diff --git a/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/CatkinPlugin.groovy b/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/CatkinPlugin.groovy
index 49a4dfbec782813e353d321573c355768d1ab4ff..4bcd8d5c514054e1c39bfbe6305f113eee400656 100644
--- a/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/CatkinPlugin.groovy
+++ b/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/CatkinPlugin.groovy
@@ -4,6 +4,7 @@ import org.gradle.api.Project;
import org.gradle.api.Plugin;
import org.gradle.api.Task;
import org.gradle.api.tasks.JavaExec
+import org.gradle.api.tasks.StopActionException
import org.gradle.api.*;
@@ -14,22 +15,22 @@ import org.gradle.api.*;
* - project.catkin.workspaces : list of Strings
* - project.catkin.tree.generate() : create the pkgs dictionary
* - project.catkin.tree.pkgs : dictionary of CatkinPackage objects
- *
+ *
* The latter can be iterated over for information:
*
* project.catkin.tree.pkgs.each { pair ->
- * pkg = pair.value
- * println pkg.name
- * println pkg.version
- * pkg.dependencies.each { d ->
- * println d
- * }
- * // filtered list of *_msg dependencies.
- * pkg.messageDependencies().each { d ->
- * println d
- * }
+ * pkg = pair.value
+ * println pkg.name
+ * println pkg.version
+ * pkg.dependencies.each { d ->
+ * println d
+ * }
+ * // filtered list of *_msg dependencies.
+ * pkg.getMessageDependencies().each { d ->
+ * println d
+ * }
* }
- *
+ *
* Use this only once in the root of a multi-project gradle build - it will
* only generate the properties once and share them this way.
*/
@@ -53,7 +54,7 @@ class CatkinPlugin implements Plugin<Project> {
packageXml = project.file('package.xml')
}
if (packageXml != null) {
- project.catkin.pkg = new CatkinPackage(packageXml)
+ project.catkin.pkg = new CatkinPackage(project, packageXml)
}
setTasks()
}
@@ -69,202 +70,126 @@ class CatkinPlugin implements Plugin<Project> {
}
}
class CatkinPluginExtension {
- CatkinPackage pkg
- List<String> workspaces
- CatkinPackages tree
+ CatkinPackage pkg
+ List<String> workspaces
+ CatkinPackages tree
}
+
class CatkinPackages {
- def Map<String, CatkinPackage> pkgs
- def List<String> workspaces
- def Project project
-
- def CatkinPackages(Project project, List<String> workspaces) {
- this.project = project
- this.workspaces = workspaces
- this.pkgs = [:]
- }
-
- def generate() {
- if ( this.pkgs.size() == 0 ) {
- this.workspaces.each { workspace ->
- def manifestTree = project.fileTree(dir: workspace, include: '**/package.xml')
- manifestTree.each { file ->
- def pkg = new CatkinPackage(file)
- if(this.pkgs.containsKey(pkg.name)) {
- if(this.pkgs[pkg.name].version < pkg.version) {
- println("Catkin generate tree: replacing older version of " + pkg.name + "[" + this.pkgs[pkg.name].version + "->" + pkg.version + "]")
- this.pkgs[pkg.name] = pkg
- }
- } else {
- this.pkgs.put(pkg.name, pkg)
- }
- }
+
+ Map<String, CatkinPackage> pkgs
+ List<String> workspaces
+ Project project
+
+ CatkinPackages(Project project, List<String> workspaces) {
+ this.project = project
+ this.workspaces = workspaces
+ pkgs = [:]
+ }
+
+ void generate() {
+ if (pkgs.size() == 0) {
+ workspaces.each { workspace ->
+ def manifestTree = project.fileTree(dir: workspace,
+ include: "**/package.xml")
+ manifestTree.each { file ->
+ def pkg = new CatkinPackage(file)
+ if(this.pkgs.containsKey(pkg.name)) {
+ if(this.pkgs[pkg.name].version < pkg.version) {
+ println("Catkin generate tree: replacing older version of " + pkg.name + "[" + this.pkgs[pkg.name].version + "->" + pkg.version + "]")
+ pkgs[pkg.name] = pkg
}
+ } else {
+ pkgs.put(pkg.name, pkg)
+ }
}
+ }
}
+ }
- def isMessagePackage(String package_name) {
- def pkg
- def result = false
- try {
- pkg = this.pkgs[package_name]
- /* println(" Name: " + pkg.name + "-" + pkg.version) */
- /* println(" Dep-dependencies: " + pkg.dependencies) */
- pkg.dependencies.each { d ->
- if ( d.equalsIgnoreCase("message_generation") ) {
- result = true
- }
- }
- } catch (NullPointerException e) {
- /* Not a catkin package dependency (e.g. boost), ignore */
- result = false
