Refactoring the Python code in rosjava_bootstrap.

New tests are passing, but rosjava does not build due to a missing dependency on rosjava_bootstrap.

rosjava_bootstrap/.pydevproject

+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?eclipse-pydev version="1.0"?>
+
+<pydev_project>
+<pydev_property name="org.python.pydev.PYTHON_PROJECT_INTERPRETER">Default</pydev_property>
+<pydev_property name="org.python.pydev.PYTHON_PROJECT_VERSION">python 2.7</pydev_property>
+<pydev_pathproperty name="org.python.pydev.PROJECT_SOURCE_PATH">
+<path>/rosjava_bootstrap/src/main/python</path>
+</pydev_pathproperty>
+</pydev_project>

rosjava_bootstrap/rosjava.mk

@@ -9,13 +9,13 @@ all: obtain-dependencies ant-properties eclipse-project eclipse-classpath msg-de
 PACKAGE_NAME=$(shell basename $(PWD))
 
 obtain-dependencies:
-	rosrun rosjava_bootstrap generate_properties.py --dependencies $(PACKAGE_NAME) > dependencies.xml
+	rosrun rosjava_bootstrap generate_dependencies_xml.py $(PACKAGE_NAME) > dependencies.xml
 
 ant-properties:
-	rosrun rosjava_bootstrap generate_properties.py $(PACKAGE_NAME) > ros.properties
+	rosrun rosjava_bootstrap generate_ros_properties.py $(PACKAGE_NAME) > ros.properties
 
 eclipse-classpath:
-	if [ ! -f .classpath ] ; then rosrun rosjava_bootstrap generate_properties.py --eclipse $(PACKAGE_NAME) > .classpath ; touch .classpath-generated; fi
+	if [ ! -f .classpath ] ; then rosrun rosjava_bootstrap generate_eclipse_project.py $(PACKAGE_NAME) > .classpath ; touch .classpath-generated; fi
 
 eclipse-project:
 	if [ ! -f .project ] ; then sed s/PROJECT_NAME/$(PACKAGE_NAME)/ `rospack find rosjava_bootstrap`/eclipse/eclipse-project-template > .project ; touch .project-generated; fi

rosjava_bootstrap/scripts/build-msg.xml

@@ -47,7 +47,9 @@
 
   <target name="gen-msg" depends="check-gen-msg-skip" unless="gen-msg.skip">
     <mkdir dir="${gen-msg}" />
-    <exec executable="${ros.bootstrap.scripts.dir}/java_msgs.py">
+    <exec executable="rosrun">
+      <arg value="rosjava_bootstrap" />
+      <arg value="java_msgs.py" />
       <arg value="-o ${gen-msg}" />
       <arg value="${ros.package}" />
     </exec>
@@ -59,7 +61,9 @@
 
   <target name="gen-srv" depends="check-gen-srv-skip" unless="gen-srv.skip">
     <mkdir dir="${gen-srv}" />
-    <exec executable="${ros.bootstrap.scripts.dir}/java_srvs.py">
+    <exec executable="rosrun">
+      <arg value="rosjava_bootstrap" />
+      <arg value="java_srvs.py" />
       <arg value="-o ${gen-srv}" />
       <arg value="${ros.package}" />
     </exec>

rosjava_bootstrap/src/main/python/rosjava_bootstrap/android.py

+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2011, 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.
+
+import os
+
+import roslib
+import which
+
+
+class AndroidError(Exception):
+    pass
+
+
+def is_android_library(package):
+    m = roslib.manifest.load_manifest(package)
+    return 'rosjava-android-lib' in [x.tag for x in m.exports]
+
+
+def is_android_app(package):
+    m = roslib.manifest.load_manifest(package)
+    return 'rosjava-android-app' in [x.tag for x in m.exports]
+
+
+def is_android_package(package):
+    return is_android_app(package) or is_android_library(package)
+
+
+def get_android_library_paths(package):
+    m = roslib.manifest.load_manifest(package)
+    return [x.attrs.get('path', '.') for x in m.exports if x.tag == 'rosjava-android-lib']
+
+
+def get_android_sdk_dir():
+    """
+    @return: location of Android SDK
+    @raise UserError: if android is not installed
+    """
+    location = which.which('android')
+    if not location:
+        raise AndroidError('The android tool is not in your command path. '
+                           'Install the Android SDK and add the tools directory to your path.')
+    # SDK dir is two levels up in the path.
+    return os.path.dirname(os.path.dirname(location))

