pax_global_header00006660000000000000000000000064124745152010014513gustar00rootroot0000000000000052 comment=2301d2e874357b530f0e99451878feb1d1682246 genjava-0.1.4/000077500000000000000000000000001247451520100131305ustar00rootroot00000000000000genjava-0.1.4/.gitignore000066400000000000000000000000221247451520100151120ustar00rootroot00000000000000src/genjava/*.pyc genjava-0.1.4/.project000066400000000000000000000005511247451520100146000ustar00rootroot00000000000000 genjava org.python.pydev.PyDevBuilder org.python.pydev.pythonNature genjava-0.1.4/.pydevproject000066400000000000000000000006531247451520100156530ustar00rootroot00000000000000 /${PROJECT_DIR_NAME}/src python 2.7 Default genjava-0.1.4/CHANGELOG.rst000066400000000000000000000014411247451520100151510ustar00rootroot00000000000000^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package genjava ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.1.4 (2015-03-01) ------------------ * generate_rosjava_messages cmake api needs the rosjava environment. * Contributors: Daniel Stonier 0.1.3 (2015-02-28) ------------------ * add data parts to the python package. * Contributors: Daniel Stonier 0.1.2 (2015-02-27) ------------------ * bugfix genjava dir variable settings, fixes `#1 `_ * Contributors: Daniel Stonier 0.1.1 (2015-02-25) ------------------ * command line tools for building messages from the command line * cmake api for building messages from catkin * genjava api for building messages on the fly * prototype version, builds mini gradle projects for each package * Contributors: Daniel Stonier genjava-0.1.4/CMakeLists.txt000066400000000000000000000026051247451520100156730ustar00rootroot00000000000000############################################################################## # CMake ############################################################################## cmake_minimum_required(VERSION 2.8.3) project(genjava) ############################################################################## # Find Package ############################################################################## find_package(catkin REQUIRED COMPONENTS genmsg rosjava_build_tools) ############################################################################## # Catkin ############################################################################## catkin_package( CATKIN_DEPENDS genmsg rosjava_build_tools CFG_EXTRAS genjava-extras.cmake genjava-catkin-api.cmake ) catkin_python_setup() ############################################################################## # Installs ############################################################################## add_subdirectory(scripts) file(WRITE ${CATKIN_DEVEL_PREFIX}/${GENMSG_LANGS_DESTINATION}/genjava "Java") install(FILES ${CATKIN_DEVEL_PREFIX}/${GENMSG_LANGS_DESTINATION}/genjava DESTINATION ${GENMSG_LANGS_DESTINATION}) ############################################################################## # Tests ############################################################################## #if(CATKIN_ENABLE_TESTING) # catkin_add_nosetests(test) #endif() genjava-0.1.4/README.md000066400000000000000000000023471247451520100144150ustar00rootroot00000000000000genjava ======= RosJava message definition and serialization artifact generators. For future reference, executing the generator from the command line requires a command of the following kind: ``` java -classpath .:./message_generation-0.1.16.jar org.ros.internal.message.GenerateInterfaces ``` This doesn't work exactly though because it doesn't pull in the full classpath. Make sure that is set to include everything you need. You'll also need arguments of the kind we're currently using in the hydro groovy plugin: ``` def generatedSourcesDir = "${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([generatedSourcesDir, pkg.name]) */ generateSourcesTask.args = new ArrayList([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 ``` genjava-0.1.4/cmake/000077500000000000000000000000001247451520100142105ustar00rootroot00000000000000genjava-0.1.4/cmake/genjava-catkin-api.cmake.em000066400000000000000000000041351247451520100212460ustar00rootroot00000000000000@[if DEVELSPACE]@ # location of scripts in develspace set(GENJAVA_MESSAGE_ARTIFACTS_BIN_DIR "@(CMAKE_CURRENT_SOURCE_DIR)/scripts") @[else]@ set(GENJAVA_MESSAGE_ARTIFACTS_BIN_DIR "${genjava_DIR}/../../../@(CATKIN_PACKAGE_BIN_DESTINATION)") @[end if]@ set(GENJAVA_MESSAGE_ARTIFACTS_BIN ${GENJAVA_MESSAGE_ARTIFACTS_BIN_DIR}/genjava_message_artifacts) set(genjava_INSTALL_DIR "maven/org/ros/rosjava_messages") include(CMakeParseArguments) # Api for a a catkin metapackage rolls rosjava messages for # its dependencies. Accepts a list of package names attached # to the PACKAGES arg (similar to the genmsg # 'generate_messages' api. # # generate_rosjava_messages( # PACKAGES # std_msgs # geometry_msgs # ) macro(generate_rosjava_messages) if( ${ARGC} EQUAL 0 ) return() # Nothing to do (no packages specified) else() cmake_parse_arguments(ARG "" "" "PACKAGES" ${ARGN}) endif() if(ARG_UNPARSED_ARGUMENTS) message(FATAL_ERROR "generate_rosjava_messages() called with unused arguments: ${ARG_UNPARSED_ARGUMENTS}") endif() catkin_rosjava_env_setup() set(ROS_GRADLE_VERBOSE $ENV{ROS_GRADLE_VERBOSE}) if(ROS_GRADLE_VERBOSE) set(verbosity "--verbosity") else() set(verbosity "") endif() string(REPLACE ";" " " package_list "${ARG_PACKAGES}") add_custom_target(${PROJECT_NAME}_generate_artifacts ALL COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENJAVA_MESSAGE_ARTIFACTS_BIN} ${verbosity} --avoid-rebuilding -o ${CMAKE_CURRENT_BINARY_DIR} -p ${ARG_PACKAGES} # this has to be a list argument so it separates each arg (not a single string!) DEPENDS WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR} COMMENT "Compiling rosjava message artifacts for [${package_list}]" ) set(build_dir_to_be_cleaned_list) foreach(pkg ${ARG_PACKAGES}) list(APPEND build_dir_to_be_cleaned_list "${CMAKE_CURRENT_BINARY_DIR}/${pkg}") add_dependencies(${PROJECT_NAME}_generate_artifacts ${pkg}_generate_messages) endforeach() set_directory_properties(PROPERTY ADDITIONAL_MAKE_CLEAN_FILES "${build_dir_to_be_cleaned_list}") endmacro() genjava-0.1.4/cmake/genjava-extras.cmake.em000066400000000000000000000141131247451520100205310ustar00rootroot00000000000000@[if DEVELSPACE]@ # location of scripts in develspace set(GENJAVA_BIN_DIR "@(CMAKE_CURRENT_SOURCE_DIR)/scripts") @[else]@ # location of scripts in installspace set(GENJAVA_BIN_DIR "${genjava_DIR}/../../../@(CATKIN_PACKAGE_BIN_DESTINATION)") @[end if]@ set(GENJAVA_BIN ${GENJAVA_BIN_DIR}/genjava_gradle_project.py) set(genjava_INSTALL_DIR "maven/org/ros/rosjava_messages") macro(_generate_msg_java ARG_PKG ARG_MSG ARG_IFLAGS ARG_MSG_DEPS ARG_GEN_OUTPUT_DIR) 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() macro(_generate_srv_java ARG_PKG ARG_SRV ARG_IFLAGS ARG_MSG_DEPS ARG_GEN_OUTPUT_DIR) list(APPEND ALL_GEN_OUTPUT_FILES_java ${ARG_SRV} ${ARG_MSG_DEPS}) endmacro() # This is a bit different to the other generators - it generates the whole message package together # (unless there's another api I'm not aware of yet in the generator jar). It's a few milliseconds # of overkill generating all .java files if only one msg changed, but it's not worth the effort to # break that down yet. # # To facilitate this, the ARG_GENERATED_FILES is actually just the underlying ARG_MSG and ARG_SRV # files which we feed the commands as DEPENDS to trigger their execution. macro(_generate_module_java ARG_PKG ARG_GEN_OUTPUT_DIR ARG_GENERATED_FILES) ################################ # Gradle Subproject ################################ set(GRADLE_BUILD_DIR "${CMAKE_CURRENT_BINARY_DIR}/java") set(GRADLE_BUILD_FILE "${GRADLE_BUILD_DIR}/${ARG_PKG}/build.gradle") list(APPEND ALL_GEN_OUTPUT_FILES_java ${GRADLE_BUILD_FILE}) # a marker for the compiling script later to discover # this command will only get run when an underlying dependency changes, whereas the compiling # add_custom_target always runs (this was so we can ensure compile time dependencies are ok). # So we leave this dropping to inform it when gradle needs to run so that we can skip by # without the huge latency whenever we don't. set(DROPPINGS_FILE "${GRADLE_BUILD_DIR}/${ARG_PKG}/droppings") add_custom_command(OUTPUT ${GRADLE_BUILD_FILE} DEPENDS ${GENJAVA_BIN} ${ARG_GENERATED_FILES} COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENJAVA_BIN} -o ${GRADLE_BUILD_DIR} -p ${ARG_PKG} COMMAND touch ${DROPPINGS_FILE} COMMENT "Generating Java gradle project from ${ARG_PKG}" ) ################################ # Compile Gradle Subproject ################################ # Push the compile back to the last thing that gets done before