diff --git a/cmake/genjava-extras.cmake.em b/cmake/genjava-extras.cmake.em
index f08631de343a63d6c26c4ad5753cd015eabc1847..dd6ed36c26728d8b21784b2a6cff352055228190 100644
--- a/cmake/genjava-extras.cmake.em
+++ b/cmake/genjava-extras.cmake.em
@@ -40,51 +40,72 @@ endmacro()
# To facilitate this, the ARG_GENERATED_FILES is actually just the underlying ARG_MSG and ARG_SRV
# files which we feed the commands as DEPENDS to trigger their execution.
macro(_generate_module_java ARG_PKG ARG_GEN_OUTPUT_DIR ARG_GENERATED_FILES)
-
################################
# Gradle Subproject
################################
set(GRADLE_BUILD_DIR "${CMAKE_CURRENT_BINARY_DIR}/java")
set(GRADLE_BUILD_FILE "${GRADLE_BUILD_DIR}/${ARG_PKG}/build.gradle")
list(APPEND ALL_GEN_OUTPUT_FILES_java ${GRADLE_BUILD_FILE})
-
+ # a marker for the compiling script later to discover
+ # this command will only get run when an underlying dependency changes, whereas the compiling
+ # add_custom_target always runs (this was so we can ensure compile time dependencies are ok).
+ # So we leave this dropping to inform it when gradle needs to run so that we can skip by
+ # without the huge latency whenever we don't.
+ set(DROPPINGS_FILE "${GRADLE_BUILD_DIR}/${ARG_PKG}/droppings")
add_custom_command(OUTPUT ${GRADLE_BUILD_FILE}
- DEPENDS ${GENJAVA_BIN}
+ DEPENDS ${GENJAVA_BIN} ${ARG_GENERATED_FILES}
COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENJAVA_BIN}
-o ${GRADLE_BUILD_DIR}
-p ${ARG_PKG}
+ COMMAND touch ${DROPPINGS_FILE}
COMMENT "Generating Java gradle project from ${ARG_PKG}"
)
################################
# Compile Gradle Subproject
################################
+ # Push the compile back to the last thing that gets done before the generate messages
+ # is done for this package (see the PRE_LINK coupled with the TARGET option below). This
+ # is different to genpy, gencpp since it's a compile step. If you don't force it to be
+ # the last thing, then it may be trying to compile while dependencies are still getting
+ # themselves ready for ${ARG_PKG}_generate_messages in parallel.
+ # (i.e. beware of sequencing add_custom_command, it usually has to compete)
set(ROS_GRADLE_VERBOSE $ENV{ROS_GRADLE_VERBOSE})
if(ROS_GRADLE_VERBOSE)
- set(GRADLE_CMD "./gradlew")
+ set(verbosity "--verbosity")
else()
- set(GRADLE_CMD "./gradlew;-q")
+ set(verbosity "")
endif()
- set(GEN_OUTPUT_FILE ${CMAKE_CURRENT_BINARY_DIR}/generated_java_messages.flag)
- add_custom_command(OUTPUT ${GEN_OUTPUT_FILE}
+ add_custom_target(${ARG_PKG}_generate_messages_java_gradle
+ COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENJAVA_BIN}
+ ${verbosity}
+ --compile
+ -o ${GRADLE_BUILD_DIR}
+ -p ${ARG_PKG}
DEPENDS ${GRADLE_BUILD_FILE} ${ARG_GENERATED_FILES}
- COMMAND ${CATKIN_ENV} ${GRADLE_CMD}
- COMMAND touch ${GEN_OUTPUT_FILE}
WORKING_DIRECTORY ${GRADLE_BUILD_DIR}/${ARG_PKG}
- COMMENT "Generating Java code for ${ARG_PKG}")
- list(APPEND ALL_GEN_OUTPUT_FILES_java ${GEN_OUTPUT_FILE})
-
- ################################
- # Debugging
- ################################
- #foreach(gen_output_file ${ALL_GEN_OUTPUT_FILES_java})
- # message(STATUS "ALL_GEN_OUTPUT_FILES_java..........${gen_output_file}")
- #endforeach()
+ COMMENT "Compiling Java code for ${ARG_PKG}"
+ )
+ add_dependencies(${ARG_PKG}_generate_messages ${ARG_PKG}_generate_messages_java_gradle)
################################
# Dependent Targets
################################
+ # This is a bad hack that needs to disappear. e.g.
