From 3444f5db82d18597c0398c120bc279d37d27aa49 Mon Sep 17 00:00:00 2001
From: Daniel Stonier <d.stonier@gmail.com>
Date: Tue, 24 Jun 2014 01:19:11 +0900
Subject: [PATCH] another step forward.
---
.gitignore | 1 +
CMakeLists.txt | 21 +-
cmake/genjava-extras.cmake.em | 179 ++++++++----------
package.xml | 6 +
scripts/CMakeLists.txt | 9 +-
.../{genjava.py => genjava_gradle_project.py} | 5 +-
scripts/gensrv_java.py | 0
src/genjava/__init__.py | 2 +
src/genjava/genjava_main.py | 29 +--
src/genjava/genjava_main.pyc | Bin 1708 -> 1358 bytes
src/genjava/gradle/Readme.md | 3 +
.../gradle/gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 51106 bytes
.../gradle/wrapper/gradle-wrapper.properties | 6 +
src/genjava/gradle/gradlew | 164 ++++++++++++++++
src/genjava/gradle_project.py | 161 ++++++++++++++++
.../templates/genjava_project/build.gradle.in | 85 +++++++++
16 files changed, 543 insertions(+), 128 deletions(-)
create mode 100644 .gitignore
rename scripts/{genjava.py => genjava_gradle_project.py} (57%)
delete mode 100755 scripts/gensrv_java.py
create mode 100644 src/genjava/gradle/Readme.md
create mode 100644 src/genjava/gradle/gradle/wrapper/gradle-wrapper.jar
create mode 100644 src/genjava/gradle/gradle/wrapper/gradle-wrapper.properties
create mode 100755 src/genjava/gradle/gradlew
create mode 100644 src/genjava/gradle_project.py
create mode 100644 src/genjava/templates/genjava_project/build.gradle.in
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..0d20b64
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+*.pyc
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2590ccb..eae70f3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,13 +6,13 @@ cmake_minimum_required(VERSION 2.8.3)
project(genjava)
##############################################################################
-# Dependencies
+# Find Package
##############################################################################
find_package(catkin REQUIRED COMPONENTS genmsg)
##############################################################################
-# Package
+# Catkin
##############################################################################
catkin_package(
@@ -20,16 +20,23 @@ catkin_package(
CFG_EXTRAS genjava-extras.cmake
)
+catkin_python_setup()
+
+##############################################################################
+# Installs
+##############################################################################
+
add_subdirectory(scripts)
-message(STATUS "GENMSG_LANGS_DESTINATION...........${GENMSG_LANGS_DESTINATION}")
file(WRITE ${CATKIN_DEVEL_PREFIX}/${GENMSG_LANGS_DESTINATION}/genjava "Java")
install(FILES ${CATKIN_DEVEL_PREFIX}/${GENMSG_LANGS_DESTINATION}/genjava
DESTINATION ${GENMSG_LANGS_DESTINATION})
-catkin_python_setup()
+##############################################################################
+# Tests
+##############################################################################
-if(CATKIN_ENABLE_TESTING)
- catkin_add_nosetests(test)
-endif()
+#if(CATKIN_ENABLE_TESTING)
+# catkin_add_nosetests(test)
+#endif()
diff --git a/cmake/genjava-extras.cmake.em b/cmake/genjava-extras.cmake.em
index 8bcc5a7..f08631d 100644
--- a/cmake/genjava-extras.cmake.em
+++ b/cmake/genjava-extras.cmake.em
@@ -6,118 +6,91 @@ set(GENJAVA_BIN_DIR "@(CMAKE_CURRENT_SOURCE_DIR)/scripts")
set(GENJAVA_BIN_DIR "${GENJAVA_DIR}/../../../@(CATKIN_PACKAGE_BIN_DESTINATION)")
@[end if]@
-set(GENMSG_JAVA_BIN ${GENJAVA_BIN_DIR}/genmsg_java.py)
-set(GENSRV_JAVA_BIN ${GENJAVA_BIN_DIR}/gensrv_java.py)
+set(GENJAVA_BIN ${GENJAVA_BIN_DIR}/genjava_gradle_project.py)
+set(genjava_INSTALL_DIR "maven/org/ros/rosjava_messages")
-# genmsg usually uses this variable to configure the install location. we typically pick
-# it up from the environment configured by rosjava_build_tools.
