scripts working for rosjava packages and projects.

scripts/catkin_create_android_pkg

@@ -20,7 +20,7 @@ import rosjava_build_tools.console as console
 
 if __name__ == "__main__":
     try:
-        sys.exit(init_android_repo())
+        sys.exit(init_android_package())
     except Exception as e:
         console.logerror("%s : %s" % (str(e), type(e)))
         sys.exit(1)

scripts/catkin_create_rosjava_msg_project

+#!/usr/bin/env python
+
+"""This script creates the skeleton of an android library package"""
+
+##############################################################################
+# Imports
+##############################################################################
+
+from __future__ import print_function
+import argparse
+import os
+import sys
+
+from rosjava_build_tools import create_rosjava_msg_project
+import rosjava_build_tools.console as console
+
+##############################################################################
+# Main
+##############################################################################
+
+if __name__ == "__main__":
+    try:
+        sys.exit(create_rosjava_msg_project())
+    except Exception as e:
+        console.logerror("%s : %s" % (str(e), type(e)))
+        sys.exit(1)

scripts/catkin_create_rosjava_pkg

+#!/usr/bin/env python
+
+"""This script creates the skeleton of an rosjava repo"""
+
+##############################################################################
+# Imports
+##############################################################################
+
+from __future__ import print_function
+import argparse
+import os
+import sys
+
+from rosjava_build_tools import init_rosjava_package
+import rosjava_build_tools.console as console
+
+##############################################################################
+# Main
+##############################################################################
+
+if __name__ == "__main__":
+    try:
+        sys.exit(init_rosjava_package())
+    except Exception as e:
+        console.logerror("%s : %s" % (str(e), type(e)))
+        sys.exit(1)

scripts/catkin_create_rosjava_project

+#!/usr/bin/env python
+
+"""This script creates the skeleton of an android library package"""
+
+##############################################################################
+# Imports
+##############################################################################
+
+from __future__ import print_function
+import argparse
+import os
+import sys
+
+from rosjava_build_tools import create_rosjava_project
+import rosjava_build_tools.console as console
+
+##############################################################################
+# Main
+##############################################################################
+
+if __name__ == "__main__":
+    try:
+        sys.exit(create_rosjava_project())
+    except Exception as e:
+        console.logerror("%s : %s" % (str(e), type(e)))
+        sys.exit(1)

setup.py

@@ -9,6 +9,9 @@ d = generate_distutils_setup(
     scripts=['scripts/catkin_create_android_pkg',
              'scripts/catkin_create_android_project',
              'scripts/catkin_create_android_library_project',
+             'scripts/catkin_create_rosjava_pkg',
+             'scripts/catkin_create_rosjava_project',
+             'scripts/catkin_create_rosjava_msg_project',
             ],
     package_data = {'rosjava_build_tools': [
            'templates/android_package/*',

src/rosjava_build_tools/__init__.py

@@ -9,7 +9,8 @@
 ##############################################################################
 
 import console
-from create_package import init_android_repo
-from create_project import create_android_project
+from create_package import init_android_package, init_rosjava_package
+from create_android_project import create_android_project
+from create_rosjava_project import create_rosjava_project, create_rosjava_msg_project
 from utils import which
 from release import scrape_for_release_message_packages

src/rosjava_build_tools/create_package.py

@@ -27,7 +27,7 @@ import console
 def parse_arguments():
     argv = sys.argv[1:]
     parser = argparse.ArgumentParser(
-        description='Creates a new android repository based on catkin and gradle. \n\nNote that the path you provide will become the maven group for your repo.\n')
+        description='Creates a new rosjava/android repository based on catkin and gradle. \n\nNote that the path you provide will become the maven group for your repo.\n')
     parser.add_argument('path', nargs='?', default=os.getcwd(), help='path to the repository you wish to create (must not exist beforehand).')
     parser.add_argument('dependencies',
                         nargs='*',
@@ -78,8 +78,8 @@ def instantiate_template(template, repo_name, author):
     return template % locals()
 
 
-def get_templates():
-    template_dir = os.path.join(os.path.dirname(__file__), 'templates', 'init_repo')
+def get_templates(template_directory):
+    template_dir = os.path.join(os.path.dirname(__file__), 'templates', template_directory)
     templates = {}
     templates['CMakeLists.txt'] = read_template(os.path.join(template_dir, 'CMakeLists.txt.in'))
     templates['build.gradle'] = read_template(os.path.join(template_dir, 'build.gradle.in'))
@@ -87,10 +87,10 @@ def get_templates():
     return templates
 
