using the -I flag. STRIP_FROM_INC_PATH = # If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter # (but less readable) file names. This can be useful is your file systems # doesn't support long names like on DOS, Mac, or CD-ROM. SHORT_NAMES = NO # If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen # will interpret the first line (until the first dot) of a JavaDoc-style # comment as the brief description. If set to NO, the JavaDoc # comments will behave just like regular Qt-style comments # (thus requiring an explicit @brief command for a brief description.) JAVADOC_AUTOBRIEF = NO # If the QT_AUTOBRIEF tag is set to YES then Doxygen will # interpret the first line (until the first dot) of a Qt-style # comment as the brief description. If set to NO, the comments # will behave just like regular Qt-style comments (thus requiring # an explicit \brief command for a brief description.) QT_AUTOBRIEF = NO # The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen # treat a multi-line C++ special comment block (i.e. a block of //! or /// # comments) as a brief description. This used to be the default behaviour. # The new default is to treat a multi-line C++ comment block as a detailed # description. Set this tag to YES if you prefer the old behaviour instead. MULTILINE_CPP_IS_BRIEF = NO # If the INHERIT_DOCS tag is set to YES (the default) then an undocumented # member inherits the documentation from any documented member that it # re-implements. INHERIT_DOCS = YES # If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce # a new page for each member. If set to NO, the documentation of a member will # be part of the file/class/namespace that contains it. SEPARATE_MEMBER_PAGES = NO # The TAB_SIZE tag can be used to set the number of spaces in a tab. # Doxygen uses this value to replace tabs by spaces in code fragments. TAB_SIZE = 8 # This tag can be used to specify a number of aliases that acts # as commands in the documentation. An alias has the form "name=value". # For example adding "sideeffect=\par Side Effects:\n" will allow you to # put the command \sideeffect (or @sideeffect) in the documentation, which # will result in a user-defined paragraph with heading "Side Effects:". # You can put \n's in the value part of an alias to insert newlines. ALIASES = # Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C # sources only. Doxygen will then generate output that is more tailored for C. # For instance, some of the names that are used will be different. The list # of all members will be omitted, etc. OPTIMIZE_OUTPUT_FOR_C = NO # Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java # sources only. Doxygen will then generate output that is more tailored for # Java. For instance, namespaces will be presented as packages, qualified # scopes will look different, etc. OPTIMIZE_OUTPUT_JAVA = NO # Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran # sources only. Doxygen will then generate output that is more tailored for # Fortran. OPTIMIZE_FOR_FORTRAN = NO # Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL # sources. Doxygen will then generate output that is tailored for # VHDL. OPTIMIZE_OUTPUT_VHDL = NO # Doxygen selects the parser to use depending on the extension of the files it parses. # With this tag you can assign which parser to use for a given extension. # Doxygen has a built-in mapping, but you can override or extend it using this tag. # The format is ext=language, where ext is a file extension, and language is one of # the parsers supported by doxygen: IDL, Java, Javascript, C#, C, C++, D, PHP, # Objective-C, Python, Fortran, VHDL, C, C++. For instance to make doxygen treat # .inc files as Fortran files (default is PHP), and .f files as C (default is Fortran), # use: inc=Fortran f=C. Note that for custom extensions you also need to set FILE_PATTERNS otherwise the files are not read by doxygen. EXTENSION_MAPPING = # If you use STL classes (i.e. std::string, std::vector, etc.) but do not want # to include (a tag file for) the STL sources as input, then you should # set this tag to YES in order to let doxygen match functions declarations and # definitions whose arguments contain STL classes (e.g. func(std::string); v.s. # func(std::string) {}). This also make the inheritance and collaboration # diagrams that involve STL classes more complete and accurate. BUILTIN_STL_SUPPORT = NO # If you use Microsoft's C++/CLI language, you should set this option to YES to # enable parsing support. CPP_CLI_SUPPORT = NO # Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. # Doxygen will parse them like normal C++ but will assume all classes use public # instead of private inheritance when no explicit protection keyword is present. SIP_SUPPORT = NO # For Microsoft's IDL there are propget and propput attributes to indicate getter # and setter methods for a property. Setting this option to YES (the default) # will make doxygen to replace the get and set methods by a property in the # documentation. This will only work if the methods are indeed getting or # setting a simple type. If this is not the case, or you want to show the # methods anyway, you should set this option to NO. IDL_PROPERTY_SUPPORT = YES # If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC # tag is set to YES, then doxygen will reuse the documentation of the first # member in the group (if any) for the other members of the group. By default # all members of a group must be documented explicitly. DISTRIBUTE_GROUP_DOC = NO # Set the SUBGROUPING tag to YES (the default) to allow class member groups of # the same type (for instance a group of public functions) to be put as a # subgroup of that type (e.g. under the Public Functions section). Set it to # NO to prevent subgrouping. Alternatively, this can be done per class using # the \nosubgrouping command. SUBGROUPING = YES # When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum # is documented as struct, union, or enum with the name of the typedef. So # typedef struct TypeS {} TypeT, will appear in the documentation as a struct # with name TypeT. When disabled the typedef will appear as a member of a file, # namespace, or class. And the struct will be named TypeS. This can typically # be useful for C code in case the coding convention dictates that all compound # types are typedef'ed and only the typedef is referenced, never the tag name. TYPEDEF_HIDES_STRUCT = NO # The SYMBOL_CACHE_SIZE determines the size of the internal cache use to # determine which symbols to keep in memory and which to flush to disk. # When the cache is full, less often used symbols will be written to disk. # For small to medium size projects (<1000 input files) the default value is # probably good enough. For larger projects a too small cache size can cause # doxygen to be busy swapping symbols to and from disk most of the time # causing a significant performance penality. # If the system has enough physical memory increasing the cache will improve the # performance by keeping more symbols in memory. Note that the value works on # a logarithmic scale so increasing the size by one will rougly double the # memory usage. The cache size is given by this formula: # 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, # corresponding to a cache size of 2^16 = 65536 symbols SYMBOL_CACHE_SIZE = 0 #--------------------------------------------------------------------------- # Build related configuration options #--------------------------------------------------------------------------- # If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in # documentation are documented, even if no documentation was available. # Private class members and static file members will be hidden unless # the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES EXTRACT_ALL = NO # If the EXTRACT_PRIVATE tag is set to YES all private members of a class # will be included in the documentation. EXTRACT_PRIVATE = NO # If the EXTRACT_STATIC tag is set to YES all static members of a file # will be included in the documentation. EXTRACT_STATIC = NO # If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) # defined locally in source files will be included in the documentation. # If set to NO only classes defined in header files are included. EXTRACT_LOCAL_CLASSES = YES # This flag is only useful for Objective-C code. When set to YES local # methods, which are defined in the implementation section but not in # the interface are included in the documentation. # If set to NO (the default) only methods in the interface are included. EXTRACT_LOCAL_METHODS = NO # If this flag is set to YES, the members of anonymous namespaces will be # extracted and appear in the documentation as a namespace called # 'anonymous_namespace{file}', where file will be replaced with the base # name of the file that contains the anonymous namespace. By default # anonymous namespace are hidden. EXTRACT_ANON_NSPACES = NO # If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all # undocumented members of documented classes, files or namespaces. # If set to NO (the default) these members will be included in the # various overviews, but no documentation section is generated. # This option has no effect if EXTRACT_ALL is enabled. HIDE_UNDOC_MEMBERS = NO # If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all # undocumented classes that are normally visible in the class hierarchy. # If set to NO (the default) these classes will be included in the various # overviews. This option has no effect if EXTRACT_ALL is enabled. HIDE_UNDOC_CLASSES = NO # If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all # friend (class|struct|union) declarations. # If set to NO (the default) these declarations will be included in the # documentation. HIDE_FRIEND_COMPOUNDS = NO # If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any # documentation blocks found inside the body of a function. # If set to NO (the default) these blocks will be appended to the # function's detailed documentation block. HIDE_IN_BODY_DOCS = NO # The INTERNAL_DOCS tag determines if documentation # that is typed after a \internal command is included. If the tag is set # to NO (the default) then the documentation will be excluded. # Set it to YES to include the internal documentation. INTERNAL_DOCS = NO # If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate # file names in lower-case letters. If set to YES upper-case letters are also # allowed. This is useful if you have classes or files whose names only differ # in case and if your file system supports case sensitive file names. Windows # and Mac users are advised to set this option to NO. CASE_SENSE_NAMES = YES # If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen # will show members with their full class and namespace scopes in the # documentation. If set to YES the scope will be hidden. HIDE_SCOPE_NAMES = NO # If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen # will put a list of the files that are included by a file in the documentation # of that file. SHOW_INCLUDE_FILES = YES # If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen # will list include files with double quotes in the documentation # rather than with sharp brackets. FORCE_LOCAL_INCLUDES = NO # If the INLINE_INFO tag is set to YES (the default) then a tag [inline] # is inserted in the documentation for inline members. INLINE_INFO = YES # If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen # will sort the (detailed) documentation of file and class members # alphabetically by member name. If set to NO the members will appear in # declaration order. SORT_MEMBER_DOCS = YES # If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the # brief documentation of file, namespace and class members alphabetically # by member name. If set to NO (the default) the members will appear in # declaration order. SORT_BRIEF_DOCS = NO # If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the (brief and detailed) documentation of class members so that constructors and destructors are listed first. If set to NO (the default) the constructors will appear in the respective orders defined by SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. SORT_MEMBERS_CTORS_1ST = NO # If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the # hierarchy of group names into alphabetical order. If set to NO (the default) # the group names will appear in their defined order. SORT_GROUP_NAMES = NO # If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be # sorted by fully-qualified names, including namespaces. If set to # NO (the default), the class list will be sorted only by class name, # not including the namespace part. # Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. # Note: This option applies only to the class list, not to the # alphabetical list. SORT_BY_SCOPE_NAME = NO # The GENERATE_TODOLIST tag can be used to enable (YES) or # disable (NO) the todo list. This list is created by putting \todo # commands in the documentation. GENERATE_TODOLIST = YES # The GENERATE_TESTLIST tag can be used to enable (YES) or # disable (NO) the test list. This list is created by putting \test # commands in the documentation. GENERATE_TESTLIST = YES # The GENERATE_BUGLIST tag can be used to enable (YES) or # disable (NO) the bug list. This list is created by putting \bug # commands in the documentation. GENERATE_BUGLIST = YES # The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or # disable (NO) the deprecated list. This list is created by putting # \deprecated commands in the documentation. GENERATE_DEPRECATEDLIST= YES # The ENABLED_SECTIONS tag can be used to enable conditional # documentation sections, marked by \if sectionname ... \endif. ENABLED_SECTIONS = # The MAX_INITIALIZER_LINES tag determines the maximum number of lines # the initial value of a variable or define consists of for it to appear in # the documentation. If the initializer consists of more lines than specified # here it will be hidden. Use a value of 0 to hide initializers completely. # The appearance of the initializer of individual variables and defines in the # documentation can be controlled using \showinitializer or \hideinitializer # command in the documentation regardless of this setting. MAX_INITIALIZER_LINES = 30 # Set the SHOW_USED_FILES tag to NO to disable the list of files generated # at the bottom of the documentation of classes and structs. If set to YES the # list will mention the files that were used to generate the documentation. SHOW_USED_FILES = YES # If the sources in your project are distributed over multiple directories # then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy # in the documentation. The default is NO. SHOW_DIRECTORIES = NO # Set the SHOW_FILES tag to NO to disable the generation of the Files page. # This will remove the Files entry from the Quick Index and from the # Folder Tree View (if specified). The default is YES. SHOW_FILES = YES # Set the SHOW_NAMESPACES tag to NO to disable the generation of the # Namespaces page. # This will remove the Namespaces entry from the Quick Index # and from the Folder Tree View (if specified). The default is YES. SHOW_NAMESPACES = YES # The FILE_VERSION_FILTER tag can be used to specify a program or script that # doxygen should invoke to get the current version for each file (typically from # the version control system). Doxygen will invoke the program by executing (via # popen()) the command , where is the value of # the FILE_VERSION_FILTER tag, and is the name of an input file # provided by doxygen. Whatever the program writes to standard output # is used as the file version. See the manual for examples. FILE_VERSION_FILTER = # The LAYOUT_FILE tag can be used to specify a layout file which will be parsed by # doxygen. The layout file controls the global structure of the generated output files # in an output format independent way. The create the layout file that represents # doxygen's defaults, run doxygen with the -l option. You can optionally specify a # file name after the option, if omitted DoxygenLayout.xml will be used as the name # of the layout file. LAYOUT_FILE = #--------------------------------------------------------------------------- # configuration options related to warning and progress messages #--------------------------------------------------------------------------- # The QUIET tag can be used to turn on/off the messages that are generated # by doxygen. Possible values are YES and NO. If left blank NO is used. QUIET = NO # The WARNINGS tag can be used to turn on/off the warning messages that are # generated by doxygen. Possible values are YES and NO. If left blank # NO is used. WARNINGS = YES # If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings # for undocumented members. If EXTRACT_ALL is set to YES then this flag will # automatically be disabled. WARN_IF_UNDOCUMENTED = YES # If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for # potential errors in the documentation, such as not documenting some # parameters in a documented function, or documenting parameters that # don't exist or using markup commands wrongly. WARN_IF_DOC_ERROR = YES # This WARN_NO_PARAMDOC option can be abled to get warnings for # functions that are documented, but have no documentation for their parameters # or return value. If set to NO (the default) doxygen will only warn about # wrong or incomplete parameter documentation, but not about the absence of # documentation. WARN_NO_PARAMDOC = NO # The WARN_FORMAT tag determines the format of the warning messages that # doxygen can produce. The string should contain the $file, $line, and $text # tags, which will be replaced by the file and line number from which the # warning originated and the warning text. Optionally the format may contain # $version, which will be replaced by the version of the file (if it could # be obtained via FILE_VERSION_FILTER) WARN_FORMAT = "$file:$line: $text" # The WARN_LOGFILE tag can be used to specify a file to which warning # and error messages should be written. If left blank the output is written # to stderr. WARN_LOGFILE = #--------------------------------------------------------------------------- # configuration options related to the input files #--------------------------------------------------------------------------- # The INPUT tag can be used to specify the files and/or directories that contain # documented source files. You may enter file names like "myfile.cpp" or # directories like "/usr/src/myproject". Separate the files or directories # with spaces. INPUT = include/rospack # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is # also the default input encoding. Doxygen uses libiconv (or the iconv built # into libc) for the transcoding. See http://www.gnu.org/software/libiconv for # the list of possible encodings. INPUT_ENCODING = UTF-8 # If the value of the INPUT tag contains directories, you can use the # FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp # and *.h) to filter out the source-files in the directories. If left # blank the following patterns are tested: # *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx # *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90 FILE_PATTERNS = # The RECURSIVE tag can be used to turn specify whether or not subdirectories # should be searched for input files as well. Possible values are YES and NO. # If left blank NO is used. RECURSIVE = NO # The EXCLUDE tag can be used to specify files and/or directories that should # excluded from the INPUT source files. This way you can easily exclude a # subdirectory from a directory tree whose root is specified with the INPUT tag. EXCLUDE = # The EXCLUDE_SYMLINKS tag can be used select whether or not files or # directories that are symbolic links (a Unix filesystem feature) are excluded # from the input. EXCLUDE_SYMLINKS = NO # If the value of the INPUT tag contains directories, you can use the # EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude # certain files from those directories. Note that the wildcards are matched # against the file with absolute path, so to exclude all test directories # for example use the pattern */test/* EXCLUDE_PATTERNS = # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names # (namespaces, classes, functions, etc.) that should be excluded from the # output. The symbol name can be a fully qualified name, a word, or if the # wildcard * is used, a substring. Examples: ANamespace, AClass, # AClass::ANamespace, ANamespace::*Test EXCLUDE_SYMBOLS = # The EXAMPLE_PATH tag can be used to specify one or more files or # directories that contain example code fragments that are included (see # the \include command). EXAMPLE_PATH = # If the value of the EXAMPLE_PATH tag contains directories, you can use the # EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp # and *.h) to filter out the source-files in the directories. If left # blank all files are included. EXAMPLE_PATTERNS = # If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be # searched for input files to be used with the \include or \dontinclude # commands irrespective of the value of the RECURSIVE tag. # Possible values are YES and NO. If left blank NO is used. EXAMPLE_RECURSIVE = NO # The IMAGE_PATH tag can be used to specify one or more files or # directories that contain image that are included in the documentation (see # the \image command). IMAGE_PATH = # The INPUT_FILTER tag can be used to specify a program that doxygen should # invoke to filter for each input file. Doxygen will invoke the filter program # by executing (via popen()) the command , where # is the value of the INPUT_FILTER tag, and is the name of an # input file. Doxygen will then use the output that the filter program writes # to standard output. # If FILTER_PATTERNS is specified, this tag will be # ignored. INPUT_FILTER = # The FILTER_PATTERNS tag can be used to specify filters on a per file pattern # basis. # Doxygen will compare the file name with each pattern and apply the # filter if there is a match. # The filters are a list of the form: # pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further # info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER # is applied to all files. FILTER_PATTERNS = # If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using # INPUT_FILTER) will be used to filter the input files when producing source # files to browse (i.e. when SOURCE_BROWSER is set to YES). FILTER_SOURCE_FILES = NO #--------------------------------------------------------------------------- # configuration options related to source browsing #--------------------------------------------------------------------------- # If the SOURCE_BROWSER tag is set to YES then a list of source files will # be generated. Documented entities will be cross-referenced with these sources. # Note: To get rid of all source code in the generated output, make sure also # VERBATIM_HEADERS is set to NO. SOURCE_BROWSER = NO # Setting the INLINE_SOURCES tag to YES will include the body # of functions and classes directly in the documentation. INLINE_SOURCES = NO # Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct # doxygen to hide any special comment blocks from generated source code # fragments. Normal C and C++ comments will always remain visible. STRIP_CODE_COMMENTS = YES # If the REFERENCED_BY_RELATION tag is set to YES # then for each documented function all documented # functions referencing it will be listed. REFERENCED_BY_RELATION = NO # If the REFERENCES_RELATION tag is set to YES # then for each documented function all documented entities # called/used by that function will be listed. REFERENCES_RELATION = NO # If the REFERENCES_LINK_SOURCE tag is set to YES (the default) # and SOURCE_BROWSER tag is set to YES, then the hyperlinks from # functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will # link to the source code. # Otherwise they will link to the documentation. REFERENCES_LINK_SOURCE = YES # If the USE_HTAGS tag is set to YES then the references to source code # will point to the HTML generated by the htags(1) tool instead of doxygen # built-in source browser. The htags tool is part of GNU's global source # tagging system (see http://www.gnu.org/software/global/global.html). You # will need version 4.8.6 or higher. USE_HTAGS = NO # If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen # will generate a verbatim copy of the header file for each class for # which an include is specified. Set to NO to disable this. VERBATIM_HEADERS = YES #--------------------------------------------------------------------------- # configuration options related to the alphabetical class index #--------------------------------------------------------------------------- # If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index # of all compounds will be generated. Enable this if the project # contains a lot of classes, structs, unions or interfaces. ALPHABETICAL_INDEX = NO # If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then # the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns # in which this list will be split (can be a number in the range [1..20]) COLS_IN_ALPHA_INDEX = 5 # In case all classes in a project start with a common prefix, all # classes will be put under the same header in the alphabetical index. # The IGNORE_PREFIX tag can be used to specify one or more prefixes that # should be ignored while generating the index headers. IGNORE_PREFIX = #--------------------------------------------------------------------------- # configuration options related to the HTML output #--------------------------------------------------------------------------- # If the GENERATE_HTML tag is set to YES (the default) Doxygen will # generate HTML output. GENERATE_HTML = YES # The HTML_OUTPUT tag is used to specify where the HTML docs will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `html' will be used as the default path. HTML_OUTPUT = html # The HTML_FILE_EXTENSION tag can be used to specify the file extension for # each generated HTML page (for example: .htm,.php,.asp). If it is left blank # doxygen will generate files with .html extension. HTML_FILE_EXTENSION = .html # The HTML_HEADER tag can be used to specify a personal HTML header for # each generated HTML page. If it is left blank doxygen will generate a # standard header. HTML_HEADER = # The HTML_FOOTER tag can be used to specify a personal HTML footer for # each generated HTML page. If it is left blank doxygen will generate a # standard footer. HTML_FOOTER = # The HTML_STYLESHEET tag can be used to specify a user-defined cascading # style sheet that is used by each HTML page. It can be used to # fine-tune the look of the HTML output. If the tag is left blank doxygen # will generate a default style sheet. Note that doxygen will try to copy # the style sheet file to the HTML output directory, so don't put your own # stylesheet in the HTML output directory as well, or it will be erased! HTML_STYLESHEET = # If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML # page will contain the date and time when the page was generated. Setting # this to NO can help when comparing the output of multiple runs. HTML_TIMESTAMP = YES # If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, # files or namespaces will be aligned in HTML using tables. If set to # NO a bullet list will be used. HTML_ALIGN_MEMBERS = YES # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML # documentation will contain sections that can be hidden and shown after the # page has loaded. For this to work a browser that supports # JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox # Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). HTML_DYNAMIC_SECTIONS = NO # If the GENERATE_DOCSET tag is set to YES, additional index files # will be generated that can be used as input for Apple's Xcode 3 # integrated development environment, introduced with OSX 10.5 (Leopard). # To create a documentation set, doxygen will generate a Makefile in the # HTML output directory. Running make will produce the docset in that # directory and running "make install" will install the docset in # ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find # it at startup. # See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html for more information. GENERATE_DOCSET = NO # When GENERATE_DOCSET tag is set to YES, this tag determines the name of the # feed. A documentation feed provides an umbrella under which multiple # documentation sets from a single provider (such as a company or product suite) # can be grouped. DOCSET_FEEDNAME = "Doxygen generated docs" # When GENERATE_DOCSET tag is set to YES, this tag specifies a string that # should uniquely identify the documentation set bundle. This should be a # reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen # will append .docset to the name. DOCSET_BUNDLE_ID = org.doxygen.Project # If the GENERATE_HTMLHELP tag is set to YES, additional index files # will be generated that can be used as input for tools like the # Microsoft HTML help workshop to generate a compiled HTML help file (.chm) # of the generated HTML documentation. GENERATE_HTMLHELP = NO # If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can # be used to specify the file name of the resulting .chm file. You # can add a path in front of the file if the result should not be # written to the html output directory. CHM_FILE = # If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can # be used to specify the location (absolute path including file name) of # the HTML help compiler (hhc.exe). If non-empty doxygen will try to run # the HTML help compiler on the generated index.hhp. HHC_LOCATION = # If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag # controls if a separate .chi index file is generated (YES) or that # it should be included in the master .chm file (NO). GENERATE_CHI = NO # If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING # is used to encode HtmlHelp index (hhk), content (hhc) and project file # content. CHM_INDEX_ENCODING = # If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag # controls whether a binary table of contents is generated (YES) or a # normal table of contents (NO) in the .chm file. BINARY_TOC = NO # The TOC_EXPAND flag can be set to YES to add extra items for group members # to the contents of the HTML help documentation and to the tree view. TOC_EXPAND = NO # If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and QHP_VIRTUAL_FOLDER # are set, an additional index file will be generated that can be used as input for # Qt's qhelpgenerator to generate a Qt Compressed Help (.qch) of the generated # HTML documentation. GENERATE_QHP = NO # If the QHG_LOCATION tag is specified, the QCH_FILE tag can # be used to specify the file name of the resulting .qch file. # The path specified is relative to the HTML output folder. QCH_FILE = # The QHP_NAMESPACE tag specifies the namespace to use when generating # Qt Help Project output. For more information please see # http://doc.trolltech.com/qthelpproject.html#namespace QHP_NAMESPACE = org.doxygen.Project # The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating # Qt Help Project output. For more information please see # http://doc.trolltech.com/qthelpproject.html#virtual-folders QHP_VIRTUAL_FOLDER = doc # If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to add. # For more information please see # http://doc.trolltech.com/qthelpproject.html#custom-filters QHP_CUST_FILTER_NAME = # The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the custom filter to add.For more information please see # Qt Help Project / Custom Filters. QHP_CUST_FILTER_ATTRS = # The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this project's # filter section matches. # Qt Help Project / Filter Attributes. QHP_SECT_FILTER_ATTRS = # If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can # be used to specify the location of Qt's qhelpgenerator. # If non-empty doxygen will try to run qhelpgenerator on the generated # .qhp file. QHG_LOCATION = # If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files # will be generated, which together with the HTML files, form an Eclipse help # plugin. To install this plugin and make it available under the help contents # menu in Eclipse, the contents of the directory containing the HTML and XML # files needs