From ad3c3b282bad7d7421aecc33e4d8b1e2b676773a Mon Sep 17 00:00:00 2001
From: Daniel Stonier <d.stonier@gmail.com>
Date: Wed, 18 Feb 2015 23:54:05 +0900
Subject: [PATCH] command line message artifact generator.
---
scripts/genjava_gradle_project.py | 2 +-
scripts/genjava_message_artifacts | 15 +++++++++++
setup.py | 3 ++-
src/genjava/__init__.py | 2 +-
src/genjava/genjava_main.py | 44 ++++++++++++++++++++++++++-----
src/genjava/gradle_project.py | 20 +++++++++++++-
6 files changed, 75 insertions(+), 11 deletions(-)
create mode 100755 scripts/genjava_message_artifacts
diff --git a/scripts/genjava_gradle_project.py b/scripts/genjava_gradle_project.py
index 3039c43..57fc504 100755
--- a/scripts/genjava_gradle_project.py
+++ b/scripts/genjava_gradle_project.py
@@ -1,7 +1,7 @@
#!/usr/bin/env python
"""
-ROS message source code generation for Java
+ROS message source code generation for Java, integration with ros' message_generation.
Converts ROS .msg files in a package into Java source code implementations.
"""
diff --git a/scripts/genjava_message_artifacts b/scripts/genjava_message_artifacts
new file mode 100755
index 0000000..4453283
--- /dev/null
+++ b/scripts/genjava_message_artifacts
@@ -0,0 +1,15 @@
+#!/usr/bin/env python
+
+"""
+ROS message source code generation for Java, from the command line.
+
+Converts ROS .msg files in a package into Java source code implementations.
+"""
+import os
+import sys
+
+import genjava
+
+if __name__ == "__main__":
+ genjava.standalone_main(sys.argv)
+
diff --git a/setup.py b/setup.py
index 0b8ce61..626884d 100644
--- a/setup.py
+++ b/setup.py
@@ -6,7 +6,8 @@ from catkin_pkg.python_setup import generate_distutils_setup
d = generate_distutils_setup(
packages=['genjava'],
package_dir={'': 'src'},
- requires=['genmsg']
+ requires=['genmsg'],
+ scripts=['scripts/genjava_message_artifacts'],
)
setup(**d)
\ No newline at end of file
diff --git a/src/genjava/__init__.py b/src/genjava/__init__.py
index f79a649..088b0a0 100644
--- a/src/genjava/__init__.py
+++ b/src/genjava/__init__.py
@@ -36,4 +36,4 @@
#__all__ = ['Time', 'Duration', 'TVal',
# 'Message', 'SerializationError', 'DeserializationError', 'MessageException', 'struct_I']
-from .genjava_main import main
+from .genjava_main import main, standalone_main
diff --git a/src/genjava/genjava_main.py b/src/genjava/genjava_main.py
index 4305805..c228ab0 100644
--- a/src/genjava/genjava_main.py
+++ b/src/genjava/genjava_main.py
@@ -36,14 +36,14 @@
from __future__ import print_function
import argparse
-#import os
+import os
#import sys
#import traceback
#import genmsg
#import genmsg.command_line
-#from genmsg import MsgGenerationException
-#from . generate_initpy import write_modules
+import rosjava_build_tools
+import catkin_pkg.packages
from . import gradle_project
##############################################################################
@@ -52,16 +52,14 @@ from . import gradle_project
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('-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)')
+ # 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.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:])
@@ -73,9 +71,41 @@ def parse_arguments(argv):
def main(argv):
+ '''
+ Used as the builder for genjava on the fly as other message language interfaces
+ are built. There is a bit of smarts inside this to work out when msgs have
+ changed and so forth.
+ '''
args = parse_arguments(argv[1:])
#print("genjava %s/%s" % (args.package, args.message))
if not args.compile:
gradle_project.create(args.package, args.output_dir)
else:
gradle_project.build(args.package, args.output_dir, args.verbosity)
+
+
+def standalone_parse_arguments(argv):
+ parser = argparse.ArgumentParser(description='Generate artifacts for any/all discoverable message packages.')
+ parser.add_argument('-p', '--package', action='store', default=None, help='package to generate (if not specified, all will be built)')
+ parser.add_argument('-o', '--output-dir', action='store', default='build', help='output directory for the java code (e.g. build/foo_msgs)')
+ parser.add_argument('-v', '--verbose', default=False, action='store_true', help='enable verbosity in debugging (false)')
+ return parser.parse_args(argv)
+
+
+def standalone_main(argv):
+ '''
+ This guy is a brute force standalone message artifact generator. It parses
+ the environment looking for the package (or just all) you wish to
+ generate artifacts for.
+ '''
+ args = standalone_parse_arguments(argv[1:])
+ #print("genjava %s/%s/%s" % (args.package, args.output_dir, args.verbose))
+
+ if args.package is not None:
+ sorted_package_tuples = rosjava_build_tools.catkin.index_message_package_dependencies_from_local_environment(package_name=args.package)
+ else:
+ sorted_package_tuples = rosjava_build_tools.catkin.index_message_package_dependencies_from_local_environment()
+
+ print("Generating message artifacts for: \n%s" % [p.name for (unused_relative_path, p) in sorted_package_tuples])
+ for unused_relative_path, p in sorted_package_tuples:
+ gradle_project.standalone_create_and_build(p.name, args.output_dir, args.verbose)
diff --git a/src/genjava/gradle_project.py b/src/genjava/gradle_project.py
index 80b4dbd..cee85d3 100644
--- a/src/genjava/gradle_project.py
+++ b/src/genjava/gradle_project.py
@@ -157,9 +157,11 @@ def create(msg_pkg_name, output_dir):
def build(msg_pkg_name, output_dir, verbosity):
+ # Are there droppings? If yes, then this genjava has marked this package as
+ # needing a compile (it's new, or some msg file changed).
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)
+ #print("Nobody left any droppings - nothing to do! %s" % droppings_file)
return
#print("Scooping the droppings! [%s]" % droppings_file)
os.remove(droppings_file)
@@ -168,3 +170,19 @@ def build(msg_pkg_name, output_dir, verbosity):
cmd.append('--quiet')
#print("COMMAND........................%s" % cmd)
subprocess.call(cmd, stderr=subprocess.STDOUT,)
+
+
+def standalone_create_and_build(msg_pkg_name, output_dir, verbosity):
+ '''
+ Brute force create and build the message artifact distregarding any smarts
+ such as whether message files changed or not. For use with the standalone
+ package builder.
+ '''
+ create(msg_pkg_name, output_dir)
+ working_directory = os.path.join(os.path.abspath(output_dir), msg_pkg_name)
+ gradle_wrapper = os.path.join(os.path.abspath(output_dir), msg_pkg_name, 'gradlew')
+ cmd = [gradle_wrapper, '-p', working_directory]
+ if not verbosity:
+ cmd.append('--quiet')
+ #print("COMMAND........................%s" % cmd)
+ subprocess.call(cmd, stderr=subprocess.STDOUT,)
--
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