rosjava_bootstrap/src/main/python/rosjava_bootstrap/base_test_case.py

+#!/usr/bin/python
+
+# Copyright (C) 2011 Google Inc.
+#
+# 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.
+
+__author__ = 'damonkohler@google.com (Damon Kohler)'
+
+import os
+import unittest
+
+import roslib
+
+
+class BaseTestCase(unittest.TestCase):
+    
+    @classmethod
+    def setUpClass(cls):
+        package_directory = roslib.packages.get_pkg_dir('rosjava_bootstrap')
+        resources_directory = os.path.join(
+            package_directory, 'src', 'main', 'resources')
+        os.environ['ROS_PACKAGE_PATH'] = (
+            resources_directory + os.path.pathsep + os.environ['ROS_PACKAGE_PATH'])
+        BaseTestCase._resources_directory = resources_directory
+        
+    def get_resources_directory(self):
+        return BaseTestCase._resources_directory
\ No newline at end of file

rosjava_bootstrap/src/main/python/rosjava_bootstrap/classpath.py

+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2011, 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.
+
+import os
+
+from generate_msg_depends import msg_jar_file_path, is_msg_pkg, is_srv_pkg
+import maven
+
+
+def _resolve_path_elements(path_elements):
+    # TODO: Potentially recognize keys like ROS_HOME
+    return [os.path.abspath(package) for package in path_elements]
+
+
+def _get_specified_classpath(rospack, package, include_package, scope):
+    """
+    @param include_package: include library entries of self on path
+
+    @param scope: 'compile', 'runtime', 'test', or 'all'.  These classpath
+    types are generated based on the scope of an export.  Exports have a
+    default scope of 'compile', which means they are part of all types of
+    classpaths.  For an exact mapping, see SCOPE_MAP.  The behavior of these
+    scopes/classpath_types matches the Maven definition:
+
+    http://maven.apache.org/guides/introduction/introduction-to-dependency-mechanism.html#Dependency_Scope
+
+    Only gets the parts of the classpath which are not loaded by Maven.
+
+    Returns list of dependencies.
+    """
+    path_elements = []
+
+    def export_operator(pkg, pkg_dir, e):
+        # If is a Maven artifact, create the entire name. Otherwise location
+        # has all.
+        if 'location' in e.attrs:
+            location = e.attrs['location']
+            if 'groupId' in e.attrs:
+                fullname = maven.get_full_maven_name(e)
+                path_elements.append(os.path.join(pkg_dir, location, fullname))
+            else:
+                path_elements.append(os.path.join(pkg_dir, location))
+
+    def package_operator(pkg):
+        if is_msg_pkg(pkg) or is_srv_pkg(pkg):
+            path_elements.append(msg_jar_file_path(pkg))
+
+    maven.walk_export_path(rospack, package, export_operator, package_operator, include_package, scope)
+    return _resolve_path_elements(path_elements)
+
+
+def get_classpath(rospack, package, maven_depmap, include_package=False, scope='all'):
+    """
+    @param include_package: include library entries of self on path
+
+    @param maven_depmap: A map of lists for maven dependencies by scope.
+
+    @param classpath_type: (optional, default 'all').  'compile',
+    'runtime', 'test', or 'all'.  These classpath types are generated
+    based on the scope of an export.  Exports have a default scope of
+    'compile', which means they are part of all types of classpaths.
+    For an exact mapping, see SCOPE_MAP.  The behavior of these
+    scopes/classpath_types matches the Maven definition:
+
+    http://maven.apache.org/guides/introduction/introduction-to-dependency-mechanism.html#Dependency_Scope
+
+    Only gets the parts of the classpath which are not loaded by Maven.
+
+    Returns list of dependencies.
+    """
+    paths = _get_specified_classpath(rospack, package, include_package, scope)
+    paths.extend(maven_depmap[scope])
+    return os.pathsep.join(paths)