to be copied into the plugins directory of eclipse. The name of # the directory within the plugins directory should be the same as # the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before the help appears. GENERATE_ECLIPSEHELP = NO # A unique identifier for the eclipse help plugin. When installing the plugin # the directory name containing the HTML and XML files should also have # this name. ECLIPSE_DOC_ID = org.doxygen.Project # The DISABLE_INDEX tag can be used to turn on/off the condensed index at # top of each HTML page. The value NO (the default) enables the index and # the value YES disables it. DISABLE_INDEX = NO # This tag can be used to set the number of enum values (range [1..20]) # that doxygen will group on one line in the generated HTML documentation. ENUM_VALUES_PER_LINE = 4 # The GENERATE_TREEVIEW tag is used to specify whether a tree-like index # structure should be generated to display hierarchical information. # If the tag value is set to YES, a side panel will be generated # containing a tree-like index structure (just like the one that # is generated for HTML Help). For this to work a browser that supports # JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). # Windows users are probably better off using the HTML help feature. GENERATE_TREEVIEW = NO # By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, # and Class Hierarchy pages using a tree view instead of an ordered list. USE_INLINE_TREES = NO # If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be # used to set the initial width (in pixels) of the frame in which the tree # is shown. TREEVIEW_WIDTH = 250 # Use this tag to change the font size of Latex formulas included # as images in the HTML documentation. The default is 10. Note that # when you change the font size after a successful doxygen run you need # to manually remove any form_*.png images from the HTML output directory # to force them to be regenerated. FORMULA_FONTSIZE = 10 # When the SEARCHENGINE tag is enabled doxygen will generate a search box for the HTML output. The underlying search engine uses javascript # and DHTML and should work on any modern browser. Note that when using HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) there is already a search function so this one should # typically be disabled. For large projects the javascript based search engine # can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. SEARCHENGINE = YES # When the SERVER_BASED_SEARCH tag is enabled the search engine will be implemented using a PHP enabled web server instead of at the web client using Javascript. Doxygen will generate the search PHP script and index # file to put on the web server. The advantage of the server based approach is that it scales better to large projects and allows full text search. The disadvances is that it is more difficult to setup # and does not have live searching capabilities. SERVER_BASED_SEARCH = NO #--------------------------------------------------------------------------- # configuration options related to the LaTeX output #--------------------------------------------------------------------------- # If the GENERATE_LATEX tag is set to YES (the default) Doxygen will # generate Latex output. GENERATE_LATEX = YES # The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `latex' will be used as the default path. LATEX_OUTPUT = latex # The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be # invoked. If left blank `latex' will be used as the default command name. # Note that when enabling USE_PDFLATEX this option is only used for # generating bitmaps for formulas in the HTML output, but not in the # Makefile that is written to the output directory. LATEX_CMD_NAME = latex # The MAKEINDEX_CMD_NAME tag can be used to specify the command name to # generate index for LaTeX. If left blank `makeindex' will be used as the # default command name. MAKEINDEX_CMD_NAME = makeindex # If the COMPACT_LATEX tag is set to YES Doxygen generates more compact # LaTeX documents. This may be useful for small projects and may help to # save some trees in general. COMPACT_LATEX = NO # The PAPER_TYPE tag can be used to set the paper type that is used # by the printer. Possible values are: a4, a4wide, letter, legal and # executive. If left blank a4wide will be used. PAPER_TYPE = a4wide # The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX # packages that should be included in the LaTeX output. EXTRA_PACKAGES = # The LATEX_HEADER tag can be used to specify a personal LaTeX header for # the generated latex document. The header should contain everything until # the first chapter. If it is left blank doxygen will generate a # standard header. Notice: only use this tag if you know what you are doing! LATEX_HEADER = # If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated # is prepared for conversion to pdf (using ps2pdf). The pdf file will # contain links (just like the HTML output) instead of page references # This makes the output suitable for online browsing using a pdf viewer. PDF_HYPERLINKS = YES # If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of # plain latex in the generated Makefile. Set this option to YES to get a # higher quality PDF documentation. USE_PDFLATEX = YES # If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. # command to the generated LaTeX files. This will instruct LaTeX to keep # running if errors occur, instead of asking the user for help. # This option is also used when generating formulas in HTML. LATEX_BATCHMODE = NO # If LATEX_HIDE_INDICES is set to YES then doxygen will not # include the index chapters (such as File Index, Compound Index, etc.) # in the output. LATEX_HIDE_INDICES = NO # If LATEX_SOURCE_CODE is set to YES then doxygen will include source code with syntax highlighting in the LaTeX output. Note that which sources are shown also depends on other settings such as SOURCE_BROWSER. LATEX_SOURCE_CODE = NO #--------------------------------------------------------------------------- # configuration options related to the RTF output #--------------------------------------------------------------------------- # If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output # The RTF output is optimized for Word 97 and may not look very pretty with # other RTF readers or editors. GENERATE_RTF = NO # The RTF_OUTPUT tag is used to specify where the RTF docs will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `rtf' will be used as the default path. RTF_OUTPUT = rtf # If the COMPACT_RTF tag is set to YES Doxygen generates more compact # RTF documents. This may be useful for small projects and may help to # save some trees in general. COMPACT_RTF = NO # If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated # will contain hyperlink fields. The RTF file will # contain links (just like the HTML output) instead of page references. # This makes the output suitable for online browsing using WORD or other # programs which support those fields. # Note: wordpad (write) and others do not support links. RTF_HYPERLINKS = NO # Load stylesheet definitions from file. Syntax is similar to doxygen's # config file, i.e. a series of assignments. You only have to provide # replacements, missing definitions are set to their default value. RTF_STYLESHEET_FILE = # Set optional variables used in the generation of an rtf document. # Syntax is similar to doxygen's config file. RTF_EXTENSIONS_FILE = #--------------------------------------------------------------------------- # configuration options related to the man page output #--------------------------------------------------------------------------- # If the GENERATE_MAN tag is set to YES (the default) Doxygen will # generate man pages GENERATE_MAN = NO # The MAN_OUTPUT tag is used to specify where the man pages will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `man' will be used as the default path. MAN_OUTPUT = man # The MAN_EXTENSION tag determines the extension that is added to # the generated man pages (default is the subroutine's section .3) MAN_EXTENSION = .3 # If the MAN_LINKS tag is set to YES and Doxygen generates man output, # then it will generate one additional man file for each entity # documented in the real man page(s). These additional files # only source the real man page, but without them the man command # would be unable to find the correct page. The default is NO. MAN_LINKS = NO #--------------------------------------------------------------------------- # configuration options related to the XML output #--------------------------------------------------------------------------- # If the GENERATE_XML tag is set to YES Doxygen will # generate an XML file that captures the structure of # the code including all documentation. GENERATE_XML = NO # The XML_OUTPUT tag is used to specify where the XML pages will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `xml' will be used as the default path. XML_OUTPUT = xml # The XML_SCHEMA tag can be used to specify an XML schema, # which can be used by a validating XML parser to check the # syntax of the XML files. XML_SCHEMA = # The XML_DTD tag can be used to specify an XML DTD, # which can be used by a validating XML parser to check the # syntax of the XML files. XML_DTD = # If the XML_PROGRAMLISTING tag is set to YES Doxygen will # dump the program listings (including syntax highlighting # and cross-referencing information) to the XML output. Note that # enabling this will significantly increase the size of the XML output. XML_PROGRAMLISTING = YES #--------------------------------------------------------------------------- # configuration options for the AutoGen Definitions output #--------------------------------------------------------------------------- # If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will # generate an AutoGen Definitions (see autogen.sf.net) file # that captures the structure of the code including all # documentation. Note that this feature is still experimental # and incomplete at the moment. GENERATE_AUTOGEN_DEF = NO #--------------------------------------------------------------------------- # configuration options related to the Perl module output #--------------------------------------------------------------------------- # If the GENERATE_PERLMOD tag is set to YES Doxygen will # generate a Perl module file that captures the structure of # the code including all documentation. Note that this # feature is still experimental and incomplete at the # moment. GENERATE_PERLMOD = NO # If the PERLMOD_LATEX tag is set to YES Doxygen will generate # the necessary Makefile rules, Perl scripts and LaTeX code to be able # to generate PDF and DVI output from the Perl module output. PERLMOD_LATEX = NO # If the PERLMOD_PRETTY tag is set to YES the Perl module output will be # nicely formatted so it can be parsed by a human reader. # This is useful # if you want to understand what is going on. # On the other hand, if this # tag is set to NO the size of the Perl module output will be much smaller # and Perl will parse it just the same. PERLMOD_PRETTY = YES # The names of the make variables in the generated doxyrules.make file # are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. # This is useful so different doxyrules.make files included by the same # Makefile don't overwrite each other's variables. PERLMOD_MAKEVAR_PREFIX = #--------------------------------------------------------------------------- # Configuration options related to the preprocessor #--------------------------------------------------------------------------- # If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will # evaluate all C-preprocessor directives found in the sources and include # files. ENABLE_PREPROCESSING = YES # If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro # names in the source code. If set to NO (the default) only conditional # compilation will be performed. Macro expansion can be done in a controlled # way by setting EXPAND_ONLY_PREDEF to YES. MACRO_EXPANSION = NO # If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES # then the macro expansion is limited to the macros specified with the # PREDEFINED and EXPAND_AS_DEFINED tags. EXPAND_ONLY_PREDEF = NO # If the SEARCH_INCLUDES tag is set to YES (the default) the includes files # in the INCLUDE_PATH (see below) will be search if a #include is found. SEARCH_INCLUDES = YES # The INCLUDE_PATH tag can be used to specify one or more directories that # contain include files that are not input files but should be processed by # the preprocessor. INCLUDE_PATH = # You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard # patterns (like *.h and *.hpp) to filter out the header-files in the # directories. If left blank, the patterns specified with FILE_PATTERNS will # be used. INCLUDE_FILE_PATTERNS = # The PREDEFINED tag can be used to specify one or more macro names that # are defined before the preprocessor is started (similar to the -D option of # gcc). The argument of the tag is a list of macros of the form: name # or name=definition (no spaces). If the definition and the = are # omitted =1 is assumed. To prevent a macro definition from being # undefined via #undef or recursively expanded use the := operator # instead of the = operator. PREDEFINED = # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then # this tag can be used to specify a list of macro names that should be expanded. # The macro definition that is found in the sources will be used. # Use the PREDEFINED tag if you want to use a different macro definition. EXPAND_AS_DEFINED = # If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then # doxygen's preprocessor will remove all function-like macros that are alone # on a line, have an all uppercase name, and do not end with a semicolon. Such # function macros are typically used for boiler-plate code, and will confuse # the parser if not removed. SKIP_FUNCTION_MACROS = YES #--------------------------------------------------------------------------- # Configuration::additions related to external references #--------------------------------------------------------------------------- # The TAGFILES option can be used to specify one or more tagfiles. # Optionally an initial location of the external documentation # can be added for each tagfile. The format of a tag file without # this location is as follows: # # TAGFILES = file1 file2 ... # Adding location for the tag files is done as follows: # # TAGFILES = file1=loc1 "file2 = loc2" ... # where "loc1" and "loc2" can be relative or absolute paths or # URLs. If a location is present for each tag, the installdox tool # does not have to be run to correct the links. # Note that each tag file must have a unique name # (where the name does NOT include the path) # If a tag file is not located in the directory in which doxygen # is run, you must also specify the path to the tagfile here. TAGFILES = # When a file name is specified after GENERATE_TAGFILE, doxygen will create # a tag file that is based on the input files it reads. GENERATE_TAGFILE = # If the ALLEXTERNALS tag is set to YES all external classes will be listed # in the class index. If set to NO only the inherited external classes # will be listed. ALLEXTERNALS = NO # If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed # in the modules index. If set to NO, only the current project's groups will # be listed. EXTERNAL_GROUPS = YES # The PERL_PATH should be the absolute path and name of the perl script # interpreter (i.e. the result of `which perl'). PERL_PATH = /usr/bin/perl #--------------------------------------------------------------------------- # Configuration options related to the dot tool #--------------------------------------------------------------------------- # If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will # generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base # or super classes. Setting the tag to NO turns the diagrams off. Note that # this option is superseded by the HAVE_DOT option below. This is only a # fallback. It is recommended to install and use dot, since it yields more # powerful graphs. CLASS_DIAGRAMS = YES # You can define message sequence charts within doxygen comments using the \msc # command. Doxygen will then run the mscgen tool (see # http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the # documentation. The MSCGEN_PATH tag allows you to specify the directory where # the mscgen tool resides. If left empty the tool is assumed to be found in the # default search path. MSCGEN_PATH = # If set to YES, the inheritance and collaboration graphs will hide # inheritance and usage relations if the target is undocumented # or is not a class. HIDE_UNDOC_RELATIONS = YES # If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is # available from the path. This tool is part of Graphviz, a graph visualization # toolkit from AT&T and Lucent Bell Labs. The other options in this section # have no effect if this option is set to NO (the default) HAVE_DOT = NO # By default doxygen will write a font called FreeSans.ttf to the output # directory and reference it in all dot files that doxygen generates. This # font does not include all possible unicode characters however, so when you need # these (or just want a differently looking font) you can specify the font name # using DOT_FONTNAME. You need need to make sure dot is able to find the font, # which can be done by putting it in a standard location or by setting the # DOTFONTPATH environment variable or by setting DOT_FONTPATH to the directory # containing the font. DOT_FONTNAME = FreeSans # The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. # The default size is 10pt. DOT_FONTSIZE = 10 # By default doxygen will tell dot to use the output directory to look for the # FreeSans.ttf font (which doxygen will put there itself). If you specify a # different font using DOT_FONTNAME you can set the path where dot # can find it using this tag. DOT_FONTPATH = # If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen # will generate a graph for each documented class showing the direct and # indirect inheritance relations. Setting this tag to YES will force the # the CLASS_DIAGRAMS tag to NO. CLASS_GRAPH = YES # If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen # will generate a graph for each documented class showing the direct and # indirect implementation dependencies (inheritance, containment, and # class references variables) of the class with other documented classes. COLLABORATION_GRAPH = YES # If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen # will generate a graph for groups, showing the direct groups dependencies GROUP_GRAPHS = YES # If the UML_LOOK tag is set to YES doxygen will generate inheritance and # collaboration diagrams in a style similar to the OMG's Unified Modeling # Language. UML_LOOK = NO # If set to YES, the inheritance and collaboration graphs will show the # relations between templates and their instances. TEMPLATE_RELATIONS = NO # If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT # tags are set to YES then doxygen will generate a graph for each documented # file showing the direct and indirect include dependencies of the file with # other documented files. INCLUDE_GRAPH = YES # If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and # HAVE_DOT tags are set to YES then doxygen will generate a graph for each # documented header file showing the documented files that directly or # indirectly include this file. INCLUDED_BY_GRAPH = YES # If the CALL_GRAPH and HAVE_DOT options are set to YES then # doxygen will generate a call dependency graph for every global function # or class method. Note that enabling this option will significantly increase # the time of a run. So in most cases it will be better to enable call graphs # for selected functions only using the \callgraph command. CALL_GRAPH = NO # If the CALLER_GRAPH and HAVE_DOT tags are set to YES then # doxygen will generate a caller dependency graph for every global function # or class method. Note that enabling this option will significantly increase # the time of a run. So in most cases it will be better to enable caller # graphs for selected functions only using the \callergraph command. CALLER_GRAPH = NO # If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen # will graphical hierarchy of all classes instead of a textual one. GRAPHICAL_HIERARCHY = YES # If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES # then doxygen will show the dependencies a directory has on other directories # in a graphical way. The dependency relations are determined by the #include # relations between the files in the directories. DIRECTORY_GRAPH = YES # The DOT_IMAGE_FORMAT tag can be used to set the image format of the images # generated by dot. Possible values are png, jpg, or gif # If left blank png will be used. DOT_IMAGE_FORMAT = png # The tag DOT_PATH can be used to specify the path where the dot tool can be # found. If left blank, it is assumed the dot tool can be found in the path. DOT_PATH = # The DOTFILE_DIRS tag can be used to specify one or more directories that # contain dot files that are included in the documentation (see the # \dotfile command). DOTFILE_DIRS = # The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of # nodes that will be shown in the graph. If the number of nodes in a graph # becomes larger than this value, doxygen will truncate the graph, which is # visualized by representing a node as a red box. Note that doxygen if the # number of direct children of the root node in a graph is already larger than # DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note # that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. DOT_GRAPH_MAX_NODES = 50 # The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the # graphs generated by dot. A depth value of 3 means that only nodes reachable # from the root by following a path via at most 3 edges will be shown. Nodes # that lay further from the root node will be omitted. Note that setting this # option to 1 or 2 may greatly reduce the computation time needed for large # code bases. Also note that the size of a graph can be further restricted by # DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. MAX_DOT_GRAPH_DEPTH = 0 # Set the DOT_TRANSPARENT tag to YES to generate images with a transparent # background. This is disabled by default, because dot on Windows does not # seem to support this out of the box. Warning: Depending on the platform used, # enabling this option may lead to badly anti-aliased labels on the edges of # a graph (i.e. they become hard to read). DOT_TRANSPARENT = NO # Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output # files in one run (i.e. multiple -o and -T options on the command line). This # makes dot run faster, but since only newer versions of dot (>1.8.10) # support this, this feature is disabled by default. DOT_MULTI_TARGETS = YES # If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will # generate a legend page explaining the meaning of the various boxes and # arrows in the dot generated graphs. GENERATE_LEGEND = YES # If the DOT_CLEANUP tag is set to YES (the default) Doxygen will # remove the intermediate dot files that are used to generate # the various graphs. DOT_CLEANUP = YES rospack-2.3.1/cmake_uninstall.cmake.in000066400000000000000000000020221276234213700177420ustar00rootroot00000000000000cmake_policy(SET CMP0007 OLD) if (NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") message(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"") endif(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files) string(REGEX REPLACE "\n" ";" files "${files}") list(REVERSE files) foreach (file ${files}) message(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"") if (EXISTS "$ENV{DESTDIR}${file}") execute_process( COMMAND @CMAKE_COMMAND@ -E remove "$ENV{DESTDIR}${file}" OUTPUT_VARIABLE rm_out RESULT_VARIABLE rm_retval ) if(NOT ${rm_retval} EQUAL 0) message(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"") endif (NOT ${rm_retval} EQUAL 0) else (EXISTS "$ENV{DESTDIR}${file}") message(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.") endif (EXISTS "$ENV{DESTDIR}${file}") endforeach(file) rospack-2.3.1/include/000077500000000000000000000000001276234213700146115ustar00rootroot00000000000000rospack-2.3.1/include/rospack/000077500000000000000000000000001276234213700162535ustar00rootroot00000000000000rospack-2.3.1/include/rospack/macros.h000066400000000000000000000062671276234213700177230ustar00rootroot00000000000000/* * Copyright (C) 2008, Willow Garage, Inc. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #ifndef ROSPACK_MACROS_H_ #define ROSPACK_MACROS_H_ /* * Windows macros for dll exports * * This replicates what ros has in roscpp_core/cpp_common/macros.h * so rospack can be standalone. * * See also http://gcc.gnu.org/wiki/Visibility */ #if defined(_MSC_VER) #define ROS_HELPER_IMPORT __declspec(dllimport) #define ROS_HELPER_EXPORT __declspec(dllexport) #define ROS_HELPER_LOCAL #elif __GNUC__ >= 4 #define ROS_HELPER_IMPORT __attribute__ ((visibility("default"))) #define ROS_HELPER_EXPORT __attribute__ ((visibility("default"))) #define ROS_HELPER_LOCAL __attribute__ ((visibility("hidden"))) #else #define ROS_HELPER_IMPORT #define ROS_HELPER_EXPORT #define ROS_HELPER_LOCAL #endif // Ignore warnings about import/exports when deriving from std classes. #ifdef _MSC_VER #pragma warning(disable:4251) #pragma warning(disable:4275) #pragma warning(disable:4514) // unreferenced inline function has been removed #pragma warning(disable:4668) // warnings about used, but not defined macros, replacing with 0 #pragma warning(disable:4710) // function not inlined #pragma warning(disable:4738) // storing floats, memory splitting, possible loss in performance #pragma warning(disable:4820) // structs and padding #endif #ifdef ROS_BUILD_STATIC_LIBS // ros is being built around shared libraries #define ROSPACK_DECL #else // ros is being built around shared libraries #ifdef rospack_EXPORTS // we are building a shared lib/dll #define ROSPACK_DECL ROS_HELPER_EXPORT #else // we are using shared lib/dll #define ROSPACK_DECL ROS_HELPER_IMPORT #endif #endif #endif /* ROSPACK_MACROS_H_ */ rospack-2.3.1/include/rospack/rospack.h000066400000000000000000000614401276234213700200730ustar00rootroot00000000000000/* * Copyright (C) 2008, Willow Garage, Inc. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ /** \mainpage \section overview Overview \b librospack is the ROS stackage (stack/package) management library. librospack is part dpkg, part pkg-config. The main function of librospack is to crawl through the stackages in ROS_ROOT and ROS_PACKAGE_PATH, read and parse the \b manifest for each stackage, and assemble a complete dependency tree for all stackages. Using this tree, librospack can answer a number of queries about stackages and their dependencies. Common queries include: - find : return the absolute path to a stackage - depends : return a list of all of a stackage's dependencies - depends-on : return a list of stackages that depend on the given stackage - export : return flags necessary for building and linking against a package librospack is intended to be cross-platform. \subsection crawling Crawling algorithm librospack crawls in the following order: the directory ROS_ROOT, followed by the colon-separated list of directories ROS_PACKAGE_PATH, in the order they are listed. During the crawl, librospack examines the contents of each directory, looking for a file called @b manifest.xml (for packages) or @b stack.xml (for stacks). If such a file is found, the directory containing it is considered to be a ROS stackage, with the stackage name equal to the directory name. The crawl does not descend further once a manifest is found (i.e., stackages cannot be nested inside one another). If a manifest is not found in a given directory, each subdirectory is searched. This subdirectory search is prevented if a file called @b rospack_nosubdirs is found. The directory itself is still searched for a manifest, but its subdirectories are not crawled. If multiple stackages by the same name exist within the search path, the first one found wins. It is strongly recommended that you keep stackages by the same name in separate trees, each having its own element within ROS_PACKAGE_PATH. That way, you can deterministically control the search order by the way that you specify ROS_PACKAGE_PATH. The search order within a given element of ROS_PACKAGE_PATH can be unpredictably affected by the details of how files are laid out on disk. \subsection efficiency Efficiency considerations librospack re-parses the manifest files and rebuilds the dependency tree on each execution. However, it maintains a cache of stackage directories in ROS_HOME/rospack_cache (or ROS_HOME/rosstack_cache). This cache is updated whenever there is a cache miss, or when the cache is 60 seconds old. You can change this timeout by setting the environment variable ROS_CACHE_TIMEOUT, in seconds. Set it to 0.0 to force a cache rebuild on every invocation of librospack. librospack's performance can be adversely affected by the presence of very broad and/or deep directory structures that don't contain manifest files. If such directories are in librospack's search path, it can spend a lot of time crawling them only to discover that there are no stackages to be found. You can prevent this latency by creating a @b rospack_nosubdirs file in such directories. If librospack seems to be running annoyingly slowly, you can call profile(), which will print out the slowest trees to crawl. \subsection dependencies Minimal dependencies Because librospack is the tool that determines dependencies, it must have minimal dependencies. librospack contains a copy of the TinyXML library, and depends on Boost. If gtest is available, then tests can be run. \section codeapi Code API librospack is used primarily in command-line tools (rospack and rosstack), but can be used in other contexts. See the API documentation for Rospack and Rosstack. */ #ifndef ROSPACK_ROSPACK_H #define ROSPACK_ROSPACK_H #include #include #include #include #include #include #include #include "macros.h" //#ifdef ROSPACK_API_BACKCOMPAT_V1 #if 1 // def ROSPACK_API_BACKCOMPAT_V1 #include "rospack/rospack_backcompat.h" #endif namespace rospack { typedef enum { POSTORDER, PREORDER } traversal_order_t; // Forward declarations class Stackage; class DirectoryCrawlRecord; /** * @brief The base class for package/stack ("stackage") crawlers. Users of the library should * use the functionality provided here through one of the derived classes, * Rosstack or Rospack. */ class ROSPACK_DECL Rosstackage { private: std::string manifest_name_; std::string cache_prefix_; bool crawled_; std::string name_; std::string tag_; bool quiet_; std::vector search_paths_; std::tr1::unordered_map > dups_; std::tr1::unordered_map stackages_; Stackage* findWithRecrawl(const std::string& name); void log(const std::string& level, const std::string& msg, bool append_errno); void clearStackages(); void addStackage(const std::string& path); void crawlDetail(const std::string& path, bool force, int depth, bool collect_profile_data, std::vector& profile_data, std::tr1::unordered_set& profile_hash); bool depsOnDetail(const std::string& name, bool direct, std::vector& deps, bool ignore_missing=false); bool depsDetail(const std::string& name, bool direct, std::vector& deps); bool isStackage(const std::string& path); void loadManifest(Stackage* stackage); void computeDeps(Stackage* stackage, bool ignore_errors=false, bool ignore_missing=false); void computeDepsInternal(Stackage* stackage, bool ignore_errors, const std::string& depend_tag, bool ignore_missing=false); bool isSysPackage(const std::string& pkgname); void gatherDeps(Stackage* stackage, bool direct, traversal_order_t order, std::vector& deps, bool no_recursion_on_wet=false); void gatherDepsFull(Stackage* stackage, bool direct, traversal_order_t order, int depth, std::tr1::unordered_set& deps_hash, std::vector& deps, bool get_indented_deps, std::vector& indented_deps, bool no_recursion_on_wet=false); std::string getCachePath(); std::string getCacheHash(); bool readCache(); void writeCache(); FILE* validateCache(); bool expandExportString(Stackage* stackage, const std::string& instring, std::string& outstring); void