 
-def populate_repo(repo_path):
+def populate_repo(repo_path, package_type):
     author = utils.author_name()
     repo_name = os.path.basename(repo_path)
-    templates = get_templates()
+    templates = get_templates(package_type)
     for filename, template in templates.iteritems():
         contents = instantiate_template(template, repo_name, author)
         try:
@@ -154,13 +154,21 @@ def create_catkin_package_files(package_name, package_path, args):
 ##############################################################################
 
 
-def init_android_repo():
+def init_package(package_type):
     args = parse_arguments()
     try:
         repo_path = utils.validate_path(args.path)
         repo_name = os.path.basename(os.path.normpath(repo_path)).lower()
-        populate_repo(repo_path)
+        populate_repo(repo_path, package_type)
         create_catkin_package_files(repo_name, repo_path, args)
         create_gradle_wrapper(repo_path)
     except Exception:
         raise
+
+
+def init_rosjava_package():
+    init_package('rosjava_package')
+
+
+def init_android_package():
+    init_package('android_package')

src/rosjava_build_tools/create_rosjava_project.py

+#!/usr/bin/env python
+#
+# License: Apache 2.0
+#   https://raw.github.com/rosjava/rosjava_build_tools/license/LICENSE
+#
+
+##############################################################################
+# Imports
+##############################################################################
+
+from __future__ import print_function
+
+import os
+import sys
+import argparse
+import xml.etree.ElementTree as ElementTree
+
+# local imports
+import utils
+import console
+
+##############################################################################
+# Methods
+##############################################################################
+
+
+def parse_arguments():
+    argv = sys.argv[1:]
+    parser = argparse.ArgumentParser(
+        description='Creates a new rosjava package based on catkin and gradle. \n')
+    parser.add_argument('name',
+                        nargs=1,
+                        help='The name for the package')
+    parser.add_argument('-a', '--author',
+                        action='store',
+                        default=utils.author_name(),
+                        help='A single author, may be used multiple times')
+    args = parser.parse_args(argv)
+    return args
+
+
+##############################################################################
+# Methods acting on classes
+##############################################################################
+
+
+# This inserts the labelled variables into the template wherever the corresponding
+# %package, %brief, %description and %depends is found.
+def instantiate_template(template, project_name, author):
+    return template % locals()
+
+
+def create_gradle_package_files(args, template_directory):
+    '''
+      This is almost a direct copy from catkin_create_pkg.
+    '''
+    try:
+        project_name = args.name[0].lower()
+        package_path = os.path.abspath(os.path.join(os.getcwd(), project_name))
+        for template_name in ['build.gradle']:  # 'CMakeLists.txt']:
+            filename = os.path.join(package_path, template_name)
+            template = utils.read_template_file(template_directory, template_name)
+            contents = instantiate_template(template, project_name, args.author)
+            try:
+                f = open(filename, 'w')
+                f.write(contents)
+                console.pretty_print('  File      : ', console.cyan)
+                console.pretty_println(template_name, console.yellow)
+            finally:
+                f.close()
+    except Exception:
+        raise
+
+
+def add_to_root_gradle_settings(name):
+    '''
+      Adds project name to the root level settings.gradle file.
+    '''
+    for rel_path in ['.', '..']:
+        settings_gradle_path = os.path.join(os.getcwd(), rel_path, 'settings.gradle')
+        if os.path.isfile(settings_gradle_path):
+            break
+        else:
+            settings_gradle_path = None
+    if settings_gradle_path is None:
+        console.pretty_println("\nCouldn't find the root level settings.gradle file - not adding to the superproject.")
+        return
+    with open(settings_gradle_path, 'a') as settings_gradle:
+        console.pretty_print('  File      : ', console.cyan)
+        console.pretty_println('settings.gradle', console.yellow)
+        settings_gradle.write("include '%s'\n" % name)
+
+
+def add_catkin_generate_tree_command():
+    for rel_path in ['.', '..']:
+        build_gradle_path = os.path.join(os.getcwd(), rel_path, 'build.gradle')
+        if os.path.isfile(build_gradle_path):