rosjava_bootstrap/src/main/python/rosjava_bootstrap/generate_dependencies_xml.py

+#!/usr/bin/python
+
+# Copyright (C) 2011 Google Inc.
+#
+# 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.
+
+__author__ = 'damonkohler@google.com (Damon Kohler)'
+
+import os
+import sys
+
+import maven
+
+
+def usage():
+    print "generate_dependencies_xml.py <package-name>"
+    sys.exit(os.EX_USAGE)
+
+
+def main(argv):
+    if len(argv) != 2:
+        usage()
+    package = argv[1]
+    maven.generate_ant_maven_dependencies(package)
+
+
+if __name__ == '__main__':
+    main(sys.argv)

rosjava_bootstrap/src/main/python/rosjava_bootstrap/generate_eclipse_project.py

+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2011, 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.
+
+import os
+import sys
+
+import android
+import classpath
+import maven
+import roslib
+
+# XML tag for the rosjava manifest tag for path elements.
+TAG_ROSJAVA_PATHELEMENT = 'rosjava-pathelement'
+# XML tag for the rosjava manifest tag for source elements.
+TAG_ROSJAVA_SRC = 'rosjava-src'
+
+
+def usage():
+    print "generate_eclipse_project.py <package-name>"
+    sys.exit(os.EX_USAGE)
+
+
+def _get_source_paths(rospack, package):
+    """
+    @return: list of source paths. Source paths will be returned in the
+    relative specification used in the ros manifest.xml file.
+    @rtype: [str]
+    """
+    rospack.load_manifests([package])
+    m = rospack.manifests[package]
+    return [x.attrs['location'] for x in m.exports if x.tag == TAG_ROSJAVA_SRC]
+
+
+def generate_classpath_file(rospack, package, maven_depmap, stream=sys.stdout):
+    print >>stream, '<?xml version="1.0" encoding="UTF-8"?>\n<classpath>'
+    # TODO(damonkohler): Move Eclipse .project file generation into this
+    # script as well so that we can alter it for use with Android.
+    if android.is_android_package(package):
+        print >>stream, ('\t<classpathentry kind="con" '
+                         'path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>')
+    for p in filter(None, _get_source_paths(rospack, package)):
+        print >>stream, '\t<classpathentry kind="src" path="%s"/>' % (p)
+    print >>stream, '\t<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>'
+    print >>stream, '\t<classpathentry kind="con" path="org.eclipse.jdt.junit.JUNIT_CONTAINER/4"/>'
+    for p in filter(None, classpath.get_classpath(
+            rospack, package, maven_depmap, include_package=True, scope='all').split(':')):
+        print >>stream, '\t<classpathentry kind="lib" path="%s"/>' % (p)
+    print >>stream, '\t<classpathentry kind="output" path="build"/>\n</classpath>'
+
+
+def main(argv):
+    if len(argv) != 2:
+        usage()
+    package = argv[1]
+    rospack = roslib.packages.ROSPackages()
+    maven_depmap = maven.get_maven_dependencies(package, 'dependencies.xml')
+    generate_classpath_file(rospack, package, maven_depmap)
+
+
+if __name__ == '__main__':
+    try:
+        main(sys.argv)
+    except roslib.packages.InvalidROSPkgException as e:
+        sys.stderr.write('ERROR: '+str(e)+'\n')
+        sys.exit(1)

rosjava_bootstrap/scripts/generate_msg_depends.py → rosjava_bootstrap/src/main/python/rosjava_bootstrap/generate_msg_depends.py