-#set(genjava_INSTALL_DIR "maven/org/ros/rosjava_messages")
-set(ROS_MAVEN_DEPLOYMENT_REPOSITORY $ENV{ROS_MAVEN_DEPLOYMENT_REPOSITORY})
-if(NOT ROS_MAVEN_DEPLOYMENT_REPOSITORY)
- set(ROS_MAVEN_DEPLOYMENT_REPOSITORY "${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_MAVEN_DESTINATION}")
-endif()
-
-# Generate .msg->.h for py
-# The generated .h files should be added ALL_GEN_OUTPUT_FILES_py
-#
-# Example arguments:
-#
-# ARG_PKG : foo_msgs
-# ARG_MSG : /mnt/zaphod/ros/rosjava/hydro/src/foo_msgs/msg/Foo.msg
-# ARG_IFLAGS : -Ifoo_msgs:/mnt/zaphod/ros/rosjava/hydro/src/foo_msgs/msg;-Istd_msgs:/opt/ros/hydro/share/std_msgs/cmake/../msg
-# ARG_MSG_DEPS : ???
-# ARG_GEN_OUTPUT_DIR : /mnt/zaphod/ros/rosjava/hydro/devel/${genjava_INSTALL_DIR}/foo_msgs
macro(_generate_msg_java ARG_PKG ARG_MSG ARG_IFLAGS ARG_MSG_DEPS ARG_GEN_OUTPUT_DIR)
-
- message(STATUS "GEN_MSG_JAVA..........._generate_msg_java")
- message(STATUS " ARG_PKG..............${ARG_PKG}")
- message(STATUS " ARG_MSG..............${ARG_MSG}")
- message(STATUS " ARG_IFLAGS...........${ARG_IFLAGS}")
- message(STATUS " ARG_MSG_DEPS.........${ARG_MSG_DEPS}")
- message(STATUS " ARG_GEN_OUTPUT_DIR...${ARG_GEN_OUTPUT_DIR}")
- message(STATUS "GEN_MSG_JAVA...........done")
- message(STATUS "CMAKE_CURRENT_BINARY_DIR.......${CMAKE_CURRENT_BINARY_DIR}")
-
- #Append msg to output dir
- #set(GEN_OUTPUT_DIR "${CMAKE_CURRENT_BINARY_DIR}")
- #file(MAKE_DIRECTORY ${GEN_OUTPUT_DIR})
- #Create input and output filenames
- get_filename_component(MSG_SHORT_NAME ${ARG_MSG} NAME_WE)
-
- file(REMOVE_RECURSE ${CMAKE_CURRENT_BINARY_DIR}/gradle)
-
- #set(MSG_GENERATED_NAME ${MSG_SHORT_NAME}.java)
- #set(GEN_OUTPUT_FILE ${GEN_OUTPUT_DIR}/${MSG_GENERATED_NAME})
- #message(STATUS "GEN_OUTPUT_FILE..........${GEN_OUTPUT_FILE}")
- #add_custom_command(OUTPUT ${GEN_OUTPUT_FILE}
- # DEPENDS ${GENMSG_JAVA_BIN} ${ARG_MSG} ${ARG_MSG_DEPS}
- # COMMAND ${CATKIN_ENV} cmake
- # -E remove_directory ${CMAKE_CURRENT_BINARY_DIR}
- # -m ${ARG_MSG}
- # ${ARG_IFLAGS}
- # -p ${ARG_PKG}
- # -o ${GEN_OUTPUT_DIR}
- # COMMENT "Generating Java code from MSG ${ARG_PKG}/${MSG_SHORT_NAME}"
- #)
-
- #list(APPEND ALL_GEN_OUTPUT_FILES_java ${GEN_OUTPUT_FILE})
-
+ list(APPEND ALL_GEN_OUTPUT_FILES_java ${ARG_MSG} ${ARG_MSG_DEPS})
+
+ # Example arguments:
+ #
+ # ARG_PKG : foo_msgs
+ # ARG_MSG : /mnt/zaphod/ros/rosjava/hydro/src/foo_msgs/msg/Foo.msg
+ # ARG_IFLAGS : -Ifoo_msgs:/mnt/zaphod/ros/rosjava/hydro/src/foo_msgs/msg;-Istd_msgs:/opt/ros/hydro/share/std_msgs/cmake/../msg
+ # ARG_MSG_DEPS : ???