+            break
+        else:
+            build_gradle_path = None
+    if build_gradle_path is None:
+        console.pretty_println("\nCouldn't find the root level build.gradle file - not adding to the superproject.")
+        return
+    with open(build_gradle_path, 'r') as build_gradle:
+        console.pretty_print('  File      : ', console.cyan)
+        console.pretty_println('build.gradle (catkin_generate_tree update)', console.yellow)
+        new_contents = build_gradle.read().replace("apply plugin: 'catkin'", "apply plugin: 'catkin'\nproject.catkin.tree.generate()\n")
+    with open(build_gradle_path, 'w') as build_gradle:
+        build_gradle.write(new_contents)
+
+
+def add_to_package_xml(name):
+    '''
+      Adds project name to build_depends in package.xml (should be same name as the ros msg package name).
+    '''
+    for rel_path in ['.', '..']:
+        package_xml_path = os.path.join(os.getcwd(), rel_path, 'package.xml')
+        if os.path.isfile(package_xml_path):
+            break
+        else:
+            package_xml_path = None
+    if package_xml_path is None:
+        console.pretty_println("\nCouldn't find the root level package.xml file - not adding to the superproject.")
+        return
+    with open(package_xml_path, 'r') as package_xml:
+        console.pretty_print('  File      : ', console.cyan)
+        console.pretty_println('package.xml (dependency update)', console.yellow)
+        new_contents = package_xml.read().replace("</package>", "<build_depend>%s</build_depend>\n</package>" % name)
+    with open(package_xml_path, 'w') as package_xml:
+        package_xml.write(new_contents)
+
+
+def create_dummy_java_class(project_name):
+    path = os.path.join(os.getcwd(), project_name.lower())
+    java_package_path = os.path.join(path, 'src', 'main', 'java', 'com', 'github', 'rosjava', project_name)
+    utils.mkdir_p(java_package_path)
+    filename = os.path.join(java_package_path, 'Dude.java')
+    java_class = "package com.github.rosjava.%s.Dude;\n" % project_name
+    java_class += "\n"
+    java_class += "public class Dude {\n"
+    java_class += "}\n"
+    console.pretty_print('  File      : ', console.cyan)
+    console.pretty_println('Dude.class', console.yellow)
+    with open(filename, 'w') as dude_class:
+        dude_class.write(java_class)
+
+
+def ros_package_name():
+    for rel_path in ['.', '..']:
+        package_xml_path = os.path.join(os.getcwd(), rel_path, 'package.xml')
+        if os.path.isfile(package_xml_path):
+            break
+        else:
+            package_xml_path = None
+    if package_xml_path is None:
+        console.pretty_println("\nCouldn't find the root level package.xml file - not adding to the superproject.")
+        return
+    tree = ElementTree.parse(package_xml_path)
+    root = tree.getroot()
+    name = root.find('name').text
+    return name
+
+
+def create_rosjava_project_common(args, template_directory):
+    project_name = args.name[0]
+    console.pretty_println("\nCreating rosjava project ", console.bold)
+    console.pretty_print("  Name      : ", console.cyan)
+    console.pretty_println("%s" % project_name, console.yellow)
+    utils.mkdir_p(os.path.join(os.getcwd(), project_name.lower()))
+    # This is in the old form, let's shovel the shit around to the new form
+    create_gradle_package_files(args, template_directory)
+    add_to_root_gradle_settings(args.name[0])
+
+
+def create_rosjava_project():
+    args = parse_arguments()
+    create_rosjava_project_common(args, 'rosjava_project')
+    create_dummy_java_class(args.name[0])
+
+
+def create_rosjava_msg_project():
+    args = parse_arguments()
+    create_rosjava_project_common(args, 'rosjava_msg_project')
+    add_catkin_generate_tree_command()
+    add_to_package_xml(args.name[0])

src/rosjava_build_tools/templates/init_repo/CMakeLists.txt.in → src/rosjava_build_tools/templates/android_package/CMakeLists.txt.in

@@ -13,3 +13,14 @@ find_package(catkin REQUIRED rosjava_build_tools)
 # Set the gradle targets you want catkin's make to run by default
 catkin_android_setup(assembleRelease uploadArchives)
 catkin_package()
+
+
+##############################################################################
+# Installation
+##############################################################################
+
+# If you are deploying android libraries (.aar's) uncomment this and
+# change this to match the maven group name you have specified in the 
+# allprojects closure the root build.gradle
+#install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_MAVEN_DESTINATION}/com/github/rosjava/${PROJECT_NAME}/ 
+#       DESTINATION ${CATKIN_GLOBAL_MAVEN_DESTINATION}/com/github/rosjava/${PROJECT_NAME})

