v01

thirdparty/ros/ros_comm/clients/rospy/rosbuild/rospy.cmake

@@ -0,0 +1,110 @@
+rosbuild_find_ros_package(rospy)
+
+# Message-generation support.
+macro(genmsg_py)
+  rosbuild_get_msgs(_msglist)
+  set(_inlist "")
+  set(_autogen "")
+  set(genmsg_py_exe ${rospy_PACKAGE_PATH}/rosbuild/scripts/genmsg_py.py)
+
+  foreach(_msg ${_msglist})
+    # Construct the path to the .msg file
+    set(_input ${PROJECT_SOURCE_DIR}/msg/${_msg})
+    # Append it to a list, which we'll pass back to gensrv below
+    list(APPEND _inlist ${_input})
+  
+    rosbuild_gendeps(${PROJECT_NAME} ${_msg})
+  
+
+    set(_output_py ${PROJECT_SOURCE_DIR}/src/${PROJECT_NAME}/msg/_${_msg})
+    string(REPLACE ".msg" ".py" _output_py ${_output_py})
+  
+    # Add the rule to build the .py from the .msg.
+    add_custom_command(OUTPUT ${_output_py} 
+                       COMMAND ${genmsg_py_exe} --noinitpy ${_input}
+                       DEPENDS ${_input} ${genmsg_py_exe} ${gendeps_exe} ${${PROJECT_NAME}_${_msg}_GENDEPS} ${ROS_MANIFEST_LIST})
+    list(APPEND _autogen ${_output_py})
+  endforeach(_msg)
+
+  if(_autogen)
+    # Set up to create the __init__.py file that will import the .py
+    # files created by the above loop.  It can't run until those files are
+    # generated, so it depends on them.
+    set(_output_py ${PROJECT_SOURCE_DIR}/src/${PROJECT_NAME}/msg/__init__.py)
+    add_custom_command(OUTPUT ${_output_py}
+                       COMMAND ${genmsg_py_exe} --initpy ${_inlist}
+                       DEPENDS ${_autogen})
+
+    # A target that depends on generation of the __init__.py
+    add_custom_target(ROSBUILD_genmsg_py DEPENDS ${_output_py})
+    # Make our target depend on rosbuild_premsgsrvgen, to allow any
+    # pre-msg/srv generation steps to be done first.
+    add_dependencies(ROSBUILD_genmsg_py rosbuild_premsgsrvgen)
+    # Add our target to the top-level genmsg target, which will be fired if
+    # the user calls genmsg()
+    add_dependencies(rospack_genmsg ROSBUILD_genmsg_py)
+
+    # Also set up to clean the src/<project>/msg directory
+    get_directory_property(_old_clean_files ADDITIONAL_MAKE_CLEAN_FILES)
+    list(APPEND _old_clean_files ${PROJECT_SOURCE_DIR}/src/${PROJECT_NAME}/msg)
+    set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES "${_old_clean_files}")
+  endif(_autogen)
+endmacro(genmsg_py)
+
+# Call the macro we just defined.
+genmsg_py()
+
+# Service-generation support.
+macro(gensrv_py)
+  rosbuild_get_srvs(_srvlist)
+  set(_inlist "")
+  set(_autogen "")
+  set(gensrv_py_exe ${rospy_PACKAGE_PATH}/rosbuild/scripts/gensrv_py.py)
+
+  foreach(_srv ${_srvlist})
+    # Construct the path to the .srv file
+    set(_input ${PROJECT_SOURCE_DIR}/srv/${_srv})
+    # Append it to a list, which we'll pass back to gensrv below
+    list(APPEND _inlist ${_input})
+  
+    rosbuild_gendeps(${PROJECT_NAME} ${_srv})
+  
+
+    set(_output_py ${PROJECT_SOURCE_DIR}/src/${PROJECT_NAME}/srv/_${_srv})
+    string(REPLACE ".srv" ".py" _output_py ${_output_py})
+  
+    # Add the rule to build the .py from the .srv
+    add_custom_command(OUTPUT ${_output_py} 
+                       COMMAND ${gensrv_py_exe} --noinitpy ${_input}
+                       DEPENDS ${_input} ${gensrv_py_exe} ${gendeps_exe} ${${PROJECT_NAME}_${_srv}_GENDEPS} ${ROS_MANIFEST_LIST})
+    list(APPEND _autogen ${_output_py})
+  endforeach(_srv)
+
+  if(_autogen)
+    # Set up to create the __init__.py file that will import the .py
+    # files created by the above loop.  It can't run until those files are
+    # generated, so it depends on them.
+    set(_output_py ${PROJECT_SOURCE_DIR}/src/${PROJECT_NAME}/srv/__init__.py)
+    add_custom_command(OUTPUT ${_output_py}
+                       COMMAND ${gensrv_py_exe} --initpy ${_inlist}
+                       DEPENDS ${_autogen})
+  
+    # A target that depends on generation of the __init__.py
+    add_custom_target(ROSBUILD_gensrv_py DEPENDS ${_output_py})
+    # Make our target depend on rosbuild_premsgsrvgen, to allow any
+    # pre-msg/srv generation steps to be done first.
+    add_dependencies(ROSBUILD_gensrv_py rosbuild_premsgsrvgen)
+    # Add our target to the top-level gensrv target, which will be fired if
+    # the user calls gensrv()
+    add_dependencies(rospack_gensrv ROSBUILD_gensrv_py)
+
+    # Also set up to clean the src/<project>/srv directory
+    get_directory_property(_old_clean_files ADDITIONAL_MAKE_CLEAN_FILES)
+    list(APPEND _old_clean_files ${PROJECT_SOURCE_DIR}/src/${PROJECT_NAME}/srv)
+    set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES "${_old_clean_files}")
+  endif(_autogen)
+endmacro(gensrv_py)
+
+# Call the macro we just defined.
+gensrv_py()
+