the generate messages # is done for this package (see the PRE_LINK coupled with the TARGET option below). This # is different to genpy, gencpp since it's a compile step. If you don't force it to be # the last thing, then it may be trying to compile while dependencies are still getting # themselves ready for ${ARG_PKG}_generate_messages in parallel. # (i.e. beware of sequencing add_custom_command, it usually has to compete) set(ROS_GRADLE_VERBOSE $ENV{ROS_GRADLE_VERBOSE}) if(ROS_GRADLE_VERBOSE) set(verbosity "--verbosity") else() set(verbosity "") endif() add_custom_target(${ARG_PKG}_generate_messages_java_gradle COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENJAVA_BIN} ${verbosity} --compile -o ${GRADLE_BUILD_DIR} -p ${ARG_PKG} DEPENDS ${GRADLE_BUILD_FILE} ${ARG_GENERATED_FILES} WORKING_DIRECTORY ${GRADLE_BUILD_DIR}/${ARG_PKG} COMMENT "Compiling Java code for ${ARG_PKG}" ) add_dependencies(${ARG_PKG}_generate_messages ${ARG_PKG}_generate_messages_java_gradle) ################################ # Dependent Targets ################################ # This is a bad hack that needs to disappear. e.g. # - topic_tools and roscpp are both packages with a couple of msgs # - topic tools messages doesn't actually depend on roscpp messages # this is guarded, so it's not doubling up on work when called from catkin_package (roscpp does this too) # and we need it to get access to the build_depends list just in case people called generate_messages before catkin_package() if(NOT DEFINED ${ARG_PKG}_BUILD_DEPENDS) catkin_package_xml(DIRECTORY ${PROJECT_SOURCE_DIR}) endif() foreach(depends ${${ARG_PKG}_BUILD_DEPENDS}) if(TARGET ${depends}_generate_messages_java_gradle) #message(STATUS "Adding dependency.....${depends}_generate_messages -> ${ARG_PKG}_generate_messages") add_dependencies(${ARG_PKG}_generate_messages_java_gradle ${depends}_generate_messages_java_gradle) endif() endforeach() # 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_java_gradle gradle-rosjava_bootstrap) endif() ################################ # Debugging ################################ #foreach(gen_output_file ${ALL_GEN_OUTPUT_FILES_java}) # message(STATUS "ALL_GEN_OUTPUT_FILES_java..........${gen_output_file}") #endforeach() endmacro() genjava-0.1.4/package.xml000066400000000000000000000021601247451520100152440ustar00rootroot00000000000000 genjava 0.1.4 Java ROS message and service generators. BSD http://www.ros.org/wiki/genjava https://github.com/rosjava/genjava https://github.com/rosjava/genjava/issues Daniel Stonier Daniel Stonier catkin genmsg python-catkin-pkg python-rospkg rosjava_bootstrap rosjava_build_tools genmsg python-catkin-pkg python-rospkg rosjava_bootstrap rosjava_build_tools java genjava-0.1.4/rosdoc.yaml000066400000000000000000000000521247451520100153020ustar00rootroot00000000000000 - builder: sphinx sphinx_root_dir: docgenjava-0.1.4/scripts/000077500000000000000000000000001247451520100146175ustar00rootroot00000000000000genjava-0.1.4/scripts/CMakeLists.txt000066400000000000000000000005401247451520100173560ustar00rootroot00000000000000############################################################################## # Installs ############################################################################## # Rosrunnable installation of scripts catkin_install_python( PROGRAMS genjava_gradle_project.py genjava_message_artifacts DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} )genjava-0.1.4/scripts/genjava_gradle_project.py000077500000000000000000000004401247451520100216510ustar00rootroot00000000000000#!/usr/bin/env python """ ROS message source code generation for Java, integration with ros' message_generation. Converts ROS .msg files in a package into Java source code implementations. """ import os import sys import genjava if __name__ == "__main__": genjava.main(sys.argv) genjava-0.1.4/scripts/genjava_message_artifacts000077500000000000000000000004301247451520100217210ustar00rootroot00000000000000#!/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) genjava-0.1.4/setup.py000066400000000000000000000006231247451520100146430ustar00rootroot00000000000000#!