+ Boolean isMessagePackage(String package_name) {
+ def pkg
+ def result = false
+ try {
+ pkg = this.pkgs[package_name]
+ /* println(" Name: " + pkg.name + "-" + pkg.version) */
+ /* println(" Dep-dependencies: " + pkg.dependencies) */
+ pkg.dependencies.each { d ->
+ if ( d.equalsIgnoreCase("message_generation") ) {
+ result = true
}
- return result
+ }
+ } catch (NullPointerException e) {
+ /* Not a catkin package dependency (e.g. boost), ignore */
+ result = false
}
+ return result
+ }
- def void generateMessageArtifact(Project p, String package_name) {
- def pkg = this.pkgs[package_name]
- p.version = pkg.version
- /* println("Artifact: " + pkg.name + "-" + pkg.version) */
- p.dependencies.add("compile", 'org.ros.rosjava_bootstrap:message_generation:[0.1,0.2)')
- List<String> messageDependencies = []
- pkg.dependencies.each { d ->
- /* println(" Dependency: " + d) */
- if ( this.isMessagePackage(d) ) {
- messageDependencies.add(d)
- /* println(" Msg Pkg: yes") */
- } else {
- /* println(" Msg Pkg: no") */
- }
- }
- messageDependencies.each { d ->
- if ( p.getParent().getChildProjects().containsKey(d) ) {
- /* println(" Internal: " + d) */
- p.dependencies.add("compile", p.dependencies.project(path: ':' + d))
- } else {
- /* println(" External: " + d) */
- p.dependencies.add("compile", 'org.ros.rosjava_messages:' + d + ':[0.0,)')
- }
- }
- def generatedSourcesDir = "${p.buildDir}/generated-src"
- def generateSourcesTask = p.tasks.create("generateSources", JavaExec)
- generateSourcesTask.description = "Generate sources for " + pkg.name
- generateSourcesTask.outputs.dir(p.file(generatedSourcesDir))
- /* generateSourcesTask.args = new ArrayList<String>([generatedSourcesDir, pkg.name]) */
- generateSourcesTask.args = new ArrayList<String>([generatedSourcesDir, '--package-path=' + pkg.directory, pkg.name])
- generateSourcesTask.classpath = p.configurations.runtime
- generateSourcesTask.main = 'org.ros.internal.message.GenerateInterfaces'
- p.tasks.compileJava.source generateSourcesTask.outputs.files
+ void generateMessageArtifact(Project project, String package_name) {
+ def pkg = this.pkgs[package_name]
+ project.version = pkg.version
+ /* println("Artifact: " + pkg.name + "-" + pkg.version) */
+ project.dependencies.add("compile", 'org.ros.rosjava_bootstrap:message_generation:[0.2,0.3)')
+ Set<String> messageDependencies = pkg.getMessageDependencies()
+ messageDependencies.each { d ->
+ if ( project.getParent().getChildProjects().containsKey(d) ) {
+ /* println(" Internal: " + d) */
+ project.dependencies.add("compile", project.dependencies.project(path: ':' + d))
+ } else {
+ /* println(" External: " + d) */
+ project.dependencies.add("compile", 'org.ros.rosjava_messages:' + d + ':[0.0,)')
+ }
}
+ def generatedSourcesDir = "${project.buildDir}/generated-src"
+ def generateSourcesTask = project.tasks.create("generateSources", JavaExec)
+ generateSourcesTask.description = "Generate sources for " + pkg.name
+ generateSourcesTask.outputs.dir(project.file(generatedSourcesDir))
+ /* generateSourcesTask.args = new ArrayList<String>([generatedSourcesDir, pkg.name]) */
+ generateSourcesTask.args = new ArrayList<String>([generatedSourcesDir, '--package-path=' + pkg.directory, pkg.name])
+ generateSourcesTask.classpath = project.configurations.runtime
+ generateSourcesTask.main = "org.ros.internal.message.GenerateInterfaces"
+ project.tasks.compileJava.source generateSourcesTask.outputs.files
+ }
}
class CatkinPackage {
- def name
- def version
- def dependencies
- def directory
-
- def CatkinPackage(File packageXmlFilename) {
- def packageXml = new XmlParser().parse(packageXmlFilename)
- directory = packageXmlFilename.parent
- name = packageXml.name.text()
- version = packageXml.version.text()
- dependencies = []
- packageXml.build_depend.each { d ->
- dependencies.add(d.text())
- }
- }
- def String toString() {
- def out = new String()
- out += name + "\n"
- out += " version: " + version + "\n"
- out += " dependencies:" + "\n"
- dependencies.each { d ->
- out += " " + d + "\n"
- }
- return out
- }
- /*
- * Find and annotate a list of package package dependencies.