@@ -33,17 +33,16 @@
 
 import os
 import sys
-import shutil
 import subprocess
 
-import roslib.rosenv
-import roslib.packages
-import roslib.stacks
+import roslib
+
 
 def usage():
     print "generate_msg_depends.py <package-name>"
     sys.exit(os.EX_USAGE)
     
+    
 BOOTSTRAP_PKG = 'rosjava_bootstrap'
 
 _ros_home = roslib.rosenv.get_ros_home()
@@ -187,8 +186,6 @@ def _generate_msgs(rospack, package, up_to_date):
     classpath = classpath.replace(':', '\:')
     artifact_built = msg_jar_file_path(package)
 
-    print "Hi there %s" % artifact_built
-
     # Map for all properties
     properties = {'ros.package': package,
                   'ros.artifact.built': artifact_built,

rosjava_bootstrap/src/main/python/rosjava_bootstrap/generate_ros_properties.py

+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2011, 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.
+
+import os
+import sys
+
+import classpath
+import maven
+import roslib
+
+
+def usage():
+    print 'generate_properties.py <package-name>'
+    sys.exit(os.EX_USAGE)
+
+
+_stack_of_cache = {}
+_stack_version_cache = {}
+def get_package_version(package, stack_of_cache=None, stack_version_cache=None):
+    if stack_of_cache is None:
+        stack_of_cache = _stack_of_cache
+    if stack_version_cache is None:
+        stack_version_cache = _stack_version_cache
+    stack_of_cache[package] = stack = stack_of_cache.get(package) or roslib.stacks.stack_of(package)
+    stack_version_cache[stack] = version = (
+            stack_version_cache.get(stack) or
+            roslib.stacks.get_stack_version(stack)) #@UndefinedVariable
+    return version
+
+
+def generate_properties(package, maven_depmap):
+    rospack = roslib.packages.ROSPackages()
+    depends = rospack.depends([package])[package]
+    properties = {'ros.home': roslib.rosenv.get_ros_home()}
+
+    # Add directory properties for every package we depend on.
+    for package in depends:
+        package_directory = roslib.packages.get_pkg_dir(package)
+        properties['ros.pkg.%s.dir' % (package)] = package_directory
+        if hasattr(roslib.stacks, 'get_stack_version'):
+            properties['ros.pkg.%s.version' % (package)] = get_package_version(package)
+
+    built_artifact = maven.get_package_build_artifact(rospack, package)
+    if built_artifact:
+        properties['ros.artifact.built'] = built_artifact
+
+    properties['ros.classpath'] = classpath.get_classpath(
+            rospack, package, maven_depmap, scope='all')
+    properties['ros.compile.classpath'] = classpath.get_classpath(
+            rospack, package, maven_depmap, scope='compile')
+    properties['ros.runtime.classpath'] = classpath.get_classpath(
+            rospack, package, maven_depmap, scope='runtime')
+    properties['ros.test.classpath'] = classpath.get_classpath(
+            rospack, package, maven_depmap, scope='test')
+
+    # Re-encode for ant <fileset includes="${ros.jarfileset}">.  uses comma separator instead.
+    for prop in ['ros', 'ros.compile', 'ros.runtime', 'ros.test']:
+        properties[prop + '.jarfileset'] = properties[prop + '.classpath'].replace(':', ',')
+
+    properties['ros.test_results'] = os.path.join(roslib.rosenv.get_test_results_dir(), package)
+    return properties
+
+
+def print_sorted_properties(properties, stream=sys.stdout):
+    for key in sorted(properties):
+        print >>stream, '%s=%s' % (key, properties[key])
+
+
+def main(argv):
+    if len(argv) != 2:
+        usage()
+    package = argv[1]
+    maven_depmap = maven.get_maven_dependencies(package, 'dependencies.xml')
+    properties = generate_properties(package, maven_depmap)
+    print_sorted_properties(properties)
+
+
+if __name__ == '__main__':
+    try:
+        main(sys.argv)
+    except roslib.packages.InvalidROSPkgException as e:
+        print >>sys.stderr, 'ERROR: %s' % str(e)
+        sys.exit(1)