/usr/bin/env python from distutils.core import setup from catkin_pkg.python_setup import generate_distutils_setup d = generate_distutils_setup( packages=['genjava'], package_dir={'': 'src'}, requires=['genmsg'], scripts=['scripts/genjava_message_artifacts'], package_data = {'genjava': [ 'templates/genjava_project/*', 'gradle/*', ]}, ) setup(**d) genjava-0.1.4/src/000077500000000000000000000000001247451520100137175ustar00rootroot00000000000000genjava-0.1.4/src/genjava/000077500000000000000000000000001247451520100153325ustar00rootroot00000000000000genjava-0.1.4/src/genjava/__init__.py000066400000000000000000000035701247451520100174500ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2014, Daniel Stonier # 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. #from . rostime import Time, Duration, TVal #from . message import Message, SerializationError, DeserializationError, MessageException, struct_I #__all__ = ['Time', 'Duration', 'TVal', # 'Message', 'SerializationError', 'DeserializationError', 'MessageException', 'struct_I'] from .genjava_main import main, standalone_main genjava-0.1.4/src/genjava/genjava_main.py000066400000000000000000000136351247451520100203330ustar00rootroot00000000000000# Software License Agreement (BSD License) # # Copyright (c) 2014, Daniel Stonier. # 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. ############################################################################## # Imports ############################################################################## from __future__ import print_function import argparse import os #import sys #import traceback #import genmsg #import genmsg.command_line import rosjava_build_tools import catkin_pkg.packages from . import gradle_project ############################################################################## # Methods ############################################################################## def parse_arguments(argv): 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:]) return parser.parse_args(argv) ############################################################################## # Main ############################################################################## 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', '--packages', action='store', nargs='*', default=[], help='a list of packages to generate artifacts for') 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)') parser.add_argument('-f', '--fakeit', default=False, action='store_true', help='dont build, just list the packages it would build (false)') parser.add_argument('-a', '--avoid-rebuilding', default=False, action='store_true', help='avoid rebuilding if the working directory is already present (false)') parsed_arguments = parser.parse_args(argv) return parsed_arguments 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)) sorted_package_tuples = rosjava_build_tools.catkin.index_message_package_dependencies_from_local_environment(package_name_list=args.packages) print("") print("Generating message artifacts for: \n%s" % [p.name for (unused_relative_path, p) in sorted_package_tuples]) did_not_rebuild_these_packages = [] if not args.fakeit: for unused_relative_path, p in sorted_package_tuples: result = gradle_project.standalone_create_and_build(p.name, args.output_dir, args.verbose, args.avoid_rebuilding) if not result: did_not_rebuild_these_packages.append(p.name) if did_not_rebuild_these_packages: print("") print("Skipped re-generation of these message artifacts (clean first): %s" % did_not_rebuild_these_packages) print("") genjava-0.1.4/src/genjava/gradle/000077500000000000000000000000001247451520100165705ustar00rootroot00000000000000genjava-0.1.4/src/genjava/gradle/Readme.md000066400000000000000000000003521247451520100203070ustar00rootroot00000000000000This used to generate the gradle wrapper for a project. Simply untar it. When creating the tarball, simply run the following command in any gradle projects root. > tar -cvzf gradle.tar.gz gradlew gradle gradlew.bat gradle.properties genjava-0.1.4/src/genjava/gradle/gradle.tar.gz000066400000000000000000001376351247451520100211740ustar00rootroot00000000000000DT: xպeJ(D(ӄndk6i-K[hɴHfL҅RaP@M/ʽ EZ½"("rsf& }Qr?~D CG||,TǪ|?=#@Ө5q**Nb>knօ30dpP(Kj'"[_@8ut:6"Oe$$2P6$ 1$op;kaH ˌQ’PZ(vHgE lC(D ,8p;K7K48]QVvn)+c%gg 8!k. 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Ȏ p6&eh u6YA9I1QezY?~+,O9Z~~YFԟ2nA* 3_I\ߨGv8LV8l!paE ~|Pt~ m^(O޷-֖&2֯m~zVBDG-bdhp[X0*iԿv$Hk ~a~ 0u3xV1D S⾝ &Ee;|D D?q&Ygo qwل~,a߃}Sw g?{j.&FX/ܾU gUO\Z}+W=p{z@TpB,7`:4t1j)Dͯ /!fױY~T+`@#<\o3-!