depsWhyDetail(Stackage* from, Stackage* to, std::list >& acc_list); void initPython(); protected: /** * @brief Constructor, only used by derived classes. * @param manifest_name What the manifest is called (e.g., "manifest.xml or stack.xml") * @param cache_prefix What the cache is called (e.g., "rospack_cache" or "rosstack_cache") excluding the appended search path hash * @param name Name of the tool we're building (e.g., "rospack" or "rosstack") * @param tag Name of the attribute we look for in a "depend" tag in a * manifest (e.g., "package" or "stack") */ Rosstackage(const std::string& manifest_name, const std::string& cache_prefix, const std::string& name, const std::string& tag); public: /** * @brief Destructor. */ virtual ~Rosstackage(); /** * @brief Usage string, to be overridden by derived classes. * @return Command-line usage statement. */ virtual const char* usage() { return ""; } /** * @brief Crawl the filesystem, accumulating a database of * stackages. May read results from a cache file instead * of crawling. This method should be called before any * making any queries (find, list, etc.). * @param search_path List of directories to crawl, in precenence * order. Directories should be absolute paths. * It's passed by value to allow callers (e.g., * find()) to safely pass in search_paths_. * @param force If true, then crawl even if the cache looks valid */ void crawl(std::vector search_path, bool force); /** * @brief Is the current working directory a stackage? * @param name If in a stackage, then the stackage's name is written here. * @return True if the current working directory contains a manifest * file */ bool inStackage(std::string& name); /** * @brief Control warning and error console output. * @param quiet If true, then don't output any warnings or errors to * console. If false, then output warnings and errors to * stderr (default behavior). */ void setQuiet(bool quiet); /** * @brief Get the name of the tool that's in use (e.g., "rospack" or "rosstack") * @return The name of the tool. */ const std::string& getName() {return name_;} /** * @brief Helper method to construct a directory search path by looking * at relevant environment variables. The value of ROS_ROOT goes * first, followed by each element of a colon-separated * ROS_PACKAGE_PATH. * @param sp The computed search path is written here. * @return True if a search path was computed, false otherwise (e.g., ROS_ROOT not set). */ bool getSearchPathFromEnv(std::vector& sp); /** * @brief Look for a stackage. * @param name The stackage to look for. * @param path If found, the absolute path to the stackage is written here. * @return True if the stackage is found, false otherwise. */ bool find(const std::string& name, std::string& path); /** * @brief Compute the packages that are contained in a stack. * @param name The stack to work on. * @param packages The stack's constituent packages are written here. * @return True if the contents could be computed, false otherwise. */ bool contents(const std::string& name, std::set& packages); /** * @brief Find the stack that contains a package. * @param name The package to work on. * @param stack If the containing stack is found, its name is written here. * @param path If the containing stack is found, its absolute path is written here. * @return True if the containing stack could be found, false otherwise. */ bool contains(const std::string& name, std::string& stack, std::string& path); /** * @brief List names and paths of all stackages. * @param list Pairs of (name,path) are written here. */ void list(std::set >& list); /** * @brief Identify duplicate stackages. Forces crawl. * @param dups Names of stackages that are found more than once while * crawling are written here. */ void listDuplicates(std::vector& dups); /** * @brief Identify duplicate stackages and provide their paths. Forces crawl. * @param dups Names of stackages that are found more than once while * crawling are mapped to the found paths of these packages. */ void listDuplicatesWithPaths(std::map >& dups); /** * @brief Compute dependencies of a stackage (i.e., stackages that this * stackages depends on). * @param name The stackage to work on. * @param direct If true, then compute only direct dependencies. If * false, then compute full (including indirect) * dependencies. * @param deps If dependencies are computed, then they're written here. * @return True if dependencies were computed, false otherwise. */ bool deps(const std::string& name, bool direct, std::vector& deps); /** * @brief Compute reverse dependencies of a stackage (i.e., stackages * that depend on this stackage). Forces crawl. * @param name The stackage to work on. * @param direct If true, then compute only direct dependencies. If * false, then compute full (including indirect) * dependencies. * @param deps If dependencies are computed, then they're written here. * @return True if dependencies were computed, false otherwise. */ bool depsOn(const std::string& name, bool direct, std::vector& deps); /** * @brief List the manifests of a stackage's dependencies. Used by * rosbuild. * @param name The stackage to work on. * @param direct If true, then compute only direct dependencies. If * false, then compute full (including indirect) * dependencies. * @param manifests The list of absolute paths to manifests of stackages * that the given stackage depends on is written here. * @return True if the manifest list was computed, false otherwise. */ bool depsManifests(const std::string& name, bool direct, std::vector& manifests); /** * @brief List the marker files in a packages's dependencies that * indicate that those packages contain auto-generated message * and/or service code. Used by rosbuild. * @param name The package to work on. * @param direct If true, then compute only direct dependencies. If * false, then compute full (including indirect) * dependencies. * @param gens The list of absolute paths to marker files (e.g., * "/opt/ros/electric/stacks/ros_comm/messages/std_msgs/msg_gen/generated") * is written here. * @return True if the list of files was generated, false otherwise. */ bool depsMsgSrv(const std::string& name, bool direct, std::vector& gens); /** * @brief Generate indented list of a stackage's dependencies, * including duplicates. Intended for visual debugging of dependency * structures. * @param name The stackage to work on. * @param direct If true, then compute only direct dependencies. If * false, then compute full (including indirect) * dependencies. * @param deps List of the stackage's dependencies, with leading spaces * to indicate depth, is written here. Print this list to console, * with newlines separating each element. Example output: @verbatim roscpp_traits cpp_common cpp_common rostime cpp_common @endverbatim * @return True if the indented dependencies were computed, false * otherwise. */ bool depsIndent(const std::string& name, bool direct, std::vector& deps); /** * @brief Compute all dependency chains from one stackage to another. * Intended for visual debugging of dependency structures. * @param from The stackage that depends on. * @param to The stackage that is depended on. * @param output A list of dependency chains. Print this list to console, * with newlines separating each element. Example output: @verbatim Dependency chains from roscpp to roslib: * roscpp -> roslib * roscpp -> std_msgs -> roslib * roscpp -> rosgraph_msgs -> std_msgs -> roslib @endverbatim * @return True if the dependency chains were computed, false * otherwise. */ bool depsWhy(const std::string& from, const std::string& to, std::string& output); /** * @brief Compute rosdep entries that are declared in manifest of a package * and its dependencies. Used by rosmake. * @param name The package to work on. * @param direct If true, then compute only direct dependencies. If * false, then compute full (including indirect) * dependencies. * @param rosdeps List of rosdep entries found in the package and its * dependencies is written here. * @return True if the rosdep list is computed, false otherwise. */ bool rosdeps(const std::string& name, bool direct, std::set& rosdeps); void _rosdeps(Stackage* stackage, std::set& rosdeps, const char* tag_name); /** * @brief Compute vcs entries that are declared in manifest of a package * and its dependencies. Was used by Hudson build scripts; might not * be needed. * @param name The package to work on. * @param direct If true, then compute only direct dependencies. If * false, then compute full (including indirect) * dependencies. * @param vcs List of vcs entries found in the package and its * dependencies is written here. * @return True if the vcs list is computed, false otherwise. */ bool vcs(const std::string& name, bool direct, std::vector& vcs); /** * @brief Compute cpp exports declared in a package and its dependencies. * Used by rosbuild. * @param name The package to work on. * @param type The option to pass to pkg-config for wet packages. * @param attrib The value of the 'attrib' attribute to search for. * @param deps_only If true, then only return information from the * pacakge's dependencies; if false, then also include the package's * own export information. * @param flags The pairs of export flags and is-wet are written here. * @return True if the flags were computed, false otherwise. */ bool cpp_exports(const std::string& name, const std::string& type, const std::string& attrib, bool deps_only, std::vector >& flags); /** * @brief Reorder the paths according to the workspace chaining. * @param paths The paths. * @param reordered The reordered paths are written here. * @return True if the pathswere reordered, false otherwise. */ bool reorder_paths(const std::string& paths, std::string& reordered); /** * @brief Compute exports declared in a package and its dependencies. * Used by rosbuild. * @param name The package to work on. * @param lang The value of the 'lang' attribute to search for. * @param attrib The value of the 'attrib' attribute to search for. * @param deps_only If true, then only return information from the * pacakge's dependencies; if false, then also include the package's * own export information. * @param flags The accumulated flags are written here. * @return True if the flags were computed, false otherwise. */ bool exports(const std::string& name, const std::string& lang, const std::string& attrib, bool deps_only, std::vector& flags); /** * @brief Compute exports declared in a dry package. * @param name The package to work on. * @param lang The value of the 'lang' attribute to search for. * @param attrib The value of the 'attrib' attribute to search for. * @param flags The accumulated flags are written here. * @return True if the flags were computed, false otherwise. */ bool exports_dry_package(Stackage* stackage, const std::string& lang, const std::string& attrib, std::vector& flags); /** * @brief Compute exported plugins declared in packages that depend * on a package. Forces crawl. Used by rosbuild and roslib. * @param name The package to work on. * @param attrib The value of the 'attrib' attribute to search for. * @param top If non-empty, then limit the reverse dependency search to * packages that 'top' depends on. Otherwise, examine all packages * that depend on 'name'. * @param flags The accumulated flags are written here. * @return True if the flags were computed, false otherwise. */ bool plugins(const std::string& name, const std::string& attrib, const std::string& top, std::vector& flags); /** * @brief Report on time taken to crawl for stackages. Intended for * use in debugging misconfigured stackage trees. Forces crawl. * @param search_path Directories to search; passed to crawl(). * @param zombie_only If false, then produce formatted output, with * timing information. Example output: @verbatim Full tree crawl took 0.014954 seconds. Directories marked with (*) contain no manifest. You may want to delete these directories. To get just of list of directories without manifests, re-run the profile with --zombie-only ------------------------------------------------------------- 0.013423 /opt/ros/electric/stacks 0.002989 /opt/ros/electric/stacks/ros_comm @endverbatim If true, then produce a list of absolute paths that contain no stackages ("zombies"); these directories can likely be safely deleted. Example output: @verbatim /opt/ros/electric/stacks/pr2_controllers/trajectory_msgs /opt/ros/electric/stacks/pr2_controllers/trajectory_msgs/msg @endverbatim * @param length Limit on how many directories to include in report * (ordered in decreasing order of time taken to crawl). * @param dirs Profile output. Print this list to console, * with newlines separating each element. */ bool profile(const std::vector& search_path, bool zombie_only, int length, std::vector& dirs); /** * @brief Log a warning (usually goes to stderr). * @param msg The warning. * @param append_errno If true, then append a colon, a space, and * the return from 'sterror(errno)'. */ void logWarn(const std::string& msg, bool append_errno = false); /** * @brief Log a error (usually goes to stderr). * @param msg The error. * @param append_errno If true, then append a colon, a space, and * the return from 'sterror(errno)'. */ void logError(const std::string& msg, bool append_errno = false); /* * @brief The manifest type. * @return Either "package" or "stack". */ virtual std::string get_manifest_type() { return ""; } }; /** * @brief Package crawler. Create one of these to operate on a package * tree. Call public methods inherited from Rosstackage. */ class ROSPACK_DECL Rospack : public Rosstackage { public: /** * @brief Constructor */ Rospack(); /** * @brief Usage statement. * @return Command-line usage for the rospack tool. */ virtual const char* usage(); virtual std::string get_manifest_type(); }; /** * @brief Stack crawler. Create one of these to operate on a stack * tree. Call public methods inherited from Rosstackage. */ class ROSPACK_DECL Rosstack : public Rosstackage { public: /** * @brief Constructor */ Rosstack(); /** * @brief Usage statement. * @return Command-line usage for the rosstack tool. */ virtual const char* usage(); virtual std::string get_manifest_type(); }; } // namespace rospack #endif rospack-2.3.1/include/rospack/rospack_backcompat.h000066400000000000000000000061401276234213700222530ustar00rootroot00000000000000/* * Copyright (C) 2008, Willow Garage, Inc. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #ifndef ROSPACK_ROSPACK_BACKCOMPAT_H #define ROSPACK_ROSPACK_BACKCOMPAT_H #include #include "macros.h" namespace rospack { /** * @brief Backward compatibility API for librospack (DEPRECATED). * @deprecated Used by roslib. Don't use in new code. */ class ROSPACK_DECL ROSPack { private: std::string output_; public: /** * @brief Constructor * @deprecated Used by roslib. Don't use in new code. */ ROSPack() {} /** * @brief Run rospack with the given arguments. Call getOutput() to * get the result. * @param argc Number of arguments in argv. * @param argv List of arguments. * @return Zero if the call succeeded, non-zero otherwise. * @deprecated Used by roslib. Don't use in new code. */ int run(int argc, char** argv); /** * @brief Run rospack with the given arguments. Call getOutput() to * get the result. * @param cmd Space-separated list of arguments. * @return Zero if the call succeeded, non-zero otherwise. * @deprecated Used by roslib. Don't use in new code. */ int run(const std::string& cmd); /** * @brief Get the output from the last successful run() call. * @return The result string. * @deprecated Used by roslib. Don't use in new code. */ std::string getOutput() {return output_;} /** * @brief Are we operating in quiet mode? * @return Always true. * @deprecated Used by roslib. Don't use in new code. */ bool is_quiet() {return true;} }; } // namespace rospack #endif rospack-2.3.1/package.xml000066400000000000000000000020711276234213700153030ustar00rootroot00000000000000 rospack 2.3.1 ROS Package Tool Dirk Thomas BSD http://wiki.ros.org/rospack https://github.com/ros/rospack/issues https://github.com/ros/rospack Brian Gerkey Morgan Quigley Dirk Thomas catkin boost cmake_modules gtest pkg-config python tinyxml boost pkg-config python python-catkin-pkg python-rosdep tinyxml python-coverage rospack-2.3.1/src/000077500000000000000000000000001276234213700137555ustar00rootroot00000000000000rospack-2.3.1/src/rospack.cpp000066400000000000000000002043321276234213700161270ustar00rootroot00000000000000/* * Copyright (C) 2008, Willow Garage, Inc., Morgan Quigley * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #include "rospack/rospack.h" #include "utils.h" #include "tinyxml.h" #include #include #include #include #if defined(WIN32) #include #include #include // for O_RDWR, O_EXCL, O_CREAT // simple workaround - could have issues though. See // http://stackoverflow.com/questions/2915672/snprintf-and-visual-studio-2010 // for potentially better solutions. Similar probably applies for some of the others #define snprintf _snprintf #define pclose _pclose #define popen _popen #define PATH_MAX MAX_PATH #if defined(__MINGW32__) #include // for dirname #endif #if defined(_MSC_VER) #include // _mktemp_s #endif #else //!defined(WIN32) #include #include #include #include #include #endif #include #include #include #include #include #include #include #include #include /* re-define some String functions for python 2.x */ #if PY_VERSION_HEX < 0x03000000 #undef PyBytes_AsString #undef PyUnicode_AsUTF8 #undef PyUnicode_FromString #define PyBytes_AsString PyString_AsString #define PyUnicode_AsUTF8 PyString_AsString #define PyUnicode_FromString PyString_FromString #endif // TODO: // recrawl on: // package not found in cache // package found in cache, but no manifest.xml present in filesystem namespace fs = boost::filesystem; namespace rospack { static const char* MANIFEST_TAG_PACKAGE = "package"; static const char* MANIFEST_TAG_STACK = "stack"; static const char* ROSPACK_MANIFEST_NAME = "manifest.xml"; static const char* ROSPACKAGE_MANIFEST_NAME = "package.xml"; static const char* ROSSTACK_MANIFEST_NAME = "stack.xml"; static const char* ROSPACK_CACHE_PREFIX = "rospack_cache"; static const char* ROSSTACK_CACHE_PREFIX = "rosstack_cache"; static const char* ROSPACK_NOSUBDIRS = "rospack_nosubdirs"; static const char* CATKIN_IGNORE = "CATKIN_IGNORE"; static const char* DOTROS_NAME = ".ros"; static const char* MSG_GEN_GENERATED_DIR = "msg_gen"; static const char* MSG_GEN_GENERATED_FILE = "generated"; static const char* SRV_GEN_GENERATED_DIR = "srv_gen"; static const char* SRV_GEN_GENERATED_FILE = "generated"; static const char* MANIFEST_TAG_ROSDEP = "rosdep"; static const char* MANIFEST_TAG_VERSIONCONTROL = "versioncontrol"; static const char* MANIFEST_TAG_EXPORT = "export"; static const char* MANIFEST_ATTR_NAME = "name"; static const char* MANIFEST_ATTR_TYPE = "type"; static const char* MANIFEST_ATTR_URL = "url"; static const char* MANIFEST_PREFIX = "${prefix}"; static const int MAX_CRAWL_DEPTH = 1000; static const int MAX_DEPENDENCY_DEPTH = 1000; static const double DEFAULT_MAX_CACHE_AGE = 60.0; TiXmlElement* get_manifest_root(Stackage* stackage); double time_since_epoch(); #ifdef __APPLE__ static const std::string g_ros_os = "osx"; #else #if defined(WIN32) static const std::string g_ros_os = "win32"; #else static const std::string g_ros_os = "linux"; #endif #endif class Exception : public std::runtime_error { public: Exception(const std::string& what) : std::runtime_error(what) {} }; class Stackage { public: // \brief name of the stackage std::string name_; // \brief absolute path to the stackage std::string path_; // \brief absolute path to the stackage manifest std::string manifest_path_; // \brief filename of the stackage manifest std::string manifest_name_; // \brief have we already loaded the manifest? bool manifest_loaded_; // \brief TinyXML structure, filled in during parsing TiXmlDocument manifest_; std::vector deps_; bool deps_computed_; bool is_wet_package_; bool is_metapackage_; Stackage(const std::string& name, const std::string& path, const std::string& manifest_path, const std::string& manifest_name) : name_(name), path_(path), manifest_path_(manifest_path), manifest_name_(manifest_name), manifest_loaded_(false), deps_computed_(false), is_metapackage_(false) { is_wet_package_ = manifest_name_ == ROSPACKAGE_MANIFEST_NAME; } void update_wet_information() { assert(is_wet_package_); assert(manifest_loaded_); // get name from package.xml instead of folder name TiXmlElement* root = get_manifest_root(this); for(TiXmlElement* el = root->FirstChildElement("name"); el; el = el->NextSiblingElement("name")) { name_ = el->GetText(); break; } // check if package is a metapackage for(TiXmlElement* el = root->FirstChildElement("export"); el; el = el->NextSiblingElement("export")) { if(el->FirstChildElement("metapackage")) { is_metapackage_ = true; break; } } } bool isStack() const { return manifest_name_ == MANIFEST_TAG_STACK || (is_wet_package_ && is_metapackage_); } bool isPackage() const { return manifest_name_ == MANIFEST_TAG_PACKAGE || (is_wet_package_ && !is_metapackage_); } }; class DirectoryCrawlRecord { public: std::string path_; bool zombie_; double start_time_; double crawl_time_; size_t start_num_pkgs_; DirectoryCrawlRecord(std::string path, double start_time, size_t start_num_pkgs) : path_(path), zombie_(false), start_time_(start_time), crawl_time_(0.0), start_num_pkgs_(start_num_pkgs) {} }; bool cmpDirectoryCrawlRecord(DirectoryCrawlRecord* i, DirectoryCrawlRecord* j) { return (i->crawl_time_ < j->crawl_time_); } ///////////////////////////////////////////////////////////// // Rosstackage methods (public/protected) ///////////////////////////////////////////////////////////// Rosstackage::Rosstackage(const std::string& manifest_name, const std::string& cache_prefix, const std::string& name, const std::string& tag) : manifest_name_(manifest_name), cache_prefix_(cache_prefix), crawled_(false), name_(name), tag_(tag) { } Rosstackage::~Rosstackage() { clearStackages(); } void Rosstackage::clearStackages() { for(std::tr1::unordered_map::const_iterator it = stackages_.begin(); it != stackages_.end(); ++it) { delete it->second; } stackages_.clear(); dups_.clear(); } void Rosstackage::logWarn(const std::string& msg, bool append_errno) { log("Warning", msg, append_errno); } void Rosstackage::logError(const std::string& msg, bool append_errno) { log("Error", msg, append_errno); } bool Rosstackage::getSearchPathFromEnv(std::vector& sp) { char* rpp = getenv("ROS_PACKAGE_PATH"); if(rpp) { // I can't see that boost filesystem has an elegant cross platform // representation for this anywhere like qt/python have. #if defined(WIN32) const char *path_delim = ";"; #else //!defined(WIN32) const char *path_delim = ":"; #endif std::vector rpp_strings; boost::split(rpp_strings, rpp, boost::is_any_of(path_delim), boost::token_compress_on); for(std::vector::const_iterator it = rpp_strings.begin(); it != rpp_strings.end(); ++it) { sp.push_back(*it); } } return true; } void Rosstackage::setQuiet(bool quiet) { quiet_ = quiet; } bool Rosstackage::isStackage(const std::string& path) { try { if(!fs::is_directory(path)) return false; } catch(fs::filesystem_error& e) { logWarn(std::string("error while looking at ") + path + ": " + e.what()); return false; } try { for(fs::directory_iterator dit = fs::directory_iterator(path); dit != fs::directory_iterator(); ++dit) { if(!fs::is_regular_file(dit->path())) continue; if(dit->path().filename() == manifest_name_) return true; // finding a package.xml is acceptable if(dit->path().filename() == ROSPACKAGE_MANIFEST_NAME) return true; } } catch(fs::filesystem_error& e) { logWarn(std::string("error while crawling ") + path + ": " + e.what()); } return false; } void Rosstackage::crawl(std::vector search_path, bool force) { if(!force) { bool same_search_paths = (search_path == search_paths_); // if search paths differ, try to reading the cache corresponding to the new paths if(!same_search_paths && readCache()) { // If the cache was valid, then the paths in the cache match the ones // we've been asked to crawl. Store them, so that later, methods // like find() can refer to them when recrawling. search_paths_ = search_path; return; } if(crawled_ && same_search_paths) return; } // We're about to crawl, so clear internal storage (in case this is the second // run in this process). clearStackages(); search_paths_ = search_path; std::vector dummy; std::tr1::unordered_set dummy2; for(std::vector::const_iterator p = search_paths_.begin(); p != search_paths_.end(); ++p) crawlDetail(*p, force, 1, false, dummy, dummy2); crawled_ = true; writeCache(); } bool Rosstackage::inStackage(std::string& name) { fs::path path; try { // Search upward, as suggested in #3697. This method is only used when // a package is not given on the command-line, and so should not have // performance impact in common usage. for(fs::path path = fs::current_path(); !path.empty(); path = path.parent_path()) { if(Rosstackage::isStackage(path.string())) { #if !defined(BOOST_FILESYSTEM_VERSION) || (BOOST_FILESYSTEM_VERSION == 2) name = fs::path(path).filename(); #else // in boostfs3, filename() returns a path, which needs to be stringified name = fs::path(path).filename().string(); #endif return true; } } // Search failed. return false; } catch(fs::filesystem_error& e) { // can't determine current directory, or encountered trouble while // searching upward; too bad return false; } } bool Rosstackage::find(const std::string& name, std::string& path) { Stackage* s = findWithRecrawl(name); if(s) { path = s->path_; return true; } else return false; } bool Rosstackage::contents(const std::string& name, std::set& packages) { Rospack rp2; std::tr1::unordered_map::const_iterator it = stackages_.find(name); if(it != stackages_.end()) { std::vector search_paths; search_paths.push_back(it->second->path_); rp2.crawl(search_paths, true); std::set > names_paths; rp2.list(names_paths); for(std::set >::const_iterator iit = names_paths.begin(); iit != names_paths.end(); ++iit) packages.insert(iit->first); return true; } else { logError(std::string("stack ") + name + " not found"); return false; } } bool Rosstackage::contains(const std::string& name, std::string& stack, std::string& path) { Rospack rp2; for(std::tr1::unordered_map::const_iterator it = stackages_.begin(); it != stackages_.end(); ++it) { std::vector search_paths; search_paths.push_back(it->second->path_); rp2.crawl(search_paths, true); std::set > names_paths; rp2.list(names_paths); for(std::set >::const_iterator iit = names_paths.begin(); iit != names_paths.end(); ++iit) { if(iit->first == name) { stack = it->first; path = it->second->path_; return true; } } } logError(std::string("stack containing package ") + name + " not found"); return false; } void Rosstackage::list(std::set >& list) { for(std::tr1::unordered_map::const_iterator it = stackages_.begin(); it != stackages_.end(); ++it) { std::pair item; item.first = it->first; item.second = it->second->path_; list.insert(item); } } void Rosstackage::listDuplicates(std::vector& dups) { dups.resize(dups_.size()); int i = 0; for(std::tr1::unordered_map >::const_iterator it = dups_.begin(); it != dups_.end(); ++it) { dups[i] = it->first; i++; } } void Rosstackage::listDuplicatesWithPaths(std::map >& dups) { dups.clear(); for(std::tr1::unordered_map >::const_iterator it = dups_.begin(); it != dups_.end(); ++it) { dups[it->first].resize(it->second.size()); int j = 0; for(std::vector::const_iterator jt = it->second.begin(); jt != it->second.end(); ++jt) { dups[it->first][j] = *jt; j++; } } } bool Rosstackage::deps(const std::string& name, bool direct, std::vector& deps) { std::vector stackages; // Disable errors for the first try bool old_quiet = quiet_; setQuiet(true); if(!depsDetail(name, direct, stackages)) { // Recrawl crawl(search_paths_, true); stackages.clear(); setQuiet(old_quiet); if(!depsDetail(name, direct, stackages)) return false; } setQuiet(old_quiet); for(std::vector::const_iterator it = stackages.begin(); it != stackages.end(); ++it) deps.push_back((*it)->name_); return true; } bool Rosstackage::depsOn(const std::string& name, bool direct, std::vector& deps) { std::vector stackages; if(!depsOnDetail(name, direct, stackages)) return false; for(std::vector::const_iterator it = stackages.begin(); it != stackages.end(); ++it) deps.push_back((*it)->name_); return true; } bool Rosstackage::depsIndent(const std::string& name, bool direct, std::vector& deps) { Stackage* stackage = findWithRecrawl(name); if(!stackage) return false; try { computeDeps(stackage); std::vector deps_vec; std::tr1::unordered_set deps_hash; std::vector indented_deps; gatherDepsFull(stackage, direct, POSTORDER, 0, deps_hash, deps_vec, true, indented_deps); for(std::vector::const_iterator it = indented_deps.begin(); it != indented_deps.end(); ++it) deps.push_back(*it); } catch(Exception& e) { logError(e.what()); return false; } return true; } bool Rosstackage::depsWhy(const std::string& from, const std::string& to, std::string& output) { Stackage* from_s = findWithRecrawl(from); if(!from_s) return false; Stackage* to_s = findWithRecrawl(to); if(!to_s) return false; std::list > acc_list; try { depsWhyDetail(from_s, to_s, acc_list); } catch(Exception& e) { logError(e.what()); return true; } output.append(std::string("Dependency chains from ") + from + " to " + to + ":\n"); for(std::list >::const_iterator it = acc_list.begin(); it != acc_list.end(); ++it) { output.append("* "); for(std::list::const_iterator iit = it->begin(); iit != it->end(); ++iit) { if(iit != it->begin()) output.append("-> "); output.append((*iit)->name_ + " "); } output.append("\n"); } return true; } bool Rosstackage::depsManifests(const std::string& name, bool direct, std::vector& manifests) { Stackage* stackage = findWithRecrawl(name); if(!stackage) return false; try { computeDeps(stackage); std::vector deps_vec; gatherDeps(stackage, direct, POSTORDER, deps_vec); for(std::vector::const_iterator it = deps_vec.begin(); it != deps_vec.end(); ++it) manifests.push_back((*it)->manifest_path_); } catch(Exception& e) { logError(e.what()); return false; } return true; } bool Rosstackage::rosdeps(const std::string& name, bool direct, std::set& rosdeps) { Stackage* stackage = findWithRecrawl(name); if(!stackage) return false; try { computeDeps(stackage); std::vector deps_vec; // rosdeps include the current package deps_vec.push_back(stackage); if(!direct) gatherDeps(stackage, direct, POSTORDER, deps_vec); for(std::vector::const_iterator it = deps_vec.begin(); it != deps_vec.end(); ++it) { if (!stackage->is_wet_package_) { _rosdeps(*it, rosdeps, MANIFEST_TAG_ROSDEP); } else { // package format 1 tags _rosdeps(*it, rosdeps, "build_depend"); _rosdeps(*it, rosdeps, "buildtool_depend"); _rosdeps(*it, rosdeps, "run_depend"); // package format 2 tags _rosdeps(*it, rosdeps, "build_export_depend"); _rosdeps(*it, rosdeps, "buildtool_export_depend"); _rosdeps(*it, rosdeps, "exec_depend"); _rosdeps(*it, rosdeps, "depend"); _rosdeps(*it, rosdeps, "doc_depend"); _rosdeps(*it, rosdeps, "test_depend"); } } } catch(Exception& e) { logError(e.what()); return false; } return true; } void Rosstackage::_rosdeps(Stackage* stackage, std::set& rosdeps, const char* tag_name) { TiXmlElement* root = get_manifest_root(stackage); for(TiXmlElement* ele = root->FirstChildElement(tag_name); ele; ele = ele->NextSiblingElement(tag_name)) { if(!stackage->is_wet_package_) { const char *att_str; if((att_str = ele->Attribute(MANIFEST_ATTR_NAME))) { rosdeps.insert(std::string("name: ") + att_str); } } else { const char* dep_pkgname = ele->GetText(); if(isSysPackage(dep_pkgname)) { rosdeps.insert(std::string("name: ") + dep_pkgname); } } } } bool Rosstackage::vcs(const std::string& name, bool direct, std::vector& vcs) { Stackage* stackage = findWithRecrawl(name); if(!stackage) return false; try { computeDeps(stackage); std::vector deps_vec; // vcs include the current package deps_vec.push_back(stackage); if(!direct) gatherDeps(stackage, direct, POSTORDER, deps_vec); for(std::vector::const_iterator it = deps_vec.begin(); it != deps_vec.end(); ++it) { TiXmlElement* root = get_manifest_root(*it); for(TiXmlElement* ele = root->FirstChildElement(MANIFEST_TAG_VERSIONCONTROL); ele; ele = ele->NextSiblingElement(MANIFEST_TAG_VERSIONCONTROL)) { std::string result; const char *att_str; if((att_str = ele->Attribute(MANIFEST_ATTR_TYPE))) { result.append("type: "); result.append(att_str); } if((att_str = ele->Attribute(MANIFEST_ATTR_URL))) { result.append("\turl: "); result.append(att_str); } vcs.push_back(result); } } } catch(Exception& e) { logError(e.what()); return false; } return true; } bool Rosstackage::cpp_exports(const std::string& name, const std::string& type, const std::string& attrib, bool deps_only, std::vector >& flags) { Stackage* stackage = findWithRecrawl(name); if(!stackage) return false; static bool init_py = false; static PyObject* pName; static PyObject* pModule; static PyObject* pDict; static PyObject* pFunc; try { computeDeps(stackage); std::vector deps_vec; if(!deps_only) deps_vec.push_back(stackage); gatherDeps(stackage, false, PREORDER, deps_vec, true); for(std::vector::const_iterator it = deps_vec.begin(); it != deps_vec.end(); ++it) { if(!