rosjava_bootstrap/src/main/python/rosjava_bootstrap/maven.py

+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2011, 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.
+
+import os
+import subprocess
+import sys
+import tempfile
+
+import roslib
+
+# See http://maven.apache.org/guides/introduction/introduction-to-dependency-mechanism.html#Dependency_Scope
+SCOPE_MAP = {
+    'compile': ['compile', 'runtime', 'test', 'all'],
+    'runtime': ['runtime', 'test', 'all'],
+    'test': ['test', 'all'],
+    }
+DEFAULT_SCOPE = 'compile'
+
+DEPENDENCY_FILE_PROPERTY = 'dependency.file'
+DEPENDENCY_GENERATION_TARGET = 'get-dependencies'
+
+# XML tag for the rosjava manifest tag for path elements.
+TAG_ROSJAVA_PATHELEMENT = 'rosjava-pathelement'
+
+BOOTSTRAP_PKG = 'rosjava_bootstrap'
+BOOTSTRAP_PKG_DIR = roslib.packages.get_pkg_dir(BOOTSTRAP_PKG)
+BOOTSTRAP_SCRIPTS_DIR = os.path.join(BOOTSTRAP_PKG_DIR, 'scripts')
+
+
+def walk_export_path(rospack, package, export_operator, package_operator, include_package=False, scope='all'):
+    """
+    Walk the entire set of dependencies for a package. Run the supplied
+    lambda expressions on each export and each package.
+    Export lambdas for a given package are all run before the package lambda.
+    """
+    depends = rospack.depends([package])[package]
+    if include_package:
+        depends.append(package)
+    for pkg in depends:
+        m = rospack.manifests[pkg]
+        pkg_dir = roslib.packages.get_pkg_dir(pkg)
+        for e in [x for x in m.exports if x.tag == TAG_ROSJAVA_PATHELEMENT]:
+            # Don't include this package's built resources.
+            if include_package and pkg == package and e.attrs.get('built', False):
+                continue
+            entry_scope = e.attrs.get('scope', DEFAULT_SCOPE)
+            if scope in SCOPE_MAP[entry_scope]:
+                export_operator(pkg, pkg_dir, e)
+        if package_operator:
+            package_operator(pkg)
+
+
+def get_package_build_artifact(rospack, package):
+    """
+    Get what a given package builds.
+
+    Returns None if didn't generate a Java artifact.
+    """
+    rospack.load_manifests([package])
+    manifest = rospack.manifests[package]
+    for e in [x for x in manifest.exports if x.tag == TAG_ROSJAVA_PATHELEMENT]:
+        if e.attrs.get('built', False):
+            if 'groupId' in e.attrs:
+                full_filename = get_full_maven_name(e)
+                # NOTE(damonkohler): If the rosjava-pathelement refers to
+                # something that is built, then it must have a location
+                # defined.
+                location = e.attrs['location']
+                # TODO(keith): Should always place in Maven repository.
+                return os.path.join(location, full_filename)
+            return e.attrs['location']
+
+
+def get_full_maven_name(e):
+    """
+    Creates an entire Maven filename from an XML element containing
+    groupId, artifactId, and version.
+    """
+
+    return '%s-%s.jar' % (e.attrs['artifactId'], e.attrs['version'])
+
+
+def get_maven_dependencies(package, dependency_filename):
+    """
+    Run the dependency ant file and get all dependencies. Returns as a
+    dictionary of lists keyed by scope.
+    """
+    full_dependency_filename = os.path.join(roslib.packages.get_pkg_dir(package),
+                                            dependency_filename)
+
+    # Get a temp file but doesn't need to stay open
+    fd, name = tempfile.mkstemp()
+
+    command = ['ant', '-f', full_dependency_filename,
+               '-logger', 'org.apache.tools.ant.NoBannerLogger',
+               '-D%s=%s'%(DEPENDENCY_FILE_PROPERTY, name),
+               DEPENDENCY_GENERATION_TARGET]
+
+    fnull = open(os.devnull)
+    subprocess.check_call(command, stdout=fnull, stderr=fnull)
+    fnull.close()
+
+    f = os.fdopen(fd, "r")
+    dependencies = f.read()
+
+    f.close()
+
+    os.remove(name)
+
+    depmap = {}
+    for line in dependencies.split():
+        pair = line.split('::::')
+        if pair[0] not in depmap:
+            depmap[pair[0]] = []