+ # ARG_GEN_OUTPUT_DIR : /mnt/zaphod/ros/rosjava/hydro/devel/${genjava_INSTALL_DIR}/foo_msgs
+
+ #message(STATUS "Java generator for [${ARG_PKG}][${ARG_MSG}]")
+ #message(STATUS " ARG_IFLAGS...........${ARG_IFLAGS}")
+ #message(STATUS " ARG_MSG_DEPS.........${ARG_MSG_DEPS}")
+ #message(STATUS " ARG_GEN_OUTPUT_DIR...${ARG_GEN_OUTPUT_DIR}")
+ #message(STATUS "GEN_MSG_JAVA...........done")
+ #message(STATUS "CMAKE_CURRENT_BINARY_DIR.......${CMAKE_CURRENT_BINARY_DIR}")
endmacro()
-#todo, these macros are practically equal. Check for input file extension instead
macro(_generate_srv_java ARG_PKG ARG_SRV ARG_IFLAGS ARG_MSG_DEPS ARG_GEN_OUTPUT_DIR)
-
- message(STATUS "GEN_SRV_JAVA..........._generate_srv_java")
- #Append msg to output dir
-# set(GEN_OUTPUT_DIR "${ARG_GEN_OUTPUT_DIR}/srv")
-# file(MAKE_DIRECTORY ${GEN_OUTPUT_DIR})
-#
- #Create input and output filenames
-# get_filename_component(SRV_SHORT_NAME ${ARG_SRV} NAME_WE)
-#
-# set(SRV_GENERATED_NAME _${SRV_SHORT_NAME}.py)
-# set(GEN_OUTPUT_FILE ${GEN_OUTPUT_DIR}/${SRV_GENERATED_NAME})
-#
-# add_custom_command(OUTPUT ${GEN_OUTPUT_FILE}
-# DEPENDS ${GENSRV_PY_BIN} ${ARG_SRV} ${ARG_MSG_DEPS}
-# COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENSRV_PY_BIN} ${ARG_SRV}
-# ${ARG_IFLAGS}
-# -p ${ARG_PKG}
-# -o ${GEN_OUTPUT_DIR}
-# COMMENT "Generating Python code from SRV ${ARG_PKG}/${SRV_SHORT_NAME}"
-# )
-#
-# list(APPEND ALL_GEN_OUTPUT_FILES_py ${GEN_OUTPUT_FILE})
-
+ list(APPEND ALL_GEN_OUTPUT_FILES_java ${ARG_SRV} ${ARG_MSG_DEPS})
endmacro()
+# This is a bit different to the other generators - it generates the whole message package together
+# (unless there's another api I'm not aware of yet in the generator jar). It's a few milliseconds
+# of overkill generating all .java files if only one msg changed, but it's not worth the effort to
+# break that down yet.