+ # - topic_tools and roscpp are both packages with a couple of msgs
+ # - topic tools messages doesn't actually depend on roscpp messages
+ # this is guarded, so it's not doubling up on work when called from catkin_package (roscpp does this too)
+ # and we need it to get access to the build_depends list just in case people called generate_messages before catkin_package()
+ if(NOT DEFINED ${ARG_PKG}_BUILD_DEPENDS)
+ catkin_package_xml(DIRECTORY ${PROJECT_SOURCE_DIR})
+ endif()
+ foreach(depends ${${ARG_PKG}_BUILD_DEPENDS})
+ if(TARGET ${depends}_generate_messages_java_gradle)
+ message(STATUS "Adding dependency.....${depends}_generate_messages -> ${ARG_PKG}_generate_messages")
+ add_dependencies(${ARG_PKG}_generate_messages_java_gradle ${depends}_generate_messages_java_gradle)
+ endif()
+ endforeach()
# Make sure we have built gradle-rosjava_bootstrap if it is in the source workspace
# (otherwise package.xml will make sure it has installed via rosdep/deb.
#if(TARGET gradle-rosjava_bootstrap)
@@ -92,5 +113,12 @@ macro(_generate_module_java ARG_PKG ARG_GEN_OUTPUT_DIR ARG_GENERATED_FILES)
# is not defined till after this module is parsed, so add it all
#add_dependencies(${ARG_PKG}_generate_messages gradle-rosjava_bootstrap)
#endif()
+
+ ################################
+ # Debugging
+ ################################
+ #foreach(gen_output_file ${ALL_GEN_OUTPUT_FILES_java})
+ # message(STATUS "ALL_GEN_OUTPUT_FILES_java..........${gen_output_file}")
+ #endforeach()
endmacro()
diff --git a/src/genjava/genjava_main.py b/src/genjava/genjava_main.py
index 43418d65b9641f599c8d1d85d886474edca5837f..4305805a2883fa170eccbf023ead331c61c9aa6e 100644
--- a/src/genjava/genjava_main.py
+++ b/src/genjava/genjava_main.py
@@ -60,6 +60,8 @@ def parse_arguments(argv):
#parser.add_argument('-m', '--message', action='store', help='the message file')
parser.add_argument('-p', '--package', action='store', help='package to find the message file')
parser.add_argument('-o', '--output-dir', action='store', help='output directory for the java code (e.g. build/foo_msgs)')
+ parser.add_argument('-c', '--compile', default=False, action='store_true', help='switch to compile mode (default is generating mode)')
+ parser.add_argument('-v', '--verbosity', default=False, action='store_true', help='enable verbosity in debugging (false)')
#parser.add_argument('-I', '--include-path', action='append', help="include paths to the package and deps msg files")
#myargs = rospy.myargv(argv=sys.argv)
#return parser.parse_args(args=myargs[1:])
@@ -73,4 +75,7 @@ def parse_arguments(argv):
def main(argv):
args = parse_arguments(argv[1:])
#print("genjava %s/%s" % (args.package, args.message))
- gradle_project.create(args.package, args.output_dir)
+ if not args.compile:
+ gradle_project.create(args.package, args.output_dir)
+ else:
+ gradle_project.build(args.package, args.output_dir, args.verbosity)
diff --git a/src/genjava/genjava_main.pyc b/src/genjava/genjava_main.pyc
index 556d45fb04dfcf6d6b3d616f85af339e563a0c98..07cfc619d99a606c41854b70b93f6fa2bde78baf 100644
Binary files a/src/genjava/genjava_main.pyc and b/src/genjava/genjava_main.pyc differ
diff --git a/src/genjava/gradle_project.py b/src/genjava/gradle_project.py
index e061038d0bd6a04335ff6080c894f484ecacb36a..260690326ecfd83a6a06d3f5693c2c6ce2b592ed 100644
--- a/src/genjava/gradle_project.py
+++ b/src/genjava/gradle_project.py
@@ -8,7 +8,7 @@ from __future__ import print_function