+        depmap[pair[0]].append(pair[1])
+
+    for scope in ['compile', 'runtime', 'test']:
+        depmap[scope] = depmap.get(scope, list())
+
+    depmap['all'] = depmap['test']
+
+    return depmap
+
+
+def write_maven_dependencies_group(f, rospack, package, scope):
+    """Write out a maven <dependencies> element in the file for the given scope"""
+    f.write('  <artifact:dependencies filesetId="dependency.fileset.%s">' %
+            scope)
+    f.write('<artifact:remoteRepository id="org.ros.release" url="http://robotbrains.hideho.org/nexus/content/groups/ros-public" />\n')
+
+    def export_operator(pkg, pkg_dir, e):
+        # TODO(khughes): Nuke location once in Maven repository
+        if 'groupId' in e.attrs and not 'location' in e.attrs:
+            f.write("""
+    <artifact:dependency groupId="%s" artifactId="%s" version="%s" />
+"""%(
+                e.attrs['groupId'], e.attrs['artifactId'],
+                e.attrs['version']
+                ))
+
+    walk_export_path(rospack, package,
+                     export_operator, None,
+                     True, scope)
+
+    f.write("  </artifact:dependencies>\n")
+
+
+def generate_ant_maven_dependencies(package):
+    """
+    Generate an Ant file which will get all dependencies needed via a Maven
+    repository and provide both a classpath for ant builds and a file of
+    dependencies to be consumed by this script.
+
+    ant -f file -Ddependency.file=fname get-dependencies
+
+    will create a file fname with 1 line per dependency. This file is appended
+    to so should be empty every time.
+
+    The fileset id dependency.fileset is available for such things as classpaths
+    for a build.
+    """
+
+    rospack = roslib.packages.ROSPackages()
+
+    sys.stdout.write("""<?xml version="1.0"?>
+<project name="dependencies" basedir="."  xmlns:artifact="antlib:org.apache.maven.artifact.ant"
+      xmlns:ac="antlib:net.sf.antcontrib"
+>
+  <taskdef resource="net/sf/antcontrib/antlib.xml"/>
+
+  <path id="maven-ant-tasks.classpath" path="%s/maven-ant-tasks-2.1.3.jar" />
+  <typedef resource="org/apache/maven/artifact/ant/antlib.xml"
+           uri="antlib:org.apache.maven.artifact.ant"
+           classpathref="maven-ant-tasks.classpath" />
+  <typedef resource="net/sf/antcontrib/antlib.xml"
+           uri="antlib:net.sf.antcontrib"
+           classpath="%s/ant-contrib-1.0b3.jar"/>
+
+"""% (BOOTSTRAP_SCRIPTS_DIR, BOOTSTRAP_SCRIPTS_DIR))
+
+    sys.stdout.write("""  <artifact:dependencies filesetId="dependency.osgi">
+    <artifact:remoteRepository id="org.ros.release" url="http://robotbrains.hideho.org/nexus/content/groups/ros-public" />
+    <artifact:dependency groupId="biz.aQute" artifactId="bnd" version="0.0.384" />
+  </artifact:dependencies>
+
+  <path id="classpath.osgi">
+    <fileset refid="dependency.osgi" />
+  </path>
+
+  <taskdef resource="aQute/bnd/ant/taskdef.properties" classpathref="classpath.osgi" />
+""")
+
+
+    write_maven_dependencies_group(sys.stdout, rospack, package, 'compile')
+    write_maven_dependencies_group(sys.stdout, rospack, package, 'test')
+    write_maven_dependencies_group(sys.stdout, rospack, package, 'runtime')
+
+    sys.stdout.write("""
+
+  <target name="%s">
+    <ac:for param="file">
+      <path>
+        <fileset refid="dependency.fileset.compile"/>
+      </path>
+      <sequential>
+	<echo file="${%s}" append="true">compile::::@{file}
+</echo>
+      </sequential>
+    </ac:for>
+    <ac:for param="file">
+      <path>
+        <fileset refid="dependency.fileset.runtime"/>
+      </path>
+      <sequential>
+	<echo file="${%s}" append="true">runtime::::@{file}
+</echo>
+      </sequential>
+    </ac:for>
+    <ac:for param="file">
+      <path>
+        <fileset refid="dependency.fileset.test"/>
+      </path>
+      <sequential>
+	<echo file="${%s}" append="true">test::::@{file}
+</echo>
+      </sequential>
+    </ac:for>
+  </target>
+</project>
+"""%(DEPENDENCY_GENERATION_TARGET,
+     DEPENDENCY_FILE_PROPERTY, DEPENDENCY_FILE_PROPERTY,
+     DEPENDENCY_FILE_PROPERTY))
+