(*it)->is_wet_package_) { std::vector dry_flags; if(!exports_dry_package(*it, "cpp", attrib, dry_flags)) { return false; } for(std::vector::const_iterator it = dry_flags.begin(); it != dry_flags.end(); ++it) { flags.push_back(std::pair(*it, false)); } } else { initPython(); PyGILState_STATE gstate = PyGILState_Ensure(); if(!init_py) { init_py = true; pName = PyUnicode_FromString("rosdep2.rospack"); pModule = PyImport_Import(pName); if(!pModule) { PyErr_Print(); PyGILState_Release(gstate); std::string errmsg = "could not find python module 'rosdep2.rospack'. is rosdep up-to-date (at least 0.10.4)?"; throw Exception(errmsg); } pDict = PyModule_GetDict(pModule); pFunc = PyDict_GetItemString(pDict, "call_pkg_config"); } if(!PyCallable_Check(pFunc)) { PyErr_Print(); PyGILState_Release(gstate); std::string errmsg = "could not find python function 'rosdep2.rospack.call_pkg_config'. is rosdep up-to-date (at least 0.10.7)?"; throw Exception(errmsg); } PyObject* pArgs = PyTuple_New(2); PyObject* pOpt = PyUnicode_FromString(type.c_str()); PyTuple_SetItem(pArgs, 0, pOpt); PyObject* pPkg = PyUnicode_FromString((*it)->name_.c_str()); PyTuple_SetItem(pArgs, 1, pPkg); PyObject* pValue = PyObject_CallObject(pFunc, pArgs); Py_DECREF(pArgs); if(!pValue) { PyErr_Print(); PyGILState_Release(gstate); std::string errmsg = "could not call python function 'rosdep2.rospack.call_pkg_config'"; throw Exception(errmsg); } if(pValue == Py_None) { Py_DECREF(pValue); std::string errmsg = "python function 'rosdep2.rospack.call_pkg_config' could not call 'pkg-config " + type + " " + (*it)->name_ + "' without errors"; throw Exception(errmsg); } flags.push_back(std::pair(PyBytes_AsString(pValue), true)); Py_DECREF(pValue); // we want to keep the static objects alive for repeated access // so skip all garbage collection until process ends //Py_DECREF(pFunc); //Py_DECREF(pModule); //Py_DECREF(pName); //Py_Finalize(); PyGILState_Release(gstate); } } } catch(Exception& e) { logError(e.what()); return false; } return true; } bool Rosstackage::reorder_paths(const std::string& paths, std::string& reordered) { static bool init_py = false; static PyObject* pName; static PyObject* pModule; static PyObject* pFunc; initPython(); PyGILState_STATE gstate = PyGILState_Ensure(); if(!init_py) { init_py = true; pName = PyUnicode_FromString("catkin_pkg.rospack"); pModule = PyImport_Import(pName); if(!pModule) { PyErr_Print(); PyGILState_Release(gstate); std::string errmsg = "could not find python module 'catkin_pkg.rospack'. is catkin_pkg up-to-date (at least 0.1.8)?"; throw Exception(errmsg); } PyObject* pDict = PyModule_GetDict(pModule); pFunc = PyDict_GetItemString(pDict, "reorder_paths"); } if(!PyCallable_Check(pFunc)) { PyErr_Print(); PyGILState_Release(gstate); std::string errmsg = "could not find python function 'catkin_pkg.rospack.reorder_paths'. is catkin_pkg up-to-date (at least 0.1.8)?"; throw Exception(errmsg); } PyObject* pArgs = PyTuple_New(1); PyTuple_SetItem(pArgs, 0, PyUnicode_FromString(paths.c_str())); PyObject* pValue = PyObject_CallObject(pFunc, pArgs); Py_DECREF(pArgs); if(!pValue) { PyErr_Print(); PyGILState_Release(gstate); std::string errmsg = "could not call python function 'catkin_pkg.rospack.reorder_paths'"; throw Exception(errmsg); } reordered = PyUnicode_AsUTF8(pValue); Py_DECREF(pValue); // we want to keep the static objects alive for repeated access // so skip all garbage collection until process ends //Py_DECREF(pFunc); //Py_DECREF(pModule); //Py_DECREF(pName); //Py_Finalize(); PyGILState_Release(gstate); return true; } bool Rosstackage::exports(const std::string& name, const std::string& lang, const std::string& attrib, bool deps_only, std::vector& flags) { Stackage* stackage = findWithRecrawl(name); if(!stackage) return false; try { computeDeps(stackage); std::vector deps_vec; if(!deps_only) deps_vec.push_back(stackage); gatherDeps(stackage, false, PREORDER, deps_vec); for(std::vector::const_iterator it = deps_vec.begin(); it != deps_vec.end(); ++it) { if (!exports_dry_package(*it, lang, attrib, flags)) { return false; } } } catch(Exception& e) { logError(e.what()); return false; } return true; } bool Rosstackage::exports_dry_package(Stackage* stackage, const std::string& lang, const std::string& attrib, std::vector& flags) { TiXmlElement* root = get_manifest_root(stackage); for(TiXmlElement* ele = root->FirstChildElement(MANIFEST_TAG_EXPORT); ele; ele = ele->NextSiblingElement(MANIFEST_TAG_EXPORT)) { bool os_match = false; const char *best_match = NULL; for(TiXmlElement* ele2 = ele->FirstChildElement(lang); ele2; ele2 = ele2->NextSiblingElement(lang)) { const char *os_str; if ((os_str = ele2->Attribute("os"))) { if(g_ros_os == std::string(os_str)) { if(os_match) logWarn(std::string("ignoring duplicate ") + lang + " tag with os=" + os_str + " in export block"); else { best_match = ele2->Attribute(attrib.c_str()); os_match = true; } } } if(!os_match) { if(!best_match) best_match = ele2->Attribute(attrib.c_str()); else logWarn(std::string("ignoring duplicate ") + lang + " tag in export block"); } } if(best_match) { std::string expanded_str; if(!expandExportString(stackage, best_match, expanded_str)) return false; flags.push_back(expanded_str); } } // We automatically point to msg_gen and msg_srv directories if // certain files are present. // But only if we're looking for cpp/cflags, #3884. if((lang == "cpp") && (attrib == "cflags")) { fs::path msg_gen = fs::path(stackage->path_) / MSG_GEN_GENERATED_DIR; fs::path srv_gen = fs::path(stackage->path_) / SRV_GEN_GENERATED_DIR; if(fs::is_regular_file(msg_gen / MSG_GEN_GENERATED_FILE)) { msg_gen /= fs::path("cpp") / "include"; flags.push_back(std::string("-I" + msg_gen.string())); } if(fs::is_regular_file(srv_gen / SRV_GEN_GENERATED_FILE)) { srv_gen /= fs::path("cpp") / "include"; flags.push_back(std::string("-I" + srv_gen.string())); } } return true; } bool Rosstackage::plugins(const std::string& name, const std::string& attrib, const std::string& top, std::vector& flags) { // Find everybody who depends directly on the package in question std::vector stackages; if(!depsOnDetail(name, true, stackages, true)) return false; // Also look in the package itself std::tr1::unordered_map::const_iterator it = stackages_.find(name); if(it != stackages_.end()) { // don't warn here; it was done in depsOnDetail() stackages.push_back(it->second); } // If top was given, filter to include only those package on which top // depends. if(top.size()) { std::vector top_deps; if(!depsDetail(top, false, top_deps)) return false; std::tr1::unordered_set top_deps_set; for(std::vector::iterator it = top_deps.begin(); it != top_deps.end(); ++it) top_deps_set.insert(*it); std::vector::iterator it = stackages.begin(); while(it != stackages.end()) { if((*it)->name_ != top && (top_deps_set.find(*it) == top_deps_set.end())) it = stackages.erase(it); else ++it; } } // Now go looking for the manifest data for(std::vector::const_iterator it = stackages.begin(); it != stackages.end(); ++it) { TiXmlElement* root = get_manifest_root(*it); for(TiXmlElement* ele = root->FirstChildElement(MANIFEST_TAG_EXPORT); ele; ele = ele->NextSiblingElement(MANIFEST_TAG_EXPORT)) { for(TiXmlElement* ele2 = ele->FirstChildElement(name); ele2; ele2 = ele2->NextSiblingElement(name)) { const char *att_str; if((att_str = ele2->Attribute(attrib.c_str()))) { std::string expanded_str; if(!expandExportString(*it, att_str, expanded_str)) return false; flags.push_back((*it)->name_ + " " + expanded_str); } } } } return true; } bool Rosstackage::depsMsgSrv(const std::string& name, bool direct, std::vector& gens) { Stackage* stackage = findWithRecrawl(name); if(!stackage) return false; try { computeDeps(stackage); std::vector deps_vec; gatherDeps(stackage, direct, POSTORDER, deps_vec); for(std::vector::const_iterator it = deps_vec.begin(); it != deps_vec.end(); ++it) { fs::path msg_gen = fs::path((*it)->path_) / MSG_GEN_GENERATED_DIR / MSG_GEN_GENERATED_FILE; fs::path srv_gen = fs::path((*it)->path_) / SRV_GEN_GENERATED_DIR / SRV_GEN_GENERATED_FILE; if(fs::is_regular_file(msg_gen)) gens.push_back(msg_gen.string()); if(fs::is_regular_file(srv_gen)) gens.push_back(srv_gen.string()); } } catch(Exception& e) { logError(e.what()); return false; } return true; } ///////////////////////////////////////////////////////////// // Rosstackage methods (private) ///////////////////////////////////////////////////////////// void Rosstackage::log(const std::string& level, const std::string& msg, bool append_errno) { if(quiet_) return; fprintf(stderr, "[%s] %s: %s", name_.c_str(), level.c_str(), msg.c_str()); if(append_errno) fprintf(stderr, ": %s", strerror(errno)); fprintf(stderr, "\n"); } Stackage* Rosstackage::findWithRecrawl(const std::string& name) { if(stackages_.count(name)) return stackages_[name]; else { // Try to recrawl, in case we loaded from cache crawl(search_paths_, true); if(stackages_.count(name)) return stackages_[name]; } logError(get_manifest_type() + " '" + name + "' not found"); return NULL; } bool Rosstackage::depsDetail(const std::string& name, bool direct, std::vector& deps) { // No recrawl here, because we're in a recursive function. Rely on the // top level to do it. if(!stackages_.count(name)) { logError(std::string("no such package ") + name); return false; } Stackage* stackage = stackages_[name]; try { computeDeps(stackage); std::vector deps_vec; gatherDeps(stackage, direct, POSTORDER, deps_vec); for(std::vector::const_iterator it = deps_vec.begin(); it != deps_vec.end(); ++it) deps.push_back(*it); } catch(Exception& e) { logError(e.what()); return false; } return true; } void Rosstackage::depsWhyDetail(Stackage* from, Stackage* to, std::list >& acc_list) { computeDeps(from); for(std::vector::const_iterator it = from->deps_.begin(); it != from->deps_.end(); ++it) { if((*it)->name_ == to->name_) { std::list acc; acc.push_back(from); acc.push_back(to); acc_list.push_back(acc); } else { std::list > l; depsWhyDetail(*it, to, l); for(std::list >::iterator iit = l.begin(); iit != l.end(); ++iit) { iit->push_front(from); acc_list.push_back(*iit); } } } } bool Rosstackage::depsOnDetail(const std::string& name, bool direct, std::vector& deps, bool ignore_missing) { // No recrawl here, because depends-on always forces a crawl at the // start. if(!stackages_.count(name)) { logError(std::string("no such package ") + name); return false; } try { for(std::tr1::unordered_map::const_iterator it = stackages_.begin(); it != stackages_.end(); ++it) { computeDeps(it->second, true, ignore_missing); std::vector deps_vec; gatherDeps(it->second, direct, POSTORDER, deps_vec); for(std::vector::const_iterator iit = deps_vec.begin(); iit != deps_vec.end(); ++iit) { if((*iit)->name_ == name) { deps.push_back(it->second); break; } } } } catch(Exception& e) { logError(e.what()); return false; } return true; } bool Rosstackage::profile(const std::vector& search_path, bool zombie_only, int length, std::vector& dirs) { double start = time_since_epoch(); std::vector dcrs; std::tr1::unordered_set dcrs_hash; for(std::vector::const_iterator p = search_path.begin(); p != search_path.end(); ++p) { crawlDetail(*p, true, 1, true, dcrs, dcrs_hash); } if(!zombie_only) { double total = time_since_epoch() - start; char buf[16]; snprintf(buf, sizeof(buf), "%.6f", total); dirs.push_back(std::string("Full tree crawl took ") + buf + " seconds."); dirs.push_back("Directories marked with (*) contain no manifest. You may"); dirs.push_back("want to delete these directories."); dirs.push_back("To get just of list of directories without manifests,"); dirs.push_back("re-run the profile with --zombie-only"); dirs.push_back("-------------------------------------------------------------"); } std::sort(dcrs.begin(), dcrs.end(), cmpDirectoryCrawlRecord); std::reverse(dcrs.begin(), dcrs.end()); int i=0; for(std::vector::const_iterator it = dcrs.begin(); it != dcrs.end(); ++it) { if(zombie_only) { if((*it)->zombie_) { if(length < 0 || i < length) dirs.push_back((*it)->path_); i++; } } else { char buf[16]; snprintf(buf, sizeof(buf), "%.6f", (*it)->crawl_time_); if(length < 0 || i < length) dirs.push_back(std::string(buf) + " " + ((*it)->zombie_ ? "* " : " ") + (*it)->path_); i++; } delete *it; } writeCache(); return 0; } void Rosstackage::addStackage(const std::string& path) { #if !defined(BOOST_FILESYSTEM_VERSION) || (BOOST_FILESYSTEM_VERSION == 2) std::string name = fs::path(path).filename(); #else // in boostfs3, filename() returns a path, which needs to be stringified std::string name = fs::path(path).filename().string(); #endif Stackage* stackage = 0; fs::path dry_manifest_path = fs::path(path) / manifest_name_; fs::path wet_manifest_path = fs::path(path) / ROSPACKAGE_MANIFEST_NAME; if(fs::is_regular_file(dry_manifest_path)) { stackage = new Stackage(name, path, dry_manifest_path.string(), manifest_name_); } else if(fs::is_regular_file(wet_manifest_path)) { stackage = new Stackage(name, path, wet_manifest_path.string(), ROSPACKAGE_MANIFEST_NAME); loadManifest(stackage); stackage->update_wet_information(); } else { return; } // skip the stackage if it is not of correct type if((manifest_name_ == ROSSTACK_MANIFEST_NAME && stackage->isPackage()) || (manifest_name_ == ROSPACK_MANIFEST_NAME && stackage->isStack())) { delete stackage; return; } if(stackages_.find(stackage->name_) != stackages_.end()) { if (dups_.find(stackage->name_) == dups_.end()) { std::vector dups; dups.push_back(stackages_[stackage->name_]->path_); dups_[stackage->name_] = dups; } dups_[stackage->name_].push_back(stackage->path_); delete stackage; return; } stackages_[stackage->name_] = stackage; } void Rosstackage::crawlDetail(const std::string& path, bool force, int depth, bool collect_profile_data, std::vector& profile_data, std::tr1::unordered_set& profile_hash) { if(depth > MAX_CRAWL_DEPTH) throw Exception("maximum depth exceeded during crawl"); try { if(!fs::is_directory(path)) return; } catch(fs::filesystem_error& e) { logWarn(std::string("error while looking at ") + path + ": " + e.what()); return; } fs::path catkin_ignore = fs::path(path) / CATKIN_IGNORE; try { if(fs::is_regular_file(catkin_ignore)) return; } catch(fs::filesystem_error& e) { logWarn(std::string("error while looking for ") + catkin_ignore.string() + ": " + e.what()); } if(isStackage(path)) { addStackage(path); return; } fs::path nosubdirs = fs::path(path) / ROSPACK_NOSUBDIRS; try { if(fs::is_regular_file(nosubdirs)) return; } catch(fs::filesystem_error& e) { logWarn(std::string("error while looking for ") + nosubdirs.string() + ": " + e.what()); } // We've already checked above whether CWD contains the kind of manifest // we're looking for. Don't recurse if we encounter a rospack manifest, // to avoid having rosstack finding stacks inside packages, #3816. fs::path rospack_manifest = fs::path(path) / ROSPACK_MANIFEST_NAME; try { if(fs::is_regular_file(rospack_manifest)) return; } catch(fs::filesystem_error& e) { logWarn(std::string("error while looking for ") + rospack_manifest.string() + ": " + e.what()); } DirectoryCrawlRecord* dcr = NULL; if(collect_profile_data) { if(profile_hash.find(path) == profile_hash.end()) { dcr = new DirectoryCrawlRecord(path, time_since_epoch(), stackages_.size()); profile_data.push_back(dcr); profile_hash.insert(path); } } try { for(fs::directory_iterator dit = fs::directory_iterator(path); dit != fs::directory_iterator(); ++dit) { if(fs::is_directory(dit->path())) { #if !defined(BOOST_FILESYSTEM_VERSION) || (BOOST_FILESYSTEM_VERSION == 2) std::string name = dit->path().filename(); #else // in boostfs3, filename() returns a path, which needs to be stringified std::string name = dit->path().filename().string(); #endif // Ignore directories starting with '.' if(name.size() == 0 || name[0] == '.') continue; crawlDetail(dit->path().string(), force, depth+1, collect_profile_data, profile_data, profile_hash); } } } catch(fs::filesystem_error& e) { logWarn(std::string("error while crawling ") + path + ": " + e.what()); } if(collect_profile_data && dcr != NULL) { // Measure the elapsed time dcr->crawl_time_ = time_since_epoch() - dcr->start_time_; // If the number of packages didn't change while crawling, // then this directory is a zombie if(stackages_.size() == dcr->start_num_pkgs_) dcr->zombie_ = true; } } void Rosstackage::loadManifest(Stackage* stackage) { if(stackage->manifest_loaded_) return; if(!stackage->manifest_.LoadFile(stackage->manifest_path_)) { std::string errmsg = std::string("error parsing manifest of package ") + stackage->name_ + " at " + stackage->manifest_path_; throw Exception(errmsg); } stackage->manifest_loaded_ = true; } void Rosstackage::computeDeps(Stackage* stackage, bool ignore_errors, bool ignore_missing) { if(stackage->deps_computed_) return; stackage->deps_computed_ = true; try { loadManifest(stackage); get_manifest_root(stackage); } catch(Exception& e) { if(ignore_errors) return; else throw e; } if (!stackage->is_wet_package_) { computeDepsInternal(stackage, ignore_errors, "depend", ignore_missing); } else { // package format 1 tags computeDepsInternal(stackage, ignore_errors, "run_depend", ignore_missing); // package format 2 tags computeDepsInternal(stackage, ignore_errors, "exec_depend", ignore_missing); computeDepsInternal(stackage, ignore_errors, "depend", ignore_missing); } } void Rosstackage::computeDepsInternal(Stackage* stackage, bool ignore_errors, const std::string& depend_tag, bool ignore_missing) { TiXmlElement* root; root = get_manifest_root(stackage); TiXmlNode *dep_node = NULL; const char* dep_pkgname; while((dep_node = root->IterateChildren(depend_tag, dep_node))) { TiXmlElement *dep_ele = dep_node->ToElement(); if (!stackage->is_wet_package_) { dep_pkgname = dep_ele->Attribute(tag_.c_str()); } else { dep_pkgname = dep_ele->GetText(); } if(!dep_pkgname) { if(!ignore_errors) { std::string errmsg = std::string("bad depend syntax (no 'package/stack' attribute) in manifest ") + stackage->name_ + " at " + stackage->manifest_path_; throw Exception(errmsg); } } else if(dep_pkgname == stackage->name_) { if(!ignore_errors) { std::string errmsg = get_manifest_type() + " '" + stackage->name_ + "' depends on itself"; throw Exception(errmsg); } } else if(!stackages_.count(dep_pkgname)) { if (stackage->is_wet_package_ && (ignore_missing || isSysPackage(dep_pkgname))) { continue; } if(ignore_errors) { Stackage* dep = new Stackage(dep_pkgname, "", "", ""); stackage->deps_.push_back(dep); } else { std::string errmsg = get_manifest_type() + " '" + stackage->name_ + "' depends on non-existent package '" + dep_pkgname + "' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'"; throw Exception(errmsg); } } else { Stackage* dep = stackages_[dep_pkgname]; if (std::find(stackage->deps_.begin(), stackage->deps_.end(), dep) == stackage->deps_.end()) { stackage->deps_.push_back(dep); computeDeps(dep, ignore_errors, ignore_missing); } } } } void Rosstackage::initPython() { static bool initialized = false; if(!initialized) { initialized = true; Py_InitializeEx(0); } } bool Rosstackage::isSysPackage(const std::string& pkgname) { static std::map cache; if(cache.find(pkgname) != cache.end()) { return cache.find(pkgname)->second; } initPython(); PyGILState_STATE gstate = PyGILState_Ensure(); static PyObject* pModule = 0; static PyObject* pDict = 0; if(!pModule) { PyObject* pName = PyUnicode_FromString("rosdep2.rospack"); pModule = PyImport_Import(pName); Py_DECREF(pName); if(!pModule) { PyErr_Print(); PyGILState_Release(gstate); std::string errmsg = "could not find python module 'rosdep2.rospack'. is rosdep up-to-date (at least 0.10.4)?"; throw Exception(errmsg); } pDict = PyModule_GetDict(pModule); } static PyObject* pView = 0; if(!pView) { PyObject* pFunc = PyDict_GetItemString(pDict, "init_rospack_interface"); if(!PyCallable_Check(pFunc)) { PyErr_Print(); PyGILState_Release(gstate); std::string errmsg = "could not find python function 'rosdep2.rospack.init_rospack_interface'. is rosdep up-to-date (at least 0.10.4)?"; throw Exception(errmsg); } pView = PyObject_CallObject(pFunc, NULL); if(!pView) { PyErr_Print(); PyGILState_Release(gstate); std::string errmsg = "could not call python function 'rosdep2.rospack.init_rospack_interface'"; throw Exception(errmsg); } } static bool rospack_view_not_empty = false; if(!rospack_view_not_empty) { PyObject* pFunc = PyDict_GetItemString(pDict, "is_view_empty"); if(!PyCallable_Check(pFunc)) { PyErr_Print(); PyGILState_Release(gstate); std::string errmsg = "could not find python function 'rosdep2.rospack.is_view_empty'. is rosdep up-to-date (at least 0.10.8)?"; throw Exception(errmsg); } PyObject* pArgs = PyTuple_New(1); PyTuple_SetItem(pArgs, 0, pView); PyObject* pValue = PyObject_CallObject(pFunc, pArgs); Py_INCREF(pView); // in order to keep the view when garbaging pArgs Py_DECREF(pArgs); if(PyObject_IsTrue(pValue)) { PyErr_Print(); PyGILState_Release(gstate); std::string errmsg = "the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'"; throw Exception(errmsg); } rospack_view_not_empty = true; } PyObject* pFunc = PyDict_GetItemString(pDict, "is_system_dependency"); if(!PyCallable_Check(pFunc)) { PyErr_Print(); PyGILState_Release(gstate); std::string errmsg = "could not call python function 'rosdep2.rospack.is_system_dependency'. is rosdep up-to-date (at least 0.10.4)?"; throw Exception(errmsg); } PyObject* pArgs = PyTuple_New(2); PyTuple_SetItem(pArgs, 0, pView); PyObject* pDep = PyUnicode_FromString(pkgname.c_str()); PyTuple_SetItem(pArgs, 1, pDep); PyObject* pValue = PyObject_CallObject(pFunc, pArgs); Py_INCREF(pView); // in order to keep the view when garbaging pArgs Py_DECREF(pArgs); bool value = PyObject_IsTrue(pValue); Py_DECREF(pValue); // we want to keep the static objects alive for repeated access // so skip all garbage collection until process ends //Py_DECREF(pView); //Py_DECREF(pDict); //Py_DECREF(pModule); //Py_Finalize(); PyGILState_Release(gstate); cache[pkgname] = value; return value; } void Rosstackage::gatherDeps(Stackage* stackage, bool direct, traversal_order_t order, std::vector& deps, bool no_recursion_on_wet) { std::tr1::unordered_set deps_hash; std::vector indented_deps; gatherDepsFull(stackage, direct, order, 0, deps_hash, deps, false, indented_deps, no_recursion_on_wet); } void _gatherDepsFull(Stackage* stackage, bool direct, traversal_order_t order, int depth, std::tr1::unordered_set& deps_hash, std::vector& deps, bool get_indented_deps, std::vector& indented_deps, bool no_recursion_on_wet, std::vector& dep_chain) { if(stackage->is_wet_package_ && no_recursion_on_wet) { return; } if(direct && (stackage->is_wet_package_ || !no_recursion_on_wet)) { for(std::vector::const_iterator it = stackage->deps_.begin(); it != stackage->deps_.end(); ++it) deps.push_back(*it); return; } if(depth > MAX_DEPENDENCY_DEPTH) { std::string cycle; for(std::vector::const_iterator it = dep_chain.begin(); it != dep_chain.end(); ++it) { std::vector::const_iterator begin = dep_chain.begin(); std::vector::const_iterator cycle_begin = std::find(begin, it, *it); if(cycle_begin != it) { cycle = ": "; for(std::vector::const_iterator jt = cycle_begin; jt != it; ++jt) { if(jt != cycle_begin) cycle += ", "; cycle += *jt; } break; } } throw Exception(std::string("maximum dependency depth exceeded (likely circular dependency") + cycle + ")"); } for(std::vector::const_iterator it = stackage->deps_.begin(); it != stackage->deps_.end(); ++it) { if(get_indented_deps) { std::string indented_dep; for(int i=0; iname_); indented_deps.push_back(indented_dep); } bool first = (deps_hash.find(*it) == deps_hash.end()); if(first) { deps_hash.insert(*it); // We maintain the vector because the original rospack guaranteed // ordering in dep reporting. if(order == PREORDER) deps.push_back(*it); } if(!(*it)->is_wet_package_ || !no_recursion_on_wet) { // We always descend, even if we're encountering this stackage for the // nth time, so that we'll throw an error on recursive dependencies // (detected via max stack depth being exceeded). dep_chain.push_back((*it)->name_); _gatherDepsFull(*it, direct, order, depth+1, deps_hash, deps, get_indented_deps, indented_deps, no_recursion_on_wet, dep_chain); dep_chain.pop_back(); } if(first) { if(order == POSTORDER) deps.push_back(*it); } } } // Pre-condition: computeDeps(stackage) succeeded void Rosstackage::gatherDepsFull(Stackage* stackage, bool direct, traversal_order_t order, int depth, std::tr1::unordered_set& deps_hash, std::vector& deps, bool get_indented_deps, std::vector& indented_deps, bool no_recursion_on_wet) { std::vector dep_chain; dep_chain.push_back(stackage->name_); _gatherDepsFull(stackage, direct, order, depth, deps_hash, deps, get_indented_deps, indented_deps, no_recursion_on_wet, dep_chain); } std::string Rosstackage::getCachePath() { fs::path cache_path; char* ros_home = getenv("ROS_HOME"); if(ros_home) cache_path = ros_home; else { // Get the user's home directory by looking up the password entry based // on UID. If that doesn't work, we fall back on examining $HOME, // knowing that that can cause trouble when mixed with sudo (#2884). #if defined(WIN32) char* home_drive = getenv("HOMEDRIVE"); char* home_path = getenv("HOMEPATH"); if(home_drive && home_path) cache_path = fs::path(home_drive) / fs::path(home_path) / fs::path(DOTROS_NAME); #else // UNIX char* home_path; struct passwd* passwd_ent; // Look up based on effective UID, just in case we got here by set-uid if((passwd_ent = getpwuid(geteuid()))) home_path = passwd_ent->pw_dir; else home_path = getenv("HOME"); if(home_path) cache_path = fs::path(home_path) / fs::path(DOTROS_NAME); #endif } // If it doesn't exist, create the directory that will hold the cache try { if(!fs::is_directory(cache_path)) { fs::create_directory(cache_path); } } catch(fs::filesystem_error& e) { logWarn(std::string("cannot create rospack cache directory ") + cache_path.string() + ": " + e.what()); } cache_path /= cache_prefix_ + "_" + getCacheHash(); return cache_path.string(); } std::string Rosstackage::getCacheHash() { size_t value = 0; char* rpp = getenv("ROS_PACKAGE_PATH"); if(rpp != NULL) { boost::hash hash_func; value = hash_func(rpp); } char buffer[21]; snprintf(buffer, 21, "%020lu", value); return buffer; } bool Rosstackage::readCache() { FILE* cache = validateCache(); if(cache) { // We're about to read from the cache, so clear internal storage (in case this is // the second run in this process). clearStackages(); char linebuf[30000]; for(;;) { if (!fgets(linebuf, sizeof(linebuf), cache)) break; // error in read operation if (linebuf[0] == '#') continue; char* newline_pos = strchr(linebuf, '\n'); if(newline_pos) *newline_pos = 0; addStackage(linebuf); } fclose(cache); return true; } else return false; } // TODO: replace the contents of the method with some fancy cross-platform // boost thing. void Rosstackage::writeCache() { // Write the results of this crawl to the cache file. At each step, give // up on error, printing a warning to stderr. std::string cache_path = getCachePath(); if(!cache_path.size()) { logWarn("no location available to write cache file. Try setting ROS_HOME or HOME."); } else { size_t len = cache_path.size() + 1; char *tmp_cache_dir = new char[len]; strncpy(tmp_cache_dir, cache_path.c_str(), len); #if defined(_MSC_VER) // No dirname on Windows; use _splitpath_s instead char tmp_cache_path[PATH_MAX]; char drive[_MAX_DRIVE], dir[_MAX_DIR], fname[_MAX_FNAME], ext[_MAX_EXT]; _splitpath_s(tmp_cache_dir, drive, _MAX_DRIVE, dir, _MAX_DIR, fname, _MAX_FNAME, ext, _MAX_EXT); char full_dir[_MAX_DRIVE + _MAX_DIR]; _makepath_s(full_dir, _MAX_DRIVE + _MAX_DIR, drive, dir, NULL, NULL); snprintf(tmp_cache_path, sizeof(tmp_cache_path), "%s\\.rospack_cache.XXXXXX", full_dir); #elif defined(__MINGW32__) char tmp_cache_path[PATH_MAX]; char* temp_name = tempnam(dirname(tmp_cache_dir),".rospack_cache."); snprintf(tmp_cache_path, sizeof(tmp_cache_path), temp_name); delete temp_name; #else char *temp_dirname = dirname(tmp_cache_dir); len = strlen(temp_dirname) + 22 + 1; char *tmp_cache_path = new char[len]; snprintf(tmp_cache_path, len, "%s/.rospack_cache.XXXXXX", temp_dirname); #endif #if defined(__MINGW32__) // There is no equivalent of mkstemp or _mktemp_s on mingw, so we resort to a slightly problematic // tempnam (above) and mktemp method. This has the miniscule chance of a race condition. int fd = open(tmp_cache_path, O_RDWR | O_EXCL | _O_CREAT, 0644); if (fd < 0) { logWarn(std::string("unable to create temporary cache file ") + tmp_cache_path, true); } else { FILE *cache = fdopen(fd, "w"); #elif defined(WIN32) if (_mktemp_s(tmp_cache_path, PATH_MAX) != 0) { fprintf(stderr, "[rospack] Unable to generate temporary cache file name: %u", GetLastError()); } else { FILE *cache = fopen(tmp_cache_path, "w"); #else int fd = mkstemp(tmp_cache_path); if (fd < 0) { fprintf(stderr, "[rospack] Unable to create temporary cache file %s: %s\n", tmp_cache_path, strerror(errno)); } else { FILE *cache = fdopen(fd, "w"); #endif if (!cache) { fprintf(stderr, "[rospack] Unable open cache file %s: %s\n", tmp_cache_path, strerror(errno)); } else { char *rpp = getenv("ROS_PACKAGE_PATH"); fprintf(cache, "#ROS_PACKAGE_PATH=%s\n", (rpp ? rpp : "")); for(std::tr1::unordered_map::const_iterator it = stackages_.begin(); it != stackages_.end(); ++it) fprintf(cache, "%s\n", it->second->path_.c_str()); fclose(cache); if(fs::exists(cache_path)) remove(cache_path.c_str()); if(rename(tmp_cache_path, cache_path.c_str()) < 0) { fprintf(stderr, "[rospack] Error: failed to rename cache file %s to %s: %s\n", tmp_cache_path, cache_path.c_str(), strerror(errno)); } } } delete[] tmp_cache_dir; #if !defined(_MSC_VER) && !defined(__MINGW32__) delete[] tmp_cache_path; #endif } } FILE* Rosstackage::validateCache() { std::string cache_path = getCachePath(); // first see if it's new enough double cache_max_age = DEFAULT_MAX_CACHE_AGE; const char *user_cache_time_str = getenv("ROS_CACHE_TIMEOUT"); if(user_cache_time_str) cache_max_age = atof(user_cache_time_str); if(cache_max_age == 0.0) return NULL; struct stat s; if(stat(cache_path.c_str(), &s) == 0) { double dt = difftime(time(NULL), s.st_mtime); // Negative cache_max_age means it's always new enough. It's dangerous // for the user to set this, but rosbash uses it. if ((cache_max_age > 0.0) && (dt > cache_max_age)) return NULL; } // try to open it FILE* cache = fopen(cache_path.c_str(), "r"); if(!cache) return NULL; // it's not readable by us. sad. // see if ROS_PACKAGE_PATH matches char linebuf[30000]; bool ros_package_path_ok = false; const char* ros_package_path = getenv("ROS_PACKAGE_PATH"); for(;;) { if(!fgets(linebuf, sizeof(linebuf), cache)) break; linebuf[strlen(linebuf)-1] = 0; // get rid of trailing newline if (linebuf[0] == '#') { if(!strncmp("#ROS_PACKAGE_PATH=", linebuf, 18)) { if(!ros_package_path) { if(!strlen(linebuf+18)) ros_package_path_ok = true; } else if(!strcmp(linebuf+18, ros_package_path)) ros_package_path_ok = true; } } else break; // we're out of the header. nothing more matters to this check. } if(ros_package_path_ok) { // seek to the beginning and pass back the stream (instead of closing // and later reopening, which is a race condition, #1666) fseek(cache, 0, SEEK_SET); return cache; } else { fclose(cache); return NULL; } } bool Rosstackage::expandExportString(Stackage* stackage, const std::string& instring, std::string& outstring) { outstring = instring; for(std::string::size_type i = outstring.find(MANIFEST_PREFIX); i != std::string::npos; i = outstring.find(MANIFEST_PREFIX)) { outstring.replace(i, std::string(MANIFEST_PREFIX).length(), stackage->path_); } // skip substitution attempt when the string neither contains // a dollar sign for $(command) and $envvar nor // a backtick wrapping a command if (outstring.find_first_of("$`") == std::string::npos) { return true; } // Do backquote substitution. E.g., if we find this string: // `pkg-config --cflags gdk-pixbuf-2.0` // We replace it with the result of executing the command // contained within the backquotes (reading from its stdout), which // might be something like: // -I/usr/include/gtk-2.0 -I/usr/include/glib-2.0 -I/usr/lib/glib-2.0/include // Construct and execute the string // We do the assignment first to ensure that if backquote expansion (or // anything else) fails, we'll get a non-zero exit status from pclose(). std::string cmd = std::string("ret=\"") + outstring + "\" && echo $ret"; // Remove embedded newlines std::string token("\n"); for (std::string::size_type s = cmd.find(token); s != std::string::npos; s = cmd.find(token, s)) cmd.replace(s,token.length(),std::string(" ")); FILE* p; if(!