+#
+# 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)
- message(STATUS "GEN_MODULE_JAVA..........._generate_module_java")
- # generate empty __init__ to make parent folder of msg/srv a python module
- if(NOT EXISTS ${ARG_GEN_OUTPUT_DIR}/__init__.py)
- file(WRITE ${ARG_GEN_OUTPUT_DIR}/__init__.py "")
- endif()
-
- #Append msg to output dir
- foreach(type "msg" "srv")
- set(GEN_OUTPUT_DIR "${ARG_GEN_OUTPUT_DIR}/${type}")
- set(GEN_OUTPUT_FILE ${GEN_OUTPUT_DIR}/__init__.py)
-
- if(IS_DIRECTORY ${GEN_OUTPUT_DIR})
- add_custom_command(OUTPUT ${GEN_OUTPUT_FILE}
- DEPENDS ${GENMSG_PY_BIN} ${ARG_GENERATED_FILES}
- COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_PY_BIN}
- -o ${GEN_OUTPUT_DIR}
- --initpy
- COMMENT "Generating Python ${type} __init__.py for ${ARG_PKG}")
- list(APPEND ALL_GEN_OUTPUT_FILES_py ${GEN_OUTPUT_FILE})
+ ################################
+ # Gradle Subproject
+ ################################
+ set(GRADLE_BUILD_DIR "${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})
+
+ add_custom_command(OUTPUT ${GRADLE_BUILD_FILE}
+ DEPENDS ${GENJAVA_BIN}
+ COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENJAVA_BIN}
+ -o ${GRADLE_BUILD_DIR}
+ -p ${ARG_PKG}
+ COMMENT "Generating Java gradle project from ${ARG_PKG}"
+ )
+
+ ################################
+ # Compile Gradle Subproject
+ ################################
+ set(ROS_GRADLE_VERBOSE $ENV{ROS_GRADLE_VERBOSE})
+ if(ROS_GRADLE_VERBOSE)
+ set(GRADLE_CMD "./gradlew")
+ else()
+ set(GRADLE_CMD "./gradlew;-q")
endif()
-
- endforeach()
-
+ set(GEN_OUTPUT_FILE ${CMAKE_CURRENT_BINARY_DIR}/generated_java_messages.flag)
+
+ add_custom_command(OUTPUT ${GEN_OUTPUT_FILE}
+ 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()
+
+ ################################
+ # Dependent Targets
+ ################################
+ # 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)
+ # Preference would be to add it to ${ARG_PKG}_generate_messages_java but that
+ # is not defined till after this module is parsed, so add it all
+ #add_dependencies(${ARG_PKG}_generate_messages gradle-rosjava_bootstrap)
+ #endif()
endmacro()
-if(NOT EXISTS @(PROJECT_NAME)_SOURCE_DIR)
- set(GENJAVA_INSTALL_DIR ${PYTHON_INSTALL_DIR})
-endif()
\ No newline at end of file
diff --git a/package.xml b/package.xml
index 84622fd..e40e2e9 100644
--- a/package.xml
+++ b/package.xml
@@ -18,8 +18,14 @@
<buildtool_depend version_gte="0.5.78">catkin</buildtool_depend>
<build_depend>genmsg</build_depend>
+ <build_depend>python-catkin-pkg</build_depend>
+ <build_depend>python-rospkg</build_depend>
+ <build_depend>rosjava_bootstrap</build_depend>
<run_depend>genmsg</run_depend>
+ <run_depend>python-catkin-pkg</run_depend>
+ <run_depend>python-rospkg</run_depend>
+ <run_depend>rosjava_bootstrap</run_depend>
<export>
<message_generator>java</message_generator>
diff --git a/scripts/CMakeLists.txt b/scripts/CMakeLists.txt
index 044a96f..5f1a2b4 100644
--- a/scripts/CMakeLists.txt
+++ b/scripts/CMakeLists.txt
@@ -1,3 +1,8 @@
+##############################################################################
+# Installs
+##############################################################################
+
catkin_install_python(
- PROGRAMS genjava.py gensrv_java.py
- DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+ PROGRAMS genjava_gradle_project.py
+ DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/scripts/genjava.py b/scripts/genjava_gradle_project.py
similarity index 57%
rename from scripts/genjava.py
rename to scripts/genjava_gradle_project.py
index 769db0b..3039c43 100755
--- a/scripts/genjava.py
+++ b/scripts/genjava_gradle_project.py
@@ -8,9 +8,8 @@ Converts ROS .msg files in a package into Java source code implementations.