rosjava_bootstrap/src/main/python/rosjava_bootstrap/test_classpath.py

+#!/usr/bin/python
+
+# Copyright (C) 2011 Google Inc.
+#
+# 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.
+
+__author__ = 'damonkohler@google.com (Damon Kohler)'
+
+import os
+
+import base_test_case
+import classpath
+import roslib
+
+SAMPLE_PACKAGE = 'sample_package'
+
+
+class TestClasspath(base_test_case.BaseTestCase):
+
+    def test_get_specified_classpath(self):
+        rospack = roslib.packages.ROSPackages()
+
+        path = classpath._get_specified_classpath(rospack, SAMPLE_PACKAGE, False, 'all')
+        self.assertEqual(2, len(path))
+        basenames = [os.path.basename(x) for x in path]
+        self.assertTrue('com.domain.sample_dependency.with_location-0.0.0.jar' in basenames)
+        self.assertTrue('com.domain.sample_dependency.built_with_location-0.0.0.jar' in basenames)
+
+        path = classpath._get_specified_classpath(rospack, SAMPLE_PACKAGE, True, 'all')
+        self.assertEqual(3, len(path))
+        basenames = [os.path.basename(x) for x in path]
+        self.assertTrue('com.domain.sample_dependency.with_location-0.0.0.jar' in basenames)
+        self.assertTrue('com.domain.sample_dependency.built_with_location-0.0.0.jar' in basenames)
+        self.assertTrue('com.domain.sample.with_location-0.0.0.jar' in basenames)
+
+    def test_get_classpath(self):
+        rospack = roslib.packages.ROSPackages()
+        path = classpath.get_classpath(rospack, SAMPLE_PACKAGE, {'all': []})
+        jars = [os.path.basename(x) for x in path.split(':')]
+        self.assertEquals([
+            'com.domain.sample_dependency.with_location-0.0.0.jar',
+            'com.domain.sample_dependency.built_with_location-0.0.0.jar'], jars)
\ No newline at end of file

rosjava_bootstrap/src/main/python/rosjava_bootstrap/test_generate_eclipse_project.py