import os
import shutil
-
+import subprocess
from catkin_pkg.packages import find_packages
import rospkg
@@ -98,7 +98,7 @@ def create_dependency_string(project_name, msg_package_index):
dependency_package = msg_package_index[dep.name]
except KeyError:
continue # it's not a message package
- gradle_dependency_string += "compile 'org.ros.rosjava_messages:" + dependency_package.name + ":" + dependency_package.version + "'\n"
+ gradle_dependency_string += " compile 'org.ros.rosjava_messages:" + dependency_package.name + ":" + dependency_package.version + "'\n"
return gradle_dependency_string
@@ -120,7 +120,8 @@ def create_msg_package_index():
ros_paths = [x for x in ros_paths.split(':') if x]
for path in reversed(ros_paths): # make sure we pick up the source overlays last
for unused_package_path, package in find_packages(path).items():
- if 'message_generation' in [dep.name for dep in package.build_depends]:
+ if ('message_generation' in [dep.name for dep in package.build_depends] or
+ 'genmsg' in [dep.name for dep in package.build_depends]):
# print(package.name)
# print(" version: %s" % package.version)
# print(" dependencies: ")
@@ -153,3 +154,17 @@ def create(msg_pkg_name, output_dir):
pkg_directory = os.path.dirname(msg_package_index[msg_pkg_name].filename)
msg_pkg_version = msg_package_index[msg_pkg_name].version
populate_project(msg_pkg_name, msg_pkg_version, pkg_directory, genjava_gradle_dir, msg_dependencies)
+
+
+def build(msg_pkg_name, output_dir, verbosity):
+ droppings_file = os.path.join(output_dir, msg_pkg_name, 'droppings')
+ if not os.path.isfile(droppings_file):
+ #print("Someone already left droppings here! %s" % droppings_file)
+ return
+ print("Scooping the droppings! [%s]" % droppings_file)
+ os.remove(droppings_file)
+ cmd = ['./gradlew']
+ if not verbosity:
+ cmd.append('--quiet')
+ print("COMMAND........................%s" % cmd)
+ subprocess.call(cmd, stderr=subprocess.STDOUT,)
diff --git a/src/genjava/templates/genjava_project/build.gradle.in b/src/genjava/templates/genjava_project/build.gradle.in
index c0896ea326e38648dd01345806e55256d955ba11..371d74f4c8465ac0055a389dca989e4b72840560 100644
--- a/src/genjava/templates/genjava_project/build.gradle.in
+++ b/src/genjava/templates/genjava_project/build.gradle.in
@@ -55,8 +55,15 @@ task generateSources (type: JavaExec) {
}
dependencies {
- compile 'org.ros.rosjava_bootstrap:message_generation:[0.1,)'
- %(msg_dependencies)s
+ compile 'org.ros.rosjava_bootstrap:message_generation:[0.1,)'
+ %(msg_dependencies)s
+}
+
+jar {
+ manifest = osgiManifest {
+ classesDir = sourceSets.main.output.classesDir
+ classpath = configurations.runtime
+ }
}
task info << {
@@ -82,4 +89,18 @@ task info << {
}
}
+/* Damon's message generator doesn't catch every message. It expects everything to be nicely under 'msg'
+ * and that directory to be under the package root. It also expects every msg it finds should be buildable.
+ * It kinda works until now because it ignores any package which doesn't conform to this and those are just
+ * test packages (we hope).
+ *
+ * Until we get this properly fixed (it fails in genjava), then we use the following bugfix to deal with the
+ * 'Could not copy MANIFEST.MF...' error that occurs when no sources are to be made for an artifact.
+ */
+task bugfixtask << {
+ mkdir sourceSets.main.output.classesDir
+}
+
+jar.dependsOn(bugfixtask)
+
defaultTasks 'publishMavenJavaPublicationToMavenRepository'