import os
import sys
-#import genjava.generator
-import genjava.genjava_main
+import genjava
if __name__ == "__main__":
- genjava.genjava_main.genmain(sys.argv, 'genmsg_java.py') #, genpy.generator.MsgGenerator())
+ genjava.main(sys.argv)
diff --git a/scripts/gensrv_java.py b/scripts/gensrv_java.py
deleted file mode 100755
index e69de29..0000000
diff --git a/src/genjava/__init__.py b/src/genjava/__init__.py
index ce7b434..f79a649 100644
--- a/src/genjava/__init__.py
+++ b/src/genjava/__init__.py
@@ -35,3 +35,5 @@
#__all__ = ['Time', 'Duration', 'TVal',
# 'Message', 'SerializationError', 'DeserializationError', 'MessageException', 'struct_I']
+
+from .genjava_main import main
diff --git a/src/genjava/genjava_main.py b/src/genjava/genjava_main.py
index e75a67c..3d947ae 100644
--- a/src/genjava/genjava_main.py
+++ b/src/genjava/genjava_main.py
@@ -36,46 +36,49 @@
from __future__ import print_function
import argparse
-import os
+#import os
#import sys
#import traceback
#import genmsg
-import genmsg.command_line
+#import genmsg.command_line
#from genmsg import MsgGenerationException
#from . generate_initpy import write_modules
+from . import gradle_project
##############################################################################
# Methods
##############################################################################
-def parse_arguments():
+def parse_arguments(argv):
'''
The include path has a special format, e.g.
-Ifoo_msgs:/mnt/zaphod/ros/rosjava/hydro/src/foo_msgs/msg;-Istd_msgs:/opt/ros/hydro/share/std_msgs/cmake/../msg
'''
parser = argparse.ArgumentParser(description='Generate java code for a single ros message.')
- parser.add_argument('-m', '--message', action='store', help='the message file')
+ #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('-I', '--include-path', action='append', help="include paths to the package and deps msg files")
+ #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:])
- return parser.parse_args()
+ return parser.parse_args(argv)
##############################################################################
# Main
##############################################################################
-def genmain(argv, progname): # , gen):
- args = parse_arguments()
- print("genjava %s/%s" % (args.package, args.message))
+
+def main(argv):
+ args = parse_arguments(argv[1:])
+ #print("genjava %s/%s" % (args.package, args.message))
print(" output dir..........%s" % args.output_dir)
- search_path = genmsg.command_line.includepath_to_dict(args.include_path)
- print(" search path.......%s" % search_path)
- gradle_project_dir = os.path.join(args.output_dir, 'gradle')
- os.mkdir(gradle_project_dir)
+ gradle_project.create(args.package, args.output_dir)
+ #search_path = genmsg.command_line.includepath_to_dict(args.include_path)
+ #print(" search path.......%s" % search_path)
+ #gradle_project_dir = os.path.join(args.output_dir, 'gradle')
+ #os.mkdir(gradle_project_dir)
# try:
# if options.initpy:
diff --git a/src/genjava/genjava_main.pyc b/src/genjava/genjava_main.pyc
index 149ebb8c4b88e6f5a172ae7269e8c91f6ee6e832..364d7ce18054d258b89d3bb490bdc694b672a559 100644
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N4Ot~v*?71(g#oC>#`gdK
diff --git a/src/genjava/gradle/Readme.md b/src/genjava/gradle/Readme.md
new file mode 100644
index 0000000..4068f0c
--- /dev/null
+++ b/src/genjava/gradle/Readme.md
@@ -0,0 +1,3 @@
+This is not installed, but it gets used to generate the gradle wrapper for a project.
+
+It is currently the gradle wrapper supporting gradle 1.9.