(p = popen(cmd.c_str(), "r"))) { std::string errmsg = std::string("failed to execute backquote expression ") + cmd + " in " + stackage->manifest_path_; logWarn(errmsg, true); return false; } else { char buf[8192]; memset(buf,0,sizeof(buf)); // Read the command's output do { clearerr(p); while(fgets(buf + strlen(buf),sizeof(buf)-strlen(buf)-1,p)); } while(ferror(p) && errno == EINTR); // Close the subprocess, checking exit status if(pclose(p) != 0) { std::string errmsg = std::string("got non-zero exit status from executing backquote expression ") + cmd + " in " + stackage->manifest_path_; return false; } else { // Strip trailing newline, which was added by our call to echo buf[strlen(buf)-1] = '\0'; // Replace the backquote expression with the new text outstring = buf; } } return true; } ///////////////////////////////////////////////////////////// // Rospack methods ///////////////////////////////////////////////////////////// Rospack::Rospack() : Rosstackage(ROSPACK_MANIFEST_NAME, ROSPACK_CACHE_PREFIX, ROSPACK_NAME, MANIFEST_TAG_PACKAGE) { } const char* Rospack::usage() { return "USAGE: rospack [options] [package]\n" " Allowed commands:\n" " help\n" " cflags-only-I [--deps-only] [package]\n" " cflags-only-other [--deps-only] [package]\n" " depends [package] (alias: deps)\n" " depends-indent [package] (alias: deps-indent)\n" " depends-manifests [package] (alias: deps-manifests)\n" " depends-msgsrv [package] (alias: deps-msgsrv)\n" " depends-on [package]\n" " depends-on1 [package]\n" " depends-why --target= [package] (alias: deps-why)\n" " depends1 [package] (alias: deps1)\n" " export [--deps-only] --lang= --attrib= [package]\n" " find [package]\n" " langs\n" " libs-only-L [--deps-only] [package]\n" " libs-only-l [--deps-only] [package]\n" " libs-only-other [--deps-only] [package]\n" " list\n" " list-duplicates\n" " list-names\n" " plugins --attrib= [--top=] [package]\n" " profile [--length=] [--zombie-only]\n" " rosdep [package] (alias: rosdeps)\n" " rosdep0 [package] (alias: rosdeps0)\n" " vcs [package]\n" " vcs0 [package]\n" " Extra options:\n" " -q Quiets error reports.\n\n" " If [package] is omitted, the current working directory\n" " is used (if it contains a package.xml or manifest.xml).\n\n"; } std::string Rospack::get_manifest_type() { return "package"; } ///////////////////////////////////////////////////////////// // Rosstack methods ///////////////////////////////////////////////////////////// Rosstack::Rosstack() : Rosstackage(ROSSTACK_MANIFEST_NAME, ROSSTACK_CACHE_PREFIX, ROSSTACK_NAME, MANIFEST_TAG_STACK) { } const char* Rosstack::usage() { return "USAGE: rosstack [options] [stack]\n" " Allowed commands:\n" " help\n" " find [stack]\n" " contents [stack]\n" " list\n" " list-names\n" " depends [stack] (alias: deps)\n" " depends-manifests [stack] (alias: deps-manifests)\n" " depends1 [stack] (alias: deps1)\n" " depends-indent [stack] (alias: deps-indent)\n" " depends-why --target= [stack] (alias: deps-why)\n" " depends-on [stack]\n" " depends-on1 [stack]\n" " contains [package]\n" " contains-path [package]\n" " profile [--length=] \n\n" " If [stack] is omitted, the current working directory\n" " is used (if it contains a stack.xml).\n\n"; } std::string Rosstack::get_manifest_type() { return "stack"; } TiXmlElement* get_manifest_root(Stackage* stackage) { TiXmlElement* ele = stackage->manifest_.RootElement(); if(!ele) { std::string errmsg = std::string("error parsing manifest of package ") + stackage->name_ + " at " + stackage->manifest_path_; throw Exception(errmsg); } return ele; } double time_since_epoch() { #if defined(WIN32) #if defined(_MSC_VER) || defined(_MSC_EXTENSIONS) #define DELTA_EPOCH_IN_MICROSECS 11644473600000000Ui64 #else #define DELTA_EPOCH_IN_MICROSECS 11644473600000000ULL #endif FILETIME ft; unsigned __int64 tmpres = 0; GetSystemTimeAsFileTime(&ft); tmpres |= ft.dwHighDateTime; tmpres <<= 32; tmpres |= ft.dwLowDateTime; tmpres /= 10; tmpres -= DELTA_EPOCH_IN_MICROSECS; return static_cast(tmpres) / 1e6; #else struct timeval tod; gettimeofday(&tod, NULL); return tod.tv_sec + 1e-6 * tod.tv_usec; #endif } } // namespace rospack rospack-2.3.1/src/rospack_backcompat.cpp000066400000000000000000000056451276234213700203210ustar00rootroot00000000000000/* * Copyright (C) 2008, Willow Garage, Inc., Morgan Quigley * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #include "rospack/rospack_backcompat.h" #include "rospack/rospack.h" #include "rospack_cmdline.h" #include #include #include #include namespace rospack { int ROSPack::run(int argc, char** argv) { // allow caching of results between calls (of same process) static rospack::Rospack rp; output_.clear(); bool success = rospack::rospack_run(argc, argv, rp, output_); if(!success) { fprintf(stderr, "[librospack]: error while executing command\n"); return 1; } return 0; } int ROSPack::run(const std::string& cmd) { // Callers of this method don't make 'rospack' argv[0]. std::string full_cmd = std::string("rospack ") + cmd; int argc; char** argv; std::vector full_cmd_split; boost::split(full_cmd_split, full_cmd, boost::is_any_of(" "), boost::token_compress_on); argc = full_cmd_split.size(); argv = new char*[argc]; int i = 0; for(std::vector::const_iterator it = full_cmd_split.begin(); it != full_cmd_split.end(); ++it) { argv[i] = new char[it->size()+1]; memset(argv[i], 0, it->size()+1); memcpy(argv[i], it->c_str(), it->size()); i++; } int ret = run(argc, argv); for(int i=0; i #include #include #include #include #include namespace po = boost::program_options; namespace rospack { bool parse_args(int argc, char** argv, rospack::Rosstackage& rp, po::variables_map& vm); bool rospack_run(int argc, char** argv, rospack::Rosstackage& rp, std::string& output) { po::variables_map vm; if(!parse_args(argc, argv, rp, vm)) return false; bool quiet = (vm.count("quiet")==1); rp.setQuiet(quiet); std::string command; std::string package; bool package_given = false; bool deps_only = false; std::string lang; std::string attrib; std::string top; std::string target; bool zombie_only = false; std::string length_str; int length; if(vm.count("command")) command = vm["command"].as(); if(vm.count("-h") && command.empty()) command = "help"; if(!command.size()) { rp.logError( std::string("no command given. Try '") + rp.getName() + " help'"); return true; } // For some commands, we force a crawl. Definitely anything that does a // depends-on calculation. bool force = false; if((command == "profile") || (command == "depends-on") || (command == "depends-on1") || (command == "langs") || (command == "list-duplicates")) force = true; if(vm.count("package")) { package = vm["package"].as(); package_given = true; } else { // try to determine package from directory context rp.inStackage(package); } if(vm.count("deps-only")) deps_only = true; if(vm.count("lang")) lang = vm["lang"].as(); if(vm.count("attrib")) attrib = vm["attrib"].as(); if(vm.count("top")) top = vm["top"].as(); if(vm.count("target")) target = vm["target"].as(); if(vm.count("zombie-only")) zombie_only = true; if(vm.count("length")) { length_str = vm["length"].as(); length = atoi(length_str.c_str()); } else { if(zombie_only) length = -1; else length = 20; } // COMMAND: help if(command == "help" || vm.count("help")) { if(package_given || (command != "help" && vm.count("help"))) { if (command == "help") { command = vm["package"].as(); } output.append("Usage: rospack "); output.append(command); if(command == "help") output.append("[command]\n\nPrint help message."); else if(command == "find") output.append("\n\nPrint absolute path to the package"); else if(command == "list") output.append("\n\nPrint newline-separated list for all packages."); else if(command == "list-names") output.append("\n\nPrint newline-separated list of packages names for all packages."); else if(command == "list-duplicates") output.append("\n\nPrint newline-separated list of names of packages that are found more than once during the search."); else if(command == "langs") output.append("\n\nPrint space-separated list of available language-specific client libraries."); else if(command == "depends" || command == "deps") output.append("[package]\n\nPrint newline-separated, ordered list of all dependencies of the package."); else if(command == "depends1" || command == "deps1") output.append("[package]\n\nPrint newline-separated, ordered list of immediate dependencies of the package."); else if(command == "depends-manifest" || command == "deps-manifest") output.append("[package]\n\nPrint space-separated, ordered list of manifest.xml files for all dependencies of the package. Used internally by rosbuild."); else if(command == "depends-indent" || command == "deps-indent") output.append("[package]\n\nPrint newline-separated, indented list of the entire dependency chain for the package."); else if(command == "depends-why" || command == "deps-why") output.append("--target=TARGET [package]\n\nPrint newline-separated presentation of all dependency chains from the package to TARGET. "); else if(command == "depends-msgsrv" || command == "deps-msgsrv") output.append("[package]\n\nPrint space-separated list of message-generation marker files for all dependencies of the package. Used internally by rosbuild."); else if(command == "rosdep" || command == "rosdeps") output.append("[package]\n\nPrint newline-separated list of all [rosdep] tags from the manifest.xml of the package and all of its dependencies."); else if(command == "rosdep0" || command == "rosdeps0") output.append("[package]\n\nPrint newline-separated list of all [rosdep] tags from the manifest.xml of just the package itself."); else if(command == "vcs") output.append("[package]\n\nPrint newline-separated list of all [versioncontrol] tags from the manifest.xml of the package and all of its dependencies."); else if(command == "vcs0") output.append("[package]\n\nPrint newline-separated list of all [versioncontrol] tags from the manifest.xml of just the package itself."); else if(command == "depends-on") output.append("[package]\n\nPrint newline-separated list of all packages that depend on the package. "); else if(command == "depends-on1") output.append("[package]\n\nPrint newline-separated list of all packages that directly depend on the package."); else if(command == "export") output.append("[--deps-only] --lang= --attrib= [package]\n\nPrint Space-separated list of [export][LANGUAGE ATTRIBUTE=\"\"/][/export] values from the manifest.xml of the package and its dependencies.\n\nIf --deps-only is provided, then the package itself is excluded."); else if(command == "plugins") output.append("--attrib= [--top=] [package]\n\nExamine packages that depend directly on the given package, giving name and the exported attribute with the name \n\nIf --top= is given, then in addition to depending directly on the given package, to be scanned for exports, a package must also be a dependency of , or be itself."); else if(command == "cflags-only-I") output.append("[--deps-only] [package]\n\nPrint Space-separated list of [export][LANGUAGE ATTRIBUTE=\"\"/][/export] values from the manifest.xml of the package and its dependencies.\n\nIf --deps-only is provided, then the package itself is excluded."); else if(command == "cflags-only-other") output.append("[--deps-only] [package]\n\nPrint space-separated list of export/cpp/cflags that don't start with -I.\n\nIf --deps-only is provided, then the package itself is excluded."); else if(command == "libs-only-L") output.append("[--deps-only] [package]\n\nPrint space-separated list of export/cpp/libs that start with -L.\n\nIf --deps-only is provided, then the package itself is excluded."); else if(command == "libs-only-l") output.append("[--deps-only] [package]\n\nPrint space-separated list of export/cpp/libs that start with -l.\n\nIf --deps-only is provided, then the package itself is excluded."); else if(command == "libs-only-other") output.append("[--deps-only] [package]\n\nPrint space-separated list of export/cpp/libs that don't start with -l or -L.\n\nIf --deps-only is provided, then the package itself is excluded."); else if(command == "profile") output.append("[--length=] [--zombie-only]\n\nForce a full crawl of package directories and report the directories that took the longest time to crawl.\n\n--length=N how many directories to display\n\n--zombie-only Only print directories that do not have any manifests."); output.append("\n"); } else { output.append(rp.usage()); } return true; } std::vector search_path; if(!rp.getSearchPathFromEnv(search_path)) return false; // COMMAND: profile if(command == "profile") { if(package_given || target.size() || top.size() || deps_only || lang.size() || attrib.size()) { rp.logError( "invalid option(s) given"); return false; } std::vector dirs; if(rp.profile(search_path, zombie_only, length, dirs)) return false; for(std::vector::const_iterator it = dirs.begin(); it != dirs.end(); ++it) output.append((*it) + "\n"); return true; } // We crawl here because profile (above) does its own special crawl. rp.crawl(search_path, force); // COMMAND: find [package] if(command == "find") { if(!package.size()) { rp.logError(std::string("no ") + rp.get_manifest_type() + " given"); return false; } if(target.size() || top.size() || length_str.size() || zombie_only || deps_only || lang.size() || attrib.size()) { rp.logError( "invalid option(s) given"); return false; } std::string path; if(!rp.find(package, path)) return false; output.append(path + "\n"); return true; } // COMMAND: list else if(command == "list") { if(package_given || target.size() || top.size() || length_str.size() || zombie_only || deps_only || lang.size() || attrib.size()) { rp.logError( "invalid option(s) given"); return false; } std::set > list; rp.list(list); for(std::set >::const_iterator it = list.begin(); it != list.end(); ++it) { output.append(it->first + " " + it->second + "\n"); } return true; } // COMMAND: list-names else if(command == "list-names") { if(package_given || target.size() || top.size() || length_str.size() || zombie_only || deps_only || lang.size() || attrib.size()) { rp.logError( "invalid option(s) given"); return false; } std::set > list; rp.list(list); for(std::set >::const_iterator it = list.begin(); it != list.end(); ++it) { output.append(it->first + "\n"); } return true; } // COMMAND: list-duplicates else if(command == "list-duplicates") { if(package_given || target.size() || top.size() || length_str.size() || zombie_only || deps_only || lang.size() || attrib.size()) { rp.logError( "invalid option(s) given"); return false; } std::map > dups; rp.listDuplicatesWithPaths(dups); // if there are dups, list-duplicates prints them and returns non-zero for(std::map >::const_iterator it = dups.begin(); it != dups.end(); ++it) { output.append(it->first + "\n"); for(std::vector::const_iterator jt = it->second.begin(); jt != it->second.end(); ++jt) { output.append("- " + *jt + "\n"); } } return true; } // COMMAND: langs else if(rp.getName() == ROSPACK_NAME && command == "langs") { if(package_given || target.size() || top.size() || length_str.size() || zombie_only || deps_only || lang.size() || attrib.size()) { rp.logError( "invalid option(s) given"); return false; } std::vector deps; if(!rp.depsOn("roslang", true, deps)) return false; const char* ros_lang_disable; if((ros_lang_disable = getenv("ROS_LANG_DISABLE"))) { std::vector disable_langs; // I can't see that boost filesystem has an elegant cross platform // representation for this anywhere like qt/python have. #if defined(WIN32) const char *path_delim = ";"; #else //!defined(WIN32) const char *path_delim = ":"; #endif boost::split(disable_langs, ros_lang_disable, boost::is_any_of(path_delim), boost::token_compress_on); std::vector::iterator it = deps.begin(); while(it != deps.end()) { if(std::find(disable_langs.begin(), disable_langs.end(), *it) != disable_langs.end()) it = deps.erase(it); else ++it; } } for(std::vector::const_iterator it = deps.begin(); it != deps.end(); ++it) { if(it != deps.begin()) output.append(" "); output.append(*it); } output.append("\n"); return true; } // COMMAND: depends [package] (alias: deps) else if(command == "depends" || command == "deps" || command == "depends1" || command == "deps1") { if(!package.size()) { rp.logError(std::string("no ") + rp.get_manifest_type() + " given"); return false; } if(target.size() || top.size() || length_str.size() || zombie_only || deps_only || lang.size() || attrib.size()) { rp.logError( "invalid option(s) given"); return false; } std::vector deps; if(!rp.deps(package, (command == "depends1" || command == "deps1"), deps)) return false; for(std::vector::const_iterator it = deps.begin(); it != deps.end(); ++it) output.append(*it + "\n"); return true; } // COMMAND: depends-manifests [package] (alias: deps-manifests) else if(command == "depends-manifests" || command == "deps-manifests") { if(!package.size()) { rp.logError(std::string("no ") + rp.get_manifest_type() + " given"); return false; } if(target.size() || top.size() || length_str.size() || zombie_only || deps_only || lang.size() || attrib.size()) { rp.logError( "invalid option(s) given"); return false; } std::vector manifests; if(!rp.depsManifests(package, false, manifests)) return false; for(std::vector::const_iterator it = manifests.begin(); it != manifests.end(); ++it) { if(it != manifests.begin()) output.append(" "); output.append(*it); } output.append("\n"); return true; } // COMMAND: depends-msgsrv [package] (alias: deps-msgsrv) else if(rp.getName() == ROSPACK_NAME && (command == "depends-msgsrv" || command == "deps-msgsrv")) { if(!package.size()) { rp.logError( "no package given"); return false; } if(target.size() || top.size() || length_str.size() || zombie_only || deps_only || lang.size() || attrib.size()) { rp.logError( "invalid option(s) given"); return false; } std::vector gens; if(!rp.depsMsgSrv(package, false, gens)) return false; for(std::vector::const_iterator it = gens.begin(); it != gens.end(); ++it) { if(it != gens.begin()) output.append(" "); output.append(*it); } output.append("\n"); return true; } // COMMAND: depends-indent [package] (alias: deps-indent) else if(command == "depends-indent" || command == "deps-indent") { if(!package.size()) { rp.logError(std::string("no ") + rp.get_manifest_type() + " given"); return false; } if(target.size() || top.size() || length_str.size() || zombie_only || deps_only || lang.size() || attrib.size()) { rp.logError( "invalid option(s) given"); return false; } std::vector deps; if(!rp.depsIndent(package, false, deps)) return false; for(std::vector::const_iterator it = deps.begin(); it != deps.end(); ++it) output.append(*it + "\n"); return true; } // COMMAND: depends-why [package] (alias: deps-why) else if(command == "depends-why" || command == "deps-why") { if(!package.size() || !target.size()) { rp.logError(std::string("no ") + rp.get_manifest_type() + " or target given"); return false; } if(top.size() || length_str.size() || zombie_only || deps_only || lang.size() || attrib.size()) { rp.logError( "invalid option(s) given"); return false; } std::string why_output; if(!rp.depsWhy(package, target, why_output)) return false; output.append(why_output); return true; } // COMMAND: rosdep [package] (alias: rosdeps) // COMMAND: rosdep0 [package] (alias: rosdeps0) else if(rp.getName() == ROSPACK_NAME && (command == "rosdep" || command == "rosdeps" || command == "rosdep0" || command == "rosdeps0")) { if(!package.size()) { rp.logError( "no package given"); return false; } if(target.size() || top.size() || length_str.size() || zombie_only || deps_only || lang.size() || attrib.size()) { rp.logError( "invalid option(s) given"); return false; } std::set rosdeps; if(!rp.rosdeps(package, (command == "rosdep0" || command == "rosdeps0"), rosdeps)) return false; for(std::set::const_iterator it = rosdeps.begin(); it != rosdeps.end(); ++it) output.append(*it + "\n"); return true; } // COMMAND: vcs [package] // COMMAND: vcs0 [package] else if(rp.getName() == ROSPACK_NAME && (command == "vcs" || command == "vcs0")) { if(!package.size()) { rp.logError( "no package given"); return false; } if(target.size() || top.size() || length_str.size() || zombie_only || deps_only || lang.size() || attrib.size()) { rp.logError( "invalid option(s) given"); return false; } std::vector vcs; if(!rp.vcs(package, (command == "vcs0"), vcs)) return false; for(std::vector::const_iterator it = vcs.begin(); it != vcs.end(); ++it) output.append(*it + "\n"); return true; } // COMMAND: depends-on [package] // COMMAND: depends-on1 [package] else if(command == "depends-on" || command == "depends-on1") { if(!package.size()) { rp.logError(std::string("no ") + rp.get_manifest_type() + " given"); return false; } if(target.size() || top.size() || length_str.size() || zombie_only || deps_only || lang.size() || attrib.size()) { rp.logError( "invalid option(s) given"); return false; } std::vector deps; if(!rp.depsOn(package, (command == "depends-on1"), deps)) return false; for(std::vector::const_iterator it = deps.begin(); it != deps.end(); ++it) output.append(*it + "\n"); return true; } // COMMAND: export [--deps-only] --lang= --attrib= [package] else if(rp.getName() == ROSPACK_NAME && command == "export") { if(!package.size() || !lang.size() || !attrib.size()) { rp.logError( "no package / lang / attrib given"); return false; } if(target.size() || top.size() || length_str.size() || zombie_only) { rp.logError( "invalid option(s) given"); return false; } std::vector flags; if(!rp.exports(package, lang, attrib, deps_only, flags)) return false; for(std::vector::const_iterator it = flags.begin(); it != flags.end(); ++it) { if(it != flags.begin()) output.append(" "); output.append(*it); } output.append("\n"); return true; } // COMMAND: plugins --attrib= [--top=] [package] else if(rp.getName() == ROSPACK_NAME && command == "plugins") { if(!package.size() || !attrib.size()) { rp.logError( "no package / attrib given"); return false; } if(target.size() || length_str.size() || zombie_only) { rp.logError( "invalid option(s) given"); return false; } std::vector flags; if(!rp.plugins(package, attrib, top, flags)) return false; for(std::vector::const_iterator it = flags.begin(); it != flags.end(); ++it) output.append(*it + "\n"); return true; } // COMMAND: cflags-only-I [--deps-only] [package] else if(rp.getName() == ROSPACK_NAME && command == "cflags-only-I") { if(!package.size()) { rp.logError( "no package given"); return false; } if(target.size() || top.size() || length_str.size() || zombie_only) { rp.logError( "invalid option(s) given"); return false; } std::vector > flags; if(!rp.cpp_exports(package, "--cflags-only-I", "cflags", deps_only, flags)) return false; std::string dry_combined; std::string wet_combined; for(std::vector >::const_iterator it = flags.begin(); it != flags.end(); ++it) { std::string& combined = it->second ? wet_combined : dry_combined; if(!combined.empty()) combined.append(" "); combined.append(it->first); } std::string dry_result; parse_compiler_flags(dry_combined, "-I", true, false, dry_result); output.append(dry_result); std::string wet_result; parse_compiler_flags(wet_combined, "-I", true, false, wet_result); if(!dry_result.empty() && !wet_result.empty()) output.append(" "); if(!rp.reorder_paths(wet_result, wet_result)) return false; output.append(wet_result + "\n"); return true; } // COMMAND: cflags-only-other [--deps-only] [package] else if(rp.getName() == ROSPACK_NAME && command == "cflags-only-other") { if(!package.size()) { rp.logError( "no package given"); return false; } if(target.size() || top.size() || length_str.size() || zombie_only) { rp.logError( "invalid option(s) given"); return false; } std::vector > flags; if(!rp.cpp_exports(package, "--cflags-only-other", "cflags", deps_only, flags)) return false; std::string combined; for(std::vector >::const_iterator it = flags.begin(); it != flags.end(); ++it) { if(it != flags.begin()) combined.append(" "); combined.append(it->first); } std::string result; parse_compiler_flags(combined, "-I", false, false, result); output.append(result + "\n"); return true; } // COMMAND: libs-only-L [--deps-only] [package] else if(rp.getName() == ROSPACK_NAME && command == "libs-only-L") { if(!package.size()) { rp.logError( "no package given"); return false; } if(target.size() || top.size() || length_str.size() || zombie_only) { rp.logError( "invalid option(s) given"); return false; } std::vector > flags; if(!rp.cpp_exports(package, "--libs-only-L", "lflags", deps_only, flags)) return false; std::string dry_combined; std::string wet_combined; for(std::vector >::const_iterator it = flags.begin(); it != flags.end(); ++it) { std::string& combined = it->second ? wet_combined : dry_combined; if(!combined.empty()) combined.append(" "); combined.append(it->first); } std::string dry_result; parse_compiler_flags(dry_combined, "-L", true, false, dry_result); output.append(dry_result); std::string wet_result; parse_compiler_flags(wet_combined, "-L", true, false, wet_result); if(!dry_result.empty() && !wet_result.empty()) output.append(" "); if(!rp.reorder_paths(wet_result, wet_result)) return false; output.append(wet_result + "\n"); return true; } // COMMAND: libs-only-l [--deps-only] [package] else if(rp.getName() == ROSPACK_NAME && command == "libs-only-l") { if(!package.size()) { rp.logError( "no package given"); return false; } if(target.size() || top.size() || length_str.size() || zombie_only) { rp.logError( "invalid option(s) given"); return false; } std::vector > flags; if(!rp.cpp_exports(package, "--libs-only-l", "lflags", deps_only, flags)) return false; std::string combined; for(std::vector >::const_iterator it = flags.begin(); it != flags.end(); ++it) { if(it != flags.begin()) combined.append(" "); combined.append(it->first); } std::string result; parse_compiler_flags(combined, "-l", true, true, result); output.append(result + "\n"); return true; } // COMMAND: libs-only-other [--deps-only] [package] else if(rp.getName() == ROSPACK_NAME && command == "libs-only-other") { if(!package.size()) { rp.logError( "no package given"); return false; } if(target.size() || top.size() || length_str.size() || zombie_only) { rp.logError( "invalid option(s) given"); return false; } std::vector > flags; if(!rp.cpp_exports(package, "--libs-only-other", "lflags", deps_only, flags)) return false; std::string combined; for(std::vector >::const_iterator it = flags.begin(); it != flags.end(); ++it) { if(it != flags.begin()) combined.append(" "); combined.append(it->first); } std::string intermediate; parse_compiler_flags(combined, "-L", false, false, intermediate); std::string result; parse_compiler_flags(intermediate, "-l", false, false, result); output.append(result + "\n"); return true; } // COMMAND: contents [stack] else if(rp.getName() == ROSSTACK_NAME && command == "contents") { if(!package.size()) { rp.logError( "no stack given"); return false; } if(target.size() || top.size() || length_str.size() || zombie_only || deps_only || lang.size() || attrib.size()) { rp.logError( "invalid option(s) given"); return false; } std::set packages; rp.contents(package, packages); for(std::set::const_iterator it = packages.begin(); it != packages.end(); ++it) output.append(*it + "\n"); return true; } // COMMAND: contains [package] else if(rp.getName() == ROSSTACK_NAME && ((command == "contains") || (command == "contains-path"))) { if(!package.size()) { rp.logError( "no package given"); return false; } if(target.size() || top.size() || length_str.size() || zombie_only || deps_only || lang.size() || attrib.size()) { rp.logError( "invalid option(s) given"); return false; } std::string name, path; if(!rp.contains(package, name, path)) return false; if(command == "contains") output.append(name + "\n"); else // command == "contains-path" output.append(path + "\n"); return true; } else { rp.logError(std::string("command ") + command + " not implemented"); return false; } } bool parse_args(int argc, char** argv, rospack::Rosstackage& rp, po::variables_map& vm) { po::options_description desc("Allowed options"); desc.add_options() ("command", po::value(), "command") ("package", po::value(), "package") ("target", po::value(), "target") ("deps-only", "deps-only") ("lang", po::value(), "lang") ("attrib", po::value(), "attrib") ("top", po::value(), "top") ("length", po::value(), "length") ("zombie-only", "zombie-only") ("help", "help") ("-h", "help") ("quiet,q", "quiet"); po::positional_options_description pd; pd.add("command", 1).add("package", 1); try { po::store(po::command_line_parser(argc, argv).options(desc).positional(pd).run(), vm); } catch(boost::program_options::error e) { rp.logError( std::string("failed to parse command-line options: ") + e.what()); return false; } po::notify(vm); return true; } } rospack-2.3.1/src/rospack_cmdline.h000066400000000000000000000035331276234213700172670ustar00rootroot00000000000000/* * Copyright (C) 2008, Willow Garage, Inc. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #ifndef ROSPACK_ROSPACK_CMDLINE_H #define ROSPACK_ROSPACK_CMDLINE_H #include "rospack/macros.h" #include "rospack/rospack.h" namespace rospack { ROSPACK_DECL bool rospack_run(int argc, char** argv, rospack::Rosstackage& rp, std::string& output); } #endif rospack-2.3.1/src/rospack_main.cpp000066400000000000000000000034711276234213700171340ustar00rootroot00000000000000/* * Copyright (C) 2008, Willow Garage, Inc. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #include "rospack_cmdline.h" #include int main(int argc, char** argv) { rospack::Rospack rp; std::string output; if(!rospack::rospack_run(argc, argv, rp, output)) return 1; else { printf("%s", output.c_str()); return 0; } } rospack-2.3.1/src/rosstack_main.cpp000066400000000000000000000034711276234213700173230ustar00rootroot00000000000000/* * Copyright (C) 2008, Willow Garage, Inc. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #include "rospack_cmdline.h" #include int main(int argc, char** argv) { rospack::Rosstack rs; std::string output; if(!rospack::rospack_run(argc, argv, rs, output)) return 1; else { printf("%s", output.c_str()); return 0; } } rospack-2.3.1/src/utils.cpp000066400000000000000000000106501276234213700156230ustar00rootroot00000000000000/* * Copyright (C) 2008, Willow Garage, Inc. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #include #include #include #include #include "utils.h" namespace rospack { void deduplicate_tokens(const std::string& instring, bool last, std::string& outstring) { std::vector vec; std::tr1::unordered_set set; boost::split(vec, instring, boost::is_any_of("\t "), boost::token_compress_on); if(last) std::reverse(vec.begin(), vec.end()); std::vector vec_out; for(std::vector::const_iterator it = vec.begin(); it != vec.end(); ++it) { if(set.find(*it) == set.end()) { vec_out.push_back(*it); set.insert(*it); } } if(last) std::reverse(vec_out.begin(), vec_out.end()); for(std::vector::const_iterator it = vec_out.begin(); it != vec_out.end(); ++it) { if(it == vec_out.begin()) outstring.append(*it); else outstring.append(std::string(" ") + *it); } } void parse_compiler_flags(const std::string& instring, const std::string& token, bool select, bool last, std::string& outstring) { std::string intermediate; std::vector result_vec; boost::split(result_vec, instring, boost::is_any_of("\t "), boost::token_compress_on); for(std::vector::const_iterator it = result_vec.begin(); it != result_vec.end(); ++it) { // Combined into one arg if(it->size() > token.size() && it->substr(0,token.size()) == token) { if(select) { if(intermediate.size()) intermediate.append(" "); intermediate.append(it->substr(token.size())); } } // Space-separated else if((*it) == token) { std::vector::const_iterator iit = it; if(++iit != result_vec.end()) { if(it->size() >= token.size() && it->substr(0,token.size()) == token) { // skip it } else { if(select) { if(intermediate.size()) intermediate.append(" "); intermediate.append((*iit)); } it = iit; } } } // Special case: if we're told to look for -l, then also find *.a else if(it->size() > 2 && (*it)[0] == '/' && it->substr(it->size()-2) == ".a") { if(select) { if(intermediate.size()) intermediate.append(" "); intermediate.append((*it)); } } else if(!select) { if(intermediate.size()) intermediate.append(" "); intermediate.append((*it)); } } if(select) deduplicate_tokens(intermediate, last, outstring); else outstring = intermediate; } } rospack-2.3.1/src/utils.h000066400000000000000000000045571276234213700153010ustar00rootroot00000000000000/* * Copyright (C) 2008, Willow Garage, Inc. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #ifndef ROSPACK_UTILS_H #define ROSPACK_UTILS_H #include #include "rospack/macros.h" namespace rospack { // Strings that are used in multiple translation units within librospack #ifndef _WIN32 # pragma GCC diagnostic push # pragma GCC diagnostic ignored "-Wunused-variable" #endif static const char* ROSPACK_NAME = "rospack"; static const char* ROSSTACK_NAME = "rosstack"; #ifndef _WIN32 # pragma GCC diagnostic pop #endif ROSPACK_DECL void deduplicate_tokens(const std::string& instring, bool last, std::string& outstring); ROSPACK_DECL void parse_compiler_flags(const std::string& instring, const std::string& token, bool select, bool last, std::string& outstring); } #endif rospack-2.3.1/test/000077500000000000000000000000001276234213700141455ustar00rootroot00000000000000rospack-2.3.1/test/CMakeLists.txt000066400000000000000000000020621276234213700167050ustar00rootroot00000000000000include_directories(${PROJECT_SOURCE_DIR}/src) catkin_add_gtest(${PROJECT_NAME}-utest test/utest.cpp ${PROJECT_SOURCE_DIR}/src/rospack_cmdline.cpp ${PROJECT_SOURCE_DIR}/src/utils.cpp WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}) if(TARGET ${PROJECT_NAME}-utest) target_link_libraries(${PROJECT_NAME}-utest rospack) endif() # Prepare to run the tests. This could be cleaner. add_custom_target(${PROJECT_NAME}-prepare_test COMMAND cmake -E copy_directory ${PROJECT_SOURCE_DIR}/test ${CMAKE_CURRENT_BINARY_DIR} COMMAND cmake -E chdir test/deep "${PYTHON_EXECUTABLE}" deep.py) if(TARGET ${PROJECT_NAME}-utest) add_dependencies(${PROJECT_NAME}-utest ${PROJECT_NAME}-prepare_test) endif() configure_file(test/utest.py.in ${CMAKE_CURRENT_BINARY_DIR}/test/utest.py) configure_file(test/utest_rosstack.py.in ${CMAKE_CURRENT_BINARY_DIR}/test/utest_rosstack.py) catkin_add_nosetests(${CMAKE_CURRENT_BINARY_DIR}/test WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/test) rospack-2.3.1/test/stack_install/000077500000000000000000000000001276234213700170005ustar00rootroot00000000000000rospack-2.3.1/test/stack_install/stack/000077500000000000000000000000001276234213700201055ustar00rootroot00000000000000rospack-2.3.1/test/stack_install/stack/package/000077500000000000000000000000001276234213700215005ustar00rootroot00000000000000rospack-2.3.1/test/stack_install/stack/package/manifest.xml000066400000000000000000000000251276234213700240250ustar00rootroot00000000000000 rospack-2.3.1/test/stack_install/stack/stack.xml000066400000000000000000000000221276234213700217260ustar00rootroot00000000000000 rospack-2.3.1/test/stack_overlay/000077500000000000000000000000001276234213700170135ustar00rootroot00000000000000rospack-2.3.1/test/stack_overlay/stack/000077500000000000000000000000001276234213700201205ustar00rootroot00000000000000rospack-2.3.1/test/stack_overlay/stack/package/000077500000000000000000000000001276234213700215135ustar00rootroot00000000000000rospack-2.3.1/test/stack_overlay/stack/package/manifest.xml000066400000000000000000000000251276234213700240400ustar00rootroot00000000000000 rospack-2.3.1/test/stack_overlay/stack/stack.xml000066400000000000000000000000221276234213700217410ustar00rootroot00000000000000 rospack-2.3.1/test/structure_test/000077500000000000000000000000001276234213700172445ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/.hidden/000077500000000000000000000000001276234213700205555ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/.hidden/manifest.xml000066400000000000000000000002501276234213700231020ustar00rootroot00000000000000 rospack-2.3.1/test/structure_test/package1/000077500000000000000000000000001276234213700207205ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/package1/manifest.xml000066400000000000000000000002501276234213700232450ustar00rootroot00000000000000 rospack-2.3.1/test/structure_test/package2/000077500000000000000000000000001276234213700207215ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/package2/manifest.xml000066400000000000000000000002501276234213700232460ustar00rootroot00000000000000 rospack-2.3.1/test/structure_test/package2/rospack_nosubdirs000066400000000000000000000000001276234213700243640ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/subdir1/000077500000000000000000000000001276234213700206155ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/subdir1/package3/000077500000000000000000000000001276234213700222735ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/subdir1/package3/manifest.xml000066400000000000000000000002501276234213700246200ustar00rootroot00000000000000 rospack-2.3.1/test/structure_test/subdir1/subdir1_1/000077500000000000000000000000001276234213700224065ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/subdir1/subdir1_1/package4/000077500000000000000000000000001276234213700240655ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/subdir1/subdir1_1/package4/manifest.xml000066400000000000000000000002501276234213700264120ustar00rootroot00000000000000 rospack-2.3.1/test/structure_test/subdir1/subdir1_1/package5/000077500000000000000000000000001276234213700240665ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/subdir1/subdir1_1/package5/manifest.xml000066400000000000000000000002501276234213700264130ustar00rootroot00000000000000 rospack-2.3.1/test/structure_test/subdir2/000077500000000000000000000000001276234213700206165ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/subdir2/rospack_nosubdirs000066400000000000000000000000001276234213700242610ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/subdir2/subdir2_1/000077500000000000000000000000001276234213700224105ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/subdir2/subdir2_1/not_a_package_2_1a/000077500000000000000000000000001276234213700257655ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/subdir2/subdir2_1/not_a_package_2_1a/manifest.xml000066400000000000000000000002511276234213700303130ustar00rootroot00000000000000 rospack-2.3.1/test/structure_test/subdir2/subdir2_1/not_a_package_2_1b/000077500000000000000000000000001276234213700257665ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/subdir2/subdir2_1/not_a_package_2_1b/manifest.xml000066400000000000000000000002511276234213700303140ustar00rootroot00000000000000 rospack-2.3.1/test/structure_test/subdir3/000077500000000000000000000000001276234213700206175ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/subdir3/package6/000077500000000000000000000000001276234213700223005ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/subdir3/package6/manifest.xml000066400000000000000000000002501276234213700246250ustar00rootroot00000000000000 rospack-2.3.1/test/structure_test/subdir3/package7/000077500000000000000000000000001276234213700223015ustar00rootroot00000000000000rospack-2.3.1/test/structure_test/subdir3/package7/manifest.xml000066400000000000000000000002501276234213700246260ustar00rootroot00000000000000 rospack-2.3.1/test/test/000077500000000000000000000000001276234213700151245ustar00rootroot00000000000000rospack-2.3.1/test/test/backquote/000077500000000000000000000000001276234213700171025ustar00rootroot00000000000000rospack-2.3.1/test/test/backquote/.rospack_cache000066400000000000000000000251421276234213700216740ustar00rootroot00000000000000/Users/gerkey/code/personalrobots/exec_trex /Users/gerkey/code/personalrobots/pr2_msgs /Users/gerkey/code/personalrobots/pr2_srvs /Users/gerkey/code/personalrobots/robot_msgs /Users/gerkey/code/personalrobots/robot_srvs /Users/gerkey/code/personalrobots/3rdparty/boost /Users/gerkey/code/personalrobots/3rdparty/Cg /Users/gerkey/code/personalrobots/3rdparty/drawstuff /Users/gerkey/code/personalrobots/3rdparty/eml /Users/gerkey/code/personalrobots/3rdparty/estar /Users/gerkey/code/personalrobots/3rdparty/ffmpeg /Users/gerkey/code/personalrobots/3rdparty/freeimage /Users/gerkey/code/personalrobots/3rdparty/gazebo /Users/gerkey/code/personalrobots/3rdparty/gmapping /Users/gerkey/code/personalrobots/3rdparty/irrlicht /Users/gerkey/code/personalrobots/3rdparty/kdl /Users/gerkey/code/personalrobots/3rdparty/kni-3.9.2 /Users/gerkey/code/personalrobots/3rdparty/libdc1394v2 /Users/gerkey/code/personalrobots/3rdparty/libsunflower /Users/gerkey/code/personalrobots/3rdparty/loki /Users/gerkey/code/personalrobots/3rdparty/newmat10 /Users/gerkey/code/personalrobots/3rdparty/ogre /Users/gerkey/code/personalrobots/3rdparty/ois /Users/gerkey/code/personalrobots/3rdparty/opencv /Users/gerkey/code/personalrobots/3rdparty/opencv_latest /Users/gerkey/code/personalrobots/3rdparty/opende /Users/gerkey/code/personalrobots/3rdparty/pil /Users/gerkey/code/personalrobots/3rdparty/player /Users/gerkey/code/personalrobots/3rdparty/plplot /Users/gerkey/code/personalrobots/3rdparty/rtnet /Users/gerkey/code/personalrobots/3rdparty/sdl /Users/gerkey/code/personalrobots/3rdparty/sdl_image /Users/gerkey/code/personalrobots/3rdparty/sicktoolbox /Users/gerkey/code/personalrobots/3rdparty/stage /Users/gerkey/code/personalrobots/3rdparty/trex /Users/gerkey/code/personalrobots/3rdparty/velodyne-driver /Users/gerkey/code/personalrobots/3rdparty/VTK /Users/gerkey/code/personalrobots/3rdparty/wxmpl /Users/gerkey/code/personalrobots/3rdparty/wxpropgrid /Users/gerkey/code/personalrobots/3rdparty/xenomai /Users/gerkey/code/personalrobots/controllers/generic_controllers /Users/gerkey/code/personalrobots/controllers/pr2_controllers /Users/gerkey/code/personalrobots/demos/2dnav-gazebo /Users/gerkey/code/personalrobots/demos/2dnav-stage /Users/gerkey/code/personalrobots/demos/stair1-demos /Users/gerkey/code/personalrobots/deprecated/etherdrive_old /Users/gerkey/code/personalrobots/deprecated/genericControllers /Users/gerkey/code/personalrobots/deprecated/hw_interface /Users/gerkey/code/personalrobots/deprecated/libKDL /Users/gerkey/code/personalrobots/deprecated/old_mechanism_control /Users/gerkey/code/personalrobots/deprecated/pr2Controllers /Users/gerkey/code/personalrobots/deprecated/robot_mechanism_model /Users/gerkey/code/personalrobots/deprecated/rosControllers /Users/gerkey/code/personalrobots/deprecated/testControllers /Users/gerkey/code/personalrobots/deprecated/unstable_msgs /Users/gerkey/code/personalrobots/grasp_module/grasp_learner /Users/gerkey/code/personalrobots/grasp_module/grasp_module /Users/gerkey/code/personalrobots/grasp_module/grasp_module_node /Users/gerkey/code/personalrobots/grasp_module/grasp_planner /Users/gerkey/code/personalrobots/grasp_module/object_detector /Users/gerkey/code/personalrobots/hardware_test/cmdline_selftest /Users/gerkey/code/personalrobots/hardware_test/motor_qualification /Users/gerkey/code/personalrobots/hardware_test/runtime_monitor /Users/gerkey/code/personalrobots/hardware_test/self_test /Users/gerkey/code/personalrobots/highlevel/rubot /Users/gerkey/code/personalrobots/manip/arm_trajectory /Users/gerkey/code/personalrobots/manip/overhead_grasp_behavior /Users/gerkey/code/personalrobots/manip/pr2_kinematic_controllers /Users/gerkey/code/personalrobots/manip/teleop_arm_keyboard /Users/gerkey/code/personalrobots/mechanism/hardware_interface /Users/gerkey/code/personalrobots/mechanism/mechanism_control /Users/gerkey/code/personalrobots/mechanism/mechanism_model /Users/gerkey/code/personalrobots/motion_planning/collision_space /Users/gerkey/code/personalrobots/motion_planning/issue_kinematic_plan /Users/gerkey/code/personalrobots/motion_planning/kinematic_planning /Users/gerkey/code/personalrobots/motion_planning/ompl /Users/gerkey/code/personalrobots/motion_planning/plan_kinematic_path /Users/gerkey/code/personalrobots/motion_planning/planning_models /Users/gerkey/code/personalrobots/motion_planning/planning_node_util /Users/gerkey/code/personalrobots/motion_planning/planning_world_viewer /Users/gerkey/code/personalrobots/motion_planning/sbpl /Users/gerkey/code/personalrobots/motion_planning/test_collision_space /Users/gerkey/code/personalrobots/nav/amcl_player /Users/gerkey/code/personalrobots/nav/deadreckon /Users/gerkey/code/personalrobots/nav/fake_localization /Users/gerkey/code/personalrobots/nav/laser_pose_interpolator /Users/gerkey/code/personalrobots/nav/nav_view /Users/gerkey/code/personalrobots/nav/sbpl_2dnav /Users/gerkey/code/personalrobots/nav/slam_gmapping /Users/gerkey/code/personalrobots/nav/teleop_base /Users/gerkey/code/personalrobots/nav/teleop_base_keyboard /Users/gerkey/code/personalrobots/nav/teleop_base_overhead_cam /Users/gerkey/code/personalrobots/nav/wavefront_player /Users/gerkey/code/personalrobots/robot_control_loops/pr2_etherCAT /Users/gerkey/code/personalrobots/robot_control_loops/pr2_etherDrive /Users/gerkey/code/personalrobots/robot_control_loops/pr2_gazebo /Users/gerkey/code/personalrobots/robot_descriptions/gazebo_robot_description /Users/gerkey/code/personalrobots/robot_descriptions/wg_robot_description /Users/gerkey/code/personalrobots/robot_descriptions/wg_robot_description_parser /Users/gerkey/code/personalrobots/simulators/flatland /Users/gerkey/code/personalrobots/simulators/gazebo_map_extruder /Users/gerkey/code/personalrobots/simulators/nepumuk /Users/gerkey/code/personalrobots/simulators/rosgazebo /Users/gerkey/code/personalrobots/simulators/rosstage /Users/gerkey/code/personalrobots/util/display_ode_spaces /Users/gerkey/code/personalrobots/util/image_utils /Users/gerkey/code/personalrobots/util/laser_scan_utils /Users/gerkey/code/personalrobots/util/libTF /Users/gerkey/code/personalrobots/util/logging /Users/gerkey/code/personalrobots/util/logsetta /Users/gerkey/code/personalrobots/util/math_utils /Users/gerkey/code/personalrobots/util/megamaid /Users/gerkey/code/personalrobots/util/misc_utils /Users/gerkey/code/personalrobots/util/mux /Users/gerkey/code/personalrobots/util/profiling_utils /Users/gerkey/code/personalrobots/util/pyrob /Users/gerkey/code/personalrobots/util/random_utils /Users/gerkey/code/personalrobots/util/rosTF /Users/gerkey/code/personalrobots/util/sdlgl /Users/gerkey/code/personalrobots/util/simple_options /Users/gerkey/code/personalrobots/util/stl_utils /Users/gerkey/code/personalrobots/util/string_utils /Users/gerkey/code/personalrobots/vision/borg_tuner /Users/gerkey/code/personalrobots/vision/calib_converter /Users/gerkey/code/personalrobots/vision/cam_viewer /Users/gerkey/code/personalrobots/vision/cam_viewer_py /Users/gerkey/code/personalrobots/vision/cv_blob_tracker /Users/gerkey/code/personalrobots/vision/cv_cam_calib /Users/gerkey/code/personalrobots/vision/cv_movie_streamer /Users/gerkey/code/personalrobots/vision/cv_view /Users/gerkey/code/personalrobots/vision/dorylus /Users/gerkey/code/personalrobots/vision/gmmseg /Users/gerkey/code/personalrobots/vision/laser_interface /Users/gerkey/code/personalrobots/vision/lasiklite /Users/gerkey/code/personalrobots/vision/scan_utils /Users/gerkey/code/personalrobots/vision/spectacles /Users/gerkey/code/personalrobots/vision/urg_ipdcmot /Users/gerkey/code/personalrobots/visualization/cloud_viewer /Users/gerkey/code/personalrobots/visualization/irrlicht_viewer /Users/gerkey/code/personalrobots/visualization/log_gui /Users/gerkey/code/personalrobots/visualization/ogre_tools /Users/gerkey/code/personalrobots/visualization/ogre_visualizer /Users/gerkey/code/personalrobots/visualization/pr2_gui /Users/gerkey/code/personalrobots/visualization/scene_labeler /Users/gerkey/code/personalrobots/visualization/wx_camera_panel /Users/gerkey/code/personalrobots/visualization/wx_roserr /Users/gerkey/code/personalrobots/visualization/wx_topic_display /Users/gerkey/code/personalrobots/visualization/wxpy_ros /Users/gerkey/code/personalrobots/world_models/costmap_2d /Users/gerkey/code/personalrobots/world_models/fake_world_3d_map /Users/gerkey/code/personalrobots/world_models/map_server /Users/gerkey/code/personalrobots/world_models/world_3d_map /Users/gerkey/code/personalrobots/drivers/cam/axis_cam /Users/gerkey/code/personalrobots/drivers/cam/bumblebee_bridge /Users/gerkey/code/personalrobots/drivers/cam/cv_cam /Users/gerkey/code/personalrobots/drivers/cam/dc1394_cam /Users/gerkey/code/personalrobots/drivers/cam/dc1394_cam_server /Users/gerkey/code/personalrobots/drivers/cam/elphel_cam /Users/gerkey/code/personalrobots/drivers/cam/flea2 /Users/gerkey/code/personalrobots/drivers/cam/videre_cam /Users/gerkey/code/personalrobots/drivers/generic/serial_port /Users/gerkey/code/personalrobots/drivers/imu/3dmgx2_driver /Users/gerkey/code/personalrobots/drivers/imu/imu_node /Users/gerkey/code/personalrobots/drivers/imu/simple_estimator /Users/gerkey/code/personalrobots/drivers/input/joy /Users/gerkey/code/personalrobots/drivers/input/joy_view /Users/gerkey/code/personalrobots/drivers/laser/hokuyourg_player /Users/gerkey/code/personalrobots/drivers/laser/laser_view /Users/gerkey/code/personalrobots/drivers/laser/sicktoolbox_wrapper /Users/gerkey/code/personalrobots/drivers/laser/urg_driver /Users/gerkey/code/personalrobots/drivers/motor/ethercat_hardware /Users/gerkey/code/personalrobots/drivers/motor/etherdrive /Users/gerkey/code/personalrobots/drivers/motor/etherdrive_hardware /Users/gerkey/code/personalrobots/drivers/robot/erratic_player /Users/gerkey/code/personalrobots/drivers/robot/ipdcmot /Users/gerkey/code/personalrobots/drivers/robot/katana /Users/gerkey/code/personalrobots/drivers/robot/segway_apox /Users/gerkey/code/personalrobots/drivers/robot/sensor_cart /Users/gerkey/code/personalrobots/drivers/simulator/gazebo_hardware /Users/gerkey/code/personalrobots/drivers/simulator/gazebo_plugin /Users/gerkey/code/personalrobots/drivers/simulator/gazebo_sensors /Users/gerkey/code/personalrobots/hardware_test/sensors/hokuyo_tester /Users/gerkey/code/personalrobots/nav/controllers/libtrajectory_rollout /Users/gerkey/code/personalrobots/util/kinematics/libKinematics /Users/gerkey/code/personalrobots/util/kinematics/robot_kinematics /Users/gerkey/code/personalrobots/vision/camera_grab_samples/bumblebee_grab_sample /Users/gerkey/code/personalrobots/drivers/robot/pr2/libpr2API /Users/gerkey/code/personalrobots/drivers/robot/pr2/libpr2HW /Users/gerkey/code/personalrobots/drivers/robot/pr2/pr2Core /Users/gerkey/code/personalrobots/drivers/robot/pr2/tilting_laser rospack-2.3.1/test/test/backquote/backquote-I000066400000000000000000000000141276234213700211640ustar00rootroot00000000000000-Ibackquote rospack-2.3.1/test/test/backquote/backquote-l000066400000000000000000000000141276234213700212270ustar00rootroot00000000000000-lbackquote rospack-2.3.1/test/test/backquote/manifest.xml000066400000000000000000000004201276234213700214260ustar00rootroot00000000000000 rospack-2.3.1/test/test/backquote_invalid/000077500000000000000000000000001276234213700206105ustar00rootroot00000000000000rospack-2.3.1/test/test/backquote_invalid/manifest.xml000066400000000000000000000001201276234213700231310ustar00rootroot00000000000000 rospack-2.3.1/test/test/base/000077500000000000000000000000001276234213700160365ustar00rootroot00000000000000rospack-2.3.1/test/test/base/manifest.xml000066400000000000000000000003401276234213700203630ustar00rootroot00000000000000 rospack-2.3.1/test/test/base_two/000077500000000000000000000000001276234213700167275ustar00rootroot00000000000000rospack-2.3.1/test/test/base_two/manifest.xml000066400000000000000000000002271276234213700212600ustar00rootroot00000000000000 rospack-2.3.1/test/test/deep/000077500000000000000000000000001276234213700160415ustar00rootroot00000000000000rospack-2.3.1/test/test/deep/deep.py000066400000000000000000000046041276234213700173340ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2009, Willow Garage, Inc. # All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions # are met: # # * Redistributions of source code must retain the above copyright # notice, this list of conditions and the following disclaimer. # * Redistributions in binary form must reproduce the above # copyright notice, this list of conditions and the following # disclaimer in the documentation and/or other materials provided # with the distribution. # * Neither the name of Willow Garage, Inc. nor the names of its # contributors may be used to endorse or promote products derived # from this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. import sys import os template = """ """ final_template = """ """ package = "depth-%s" def write_manifest(dir, manifest): if not os.path.exists(dir): os.mkdir(dir) file = os.path.join(dir, 'manifest.xml') try: f = open(file, 'w') print("generating %s"%file) f.write(manifest) finally: f.close() for i in range(1, 101): packagename = package%(i-1) manifest = template%(i-1, i) write_manifest(packagename, manifest) write_manifest('depth-100', final_template%100) rospack-2.3.1/test/test/deps/000077500000000000000000000000001276234213700160575ustar00rootroot00000000000000rospack-2.3.1/test/test/deps/manifest.xml000066400000000000000000000003311276234213700204040ustar00rootroot00000000000000 rospack-2.3.1/test/test/deps_dup/000077500000000000000000000000001276234213700167275ustar00rootroot00000000000000rospack-2.3.1/test/test/deps_dup/manifest.xml000066400000000000000000000002251276234213700212560ustar00rootroot00000000000000 rospack-2.3.1/test/test/deps_empty/000077500000000000000000000000001276234213700172755ustar00rootroot00000000000000rospack-2.3.1/test/test/deps_empty/manifest.xml000066400000000000000000000003451276234213700216270ustar00rootroot00000000000000 Fake description No One Fake License rospack-2.3.1/test/test/deps_higher/000077500000000000000000000000001276234213700174055ustar00rootroot00000000000000rospack-2.3.1/test/test/deps_higher/manifest.xml000066400000000000000000000001311276234213700217300ustar00rootroot00000000000000 rospack-2.3.1/test/test/deps_invalid/000077500000000000000000000000001276234213700175655ustar00rootroot00000000000000rospack-2.3.1/test/test/deps_invalid/manifest.xml000066400000000000000000000001441276234213700221140ustar00rootroot00000000000000 rospack-2.3.1/test/test/deps_nonexistent/000077500000000000000000000000001276234213700205155ustar00rootroot00000000000000rospack-2.3.1/test/test/deps_nonexistent/manifest.xml000066400000000000000000000000741276234213700230460ustar00rootroot00000000000000 rospack-2.3.1/test/test/empty/000077500000000000000000000000001276234213700162625ustar00rootroot00000000000000rospack-2.3.1/test/test/empty/manifest.xml000066400000000000000000000003101276234213700206040ustar00rootroot00000000000000 Fake description No One Fake License rospack-2.3.1/test/test/invalid/000077500000000000000000000000001276234213700165525ustar00rootroot00000000000000rospack-2.3.1/test/test/invalid/manifest.xml000066400000000000000000000000351276234213700211000ustar00rootroot00000000000000 rospack-2.3.1/test/test/lflags_with_archive_lib/000077500000000000000000000000001276234213700217565ustar00rootroot00000000000000rospack-2.3.1/test/test/lflags_with_archive_lib/manifest.xml000066400000000000000000000001261276234213700243050ustar00rootroot00000000000000 rospack-2.3.1/test/test/msg_gen_no_cflags/000077500000000000000000000000001276234213700205565ustar00rootroot00000000000000rospack-2.3.1/test/test/msg_gen_no_cflags/manifest.xml000066400000000000000000000001061276234213700231030ustar00rootroot00000000000000 rospack-2.3.1/test/test/msg_gen_no_cflags/msg_gen/000077500000000000000000000000001276234213700221755ustar00rootroot00000000000000rospack-2.3.1/test/test/msg_gen_no_cflags/msg_gen/generated000066400000000000000000000000001276234213700240440ustar00rootroot00000000000000rospack-2.3.1/test/test/msg_gen_no_cpp/000077500000000000000000000000001276234213700201015ustar00rootroot00000000000000rospack-2.3.1/test/test/msg_gen_no_cpp/manifest.xml000066400000000000000000000001011276234213700224210ustar00rootroot00000000000000 rospack-2.3.1/test/test/msg_gen_no_cpp/msg_gen/000077500000000000000000000000001276234213700215205ustar00rootroot00000000000000rospack-2.3.1/test/test/msg_gen_no_cpp/msg_gen/generated000066400000000000000000000000001276234213700233670ustar00rootroot00000000000000rospack-2.3.1/test/test/msg_gen_no_export/000077500000000000000000000000001276234213700206405ustar00rootroot00000000000000rospack-2.3.1/test/test/msg_gen_no_export/manifest.xml000066400000000000000000000000251276234213700231650ustar00rootroot00000000000000 rospack-2.3.1/test/test/msg_gen_no_export/msg_gen/000077500000000000000000000000001276234213700222575ustar00rootroot00000000000000rospack-2.3.1/test/test/msg_gen_no_export/msg_gen/generated000066400000000000000000000000001276234213700241260ustar00rootroot00000000000000rospack-2.3.1/test/test/no_package_attribute/000077500000000000000000000000001276234213700212765ustar00rootroot00000000000000rospack-2.3.1/test/test/no_package_attribute/manifest.xml000066400000000000000000000000511276234213700236220ustar00rootroot00000000000000 rospack-2.3.1/test/test/platform_specific_exports/000077500000000000000000000000001276234213700224015ustar00rootroot00000000000000rospack-2.3.1/test/test/platform_specific_exports/manifest.xml000066400000000000000000000003101276234213700247230ustar00rootroot00000000000000 rospack-2.3.1/test/test/plugins/000077500000000000000000000000001276234213700166055ustar00rootroot00000000000000rospack-2.3.1/test/test/plugins/manifest.xml000066400000000000000000000001331276234213700211320ustar00rootroot00000000000000 rospack-2.3.1/test/test/precedence1/000077500000000000000000000000001276234213700173025ustar00rootroot00000000000000rospack-2.3.1/test/test/precedence1/manifest.xml000066400000000000000000000002241276234213700216300ustar00rootroot00000000000000 rospack-2.3.1/test/test/rosbar/000077500000000000000000000000001276234213700164145ustar00rootroot00000000000000rospack-2.3.1/test/test/rosbar/manifest.xml000066400000000000000000000001561276234213700207460ustar00rootroot00000000000000 rospack-2.3.1/test/test/rosbar/scripts/000077500000000000000000000000001276234213700201035ustar00rootroot00000000000000rospack-2.3.1/test/test/rosbar/scripts/genmsg_bar000077500000000000000000000000001276234213700221230ustar00rootroot00000000000000rospack-2.3.1/test/test/rosfoo/000077500000000000000000000000001276234213700164335ustar00rootroot00000000000000rospack-2.3.1/test/test/rosfoo/manifest.xml000066400000000000000000000001561276234213700207650ustar00rootroot00000000000000 rospack-2.3.1/test/test/rosfoo/scripts/000077500000000000000000000000001276234213700201225ustar00rootroot00000000000000rospack-2.3.1/test/test/rosfoo/scripts/genmsg_foo000077500000000000000000000000001276234213700221610ustar00rootroot00000000000000rospack-2.3.1/test/test/roslang/000077500000000000000000000000001276234213700165715ustar00rootroot00000000000000rospack-2.3.1/test/test/roslang/manifest.xml000066400000000000000000000000251276234213700211160ustar00rootroot00000000000000 rospack-2.3.1/test/test/utest.cpp000066400000000000000000000175541276234213700170100ustar00rootroot00000000000000/* * Copyright (c) 2008, Willow Garage, Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the name of Willow Garage, Inc. nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ /* Author: Brian Gerkey */ #include // for std::runtime_error #include #include #include #include #include #include #include #include #include #include "rospack/rospack.h" #include "utils.h" TEST(rospack, reentrant) { rospack::ROSPack rp; std::string output; int ret = rp.run(std::string("plugins --attrib=foo --top=precedence1 roslang")); ASSERT_EQ(ret, 0); ret = rp.run(std::string("find roslang")); ASSERT_EQ(ret, 0); ret = rp.run(std::string("list-names")); ASSERT_EQ(ret, 0); std::vector output_list; output = rp.getOutput(); boost::trim(output); boost::split(output_list, output, boost::is_any_of("\n")); ASSERT_EQ((int)output_list.size(), 4); ret = rp.run(std::string("list")); ASSERT_EQ(ret, 0); output = rp.getOutput(); boost::trim(output); boost::split(output_list, output, boost::is_any_of("\n")); ASSERT_EQ((int)output_list.size(), 4); std::vector path_name; boost::split(path_name, output_list[0], boost::is_any_of(" ")); ASSERT_EQ((int)path_name.size(), 2); } TEST(rospack, multiple_rospack_objects) { rospack::ROSPack rp; std::string output; int ret = rp.run(std::string("plugins --attrib=foo --top=precedence1 roslang")); ASSERT_EQ(ret, 0); ret = rp.run(std::string("find roslang")); ASSERT_EQ(ret, 0); ret = rp.run(std::string("list-names")); ASSERT_EQ(ret, 0); std::vector output_list; output = rp.getOutput(); boost::trim(output); boost::split(output_list, output, boost::is_any_of("\n")); ASSERT_EQ((int)output_list.size(), 4); ret = rp.run(std::string("list")); ASSERT_EQ(ret, 0); output = rp.getOutput(); boost::trim(output); boost::split(output_list, output, boost::is_any_of("\n")); ASSERT_EQ((int)output_list.size(), 4); std::vector path_name; boost::split(path_name, output_list[0], boost::is_any_of(" ")); ASSERT_EQ((int)path_name.size(), 2); rospack::ROSPack rp2; ret = rp2.run(std::string("plugins --attrib=foo --top=precedence1 roslang")); ASSERT_EQ(ret, 0); ret = rp2.run(std::string("find roslang")); ASSERT_EQ(ret, 0); ret = rp2.run(std::string("list-names")); ASSERT_EQ(ret, 0); output_list.clear(); output = rp2.getOutput(); boost::trim(output); boost::split(output_list, output, boost::is_any_of("\n")); ASSERT_EQ((int)output_list.size(), 4); ret = rp2.run(std::string("list")); ASSERT_EQ(ret, 0); output = rp2.getOutput(); boost::trim(output); boost::split(output_list, output, boost::is_any_of("\n")); ASSERT_EQ((int)output_list.size(), 4); path_name.clear(); boost::split(path_name, output_list[0], boost::is_any_of(" ")); ASSERT_EQ((int)path_name.size(), 2); } TEST(rospack, deduplicate_tokens) { std::string input = "foo foo bar bat bar foobar batbar"; std::string truth = "foo bar bat foobar batbar"; std::string output; rospack::deduplicate_tokens(input, false, output); ASSERT_EQ(truth, output); } // Test that env var changes between runs still produce the right results. TEST(rospack, env_change) { // Get old path for resetting later, to avoid cross-talk with other tests char* oldrpp = getenv("ROS_PACKAGE_PATH"); rospack::ROSPack rp; // Case 1: RPP=/test2 char buf[1024]; std::string rr = std::string(getcwd(buf, sizeof(buf))) + "/test2"; setenv("ROS_PACKAGE_PATH", rr.c_str(), 1); std::vector test_pkgs; test_pkgs.push_back("precedence1"); test_pkgs.push_back("precedence2"); test_pkgs.push_back("precedence3"); test_pkgs.push_back("roslang"); std::string output; int ret = rp.run(std::string("list-names")); EXPECT_EQ(ret, 0); std::vector output_list; output = rp.getOutput(); boost::trim(output); boost::split(output_list, output, boost::is_any_of("\n")); // Check that we get back the right list of packages (which could be in any // order). EXPECT_EQ(output_list.size(), test_pkgs.size()); for(std::vector::const_iterator it = output_list.begin(); it != output_list.end(); ++it) { bool found = false; for(std::vector::const_iterator it2 = test_pkgs.begin(); it2 != test_pkgs.end(); ++it2) { if(*it == *it2) { EXPECT_FALSE(found); found = true; } } EXPECT_TRUE(found); } // Case 2: RPP=/test3 rr = std::string(getcwd(buf, sizeof(buf))) + "/test3"; setenv("ROS_PACKAGE_PATH", rr.c_str(), 1); test_pkgs.clear(); test_pkgs.push_back("precedence1"); test_pkgs.push_back("precedence2"); test_pkgs.push_back("precedence3"); ret = rp.run(std::string("list-names")); EXPECT_EQ(ret, 0); output_list.clear(); output = rp.getOutput(); boost::trim(output); boost::split(output_list, output, boost::is_any_of("\n")); // Check that