src/rosjava_build_tools/templates/rosjava_msg_project/build.gradle.in

+/*
+ * Copyright (C) 2013 %(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.
+ */
+
+try {
+    project.catkin.tree.pkgs['%(project_name)s'].generateMessageArtifact(project)
+} catch (NullPointerException e) {
+    println("Couldn't find %(project_name)s on the ROS_PACKAGE_PATH")
+}
+

src/rosjava_build_tools/templates/rosjava_package/CMakeLists.txt.in

+##############################################################################
+# CMake
+##############################################################################
+
+cmake_minimum_required(VERSION 2.8.3)
+project(%(repo_name)s)
+
+##############################################################################
+# Catkin
+##############################################################################
+
+find_package(catkin REQUIRED rosjava_build_tools)
+# Set the gradle targets you want catkin's make to run by default
+catkin_android_setup(publishMavenJavaPublicationToMavenRepository)
+catkin_package()
+
+##############################################################################
+# Installation
+##############################################################################
+
+# Change this to match the maven group name you have specified in the 
+# allprojects closure the root build.gradle
+install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_MAVEN_DESTINATION}/com/github/rosjava/${PROJECT_NAME}/ 
+        DESTINATION ${CATKIN_GLOBAL_MAVEN_DESTINATION}/com/github/rosjava/${PROJECT_NAME})

src/rosjava_build_tools/templates/rosjava_package/build.gradle.in

+/*
+ * Copyright (C) 2013 %(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 = '1.7'
+}
+
+buildscript {
+    def rosMavenPath = "$System.env.ROS_MAVEN_PATH".split(':').collect { 'file://' + it }
+    repositories {
+        rosMavenPath.each { p ->
+            maven {
+                url p
+            }
+        }
+        mavenLocal()
+        maven {
+            url 'https://github.com/rosjava/rosjava_mvn_repo/raw/master'
+        }
+    }
+    dependencies {
+        classpath group: 'org.ros.rosjava_bootstrap', name: 'gradle_plugins', version: '0.1.+'
+    }
+}
+
+apply plugin: 'catkin'
+
+
+allprojects {
+    /* 
+      A github url provides a good standard unique name for your project
+      Example below, but you may wish to switch to your own unique url.
+    */
+    group 'com.github.rosjava.%(repo_name)s'
+    version = project.catkin.pkg.version
+}
+
+subprojects {
+    /* 
+      See https://github.com/rosjava/rosjava_bootstrap (look for gradle_plugins)
+      to see what is going on under the hood. 
+    */
+    apply plugin: 'ros-java'
+}
+
+/*
+  Some useful tasks:
+    install: deploys jar's to MavenLocal() (i.e. ~/.m2/repository)
+    publishMavenJavaPublicationToMavenRepository : deploys jar's to devel/share/maven
+    installApp : assembles java apps in the _subproject_/build directories.
+*/
+defaultTasks 'install'

src/rosjava_build_tools/templates/rosjava_package/settings.gradle

+/*
+ * Copyright (C) 2013 %(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.
+ */
+

src/rosjava_build_tools/templates/rosjava_project/build.gradle.in

+/*
+ * Copyright (C) 2013 %(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.
+ */
+
+/* 
+ Examples of 
+   1) dependencies from another project in this gradle stack.
+   2,3) dependency from a maven repository.
+   
+   It's a good idea to use + on the patch version dependency to
+   save continually updating these references, but avoid applying
+   the same principle to api breaking minor changes in the version.
+*/
+/* 
+dependencies {
+  compile project(':local_android_library_dependency')
+  compile 'org.ros.android_core:android_gingerbread_mr1:0.1.+'
+  compile 'com.github.ros_java.android_extras:gingerbread:0.1.+'
+}
+*/
+

src/rosjava_build_tools/utils.py

@@ -117,3 +117,19 @@ def validate_path(path):
         if os.path.isfile(os.path.join(path, 'build.gradle')):
             raise ValueError("Error: a gradle project already resides in this location [%s]" % absolute_path)
     return absolute_path
+
+##############################################################################
+# Borrowed from catkin_pkg.package_templates
+##############################################################################
+
+
+def read_template_file(template_directory, filename):
+    template_dir = os.path.join(os.path.dirname(__file__), 'templates', template_directory)
+    template = os.path.join(template_dir, '%s.in' % filename)
+    if not os.path.isfile(template):
+        raise IOError(
+            "Could not read template [%s]" % template
+        )
+    with open(template, 'r') as fhand:
+        template_contents = fhand.read()
+    return template_contents