- * Useful for message artifact generation).
- *
- * Depracated, but kept around for legacy purposes, remove in igloo
- *
- * @return List<String> : dependencies (package name strings)
- */
- def List<String> messageDependencies() {
- List<String> msgDependencies = []
- dependencies.each { d ->
- if ( d.contains("_msgs") ) {
- msgDependencies.add(d)
- }
- }
- return msgDependencies
- }
-
- /* Depracated, but kept around for legacy purposes, remove in igloo */
- def void generateMessageArtifact(Project p) {
- p.version = version
- p.dependencies.add("compile", 'org.ros.rosjava_bootstrap:message_generation:[0.1,0.2)')
- messageDependencies().each { d ->
- p.dependencies.add("compile", p.dependencies.project(path: ':' + d))
- }
- def generatedSourcesDir = "${p.buildDir}/generated-src"
- def generateSourcesTask = p.tasks.create("generateSources", JavaExec)
- generateSourcesTask.description = "Generate sources for " + name
- generateSourcesTask.outputs.dir(p.file(generatedSourcesDir))
- generateSourcesTask.args = new ArrayList<String>([generatedSourcesDir, name])
- generateSourcesTask.classpath = p.configurations.runtime
- generateSourcesTask.main = 'org.ros.internal.message.GenerateInterfaces'
- p.tasks.compileJava.source generateSourcesTask.outputs.files
- }
+ Project project
+ String name
+ String version
+ Set<String> dependencies
+ String directory
- /* Depracated, but kept around for legacy purposes, remove in igloo */
- def void generateUnofficialMessageArtifact(Project p) {
- /* Couple of constraints here:
- 1) maven group forced to org.ros.rosjava_messages to that all message artifact
- dependencies are easily found.
- 2) Open ended dependency range (takes the latest in ROS_PACKAGE_PATH) since we
- don't know the artifact versions the user really wants.
- */
- p.version = version
- p.group = 'org.ros.rosjava_messages'
- p.dependencies.add("compile", 'org.ros.rosjava_bootstrap:message_generation:[0.1,0.2)')
- messageDependencies().each { d ->
- if ( p.getParent().getChildProjects().containsKey(d) ) {
- p.dependencies.add("compile", p.dependencies.project(path: ':' + d))
- } else {
- p.dependencies.add("compile", 'org.ros.rosjava_messages:' + d + ':[0.1,)')
- }
- }
- def generatedSourcesDir = "${p.buildDir}/generated-src"
- def generateSourcesTask = p.tasks.create("generateSources", JavaExec)
- generateSourcesTask.description = "Generate sources for " + name
- generateSourcesTask.outputs.dir(p.file(generatedSourcesDir))
- generateSourcesTask.args = new ArrayList<String>([generatedSourcesDir, '--package-path=' + directory, name])
- generateSourcesTask.classpath = p.configurations.runtime
- generateSourcesTask.main = 'org.ros.internal.message.GenerateInterfaces'
- p.tasks.compileJava.source generateSourcesTask.outputs.files
- }
+ CatkinPackage(Project project, File packageXmlFilename) {
+ this.project = project
+ /* println "Loading " + packageXmlFilename */
+ def packageXml = new XmlParser().parse(packageXmlFilename)
+ directory = packageXmlFilename.parent
+ name = packageXml.name.text()
+ version = packageXml.version.text()
+ dependencies = packageXml.build_depend.collect{ it.text() }
+ }
- /*
- * Hack to work around for rosjava_test_msgs - look in a subfolder for the
- * msgs and name the artifact by the subfolder name/version.