-胴z `V:,%{X MpLz f={^|yn0;{sn9$=pʻ}I*xTdw`N`>N[574Xf XA`!o< =t#s3`!`ΚxMy,K/E>H}(/&ih%bo$RX?~+;Ŀi"f ++ќ!ǃXQ1:1bKׂsWW533+}S ̌l D~tbGDboemgt Uq4!LLD,,ܬ,DĎL0ƿX 7J"2zʢJz?12w9q `|š~U5spf`N#{_ *.Lt?20#G<x#G<x#G<x#G<?<)genjava-0.1.4/src/genjava/gradle_project.py000066400000000000000000000171141247451520100206740ustar00rootroot00000000000000#!/usr/bin/env python ############################################################################## # Imports ############################################################################## from __future__ import print_function import os import shutil import subprocess from catkin_pkg.packages import find_packages import rospkg import rosjava_build_tools.catkin ############################################################################## # 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 tarfile def create_gradle_wrapper(repo_path): archive_file = os.path.join(os.path.dirname(__file__), 'gradle', 'gradle.tar.gz') archive = tarfile.open(archive_file) archive.extractall(path=repo_path) archive.close() 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] # packages that don't properly identify themselves as message packages (fix upstream). 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] or 'genmsg' in [dep.name for dep in package.build_depends] or package.name in rosjava_build_tools.catkin.message_package_whitelist): # 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: ''' genjava_gradle_dir = os.path.join(output_dir, msg_pkg_name) if os.path.exists(genjava_gradle_dir): shutil.rmtree(genjava_gradle_dir) 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) 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("Nobody left any droppings - nothing to do! %s" % droppings_file) return #print("Scooping the droppings! [%s]" % droppings_file) os.remove(droppings_file) cmd = ['./gradlew'] if not 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, avoid_rebuilding=False): ''' Brute force create and build the message artifact disregarding any smarts such as whether message files changed or not. For use with the standalone package builder. :param str msg_pkg_name: :param str output_dir: :param bool verbosity: :param bool avoid_rebuilding: don't rebuild if working dir is already there :return bool : whether it built, or skipped because it was avoiding a rebuild ''' genjava_gradle_dir = os.path.join(output_dir, msg_pkg_name) if os.path.exists(genjava_gradle_dir) and avoid_rebuilding: return False 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,) return True genjava-0.1.4/src/genjava/templates/000077500000000000000000000000001247451520100173305ustar00rootroot00000000000000genjava-0.1.4/src/genjava/templates/genjava_project/000077500000000000000000000000001247451520100224715ustar00rootroot00000000000000genjava-0.1.4/src/genjava/templates/genjava_project/build.gradle.in000066400000000000000000000066271247451520100253700ustar00rootroot00000000000000/* * 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 = '2.2.1' } 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: '[0.2,0.3)' } } apply plugin: 'ros-java' apply plugin: 'osgi' 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([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:[0.2,0.3)' %(msg_dependencies)s } jar { manifest = osgiManifest { classesDir = sourceSets.main.output.classesDir classpath = configurations.runtime } } 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}" } } /* Damon's message generator doesn't catch every message. It expects everything to be nicely under 'msg' * and that directory to be under the package root. It also expects every msg it finds should be buildable. * It kinda works until now because it ignores any package which doesn't conform to this and those are just * test packages (we hope). * * Until we get this properly fixed (it fails in genjava), then we use the following bugfix to deal with the * 'Could not copy MANIFEST.MF...' error that occurs when no sources are to be made for an artifact. */ task bugfixtask << { mkdir sourceSets.main.output.classesDir } jar.dependsOn(bugfixtask) defaultTasks 'publishMavenJavaPublicationToMavenRepository' genjava-0.1.4/test/000077500000000000000000000000001247451520100141075ustar00rootroot00000000000000genjava-0.1.4/test/__init__.py000066400000000000000000000000001247451520100162060ustar00rootroot00000000000000