\ No newline at end of file
diff --git a/src/genjava/gradle/gradle/wrapper/gradle-wrapper.jar b/src/genjava/gradle/gradle/wrapper/gradle-wrapper.jar
new file mode 100644
index 0000000000000000000000000000000000000000..3c7abdf12790879c06b07176de29647f77aa4129
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diff --git a/src/genjava/gradle/gradle/wrapper/gradle-wrapper.properties b/src/genjava/gradle/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000..46530ef
--- /dev/null
+++ b/src/genjava/gradle/gradle/wrapper/gradle-wrapper.properties
@@ -0,0 +1,6 @@
+#Wed Mar 19 17:27:39 KST 2014
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists
+distributionUrl=http\://services.gradle.org/distributions/gradle-1.11-bin.zip
diff --git a/src/genjava/gradle/gradlew b/src/genjava/gradle/gradlew
new file mode 100755
index 0000000..91a7e26
--- /dev/null
+++ b/src/genjava/gradle/gradlew
@@ -0,0 +1,164 @@
+#!/usr/bin/env bash
+
+##############################################################################
+##
+## Gradle start up script for UN*X
+##
+##############################################################################
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS=""
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn ( ) {
+ echo "$*"
+}
+
+die ( ) {
+ echo
+ echo "$*"
+ echo
+ exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+case "`uname`" in
+ CYGWIN* )
+ cygwin=true
+ ;;
+ Darwin* )
+ darwin=true
+ ;;
+ MINGW* )
+ msys=true
+ ;;
+esac
+
+# For Cygwin, ensure paths are in UNIX format before anything is touched.
+if $cygwin ; then
+ [ -n "$JAVA_HOME" ] && JAVA_HOME=`cygpath --unix "$JAVA_HOME"`
+fi
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+ ls=`ls -ld "$PRG"`
+ link=`expr "$ls" : '.*-> \(.*\)$'`
+ if expr "$link" : '/.*' > /dev/null; then
+ PRG="$link"
+ else
+ PRG=`dirname "$PRG"`"/$link"
+ fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >&-
+APP_HOME="`pwd -P`"
+cd "$SAVED" >&-
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+ if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+ # IBM's JDK on AIX uses strange locations for the executables
+ JAVACMD="$JAVA_HOME/jre/sh/java"
+ else
+ JAVACMD="$JAVA_HOME/bin/java"
+ fi
+ if [ ! -x "$JAVACMD" ] ; then
+ die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+ fi
+else
+ JAVACMD="java"
+ which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" ] ; then
+ MAX_FD_LIMIT=`ulimit -H -n`
+ if [ $? -eq 0 ] ; then
+ if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+ MAX_FD="$MAX_FD_LIMIT"
+ fi
+ ulimit -n $MAX_FD
+ if [ $? -ne 0 ] ; then
+ warn "Could not set maximum file descriptor limit: $MAX_FD"
+ fi
+ else
+ warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+ fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+ GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin, switch paths to Windows format before running java
+if $cygwin ; then
+ APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+ CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+
+ # We build the pattern for arguments to be converted via cygpath
+ ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+ SEP=""
+ for dir in $ROOTDIRSRAW ; do
+ ROOTDIRS="$ROOTDIRS$SEP$dir"
+ SEP="|"
+ done
+ OURCYGPATTERN="(^($ROOTDIRS))"
+ # Add a user-defined pattern to the cygpath arguments
+ if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+ OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+ fi
+ # Now convert the arguments - kludge to limit ourselves to /bin/sh
+ i=0
+ for arg in "$@" ; do
+ CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+ CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option
+
+ if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition
+ eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+ else
+ eval `echo args$i`="\"$arg\""
+ fi
+ i=$((i+1))
+ done
+ case $i in
+ (0) set -- ;;
+ (1) set -- "$args0" ;;
+ (2) set -- "$args0" "$args1" ;;
+ (3) set -- "$args0" "$args1" "$args2" ;;