- */
- def void generateMessageArtifactInSubFolder(Project p, String subfolderName, List<String> dependencies) {
- // p.version = version use the subfolder's project version
- p.dependencies.add("compile", 'org.ros.rosjava_bootstrap:message_generation:[0.1,0.2)')
- dependencies.each { d ->
- p.dependencies.add("compile", p.dependencies.project(path: ':' + d))
- }
- def generatedSourcesDir = "${p.buildDir}/generated-src"
- def generateSourcesTask = p.tasks.create("generateSources", JavaExec)
- generateSourcesTask.description = "Generate sources for " + name + "/" + subfolderName
- generateSourcesTask.outputs.dir(p.file(generatedSourcesDir))
- generateSourcesTask.args = new ArrayList<String>([generatedSourcesDir, subfolderName])
- generateSourcesTask.classpath = p.configurations.runtime
- generateSourcesTask.main = 'org.ros.internal.message.GenerateInterfaces'
- p.tasks.compileJava.source generateSourcesTask.outputs.files
+ String toString() { "${name} ${version} ${dependencies}" }
+
+ Set<String> getTransitiveDependencies(Collection<String> dependencies) {
+ Set<String> result = [];
+ dependencies.each {
+ if (project.catkin.tree.pkgs.containsKey(it)) {
+ result.add(it)
+ result.addAll(getTransitiveDependencies(
+ project.catkin.tree.pkgs[it].dependencies))
+ }
}
+ return result
+ }
+
+ Set<String> getMessageDependencies() {
+ getTransitiveDependencies(dependencies).findAll {
+ project.catkin.tree.pkgs.containsKey(it) &&
+ project.catkin.tree.pkgs[it].dependencies.contains("message_generation")
+ } as Set
+ }
+
}
diff --git a/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosAndroid.groovy b/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosAndroid.groovy
index 8d5e260809a98ac735a348558560bd6344c9e12f..0eb2297fba985991ea4d5fa919633a214171394d 100644
--- a/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosAndroid.groovy
+++ b/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosAndroid.groovy
@@ -4,63 +4,45 @@ import org.gradle.api.Project
import org.gradle.api.Plugin
import java.util.HashMap
-/*
- * Configures java for the ros-android build environment. Pretty elementary right now,
- * just applies the java plugin and defines the jdk compatibility level.
+/**
+ * Configures ROS on Android build environment.
*/
class RosAndroidPlugin implements Plugin<Project> {
- Project project
-
- def void apply(Project project) {
- this.project = project
- if (!project.plugins.findPlugin('ros')) {
- project.apply(plugin: 'ros')
- }
- project.extensions.create("rosandroid", RosAndroidPluginExtension)
- project.rosandroid.buildToolsVersion = "19.1.0"
- /*********************************************************************
- * Find the android plugin
- *********************************************************************/
- project.buildscript {
- repositories {
- mavenCentral()
- }
- dependencies {
- classpath 'com.android.tools.build:gradle:0.11.+'
- }
- }
- /**********************************************************************
- * Publishing - not we're using old style here. Upgrade to maven-publish
- * once they have support:
- * https://github.com/rosjava/rosjava_bootstrap/issues/1
- **********************************************************************/
- project.uploadArchives {
- repositories.mavenDeployer {
- repository(url: 'file://' + project.ros.mavenDeploymentRepository)
- }
- }
- /**********************************************************************
- * Our maven repo 3rd parties are currently incompatible with android
- * junit especially could use a look at - find a compatible version!
- **********************************************************************/
- project.configurations.create('compile')
- def excludes = new HashMap<String, String>()
- excludes.put('group', 'junit')
- excludes.put('group', 'xml-apis')
- project.configurations['compile'].exclude(excludes)
- /**********************************************************************
- * Delay android plugin configuration because that will depend on
- * the subproject's late loading of android or android-library plugin.
- **********************************************************************/
- project.afterEvaluate {
- project.android {
- buildToolsVersion project.rosandroid.buildToolsVersion
- }
- }
-
+ void apply(Project project) {
+ project.apply plugin: "ros"
+ project.extensions.create("rosandroid", RosAndroidPluginExtension)
+ project.rosandroid.buildToolsVersion = "19.1.0"
+
+ /**********************************************************************
+ * Publishing - not we're using old style here. Upgrade to maven-publish
+ * once they have support:
+ * https://github.com/rosjava/rosjava_bootstrap/issues/1
+ * This is specifically for releasing and working in a ros workspace.
+ **********************************************************************/
+ project.uploadArchives {
+ repositories.mavenDeployer {
+ repository(url: 'file://' + project.ros.mavenDeploymentRepository)
+ }
+ }
+ /**********************************************************************
+ * Our maven repo 3rd parties are currently incompatible with android
+ * junit especially could use a look at - find a compatible version!
+ **********************************************************************/
+ project.configurations.maybeCreate("compile")
+ project.configurations.compile.exclude "group": "junit"
+ project.configurations.compile.exclude "group": "xml-apis"
+ /**********************************************************************
+ * Delay android plugin configuration because that will depend on
+ * the subproject's late loading of android or android-library plugin.