+#!/usr/bin/python
+
+# Copyright (C) 2011 Google Inc.
+#
+# 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.
+
+__author__ = 'damonkohler@google.com (Damon Kohler)'
+
+import base_test_case
+import generate_eclipse_project
+import roslib
+import StringIO
+
+SAMPLE_PACKAGE = 'sample_package'
+
+
+class TestGenerateEclipseProject(base_test_case.BaseTestCase):
+    
+    def test_get_source_paths(self):
+        rospack = roslib.packages.ROSPackages()
+        paths = generate_eclipse_project._get_source_paths(rospack, SAMPLE_PACKAGE)
+        self.assertEqual(['src/main/java'], paths)
+
+    def test_generate_classpath_file(self):
+        rospack = roslib.packages.ROSPackages()
+        stream = StringIO.StringIO()
+        generate_eclipse_project.generate_classpath_file(
+                rospack, SAMPLE_PACKAGE, {'all': []}, stream)
+        # TODO(damonkohler): Actually test the content of the generated classpath file.
+        self.assertTrue(stream.getvalue())
\ No newline at end of file

rosjava_bootstrap/src/main/python/rosjava_bootstrap/test_generate_ros_properties.py

+#!/usr/bin/python
+
+# Copyright (C) 2011 Google Inc.
+#
+# 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.
+
+__author__ = 'damonkohler@google.com (Damon Kohler)'
+
+import os
+
+import base_test_case
+import generate_ros_properties
+import StringIO
+
+SAMPLE_PACKAGE = 'sample_package'
+
+
+class TestGenerateRosProperties(base_test_case.BaseTestCase):
+
+    def test_get_package_version(self):
+        self.assertEqual(42, generate_ros_properties.get_package_version(
+            'package', {'package': 'stack'}, {'stack': 42}))
+
+    def test_print_sorted_properties(self):
+        stream = StringIO.StringIO()
+        generate_ros_properties.print_sorted_properties({'foo': 3, 'bar': 1, 'baz': 2}, stream)
+        self.assertEqual('bar=1\nbaz=2\nfoo=3\n', stream.getvalue())
+
+    def test_generate_properties(self):
+        properties = generate_ros_properties.generate_properties(
+                SAMPLE_PACKAGE, {'all': [], 'compile': [], 'runtime': [], 'test': []})
+        self.assertEqual('target/com.domain.sample_dependency.built_with_location-0.0.0.jar',
+                         properties['ros.artifact.built'])
+        expected = os.path.join(self.get_resources_directory(), 'sample_stack',
+                                'sample_package_dependency')
+        self.assertEqual(expected, properties['ros.pkg.sample_package_dependency.dir'])
\ No newline at end of file

rosjava_bootstrap/src/main/python/rosjava_bootstrap/test_maven.py

+#!/usr/bin/python
+
+# Copyright (C) 2011 Google Inc.
+#
+# 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.
+
+__author__ = 'damonkohler@google.com (Damon Kohler)'
+
+import base_test_case
+import maven
+import roslib
+
+SAMPLE_PACKAGE = 'sample_package'
+SAMPLE_PACKAGE_DEPENDENCY = 'sample_package_dependency'
+
+
+class TestMaven(base_test_case.BaseTestCase):
+
+    def test_walk_export_path(self):
+        rospack = roslib.packages.ROSPackages()
+
+        def export_operator(package, package_directory, export):
+            pass
+
+        def package_operator(package):
+            pass
+
+        maven.walk_export_path(rospack, SAMPLE_PACKAGE, export_operator, package_operator)
+
+    def test_get_package_build_artifact(self):
+        rospack = roslib.packages.ROSPackages()
+        artifact = maven.get_package_build_artifact(rospack, SAMPLE_PACKAGE)
+        self.assertEqual('target/com.domain.sample.built_with_location-0.0.0.jar', artifact)
+        artifact = maven.get_package_build_artifact(rospack, SAMPLE_PACKAGE_DEPENDENCY)
+        self.assertEqual('target/com.domain.sample_dependency.built_with_location-0.0.0.jar', artifact)
\ No newline at end of file