thirdparty/ros/ros_comm/clients/rospy/rosbuild/scripts/genmsg_py.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python
+# 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.
+
+"""
+ROS message source code generation for Python
+
+Converts ROS .msg files in a package into Python source code implementations.
+"""
+
+import sys
+
+# genutil is a utility package the implements the package crawling
+# logic of genmsg_py and gensrv_py logic
+import genutil
+
+if __name__ == "__main__":
+    genutil.genmain(sys.argv, 'msg')

thirdparty/ros/ros_comm/clients/rospy/rosbuild/scripts/gensrv_py.py

@@ -0,0 +1,46 @@
+#!/usr/bin/env python
+# 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.
+
+"""
+ROS message source code generation for rospy.
+
+Converts ROS .srv files into Python source code implementations.
+"""
+
+import sys
+
+# genutil is a utility package the implements the package crawling
+# logic of genmsg_py and gensrv_py logic
+import genutil
+if __name__ == "__main__":
+    genutil.genmain(sys.argv, 'srv')

thirdparty/ros/ros_comm/clients/rospy/rosbuild/scripts/genutil.py

@@ -0,0 +1,143 @@
+# 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.
+
+## Common generation tools for Python ROS message and service generators
+
+from __future__ import print_function
+
+import os
+import errno  # for smart handling of exceptions for os.makedirs()
+import sys
+import traceback
+
+import rospkg
+import genmsg
+import genpy
+import genpy.generator
+import genpy.generate_initpy
+                
+def usage(progname):
+    print("%(progname)s file(s)"%vars())
+
+def get_package_and_file(argv):
+    if not argv[1:]:
+        usage(argv[0])
+
+    files = [a for a in argv[1:] if not a.startswith('--')]
+    # rospy.cmake only passes in a single file arg, assert this case
+    assert len(files) == 1, files
+
+    msg_file = files[0]
+    package = rospkg.get_package_name(msg_file)
+    return package, msg_file
+
+def get_outdir(package, path, subdir):
+    "compute the directory that the .py files are output to"
+    outdir = os.path.join(path, 'src', package, subdir)
+    if not os.path.exists(outdir):
+        try:
+            os.makedirs(outdir)
+        except Exception as e:
+            # It's not a problem if the directory already exists,
+            # because this can happen during a parallel build
+            if e.errno != errno.EEXIST:
+                raise e
+    elif not os.path.isdir(outdir): 
+        raise IOError("Cannot write to %s: file in the way"%(outdir))
+    return outdir
+
+def generate_messages(rospack, package, msg_file, subdir):
+    if subdir == 'msg':
+        gen = genpy.generator.MsgGenerator()
+    else:
+        gen = genpy.generator.SrvGenerator()
+
+    path = rospack.get_path(package)
+    search_path = {
+        package: [os.path.join(path, 'msg')]
+        }
+    # std_msgs is implicit depend due to Header
+    search_path['std_msgs'] = [os.path.join(rospack.get_path('std_msgs'), 'msg')]
+    for d in rospack.get_depends(package):
+        search_path[d] = [os.path.join(rospack.get_path(d), 'msg')]
+
+    include_args = []
+    for d, ipaths in search_path.items():
+        for ipath in ipaths:
+            include_args.append('-I%s:%s'%(d, ipath))
+    outdir = get_outdir(package, path, subdir)
+    retcode = gen.generate_messages(package, [msg_file], outdir, search_path)
+    return retcode
+    
+def generate_initpy(rospack, p, subdir):
+    path = rospack.get_path(p)
+    outdir = get_outdir(p, path, subdir)
+    retcode = genpy.generate_initpy.write_modules(outdir)
+    parent_initpy = os.path.join(path, 'src', p, '__init__.py')
+    if not os.path.exists(parent_initpy):
+        with open(parent_initpy, 'w') as f:
+            f.write("#autogenerated by ROS python message generators")
+    return retcode
+    
+def genmain(argv, subdir):
+    rospack = rospkg.RosPack()
+    try:
+        gen_initpy = '--initpy' in argv
+        no_gen_initpy = '--noinitpy' in argv
+        if gen_initpy:
+            # #1827
+
+            # new __init__py does not take explicit file args.  just
+            # convert to unique package names and compute path.
+            files = [f for f in argv[1:] if not f.startswith('--')]
+            packages = list(set([rospkg.get_package_name(f) for f in files]))
+            retcodes = [generate_initpy(rospack, p, subdir) for p in packages]
+            retcodes = [c for c in retcodes if c not in (0, None)]
+            if retcodes:
+                retcode = retcodes[0]
+            else:
+                retcode = 0
+        else:
+            package, msg_file = get_package_and_file(argv)
+            retcode = generate_messages(rospack, package, msg_file, subdir)
+
+    except genmsg.InvalidMsgSpec as e:
+        sys.stderr.write("ERROR: %s\n"%(str(e)))
+        retcode = 1
+    except genmsg.MsgGenerationException as e:
+        sys.stderr.write("ERROR: %s\n"%(str(e)))
+        retcode = 2
+    except Exception as e:
+        traceback.print_exc()
+        sys.stderr.write("ERROR: %s\n"%(str(e)))
+        retcode = 3
+    sys.exit(retcode or 0)