+ (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+ (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+ (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+ (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+ (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+ (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+ esac
+fi
+
+# Split up the JVM_OPTS And GRADLE_OPTS values into an array, following the shell quoting and substitution rules
+function splitJvmOpts() {
+ JVM_OPTS=("$@")
+}
+eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS
+JVM_OPTS[${#JVM_OPTS[*]}]="-Dorg.gradle.appname=$APP_BASE_NAME"
+
+exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" org.gradle.wrapper.GradleWrapperMain "$@"
diff --git a/src/genjava/gradle_project.py b/src/genjava/gradle_project.py
new file mode 100644
index 0000000..da8e2c7
--- /dev/null
+++ b/src/genjava/gradle_project.py
@@ -0,0 +1,161 @@
+#!/usr/bin/env python
+
+##############################################################################
+# Imports
+##############################################################################
+
+from __future__ import print_function
+
+import os
+import shutil
+
+# local imports
+#import utils
+from catkin_pkg.packages import find_packages
+import rospkg
+
+##############################################################################
+# Utils
+##############################################################################
+
+import pwd
+
+
+def author_name():
+ """
+ Utility to compute logged in user name
+
+ :returns: name of current user, ``str``
+ """
+ import getpass
+ name = getpass.getuser()
+ try:
+ login = name
+ name = pwd.getpwnam(login)[4]
+ name = ''.join(name.split(',')) # strip commas
+ # in case pwnam is not set
+ if not name:
+ name = login
+ except:
+ #pwd failed
+ pass
+ #if type(name) == str:
+ # name = name.decode('utf-8')
+ return name
+
+
+import subprocess
+
+
+def create_gradle_wrapper(repo_path):
+ gradle_binary = os.path.join(os.path.dirname(__file__), 'gradle', 'gradlew')
+ cmd = [gradle_binary, '-p', repo_path, 'wrapper']
+ print("Creating gradle wrapper: %s" % ' '.join(cmd))
+ try:
+ subprocess.check_call(cmd)
+ except subprocess.CalledProcessError:
+ raise subprocess.CalledProcessError("failed to create the gradle wrapper.")
+
+
+def read_template(tmplf):
+ f = open(tmplf, 'r')
+ try:
+ t = f.read()
+ finally:
+ f.close()
+ return t
+
+##############################################################################
+# Methods acting on classes
+##############################################################################
+
+
+def instantiate_genjava_template(template, project_name, project_version, pkg_directory, author, msg_dependencies):
+ return template % locals()
+
+
+def get_templates():
+ template_dir = os.path.join(os.path.dirname(__file__), 'templates', 'genjava_project')
+ templates = {}
+ templates['build.gradle'] = read_template(os.path.join(template_dir, 'build.gradle.in'))
+ return templates
+
+
+def populate_project(project_name, project_version, pkg_directory, gradle_project_dir, msg_dependencies):
+ author = author_name()
+ for filename, template in get_templates().iteritems():
+ contents = instantiate_genjava_template(template, project_name, project_version, pkg_directory, author, msg_dependencies)
+ try:
+ p = os.path.abspath(os.path.join(gradle_project_dir, filename))
+ f = open(p, 'w')
+ f.write(contents)
+ #console.pretty_print("Created file: ", console.cyan)
+ #console.pretty_println("%s" % p, console.yellow)
+ finally:
+ f.close()
+
+
+def create_dependency_string(project_name, msg_package_index):
+ package = msg_package_index[project_name]
+ gradle_dependency_string = ""
+ for dep in package.build_depends:
+ try:
+ 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"
+ return gradle_dependency_string
+
+
+def create_msg_package_index():
+ """
+ Scans the package paths and creates a package index always taking the
+ highest in the workspace chain (i.e. takes an overlay in preference when
+ there are multiple instances of the package).