we get back the right list of packages (which could be in any // order). EXPECT_EQ(output_list.size(), test_pkgs.size()); for(std::vector::const_iterator it = output_list.begin(); it != output_list.end(); ++it) { bool found = false; for(std::vector::const_iterator it2 = test_pkgs.begin(); it2 != test_pkgs.end(); ++it2) { if(*it == *it2) { EXPECT_FALSE(found); found = true; } } EXPECT_TRUE(found); } // Case 3: RPP=/test_empty rr = std::string(getcwd(buf, sizeof(buf))) + "/test_empty"; setenv("ROS_PACKAGE_PATH", rr.c_str(), 1); ret = rp.run(std::string("list-names")); EXPECT_EQ(ret, 0); output = rp.getOutput(); boost::trim(output); EXPECT_EQ(output, std::string()); // Reset old path, for other tests setenv("ROS_PACKAGE_PATH", oldrpp, 1); } int main(int argc, char **argv) { // Quiet some warnings (void)rospack::ROSPACK_NAME; (void)rospack::ROSSTACK_NAME; char buf[1024]; std::string rr = std::string(getcwd(buf, sizeof(buf))) + "/test2"; setenv("ROS_PACKAGE_PATH", rr.c_str(), 1); char path[PATH_MAX]; if(getcwd(path,sizeof(path))) { boost::filesystem::path p(path); p = p.parent_path(); std::string newpath = p.string(); char* oldpath = getenv("PATH"); if(oldpath) newpath += std::string(":") + oldpath; setenv("PATH", newpath.c_str(), 1); } testing::InitGoogleTest(&argc, argv); return RUN_ALL_TESTS(); } rospack-2.3.1/test/test/utest.py.in000066400000000000000000001135021276234213700172510ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2008, Willow Garage, Inc. # All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions # are met: # # * Redistributions of source code must retain the above copyright # notice, this list of conditions and the following disclaimer. # * Redistributions in binary form must reproduce the above # copyright notice, this list of conditions and the following # disclaimer in the documentation and/or other materials provided # with the distribution. # * Neither the name of Willow Garage, Inc. nor the names of its # contributors may be used to endorse or promote products derived # from this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # # Author: Brian Gerkey/Ken Conley import os import unittest import tempfile import shutil import sys import platform from subprocess import Popen, PIPE ROS_PACKAGE_PATH = 'ROS_PACKAGE_PATH' ROS_LANG_DISABLE = 'ROS_LANG_DISABLE' ROSPACK_PATH = "@CATKIN_DEVEL_PREFIX@/bin/rospack" # Set the initial CWD, so that we can set it back later. # Go up one directory. Have to do this because nosetests doesn't seem to # run properly from the parent directory, even with --where= passed in. initial_cwd = os.path.dirname(os.path.dirname(__file__)) os.chdir(initial_cwd) _structure_test_p = os.path.abspath('structure_test') # expected layout of the structure_test directory, used for rospack find and list tests structure_test = { 'package1': 'package1', 'package2': 'package2', 'package3': 'subdir1/package3', 'package4': 'subdir1/subdir1_1/package4', 'package5': 'subdir1/subdir1_1/package5', 'package6': 'subdir3/package6', 'package7': 'subdir3/package7', } # canonicalize for k in structure_test.keys(): structure_test[k] = os.path.abspath(os.path.join(_structure_test_p, structure_test[k])) aliases = { 'deps': 'depends', 'deps1': 'depends1', 'deps-manifests': 'depends-manifests', 'deps-indent': 'depends-indent', 'rosdep': 'rosdeps', 'rosdep0': 'rosdeps0' } ## Process-level tests of rospack executable class RospackTestCase(unittest.TestCase): def setUp(self): # Some tests change CWD os.chdir(initial_cwd) ## runs rospack with ROS_PACKAGE_PATH set to ./test ## @return int, str: return code, stdout def _run_rospack(self, ros_package_path, pkgname, command): env = os.environ.copy() if ros_package_path is not None: env[ROS_PACKAGE_PATH] = ros_package_path elif ROS_PACKAGE_PATH in env: del env[ROS_PACKAGE_PATH] # Must split up the command string into its whitespace separated # components; otherwise you get multiple words as one element of # argv. #args = ["rospack", command, pkgname] args = [ROSPACK_PATH] if command: for s in command.split(): args.append(s) if pkgname is not None: args.append(pkgname) p = Popen(args, stdout=PIPE, stderr=PIPE, env=env) stdout, stderr = p.communicate() # Also test command aliases, verifying that they give the same # return code and console output if command: cmd = command.split()[-1] if cmd in aliases: args[-2] = aliases[cmd] alias_p = Popen(args, stdout=PIPE, stderr=PIPE, env=env) alias_stdout, alias_stderr = alias_p.communicate() self.assertEquals(p.returncode, alias_p.returncode) self.assertEquals(stdout, alias_stdout) #self.assertEquals(stderr, alias_stderr) # rospack should only yield non-negative return codes. A negative # return code indicates a crash (e.g., SIGSEGV, SIGABORT), which is # never ok. if p.returncode < 0: self.fail('rospack returned non-zero exit code (%d), indicating a crash'%(p.returncode)) return p.returncode, stdout.strip().decode('ascii'), stderr.decode('ascii') ################################################################################ # HELPER ROUTINES # NOTE: helpers with the 'e' prefix take in environment parameters ## @return str: stdout def run_rospack(self, pkgname, command): rpp = os.path.abspath('test') return self._run_rospack(rpp, pkgname, command)[1] ## @return str: stdout def erun_rospack(self, ros_package_path, pkgname, command): return self._run_rospack(ros_package_path, pkgname, command)[1] ## runs rospack with ROS_PACKAGE_PATH set to ./test ## @return int: status code def run_rospack_status(self, pkgname, command): rpp = os.path.abspath('test') return self._run_rospack(rpp, pkgname, command)[0] ## @return int: status code def erun_rospack_status(self, ros_package_path, pkgname, command): return self._run_rospack(ros_package_path, pkgname, command)[0] ## assert that rospack fails on the specified args def rospack_fail(self, package, command): rpp = os.path.abspath('test') code, stdout, stderr = self._run_rospack(rpp, package, command) self.assertNotEquals(0, code, "rospack [%s %s] should have failed. \n\nstdout[%s] \n\nstderr[%s]"%(command, package, stdout, stderr)) ## assert that rospack fails on the specified args. includes ROS_PACKAGE_PATH def erospack_fail(self, ros_package_path, package, command): code, stdout, stderr = self._run_rospack(ros_package_path, package, command) self.assertNotEquals(0, code, "rospack [%s %s] should have failed instead of returning status code 0. \n\nstdout[%s] \n\nstderr[%s]"%(command, package, stdout, stderr)) ## assert that rospack succeeds on the specified args def rospack_succeed(self, package, command): rpp = os.path.abspath('test') status_code, stdout, stderr = self._run_rospack(rpp, package, command) self.assertEquals(0, status_code, '"rospack %s %s" failed with status code [%s] instead of succeeding with [0]. \n\nstdout[%s] \n\nstderr[%s]'%(command, package, status_code, stdout, stderr)) ## assert that rospack succeeds on the specified args def erospack_succeed(self, ros_package_path, package, command): status_code, stdout, stderr = self._run_rospack(ros_package_path, package, command) self.assertEquals(0, status_code, "rospack [%s %s, env ROS_PACKAGE_PATH=%s] failed with status code [%s] instead of succeeding with [0]. \n\nstdout[%s] \n\nstderr[%s]"%(command, package, ros_package_path, status_code, stdout, stderr)) # helper routine that does return value validation where the return value from # rospack is an unordered, line-separated list def check_ordered_list(self, command, tests): for retlist, package in tests: expected = set(retlist) self.rospack_succeed(package, command) retval = self.strip_opt_ros(self.run_rospack(package, command)) retactual = [v for v in retval.split('\n') if v] self.failIf(set(retlist) ^ set(retactual), "rospack %s %s failed: [%s] vs [%s]"%(command, package, retlist, retactual)) self.assertEquals('\n'.join(retlist), '\n'.join(retactual)) # variant of check_ordered_list that allows specifying ros_package_path. # helper routine that does return value validation where the return value from # rospack is an unordered, line-separated list def echeck_ordered_list(self, command, tests): for retlist, ros_package_path, package in tests: expected = set(retlist) self.erospack_succeed(ros_package_path, package, command) retval = self.erun_rospack(ros_package_path, package, command) retactual = [v for v in retval.split('\n') if v] self.failIf(set(retlist) ^ set(retactual), "[env %s] rospack %s %s failed: [%s] vs [%s]"%(ros_package_path, command, package, retlist, retactual)) # variant that does not require ordering among the return values def check_unordered_list(self, command, tests): for retlist, package in tests: expected = set(retlist) self.rospack_succeed(package, command) retval = self.run_rospack(package, command) retactual = [v for v in retval.split('\n') if v] self.failIf(set(retlist) ^ set(retactual), "rospack %s %s failed: [%s] vs [%s]"%(command, package, retlist, retactual)) #self.assertEquals('\n'.join(retlist), '\n'.join(retactual)) # variant that does not require ordering among the return values def echeck_unordered_list(self, command, tests): for retlist, ros_package_path, package in tests: expected = set(retlist) self.erospack_succeed(ros_package_path, package, command) retval = self.erun_rospack(ros_package_path, package, command) retactual = [v for v in retval.split('\n') if v] self.failIf(set(retlist) ^ set(retactual), "rospack %s %s failed: [%s] vs [%s]"%(command, package, retlist, retactual)) #self.assertEquals('\n'.join(retlist), '\n'.join(retactual)) ################################################################################ ## ARG PARSING def test_no_option(self): self.rospack_succeed(None, None) def test_fake_option(self): self.rospack_fail("deps", "--fake deps") def test_invalid_option(self): self.rospack_fail("deps", "deps --lang=cpp --attrib=flags") self.rospack_fail("deps", "deps --lang=cpp") self.rospack_fail("deps", "deps --attrib=lflags") self.rospack_fail("base", "export --lang=cpp --attrib=cflags --top=") self.rospack_fail(None, "profile --length=") self.rospack_fail(None, "deps --length=10") self.rospack_fail(None, "deps --zombie-only") self.rospack_fail(None, "profile --deps-only") def test_ros_cache_timeout(self): env = os.environ.copy() os.environ['ROS_CACHE_TIMEOUT'] = '0' self.rospack_succeed(None, "profile") os.environ['ROS_CACHE_TIMEOUT'] = '-1' self.rospack_succeed(None, "profile") import time time.sleep(0.1) os.environ['ROS_CACHE_TIMEOUT'] = '.001' self.rospack_succeed(None, "profile") os.environ = env def test_profile(self): # TODO: test that the output is correct self.rospack_succeed(None, "profile --zombie-only") # TODO: test that the output is correct self.rospack_succeed(None, "profile --length=10") def test_ros_home(self): env = os.environ.copy() # Make sure we write to ROS_HOME, #2812. d = tempfile.mkdtemp() self.assertEquals(0, len(os.listdir(d))) os.environ['ROS_HOME'] = d self.rospack_succeed(None, "profile") self.assertEquals(1, len(os.listdir(d))) cache_path = os.path.join(d, os.listdir(d)[0]) self.assertEquals(True, os.path.exists(cache_path)) # Make sure we auto-create ROS_HOME shutil.rmtree(d) self.rospack_succeed(None, "profile") self.assertEquals(True, os.path.exists(cache_path)) # Test with a corrupted cache f = open(cache_path, 'w') f.write('#SOMETHING\n') f.close() self.rospack_succeed(None, "list") # Make sure we proceed when we can't write to ROS_HOME os.chmod(d, 0000) self.rospack_succeed(None, "profile") # Delete the .ros directory, just in case this test is being run as # root, in which case the above call will cause .ros to be created, # despite the restrictive permissions that were set. if os.path.exists(d): os.chmod(d, 0o700) shutil.rmtree(d) # Make sure we proceed when we HOME/.ros isn't a directory f = open(d, 'w') f.close() os.chmod(d, 0o700) self.rospack_succeed(None, "profile") # Make sure we proceed when neither HOME nor ROS_HOME is set del os.environ['ROS_HOME'] del os.environ['HOME'] self.rospack_succeed(None, "profile") # Clean up os.unlink(d) os.environ = env def test_no_package_allowed(self): self.rospack_succeed(None, "help") self.rospack_succeed(None, "profile") self.rospack_succeed(None, "list") self.rospack_succeed(None, "list-names") self.rospack_succeed(None, "list-duplicates") self.rospack_succeed(None, "langs") def test_no_package_allowed_bad(self): self.rospack_fail("deps", "profile") self.rospack_fail("deps", "list") self.rospack_fail("deps", "list-names") self.rospack_fail("deps", "list-duplicates") self.rospack_fail("deps", "langs") def test_export_bad(self): self.rospack_fail("base", "export --lang= --attrib=lflags") self.rospack_fail("base", "export --lang=cpp --attrib=") self.rospack_fail("base", "export --attrib=lflags") self.rospack_fail("base", "export --lang=cpp") self.rospack_fail("base", "export --lang=cpp --lang=python --attrib=lflags") self.rospack_fail("base", "export --lang=cpp --attrib=lflags --attrib=cflags") self.rospack_fail("base", "export --lang=cpp --attrib=cflags --top=foo") def test_plugins_bad(self): self.rospack_fail("base", "plugins") self.rospack_fail("base", "plugins --lang=cpp") self.rospack_fail("base", "plugins --attrib=") self.rospack_fail("base", "plugins --top=foo") def test_rosdep(self): self.rospack_succeed("base", "rosdep") self.assertEquals("name: foo", self.run_rospack("base", "rosdep")) self.rospack_succeed("deps", "rosdep0") self.assertEquals("name: bar", self.run_rospack("deps", "rosdep0")) self.check_unordered_list("rosdep", [(["name: foo", "name: bar"], "deps")]) ################################################################################ ## EXPORT def test_export_cpp(self): package = 'base' tests = [("-lfoo", "export --lang=cpp --attrib=lflags"), ("-lfoo", "export --attrib=lflags --lang=cpp"), ("-Isomething", "export --lang=cpp --attrib=cflags"), ("-Isomething", "export --attrib=cflags --lang=cpp"), ] for retval, arg in tests: self.rospack_succeed(package, arg) self.assertEquals(retval, self.strip_opt_ros(self.run_rospack(package, arg))) self.assertEquals("-lfoo -lbar", self.strip_opt_ros(self.run_rospack("deps", "export --lang=cpp --attrib=lflags --deps-only"))) #TODO: test export with $prefix def test_export_roslang(self): package = 'base' tests = [("something.cmake", "export --lang=roslang --attrib=cmake")] for retval, arg in tests: self.rospack_succeed(package, arg) self.assertEquals(retval, self.strip_opt_ros(self.run_rospack(package, arg))) def test_export_non_existent_attrib(self): self.rospack_succeed("base", "export --lang=cpp --attrib=fake") self.failIf(self.run_rospack("base", "export --lang=cpp --attrib=fake")) ################################################################################ ## Plugins def test_plugins(self): tests = [(["deps foo.cmake", "plugins bat.cmake"], "base")] self.check_unordered_list("plugins --attrib=cmake", tests) package = 'base' tests = [("deps foo.cmake", "plugins --attrib=cmake --top=deps")] for retval, arg in tests: self.rospack_succeed(package, arg) self.assertEquals(retval, self.strip_opt_ros(self.run_rospack(package, arg))) package = 'base_two' tests = [("deps bar.cmake", "plugins --attrib=cmake")] for retval, arg in tests: self.rospack_succeed(package, arg) self.assertEquals(retval, self.strip_opt_ros(self.run_rospack(package, arg))) ################################################################################ ## ENVIRONMENT TEST ## test rospack with ROS_PACKAGE_PATH set def test_ros_package_path(self): testp = os.path.abspath('test') tests = [ (["base", "base_two"], testp, "deps"), ] self.echeck_ordered_list("deps", tests) ## tests internal rpp precedence (#2854) def test_ros_package_path_precedence(self): teste = os.path.abspath('test_empty') testp = os.path.abspath('test') test2p = os.path.abspath('test2') testp_roslang = os.path.join(testp, 'roslang') test2p_roslang = os.path.join(test2p, 'roslang') tests = [([testp_roslang], teste + ':' + ':'.join([testp, test2p]), "roslang"), ([testp_roslang], teste + ':' + ':'.join([testp, test2p_roslang]), "roslang"), ([testp_roslang], teste + ':' + ':'.join([testp_roslang, test2p]), "roslang"), ([testp_roslang], teste + ':' + ':'.join([testp_roslang, test2p_roslang]), "roslang")] self.echeck_unordered_list('find', tests) ## tests rpp vs rr precedence def test_ros_package_path_precedence_1(self): testp = os.path.abspath('test') test2p = os.path.abspath('test2') test3p = os.path.abspath('test3') tests = [ (["test"], testp + ':' + test2p, "precedence1"), (["test2"], test2p + ':' + testp, "precedence1"), (["test2"], testp + ':' + "%s:%s"%(test2p, test3p), "precedence2"), (["test3"], testp + ':' + "%s:%s"%(test3p, test2p), "precedence2"), ] self.echeck_ordered_list('libs-only-l', tests) ## tests list-duplicates def test_list_duplicates(self): testp = os.path.abspath('test') test2p = os.path.abspath('test2') test3p = os.path.abspath('test3') self.erospack_succeed(testp, None, 'list-duplicates') self.erospack_succeed(testp + ':' + '%s:%s'%(test2p,test3p), None, 'list-duplicates') # test ability to point ros_package_path directly at package def test_ros_package_path_direct_package(self): testp = os.path.abspath('test') test2p = os.path.abspath('test2') test3p = os.path.abspath('test3') # point directly at precedence 2/3 rpp = ':'.join([os.path.join(test2p, 'precedence2'),os.path.join(test3p, 'precedence3')]) tests = [ (["test2"], testp + ':' + rpp, "precedence2"), (["test3"], testp + ':' + rpp, "precedence3"), ] self.echeck_ordered_list('libs-only-l', tests) def test_ros_package_path_colons(self): # scatter some colons into ros package path to make sure rospack doesn't mind testp = os.path.abspath('test') test2p = os.path.abspath('test2') # Add a trailing slash, to make sure that it gets removed test3p = os.path.abspath('test3') + '/' tests = [ (["base","base_two"], testp + ':' + "::%s:::"%testp, "deps"), (["base","base_two"], testp + ':' + "::", "deps"), ] self.echeck_ordered_list('deps', tests) tests = [ (["test"], testp + ':' + ":::%s:"%test2p, "precedence1"), (["test2"],testp + ':' + "::%s::%s::"%(test2p,test3p), "precedence2"), ] self.echeck_ordered_list("libs-only-l", tests) def test_ros_package_path_bad_paths(self): testp = os.path.abspath('test') test2p = os.path.abspath('test2') non_existentp = os.path.abspath('test') tests = [ (["test"], testp + ':' + non_existentp, "precedence1"), (["test2"],testp + ':' + ":%s:%s"%(non_existentp, test2p), "precedence2"), (["test2"],testp + ':' + ":%s:%s"%(test2p, non_existentp), "precedence2"), ] self.echeck_ordered_list("libs-only-l", tests) # Test rospack from within a package def test_ros_in_package(self): pwd = os.getcwd() rpp = os.path.join(pwd, 'test') os.chdir(os.path.abspath(os.path.join('test', 'deps'))) self.erospack_succeed(rpp, None, 'depends1') self.echeck_unordered_list('depends1', [(["base", "base_two"], rpp, None)]) # Check what happens when we're in an unlinked directory d = tempfile.mkdtemp() os.chdir(d) os.rmdir(d) self.erospack_fail(rpp, None, 'depends1') os.chdir(pwd) ################################################################################ ## rospack list def _rospack_list(self, ros_package_path): env = os.environ.copy() if ros_package_path is not None: env[ROS_PACKAGE_PATH] = ros_package_path elif ROS_PACKAGE_PATH in env: del env[ROS_PACKAGE_PATH] args = [ROSPACK_PATH, 'list'] p = Popen(args, stdout=PIPE, stderr=PIPE, env=env) retval = p.communicate()[0] return p.returncode, retval.strip().decode('ascii') def _check_rospack_list(self, expected, retval): lines = [l for l in retval.split('\n') if l] packages = [l[:l.find(' ')] for l in lines] # canonicalize paths paths = [os.path.abspath(l[l.find(' ')+1:]) for l in lines] result = {} for pack, path in zip(packages, paths): result[pack] = os.path.abspath(path) self.failIf(set(expected.keys()) ^ set(packages), "package lists do not match (expected vs. actual): %s vs %s"%(expected.keys(), packages)) for pack,path in expected.items(): self.assertEquals(path, result[pack]) ## test rospack list on an empty tree def test_rospack_list_empty(self): rpp = os.path.abspath('test_empty') retcode, retval = self._rospack_list(rpp) self.assertEquals(0, retcode) self.failIf(retval, "rospack list on empty directory returned value %s"%retval) ## test rospack depends-on1 in a directory that's not a package (#2556) def test_rospack_depends_on_not_a_package(self): pwd = os.getcwd() rpp = os.path.abspath('test') os.chdir(os.path.abspath('/')) self.erospack_fail(rpp, None, 'depends-on1') os.chdir(pwd) # test that rospack list removes duplicates def test_rospack_list_dups(self): # make sure result is same if ROS_ROOT=ROS_PACKAGE_PATH rpp = os.path.abspath('structure_test') retcode, retval = self._rospack_list(rpp) self.assertEquals(0, retcode) def test_rospack_list_no_rpp(self): rpp = os.path.abspath('structure_test') expected = structure_test.copy() retcode, retval = self._rospack_list(rpp) self.assertEquals(0, retcode) self._check_rospack_list(expected, retval) #TODO: symlink test #TODO: test with ros package path ################################################################################ ## rospack list-names def _rospack_list_names(self, ros_package_path): env = os.environ.copy() if ros_package_path is not None: env[ROS_PACKAGE_PATH] = ros_package_path elif ROS_PACKAGE_PATH in env: del env[ROS_PACKAGE_PATH] args = [ROSPACK_PATH, 'list-names'] p = Popen(args, stdout=PIPE, stderr=PIPE, env=env) retval = p.communicate()[0] return p.returncode, retval.strip().decode('ascii') ## test rospack list-names on an empty tree def test_rospack_list_names_empty(self): rpp = os.path.abspath('test_empty') retcode, retval = self._rospack_list_names(rpp) self.assertEquals(0, retcode) self.failIf(retval, "rospack list-names on empty directory returned value %s"%retval) # test that rospack list removes duplicates def test_rospack_list_names_dups(self): # make sure result is same if ROS_ROOT=ROS_PACKAGE_PATH rpp = os.path.abspath('structure_test') retcode, retval = self._rospack_list_names(rpp) self.assertEquals(0, retcode) retcode2, retval2 = self._rospack_list_names(rpp) self.assertEquals(0, retcode2) self.assertEquals(retval, retval2, "rospack list-names did not remove duplicates") def test_rospack_list_names_no_rpp(self): rpp = os.path.abspath('structure_test') expected = set(structure_test.copy().keys()) retcode, retval = self._rospack_list_names(rpp) self.assertEquals(0, retcode) self.assertEquals(expected, set(retval.split())) #TODO: symlink test #TODO: test with ros package path ################################################################################ ## rospack find ## test rospack find on non-existent package def test_rospack_find_fail(self): rpp = os.path.abspath('test_empty') self.erospack_fail(rpp, 'package', 'find') ## test rospack find with ros_package_path set directly to a package def test_rospack_find_direct(self): testp = os.path.abspath('test') package1p = os.path.abspath(os.path.join('structure_test', 'package1')) self.erospack_succeed(testp + ':' + package1p, 'package1', 'find') self.assertEquals(package1p, self.erun_rospack(testp + ':' + package1p, 'package1', 'find')) ## test rospack find with ros_package_path set directly to a package, ## where that package contains a rospack_nosubdirs file, #3191. def test_rospack_find_direct_with_rospack_nosubdirs(self): testp = os.path.abspath('test') package2p = os.path.abspath(os.path.join('structure_test', 'package2')) self.erospack_succeed(testp + ':' + package2p, 'package2', 'find') self.assertEquals(package2p, self.erun_rospack(testp + ':' + package2p, 'package2', 'find')) def test_rospack_find_no_rpp(self): rpp = os.path.abspath('structure_test') expected = structure_test.copy() for package,path in expected.items(): self.erospack_succeed(rpp, package, 'find') self.assertEquals(path, os.path.abspath(self.erun_rospack(rpp, package, 'find'))) #TODO: symlink test #TODO: test with ros package path ################################################################################ ## DEPENDENCIES def test_deps(self): depth_list = ['depth-%s'%i for i in range(1, 101)] depth_list.reverse() tests = [ (["base","base_two"], "deps"), (["base","base_two","deps"], "deps_higher"), (["base","base_two","deps","deps_higher"],"deps_dup"), (depth_list, "depth-0") ] self.check_ordered_list('deps', tests) def test_deps1(self): tests = [ (["base","base_two"], "deps"), (["deps"], "deps_higher"), (["depth-1"], "depth-0"), (["depth-99"], "depth-98"), ] self.check_ordered_list('deps1',tests) def test_deps_invalid(self): self.rospack_fail("deps_invalid", "deps") def test_depends_on(self): depth_list = ['depth-%s'%i for i in range(0, 100)] depth_list.reverse() self.rospack_succeed("deps", "depends-on") tests = [ (["plugins", "deps_dup", "deps", "deps_higher"], "base"), (["deps_higher","deps_dup"], "deps"), ([], "depth-0"), (depth_list, "depth-100"), ] self.check_unordered_list("depends-on", tests) def test_depends_on1(self): # sanity check first self.rospack_succeed("deps", "depends-on") tests = [ (["deps_higher"], "deps"), (["deps", "deps_dup", "plugins"], "base"), (["deps", "deps_dup"], "base_two"), ] self.check_unordered_list("depends-on1", tests) def test_depends_on_nonexistent(self): self.rospack_fail("deps", "deps_nonexistent") self.rospack_fail("deps", "nonexistentpackage") tests = [ (["deps_nonexistent"], "nonexistentpackage"), ] self.check_ordered_list("depends-on", tests) def test_lflags_base(self): self.rospack_succeed("base", "libs-only-l") self.assertEquals("foo", self.run_rospack("base", "libs-only-l")) def test_circular(self): testp = os.path.abspath("test") self.erospack_fail(testp + ':' + os.path.abspath("test_circular/cycle0"), "self_ref", "deps") self.erospack_fail(testp + ':' + os.path.abspath("test_circular/cycle1"), "friend1", "deps") self.erospack_fail(testp + ':' + os.path.abspath("test_circular/cycle1"), "friend2", "deps") self.erospack_fail(testp + ':' + os.path.abspath("test_circular/cycle2"), "friend1", "deps") self.erospack_fail(testp + ':' + os.path.abspath("test_circular/cycle2"), "friend2", "deps") self.erospack_fail(testp + ':' + os.path.abspath("test_circular/cycle2"), "friend3", "deps") self.erospack_fail(testp + ':' + os.path.abspath("test_circular/cycle2"), "friend3", "depends-on") def test_lflags_backquote(self): self.rospack_succeed("backquote", "libs-only-l") self.assertEquals("loki foo backquote", self.run_rospack("backquote", "libs-only-l")) def test_backquote_invalid(self): self.rospack_fail("backquote_invalid", "libs-only-other") # Strip out '/opt/ros' and friends from flags before checking them def strip_opt_ros(self, flags): prefix = '/opt/ros' if 'ROS_BINDEPS_PATH' in os.environ: prefix = os.environ['ROS_BINDEPS_PATH'] tostrip = [prefix + '/lib', prefix + '/include', '-L' + prefix + '/lib', '-I' + prefix + '/include', '-Wl,-rpath,' + prefix + '/lib'] res = '' for f in flags.split(' '): if f and f not in tostrip: if len(res) > 0: res += ' ' res += f return res def test_Lflags_backquote(self): self.rospack_succeed("backquote", "libs-only-L") self.assertEquals("odin", self.strip_opt_ros(self.run_rospack("backquote", "libs-only-L"))) def test_cflags_backquote(self): self.rospack_succeed("backquote", "cflags-only-I") self.assertEquals("blah backquote", self.strip_opt_ros(self.run_rospack("backquote", "cflags-only-I"))) def test_cflags_platform_specific(self): self.rospack_succeed("platform_specific_exports", "cflags-only-other") myos = platform.system() if myos == 'Linux': self.assertEquals("-DLINUX", self.run_rospack("platform_specific_exports", "cflags-only-other")) elif myos == 'Darwin': self.assertEquals("-DAPPLE", self.run_rospack("platform_specific_exports", "cflags-only-other")) elif myos == 'Windows': self.assertEquals("-DWINDOWS", self.run_rospack("platform_specific_exports", "cflags-only-other")) else: self.assertEquals("-DOTHER", self.run_rospack("platform_specific_exports", "cflags-only-other")) self.assertEquals("blah backquote", self.strip_opt_ros(self.run_rospack("backquote", "cflags-only-I"))) def test_lflags_archive(self): self.rospack_succeed("lflags_with_archive_lib", "libs-only-l") self.assertEquals("/usr/lib/libfoo.a", self.run_rospack("lflags_with_archive_lib", "libs-only-l")) self.rospack_succeed("lflags_with_archive_lib", "libs-only-other") self.assertEquals("/a/bad/flag", self.run_rospack("lflags_with_archive_lib", "libs-only-other")) def test_lflags_deps(self): self.rospack_succeed("deps", "libs-only-l") self.assertEquals("loki foo bar", self.run_rospack("deps", "libs-only-l")) def test_lflags_deps_only(self): self.rospack_succeed("deps", "libs-only-l --deps-only") self.assertEquals("foo bar", self.run_rospack("deps", "libs-only-l --deps-only")) def test_empty_lflags(self): tests = [([], "deps_empty")] commands = ["libs-only-l", "libs-only-L", "libs-only-other"] for c in commands: self.check_ordered_list(c, tests) def test_empty_cflags(self): tests = [([], "deps_empty")] commands = ["cflags-only-I", "cflags-only-other"] for c in commands: self.check_ordered_list(c, tests) def test_empty_vcs(self): self.rospack_succeed("empty", "vcs0") self.assertEquals("type: \turl:", self.run_rospack("empty", "vcs0")) self.rospack_succeed("deps_empty", "vcs") self.assertEquals("type: svn\turl: \ntype: \turl:", self.run_rospack("deps_empty", "vcs")) def test_vcs_no_type_or_url(self): self.rospack_succeed("vc_no_type_or_url", "vcs0") self.assertEquals("", self.run_rospack("vc_no_type_or_url", "vcs0")) def test_lflags_no_package_attrib(self): self.rospack_fail("no_package_attribute", "libs-only-l") def test_lflags_invalid(self): self.rospack_fail("invalid", "libs-only-l") def test_vcs_invalid(self): self.rospack_fail("invalid", "vcs") def test_deps1_invalid(self): self.rospack_fail("invalid", "deps1") def test_vcs0_deps(self): self.rospack_succeed("deps", "vcs0") self.failIf(self.run_rospack("deps", "vcs0")) def test_vcs_deps(self): self.rospack_succeed("deps", "vcs") self.assertEquals("type: svn\turl: https://ros.svn.sourceforge.net/svnroot/ros/trunk\n"+ "type: svn\turl: https://ros.svn.sourceforge.net/svnroot/ros/branches", self.run_rospack("deps", "vcs")) def test_deps_manifests(self): self.rospack_succeed("deps", "deps-manifests") testp = os.path.abspath('test') expected = os.path.join(testp, 'base/manifest.xml') + ' ' + os.path.join(testp, 'base_two/manifest.xml') self.assertEquals(expected, self.run_rospack("deps", "deps-manifests")) def test_deps_indent(self): self.rospack_succeed("deps_higher", "deps-indent") testp = os.path.abspath('test') expected = 'deps\n base\n base_two' self.assertEquals(expected, self.run_rospack("deps_higher", "deps-indent")) def _rospack_langs(self, ros_package_path, ros_lang_disable): env = os.environ.copy() if ros_package_path is not None: env[ROS_PACKAGE_PATH] = ros_package_path elif ROS_PACKAGE_PATH in env: del env[ROS_PACKAGE_PATH] if ros_lang_disable is not None: env[ROS_LANG_DISABLE] = ros_lang_disable elif ROS_LANG_DISABLE in env: del env[ROS_LANG_DISABLE] args = [ROSPACK_PATH, 'langs'] p = Popen(args, stdout=PIPE, stderr=PIPE, env=env) retval = p.communicate()[0] return p.returncode, retval.strip().decode('ascii') def test_langs(self): rpp = os.path.abspath('test') retcode, retval = self._rospack_langs(rpp, None) self.assertEquals(0, retcode) # No guarantees on ordering of lang result l = retval.split() s = set(l) expected = set(['rosfoo', 'rosbar']) self.assertEquals(s, expected) def test_langs_disable(self): rpp = os.path.abspath('test') disable = 'rosfoo' retcode, retval = self._rospack_langs(rpp, disable) self.assertEquals(0, retcode) # No guarantees on ordering of lang result l = retval.split() s = set(l) expected = set(['rosbar']) self.assertEquals(s, expected) def test_langs_empty(self): rpp = os.path.abspath('test2') retcode, retval = self._rospack_langs(rpp, None) self.assertEquals(0, retcode) self.failIf(retval, "rospack langs on empty directory returned value %s"%retval) # Test auto-inclusion of msg_gen include directories, #3018 def test_msg_gen(self): test_path = os.path.abspath('test') pkgs = ['msg_gen_no_export', 'msg_gen_no_cpp', 'msg_gen_no_cflags'] for p in pkgs: self.rospack_succeed(p, "cflags-only-I") self.assertEquals(os.path.join(test_path, p, "msg_gen/cpp/include"), self.strip_opt_ros(self.run_rospack(p, "cflags-only-I"))) # Also test that we don't get auto-inclusion of msg_gen when we're # asking for a different lang / attrib, #3884 pkg = 'msg_gen_no_cpp' cmd = 'export --lang=cpp --attrib=lflags' self.rospack_succeed(pkg, cmd) self.assertEquals('', self.strip_opt_ros(self.run_rospack(pkg, cmd))) cmd = 'export --lang=foo --attrib=bar' self.rospack_succeed(pkg, cmd) self.assertEquals('bat', self.run_rospack(pkg, cmd)) # Test that -q option suppresses errors, #3177. def test_quiet_option(self): rpp = os.path.abspath('test') # With -q: look for non-existent package, make sure that it fails, yet # produces nothing on stderr. status_code, stdout, stderr = self._run_rospack(rpp, 'nonexistentpackage', 'find -q') self.assertNotEquals(0, status_code) self.assertEquals(0, len(stderr)) # Without -q: look for non-existent package, make sure that it fails, # and produces somthing on stderr. status_code, stdout, stderr = self._run_rospack(rpp, 'nonexistentpackage', 'find') self.assertNotEquals(0, status_code) self.assertNotEquals(0, len(stderr)) rospack-2.3.1/test/test/utest_rosstack.py.in000066400000000000000000000766121276234213700211740ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2008, Willow Garage, Inc. # All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions # are met: # # * Redistributions of source code must retain the above copyright # notice, this list of conditions and the following disclaimer. # * Redistributions in binary form must reproduce the above # copyright notice, this list of conditions and the following # disclaimer in the documentation and/or other materials provided # with the distribution. # * Neither the name of Willow Garage, Inc. nor the names of its # contributors may be used to endorse or promote products derived # from this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # # Author: Brian Gerkey/Ken Conley import os import unittest from subprocess import Popen, PIPE ROS_ROOT = 'ROS_ROOT' ROS_PACKAGE_PATH = 'ROS_PACKAGE_PATH' ROS_LANG_DISABLE = 'ROS_LANG_DISABLE' ROSSTACK_PATH = "@CATKIN_DEVEL_PREFIX@/bin/rosstack" # Set the initial CWD, so that we can set it back later. # Go up one directory. Have to do this because nosetests doesn't seem to # run properly from the parent directory, even with --where= passed in. initial_cwd = os.path.dirname(os.path.dirname(__file__)) os.chdir(initial_cwd) aliases = { 'deps': 'depends', 'deps1': 'depends1', 'deps-manifests': 'depends-manifests', 'deps-indent': 'depends-indent', } ## Process-level tests of rosstack executable class RosstackTestCase(unittest.TestCase): def setUp(self): # Some tests change CWD os.chdir(initial_cwd) ## runs rosstack with ROS_ROOT set to ./test and ROS_PACKAGE_PATH unset ## @return int, str: return code, stdout def _run_rosstack(self, ros_root, ros_package_path, pkgname, command): env = os.environ.copy() if ros_root is not None: env[ROS_ROOT] = ros_root else: del env[ROS_ROOT] if ros_package_path is not None: env[ROS_PACKAGE_PATH] = ros_package_path elif ROS_PACKAGE_PATH in env: del env[ROS_PACKAGE_PATH] # Must split up the command string into its whitespace separated # components; otherwise you get multiple words as one element of # argv. #args = ["rospack", command, pkgname] args = [ROSSTACK_PATH] if command: for s in command.split(): args.append(s) if pkgname is not None: args.append(pkgname) p = Popen(args, stdout=PIPE, stderr=PIPE, env=env) stdout, stderr = p.communicate() # Also test command aliases, verifying that they give the same # return code and console output if command: cmd = command.split()[-1] if cmd in aliases: args[-2] = aliases[cmd] alias_p = Popen(args, stdout=PIPE, stderr=PIPE, env=env) alias_stdout, alias_stderr = alias_p.communicate() self.assertEquals(p.returncode, alias_p.returncode) self.assertEquals(stdout, alias_stdout) #self.assertEquals(stderr, alias_stderr) return p.returncode, stdout.strip().decode('ascii'), stderr.decode('ascii') ################################################################################ # HELPER ROUTINES # NOTE: helpers with the 'e' prefix take in environment parameters ## @return str: stdout def run_rosstack(self, pkgname, command): ros_root = os.path.abspath('test') return self._run_rosstack(ros_root, None, pkgname, command)[1] ## @return str: stdout def erun_rosstack(self, ros_root, ros_package_path, pkgname, command): return self._run_rosstack(ros_root, ros_package_path, pkgname, command)[1] ## runs rospack with ROS_ROOT set to ./test and ROS_PACKAGE_PATH unset ## @return int: status code def run_rosstack_status(self, pkgname, command): ros_root = os.path.abspath('test') return self._run_rosstack(ros_root, None, pkgname, command)[0] ## @return int: status code def erun_rosstack_status(self, ros_root, ros_package_path, pkgname, command): return self._run_rosstack(ros_root, ros_package_path, pkgname, command)[0] ## assert that rosstack fails on the specified args def rosstack_fail(self, package, command): ros_root = os.path.abspath('test') code, stdout, stderr = self._run_rosstack(ros_root, None, package, command) self.assertNotEquals(0, code, "rosstack [%s %s] should have failed. \n\nstdout[%s] \n\nstderr[%s]"%(command, package, stdout, stderr)) ## assert that rosstack fails on the specified args. includes ROS_ROOT and ROS_PACKAGE_PATH def erosstack_fail(self, ros_root, ros_package_path, package, command): code, stdout, stderr = self._run_rosstack(ros_root, ros_package_path, package, command) self.assertNotEquals(0, code, "rosstack [%s %s] should have failed instead of returning status code 0. \n\nstdout[%s] \n\nstderr[%s]"%(command, package, stdout, stderr)) ## assert that rosstack succeeds on the specified args def rosstack_succeed(self, package, command): ros_root = os.path.abspath('test') status_code, stdout, stderr = self._run_rosstack(ros_root, None, package, command) self.assertEquals(0, status_code, '"rosstack %s %s" failed with status code [%s] instead of succeeding with [0]. \n\nstdout[%s] \n\nstderr[%s]'%(command, package, status_code, stdout, stderr)) ## assert that rosstack succeeds on the specified args def erosstack_succeed(self, ros_root, ros_package_path, package, command): status_code, stdout, stderr = self._run_rosstack(ros_root, ros_package_path, package, command) self.assertEquals(0, status_code, "rosstack [%s %s, env ROS_ROOT=%s ROS_PACKAGE_PATH=%s] failed with status code [%s] instead of succeeding with [0]. \n\nstdout[%s] \n\nstderr[%s]"%(command, package, ros_root, ros_package_path, status_code, stdout, stderr)) # helper routine that does return value validation where the return value from # rosstack is an unordered, line-separated list def check_ordered_list(self, command, tests): for retlist, package in tests: expected = set(retlist) self.rosstack_succeed(package, command) retval = self.strip_opt_ros(self.run_rosstack(package, command)) retactual = [v for v in retval.split('\n') if v] self.failIf(set(retlist) ^ set(retactual), "rosstack %s %s failed: [%s] vs [%s]"%(command, package, retlist, retactual)) self.assertEquals('\n'.join(retlist), '\n'.join(retactual)) # variant of check_ordered_list that allows specifying ros_root and ros_package_path. # helper routine that does return value validation where the return value from # rosstack is an unordered, line-separated list def echeck_ordered_list(self, command, tests): for retlist, ros_root, ros_package_path, package in tests: expected = set(retlist) self.erosstack_succeed(ros_root, ros_package_path, package, command) retval = self.erun_rosstack(ros_root, ros_package_path, package, command) retactual = [v for v in retval.split('\n') if v] self.failIf(set(retlist) ^ set(retactual), "[env %s %s] rosstack %s %s failed: [%s] vs [%s]"%(ros_root, ros_package_path, command, package, retlist, retactual)) # variant that does not require ordering among the return values def check_unordered_list(self, command, tests): for retlist, package in tests: expected = set(retlist) self.rosstack_succeed(package, command) retval = self.run_rosstack(package, command) retactual = [v for v in retval.split('\n') if v] self.failIf(set(retlist) ^ set(retactual), "rosstack %s %s failed: [%s] vs [%s]"%(command, package, retlist, retactual)) #self.assertEquals('\n'.join(retlist), '\n'.join(retactual)) # variant that does not require ordering among the return values def echeck_unordered_list(self, command, tests): for retlist, ros_root, ros_package_path, package in tests: expected = set(retlist) self.erosstack_succeed(ros_root, ros_package_path, package, command) retval = self.erun_rosstack(ros_root, ros_package_path, package, command) retactual = [v for v in retval.split('\n') if v] self.failIf(set(retlist) ^ set(retactual), "rosstack %s %s failed: [%s] vs [%s]"%(command, package, retlist, retactual)) #self.assertEquals('\n'.join(retlist), '\n'.join(retactual)) ################################################################################ ## ARG PARSING def test_no_option(self): self.rosstack_succeed(None, None) def test_fake_option(self): self.rosstack_fail("deps", "--fake deps") def test_invalid_option(self): self.rosstack_fail("deps", "list --length=10") def test_no_package_allowed(self): self.rosstack_succeed(None, "help") self.rosstack_succeed(None, "profile") self.rosstack_succeed(None, "list") self.rosstack_succeed(None, "list-names") def test_no_package_allowed_bad(self): self.rosstack_fail("deps", "profile") self.rosstack_fail("deps", "list") self.rosstack_fail("deps", "list-names") def test_contents(self): tests = [(["precedence1", "precedence2", "precedence3", "roslang"], os.path.abspath("test2"), os.path.abspath("test2"), "test2")] self.echeck_unordered_list("contents", tests) # Bug #2854 def test_path_precendence(self): tests = [([os.path.abspath("stack_install/stack")], os.path.abspath("test"), ':'.join([os.path.abspath("stack_install"), os.path.abspath("stack_overlay")]), "stack"), ([os.path.abspath("stack_install/stack")], os.path.abspath("test"), ':'.join([os.path.abspath("stack_install"), os.path.abspath("stack_overlay/stack")]), "stack"), ([os.path.abspath("stack_install/stack")], os.path.abspath("test"), ':'.join([os.path.abspath("stack_install/stack"), os.path.abspath("stack_overlay/stack")]), "stack"), ([os.path.abspath("stack_install/stack")], os.path.abspath("test"), ':'.join([os.path.abspath("stack_install/stack"), os.path.abspath("stack_overlay")]), "stack")] self.echeck_unordered_list("find", tests) # TODO: port / adapt these rospack tests to exercise rosstack, #2009 # # def test_invalid_option_order(self): # self.rospack_fail("deps", "--lang=cpp --attrib=lflags export") # self.rospack_fail("deps", "--lang=cpp export --attrib=lflags") # self.rospack_fail("deps", "--deps-only cflags-only-I") # # def test_export_bad(self): # self.rospack_fail("base", "export --lang= --attrib=lflags") # self.rospack_fail("base", "export --lang=cpp --attrib=") # self.rospack_fail("base", "export --attrib=lflags") # self.rospack_fail("base", "export --lang=cpp") # self.rospack_fail("base", "export --lang=cpp --lang=python --attrib=lflags") # self.rospack_fail("base", "export --lang=cpp --attrib=lflags --attrib=cflags") # self.rospack_fail("base", "export --lang=cpp --attrib=cflags --top=foo") # # def test_plugins_bad(self): # self.rospack_fail("base", "plugins") # self.rospack_fail("base", "plugins --lang=cpp") # self.rospack_fail("base", "plugins --attrib=") # self.rospack_fail("base", "plugins --top=foo") # # ################################################################################ # ## EXPORT # # def test_export_cpp(self): # package = 'base' # tests = [("-lfoo", "export --lang=cpp --attrib=lflags"), # ("-lfoo", "export --attrib=lflags --lang=cpp"), # ("-Isomething", "export --lang=cpp --attrib=cflags"), # ("-Isomething", "export --attrib=cflags --lang=cpp"), # ] # for retval, arg in tests: # self.rospack_succeed(package, arg) # self.assertEquals(retval, self.strip_opt_ros(self.run_rospack(package, arg))) # #TODO: test export with $prefix # #TODO: test export with non-cpp attribs # # def test_export_non_existent_attrib(self): # self.rospack_succeed("base", "export --lang=cpp --attrib=fake") # self.failIf(self.run_rospack("base", "export --lang=cpp --attrib=fake")) # # ################################################################################ # ## Plugins # # def test_plugins(self): # tests = [(["deps foo.cmake", "plugins bat.cmake"], "base")] # self.check_unordered_list("plugins --attrib=cmake", tests) # # package = 'base' # tests = [("deps foo.cmake", "plugins --attrib=cmake --top=deps")] # for retval, arg in tests: # self.rospack_succeed(package, arg) # self.assertEquals(retval, self.strip_opt_ros(self.run_rospack(package, arg))) # package = 'base_two' # tests = [("deps bar.cmake", "plugins --attrib=cmake")] # for retval, arg in tests: # self.rospack_succeed(package, arg) # self.assertEquals(retval, self.strip_opt_ros(self.run_rospack(package, arg))) # # ################################################################################ # ## ENVIRONMENT TEST # # def test_no_ros_root(self): # testp = os.path.abspath('test') # self.erospack_fail(None, testp, "deps", "deps") # # def test_bad_ros_root(self): # # #468 test. this is the chosen exit code, distinguish against segfault # non_existent1 = os.path.abspath('non_existent1') # testp = os.path.abspath("test") # self.assertNotEquals(0, self.erun_rospack_status(non_existent1, testp, "deps", "deps")) # # ## test rospack with ROS_ROOT=ROS_PACKAGE_PATH # def test_ros_root__ros_package_path_identical(self): # #implicitly depending on the deps test here # #set ros_package_path to be identical to ros_root # testp = os.path.abspath('test') # tests = [ # (["base", "base_two"], testp, testp, "deps"), # ] # self.echeck_ordered_list("deps", tests) # # ## test rospack with ROS_PACKAGE_PATH set to the empty string # def test_empty_ros_package_path(self): # testp = os.path.abspath('test') # tests = [ # (["base", "base_two"], testp, '', "deps"), # ] # self.echeck_ordered_list("deps", tests) # # ## tests rpp vs rr precedence # def test_ros_package_path_precedence_1(self): # testp = os.path.abspath('test') # test2p = os.path.abspath('test2') # test3p = os.path.abspath('test3') # tests = [ # (["test"], testp, test2p, "precedence1"), # (["test2"], test2p, testp, "precedence1"), # (["test2"], testp, "%s:%s"%(test2p, test3p), "precedence2"), # (["test3"], testp, "%s:%s"%(test3p, test2p), "precedence2"), # ] # self.echeck_ordered_list('libs-only-l', tests) # # # test ability to point ros_package_path directly at package # def test_ros_package_path_direct_package(self): # testp = os.path.abspath('test') # test2p = os.path.abspath('test2') # test3p = os.path.abspath('test3') # # point directly at precedence 2/3 # rpp = ':'.join([os.path.join(test2p, 'precedence2'),os.path.join(test3p, 'precedence3')]) # tests = [ # (["test2"], testp, rpp, "precedence2"), # (["test3"], testp, rpp, "precedence3"), # ] # self.echeck_ordered_list('libs-only-l', tests) # # def test_ros_package_path_colons(self): # # scatter some colons into ros package path to make sure rospack doesn't mind # testp = os.path.abspath('test') # test2p = os.path.abspath('test2') # test3p = os.path.abspath('test3') # tests = [ # (["base","base_two"], testp, "::%s:::"%testp, "deps"), # (["base","base_two"], testp, "::", "deps"), # ] # self.echeck_ordered_list('deps', tests) # tests = [ # (["test"], testp, ":::%s:"%test2p, "precedence1"), # (["test2"],testp, "::%s::%s::"%(test2p,test3p), "precedence2"), # ] # self.echeck_ordered_list("libs-only-l", tests) # # def test_ros_package_path_bad_paths(self): # testp = os.path.abspath('test') # test2p = os.path.abspath('test2') # non_existentp = os.path.abspath('test') # tests = [ # (["test"], testp, non_existentp, "precedence1"), # (["test2"],testp, ":%s:%s"%(non_existentp, test2p), "precedence2"), # (["test2"],testp, ":%s:%s"%(test2p, non_existentp), "precedence2"), # ] # self.echeck_ordered_list("libs-only-l", tests) # # ################################################################################ # ## rospack list # # def _rospack_list(self, ros_root, ros_package_path): # env = os.environ.copy() # if ros_root is not None: # env[ROS_ROOT] = ros_root # else: # del env[ROS_ROOT] # if ros_package_path is not None: # env[ROS_PACKAGE_PATH] = ros_package_path # elif ROS_PACKAGE_PATH in env: # del env[ROS_PACKAGE_PATH] # args = ["rospack", 'list'] # p = Popen(args, stdout=PIPE, stderr=PIPE, env=env) # retval = p.communicate()[0] # return p.returncode, retval.strip().decode('ascii') # # def _check_rospack_list(self, expected, retval): # lines = [l for l in retval.split('\n') if l] # packages = [l[:l.find(' ')] for l in lines] # # canonicalize paths # paths = [os.path.abspath(l[l.find(' ')+1:]) for l in lines] # result = {} # for pack, path in zip(packages, paths): # result[pack] = os.path.abspath(path) # self.failIf(set(expected.keys()) ^ set(packages), "package lists do not match (expected vs. actual): %s vs %s"%(expected.keys(), packages)) # for pack,path in expected.items(): # self.assertEquals(path, result[pack]) # # ## test rospack list on an empty tree # def test_rospack_list_empty(self): # rr = os.path.abspath('test_empty') # retcode, retval = self._rospack_list(rr, None) # self.assertEquals(0, retcode) # self.failIf(retval, "rospack list on empty directory returned value %s"%retval) # # # test that rospack list removes duplicates # def test_rospack_list_dups(self): # # make sure result is same if ROS_ROOT=ROS_PACKAGE_PATH # rr = os.path.abspath('structure_test') # retcode, retval = self._rospack_list(rr, None) # self.assertEquals(0, retcode) # retcode2, retval2 = self._rospack_list(rr, rr) # self.assertEquals(0, retcode2) # self.assertEquals(retval, retval2, "rospack list did not remove duplicates") # # def test_rospack_list_no_rpp(self): # rr = os.path.abspath('structure_test') # expected = structure_test.copy() # retcode, retval = self._rospack_list(rr, None) # self.assertEquals(0, retcode) # self._check_rospack_list(expected, retval) # # #TODO: symlink test # #TODO: test with ros package path # # ################################################################################ # ## rospack list-names # # def _rospack_list_names(self, ros_root, ros_package_path): # env = os.environ.copy() # if ros_root is not None: # env[ROS_ROOT] = ros_root # else: # del env[ROS_ROOT] # if ros_package_path is not None: # env[ROS_PACKAGE_PATH] = ros_package_path # elif ROS_PACKAGE_PATH in env: # del env[ROS_PACKAGE_PATH] # args = ["rospack", 'list-names'] # p = Popen(args, stdout=PIPE, stderr=PIPE, env=env) # retval = p.communicate()[0] # return p.returncode, retval.strip().decode('ascii') # # ## test rospack list-names on an empty tree # def test_rospack_list_names_empty(self): # rr = os.path.abspath('test_empty') # retcode, retval = self._rospack_list_names(rr, None) # self.assertEquals(0, retcode) # self.failIf(retval, "rospack list-names on empty directory returned value %s"%retval) # # # test that rospack list removes duplicates # def test_rospack_list_names_dups(self): # # make sure result is same if ROS_ROOT=ROS_PACKAGE_PATH # rr = os.path.abspath('structure_test') # retcode, retval = self._rospack_list_names(rr, None) # self.assertEquals(0, retcode) # retcode2, retval2 = self._rospack_list_names(rr, rr) # self.assertEquals(0, retcode2) # self.assertEquals(retval, retval2, "rospack list-names did not remove duplicates") # # def test_rospack_list_names_no_rpp(self): # rr = os.path.abspath('structure_test') # expected = set(structure_test.copy().keys()) # retcode, retval = self._rospack_list_names(rr, None) # self.assertEquals(0, retcode) # self.assertEquals(expected, set(retval.split())) # # #TODO: symlink test # #TODO: test with ros package path # # ################################################################################ # ## rospack find # # ## test rospack find on non-existent package # def test_rospack_find_fail(self): # rr = os.path.abspath('test_empty') # self.erospack_fail(rr, None, 'package', 'find') # # ## test rospack find with ros_package_path set directly to a package # def test_rospack_find_direct(self): # testp = os.path.abspath('test') # package1p = os.path.abspath(os.path.join('structure_test', 'package1')) # self.erospack_succeed(testp, package1p, 'package1', 'find') # self.assertEquals(package1p, self.erun_rospack(testp, package1p, 'package1', 'find')) # # def test_rospack_find_no_rpp(self): # rr = os.path.abspath('structure_test') # expected = structure_test.copy() # for package,path in expected.items(): # self.erospack_succeed(rr, None, package, 'find') # self.assertEquals(path, os.path.abspath(self.erun_rospack(rr, None, package, 'find'))) # # #TODO: symlink test # #TODO: test with ros package path # # ################################################################################ # ## DEPENDENCIES # # def test_deps(self): # depth_list = ['depth-%s'%i for i in range(1, 101)] # depth_list.reverse() # tests = [ # (["base","base_two"], "deps"), # (["base","base_two","deps"], "deps_higher"), # (["base","base_two","deps","deps_higher"],"deps_dup"), # (depth_list, "depth-0") # ] # self.check_ordered_list('deps', tests) # # def test_deps1(self): # tests = [ # (["base","base_two"], "deps"), # (["deps"], "deps_higher"), # (["depth-1"], "depth-0"), # (["depth-99"], "depth-98"), # ] # self.check_ordered_list('deps1',tests) # # def test_deps_invalid(self): # self.rospack_fail("deps_invalid", "deps") # # def test_depends_on(self): # depth_list = ['depth-%s'%i for i in range(0, 100)] # depth_list.reverse() # # self.rospack_succeed("deps", "depends-on") # tests = [ # (["deps_higher","deps_dup"], "deps"), # ([], "depth-0"), # (depth_list, "depth-100"), # ] # self.check_ordered_list("depends-on", tests) # # def test_depends_on1(self): # # sanity check first # self.rospack_succeed("deps", "depends-on") # tests = [ # (["deps_higher"], "deps"), # (["deps", "deps_dup", "plugins"], "base"), # (["deps", "deps_dup"], "base_two"), # ] # self.check_unordered_list("depends-on1", tests) # # def test_depends_on_nonexistent(self): # self.rospack_fail("deps", "deps_nonexistent") # self.rospack_fail("deps", "nonexistentpackage") # tests = [ # (["deps_nonexistent"], "nonexistentpackage"), # ] # self.check_ordered_list("depends-on", tests) # # def test_lflags_base(self): # self.rospack_succeed("base", "libs-only-l") # self.assertEquals("foo", self.run_rospack("base", "libs-only-l")) # # def test_circular(self): # testp = os.path.abspath("test") # self.erospack_fail(testp, os.path.abspath("test_circular/cycle0"), "self_ref", "deps") # self.erospack_fail(testp, os.path.abspath("test_circular/cycle1"), "friend1", "deps") # self.erospack_fail(testp, os.path.abspath("test_circular/cycle1"), "friend2", "deps") # self.erospack_fail(testp, os.path.abspath("test_circular/cycle2"), "friend1", "deps") # self.erospack_fail(testp, os.path.abspath("test_circular/cycle2"), "friend2", "deps") # self.erospack_fail(testp, os.path.abspath("test_circular/cycle2"), "friend3", "deps") # # def test_lflags_backquote(self): # self.rospack_succeed("backquote", "libs-only-l") # self.assertEquals("loki foo backquote", self.run_rospack("backquote", "libs-only-l")) # # def test_backquote_invalid(self): # self.rospack_fail("backquote_invalid", "libs-only-other") # # # Strip out '/opt/ros' and friends from flags before checking them # def strip_opt_ros(self, flags): # prefix = '/opt/ros' # if 'ROS_BINDEPS_PATH' in os.environ: # prefix = os.environ['ROS_BINDEPS_PATH'] # tostrip = [prefix + '/lib', # prefix + '/include', # '-L' + prefix + '/lib', # '-I' + prefix + '/include', # '-Wl,-rpath,' + prefix + '/lib'] # res = '' # for f in flags.split(' '): # if f and f not in tostrip: # if len(res) > 0: # res += ' ' # res += f # return res # # def test_Lflags_backquote(self): # self.rospack_succeed("backquote", "libs-only-L") # self.assertEquals("odin", self.strip_opt_ros(self.run_rospack("backquote", "libs-only-L"))) # # def test_cflags_backquote(self): # self.rospack_succeed("backquote", "cflags-only-I") # self.assertEquals("blah backquote", self.strip_opt_ros(self.run_rospack("backquote", "cflags-only-I"))) # # def test_lflags_deps(self): # self.rospack_succeed("deps", "libs-only-l") # self.assertEquals("loki foo bar", self.run_rospack("deps", "libs-only-l")) # # def test_lflags_deps_only(self): # self.rospack_succeed("deps", "libs-only-l --deps-only") # self.assertEquals("foo bar", self.run_rospack("deps", "libs-only-l --deps-only")) # # def test_empty_lflags(self): # tests = [([], "deps_empty")] # commands = ["libs-only-l", "libs-only-L", "libs-only-other"] # for c in commands: # self.check_ordered_list(c, tests) # # def test_empty_cflags(self): # tests = [([], "deps_empty")] # commands = ["cflags-only-I", "cflags-only-other"] # for c in commands: # self.check_ordered_list(c, tests) # # def test_empty_vcs(self): # self.rospack_succeed("empty", "vcs0") # self.assertEquals("type: \turl:", self.run_rospack("empty", "vcs0")) # self.rospack_succeed("deps_empty", "vcs") # self.assertEquals("type: svn\turl: \ntype: \turl:", self.run_rospack("deps_empty", "vcs")) # # def test_lflags_invalid(self): # self.rospack_fail("invalid", "libs-only-l") # # def test_vcs_invalid(self): # self.rospack_fail("invalid", "vcs") # # def test_deps1_invalid(self): # self.rospack_fail("invalid", "deps1") # # def test_vcs0_deps(self): # self.rospack_succeed("deps", "vcs0") # self.failIf(self.run_rospack("deps", "vcs0")) # # def test_vcs_deps(self): # self.rospack_succeed("deps", "vcs") # self.assertEquals("type: svn\turl: https://ros.svn.sourceforge.net/svnroot/ros/trunk\n"+ # "type: svn\turl: https://ros.svn.sourceforge.net/svnroot/ros/branches", self.run_rospack("deps", "vcs")) # # def test_deps_manifests(self): # self.rospack_succeed("deps", "deps-manifests") # testp = os.path.abspath('test') # expected = os.path.join(testp, 'base/manifest.xml') + ' ' + os.path.join(testp, 'base_two/manifest.xml') # self.assertEquals(expected, # self.run_rospack("deps", "deps-manifests")) # # def test_deps_indent(self): # self.rospack_succeed("deps_higher", "deps-indent") # testp = os.path.abspath('test') # expected = 'deps\n base\n base_two' # self.assertEquals(expected, # self.run_rospack("deps_higher", "deps-indent")) # # def _rospack_langs(self, ros_root, ros_package_path, ros_lang_disable): # env = os.environ.copy() # if ros_root is not None: # env[ROS_ROOT] = ros_root # else: # del env[ROS_ROOT] # if ros_package_path is not None: # env[ROS_PACKAGE_PATH] = ros_package_path # elif ROS_PACKAGE_PATH in env: # del env[ROS_PACKAGE_PATH] # if ros_lang_disable is not None: # env[ROS_LANG_DISABLE] = ros_lang_disable # elif ROS_LANG_DISABLE in env: # del env[ROS_LANG_DISABLE] # args = ["rospack", 'langs'] # p = Popen(args, stdout=PIPE, stderr=PIPE, env=env) # retval = p.communicate()[0] # return p.returncode, retval.strip().decode('ascii') # # def test_langs(self): # rr = os.path.abspath('test') # retcode, retval = self._rospack_langs(rr, None, None) # self.assertEquals(0, retcode) # # No guarantees on ordering of lang result # l = retval.split() # s = set(l) # expected = set(['rosfoo', 'rosbar']) # self.assertEquals(s, expected) # # def test_langs_disable(self): # rr = os.path.abspath('test') # disable = 'rosfoo' # retcode, retval = self._rospack_langs(rr, None, disable) # self.assertEquals(0, retcode) # # No guarantees on ordering of lang result # l = retval.split() # s = set(l) # expected = set(['rosbar']) # self.assertEquals(s, expected) # # def test_langs_empty(self): # rr = os.path.abspath('test2') # retcode, retval = self._rospack_langs(rr, None, None) # self.assertEquals(0, retcode) # self.failIf(retval, "rospack langs on empty directory returned value %s"%retval) rospack-2.3.1/test/test/vc_no_type_or_url/000077500000000000000000000000001276234213700206535ustar00rootroot00000000000000rospack-2.3.1/test/test/vc_no_type_or_url/manifest.xml000066400000000000000000000002271276234213700232040ustar00rootroot00000000000000 rospack-2.3.1/test/test2/000077500000000000000000000000001276234213700152065ustar00rootroot00000000000000rospack-2.3.1/test/test2/precedence1/000077500000000000000000000000001276234213700173645ustar00rootroot00000000000000rospack-2.3.1/test/test2/precedence1/manifest.xml000066400000000000000000000002251276234213700217130ustar00rootroot00000000000000 rospack-2.3.1/test/test2/precedence2/000077500000000000000000000000001276234213700173655ustar00rootroot00000000000000rospack-2.3.1/test/test2/precedence2/manifest.xml000066400000000000000000000002251276234213700217140ustar00rootroot00000000000000 rospack-2.3.1/test/test2/precedence3/000077500000000000000000000000001276234213700173665ustar00rootroot00000000000000rospack-2.3.1/test/test2/precedence3/manifest.xml000066400000000000000000000002251276234213700217150ustar00rootroot00000000000000 rospack-2.3.1/test/test2/roslang/000077500000000000000000000000001276234213700166535ustar00rootroot00000000000000rospack-2.3.1/test/test2/roslang/manifest.xml000066400000000000000000000000251276234213700212000ustar00rootroot00000000000000 rospack-2.3.1/test/test2/stack.xml000066400000000000000000000000221276234213700170270ustar00rootroot00000000000000 rospack-2.3.1/test/test3/000077500000000000000000000000001276234213700152075ustar00rootroot00000000000000rospack-2.3.1/test/test3/precedence1/000077500000000000000000000000001276234213700173655ustar00rootroot00000000000000rospack-2.3.1/test/test3/precedence1/manifest.xml000066400000000000000000000002251276234213700217140ustar00rootroot00000000000000 rospack-2.3.1/test/test3/precedence2/000077500000000000000000000000001276234213700173665ustar00rootroot00000000000000rospack-2.3.1/test/test3/precedence2/manifest.xml000066400000000000000000000002251276234213700217150ustar00rootroot00000000000000 rospack-2.3.1/test/test3/precedence3/000077500000000000000000000000001276234213700173675ustar00rootroot00000000000000rospack-2.3.1/test/test3/precedence3/manifest.xml000066400000000000000000000002251276234213700217160ustar00rootroot00000000000000 rospack-2.3.1/test/test_circular/000077500000000000000000000000001276234213700170105ustar00rootroot00000000000000rospack-2.3.1/test/test_circular/cycle0/000077500000000000000000000000001276234213700201675ustar00rootroot00000000000000rospack-2.3.1/test/test_circular/cycle0/self_ref/000077500000000000000000000000001276234213700217545ustar00rootroot00000000000000rospack-2.3.1/test/test_circular/cycle0/self_ref/manifest.xml000066400000000000000000000004251276234213700243050ustar00rootroot00000000000000 Fake description No One Fake License rospack-2.3.1/test/test_circular/cycle1/000077500000000000000000000000001276234213700201705ustar00rootroot00000000000000rospack-2.3.1/test/test_circular/cycle1/friend1/000077500000000000000000000000001276234213700215205ustar00rootroot00000000000000rospack-2.3.1/test/test_circular/cycle1/friend1/manifest.xml000066400000000000000000000004241276234213700240500ustar00rootroot00000000000000 Fake description No One Fake License rospack-2.3.1/test/test_circular/cycle1/friend2/000077500000000000000000000000001276234213700215215ustar00rootroot00000000000000rospack-2.3.1/test/test_circular/cycle1/friend2/manifest.xml000066400000000000000000000004241276234213700240510ustar00rootroot00000000000000 Fake description No One Fake License rospack-2.3.1/test/test_circular/cycle2/000077500000000000000000000000001276234213700201715ustar00rootroot00000000000000rospack-2.3.1/test/test_circular/cycle2/friend1/000077500000000000000000000000001276234213700215215ustar00rootroot00000000000000rospack-2.3.1/test/test_circular/cycle2/friend1/manifest.xml000066400000000000000000000004241276234213700240510ustar00rootroot00000000000000 Fake description No One Fake License rospack-2.3.1/test/test_circular/cycle2/friend2/000077500000000000000000000000001276234213700215225ustar00rootroot00000000000000rospack-2.3.1/test/test_circular/cycle2/friend2/manifest.xml000066400000000000000000000004241276234213700240520ustar00rootroot00000000000000 Fake description No One Fake License rospack-2.3.1/test/test_circular/cycle2/friend3/000077500000000000000000000000001276234213700215235ustar00rootroot00000000000000rospack-2.3.1/test/test_circular/cycle2/friend3/manifest.xml000066400000000000000000000004241276234213700240530ustar00rootroot00000000000000 Fake description No One Fake License rospack-2.3.1/test/test_empty/000077500000000000000000000000001276234213700163425ustar00rootroot00000000000000rospack-2.3.1/test/test_empty/.hidden000066400000000000000000000000001276234213700175640ustar00rootroot00000000000000