+ **********************************************************************/
+ project.afterEvaluate {
+ project.android {
+ buildToolsVersion project.rosandroid.buildToolsVersion
+ }
}
+ }
}
class RosAndroidPluginExtension {
- String buildToolsVersion
+ String buildToolsVersion
}
diff --git a/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosPlugin.groovy b/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosPlugin.groovy
index 0c421b4c996d28a4108d45a8a15468db8c69315f..390cc610b693b2d9e863375c1b7d0de95234d79c 100644
--- a/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosPlugin.groovy
+++ b/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosPlugin.groovy
@@ -1,66 +1,67 @@
package org.ros.gradle_plugins;
-import org.gradle.api.Project;
-import org.gradle.api.Plugin;
import org.gradle.api.*;
+import org.gradle.api.publish.maven.MavenPublication;
-/*
- * Provides information about the ros workspace.
+/**
+ * Configures a Java project for use with ROS.
*
* - project.ros.mavenPath : location of local ros maven repositories (in your chained workspaces)
* - project.ros.mavenDeploymentRepository : location of the ros maven repository you will publish to
*
* It also performs the following actions
- *
+ *
* - checks and makes sure the maven plugin is running
* - constructs the sequence of dependent maven repos (local ros maven repos, mavenLocal, external ros maven repo)
* - configures the uploadArchives for artifact deployment to the local ros maven repo (devel/share/maven)
*/
class RosPlugin implements Plugin<Project> {
- Project project
-
- def void apply(Project project) {
- this.project = project
- if (!project.plugins.findPlugin('maven')) {
- project.apply(plugin: 'maven')
- }
- /* Create project.ros.* property extensions */
- project.extensions.create("ros", RosExtension)
- project.ros.mavenPath = "$System.env.ROS_MAVEN_PATH".split(':')
- project.ros.mavenDeploymentRepository = "$System.env.ROS_MAVEN_DEPLOYMENT_REPOSITORY"
- def mavenRepository = "$System.env.ROS_MAVEN_REPOSITORY"
- if ( mavenRepository != 'null' ) {
- project.ros.mavenRepository = mavenRepository
+
+ def void apply(Project project) {
+ project.apply plugin: "maven"
+
+ project.extensions.create("ros", RosPluginExtension)
+
+ project.ros.mavenRepository = System.getenv("ROS_MAVEN_REPOSITORY")
+ project.ros.mavenDeploymentRepository = System.getenv("ROS_MAVEN_DEPLOYMENT_REPOSITORY")
+ String mavenPath = System.getenv("ROS_MAVEN_PATH")
+ if (mavenPath != null) {
+ project.ros.mavenPath = mavenPath.tokenize(":")
+ }
+ project.repositories {
+ if (project.ros.mavenPath != null) {
+ project.ros.mavenPath.each { path ->
+ maven {
+ url project.uri(path)
+ }
}
- /*
- * Could use some better handling for when this is not defined as it sets
- * file://null, but it doesn't seem to hurt the process any
- */
- def repoURLs = project.ros.mavenPath.collect { 'file://' + it }
- project.repositories {
- repoURLs.each { p ->
- maven {
- url p
- }
- }
- mavenLocal()
- maven {
- url project.ros.mavenRepository
- }
- mavenCentral()
+ }
+ if (project.ros.mavenRepository != null) {
+ maven {
+ url project.ros.mavenRepository
}
+ }
+ mavenLocal()
+ maven {
+ url "http://repository.springsource.com/maven/bundles/release"
+ }
+ maven {
+ url "http://repository.springsource.com/maven/bundles/external"
+ }
+ mavenCentral()
}
+ }
}
/* http://www.gradle.org/docs/nightly/dsl/org.gradle.api.plugins.ExtensionAware.html */
-class RosExtension {
- List<String> mavenPath
- String mavenDeploymentRepository
- String mavenRepository
-
- RosExtension() {
- /* Initialising the strings here gets rid of the dynamic property deprecated warnings. */
- this.mavenDeploymentRepository = ""
- this.mavenRepository = "https://github.com/rosjava/rosjava_mvn_repo/raw/master"
- }
+class RosPluginExtension {
+ String mavenRepository
+ String mavenDeploymentRepository
+ List<String> mavenPath
+
+ RosPluginExtension() {
+ /* Initialising the strings here gets rid of the dynamic property deprecated warnings. */
+ this.mavenDeploymentRepository = ""
+ this.mavenRepository = "https://github.com/rosjava/rosjava_mvn_repo/raw/master"
+ }
}
diff --git a/settings.gradle b/settings.gradle
index b85c37b8ba5d45b695d794928da123e370701475..3be0d14b254a843c3a58dcbdfe1c24f0af628928 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -15,4 +15,4 @@
*/
include 'gradle_plugins'
-include 'message_generation'
+include 'message_generation'
\ No newline at end of file