+
+ :returns: the package index
+ :rtype: { name : catkin_pkg.Package }
+ """
+ # should use this, but it doesn't sequence them properly, so we'd have to make careful version checks
+ # this is inconvenient since it would always mean we should bump the version number in an overlay
+ # when all that is necessary is for it to recognise that it is in an overlay
+ # ros_paths = rospkg.get_ros_paths()
+ package_index = {}
+ ros_paths = rospkg.get_ros_package_path()
+ 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]:
+# print(package.name)
+# print(" version: %s" % package.version)
+# print(" dependencies: ")
+# for dep in package.build_depends:
+# if not (dep.name == 'message_generation'):
+# print(" : %s" % dep)
+ package_index[package.name] = package
+ return package_index
+
+
+def create(msg_pkg_name, output_dir):
+ '''
+ Creates a standalone single project gradle build instance in the specified output directory and
+ populates it with gradle wrapper and build.gradle file that will enable building of the artifact later.
+
+ :param str project_name:
+ :param dict msg_package_index: { name : catkin_pkg.Package }
+ :param str output_dir:
+ '''
+ if os.path.exists(output_dir):
+ shutil.rmtree(output_dir)
+ genjava_gradle_dir = os.path.join(output_dir, msg_pkg_name)
+ os.makedirs(genjava_gradle_dir)
+ msg_package_index = create_msg_package_index()
+ if msg_pkg_name not in msg_package_index.keys():
+ raise IOError("could not find %s on the ros package path" % msg_pkg_name)
+
+ msg_dependencies = create_dependency_string(msg_pkg_name, msg_package_index)
+
+ create_gradle_wrapper(genjava_gradle_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)
diff --git a/src/genjava/templates/genjava_project/build.gradle.in b/src/genjava/templates/genjava_project/build.gradle.in
new file mode 100644
index 0000000..c0896ea
--- /dev/null
+++ b/src/genjava/templates/genjava_project/build.gradle.in
@@ -0,0 +1,85 @@
+/*
+ * Copyright (C) 2014 %(author)s
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+task wrapper(type: Wrapper) {
+ gradleVersion = '1.11'
+}
+
+buildscript {
+ def rosMavenPath = "$System.env.ROS_MAVEN_PATH".split(':').collect { 'file://' + it }
+ def rosMavenRepository = "$System.env.ROS_MAVEN_REPOSITORY"
+ repositories {
+ rosMavenPath.each { p ->
+ maven {
+ url p
+ }
+ }
+ mavenLocal()
+ maven {
+ url rosMavenRepository
+ }
+ }
+ dependencies {
+ classpath group: 'org.ros.rosjava_bootstrap', name: 'gradle_plugins', version: '[0.1,0.2)'
+ }
+}
+
+apply plugin: 'ros-java'
+group 'org.ros.rosjava_messages'
+version = '%(project_version)s'
+
+ext {
+ generated_sources_directory = "${projectDir}/src/main/java"
+}
+
+task generateSources (type: JavaExec) {
+ description = "Generate sources for %(project_name)s"
+ outputs.dir(file(generated_sources_directory))
+ args = new ArrayList<String>([generated_sources_directory, '--package-path=%(pkg_directory)s', '%(project_name)s'])
+ classpath = configurations.runtime
+ main = 'org.ros.internal.message.GenerateInterfaces'
+ tasks.compileJava.source outputs.files
+}
+
+dependencies {
+ compile 'org.ros.rosjava_bootstrap:message_generation:[0.1,)'
+ %(msg_dependencies)s
+}
+
+task info << {
+ println "\nProject Info"
+ println "============\n"
+ println "Name : ${rootProject}"
+ println "Dir : ${projectDir}"
+ println "Group : ${group}"
+ println "Version : ${version}"
+ println "Configurations: " + configurations
+
+ println "\nPackage Info"
+ println "============\n"
+ println "Name : %(project_name)s"
+ println "Dir : %(pkg_directory)s"
+
+ println "\nGenerate Info"
+ println "============\n"
+ println "Output Dir : ${generated_sources_directory}"
+ println "Task Args : " + tasks["generateSources"].args
+ tasks["generateSources"].outputs.getFiles().getAsFileTree().each {
+ println "Files : ${it}"
+ }
+}
+
+defaultTasks 'publishMavenJavaPublicationToMavenRepository'
--
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