# 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 the 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.
# Author Ken Conley/kwc@willowgarage.com
"""
Underlying model of rosdep data. The basic data model of rosdep is to
store a dictionary of data indexed by view name (i.e. ROS stack name).
This data includes a dictionary mapping rosdep dependency names to
rules and the view dependencies.
This is a lower-level representation. Higher-level representation can
combine these rosdep dependency maps and view dependencies together
into a combined view on which queries can be made.
"""
[docs]
class RosdepDatabaseEntry(object):
"""
Stores rosdep data and metadata for a single view.
"""
def __init__(self, rosdep_data, view_dependencies, origin):
"""
:param rosdep_data: raw rosdep dictionary map for view
:param view_dependencies: list of view dependency names
:param origin: name of where data originated, e.g. filename
"""
assert isinstance(rosdep_data, dict), 'RosdepDatabaseEntry() rosdep_data is not a dict: %s' % rosdep_data
self.rosdep_data = rosdep_data
self.view_dependencies = view_dependencies
self.origin = origin
[docs]
class RosdepDatabase(object):
"""
Stores loaded rosdep data for multiple views.
"""
def __init__(self):
self._rosdep_db = {} # {view_name: RosdepDatabaseEntry}
[docs]
def is_loaded(self, view_name):
"""
:param view_name: name of view to check, ``str``
:returns: ``True`` if *view_name* has been loaded into this
database.
"""
return view_name in self._rosdep_db
[docs]
def mark_loaded(self, view_name):
"""
If view is not already loaded, this will mark it as such. This in effect sets the data for the view to be empty.
:param view_name: name of view to mark as loaded
"""
self.set_view_data(view_name, {}, [], None)
[docs]
def set_view_data(self, view_name, rosdep_data, view_dependencies, origin):
"""
Set data associated with view. This will create a new
:class:`RosdepDatabaseEntry`.
:param rosdep_data: rosdep data map to associated with view.
This will be copied.
:param origin: origin of view data, e.g. filepath of ``rosdep.yaml``
"""
self._rosdep_db[view_name] = RosdepDatabaseEntry(rosdep_data.copy(), view_dependencies, origin)
[docs]
def get_view_names(self):
"""
:returns: list of view names that are loaded into this database.
"""
return self._rosdep_db.keys()
[docs]
def get_view_data(self, view_name):
"""
:returns: :class:`RosdepDatabaseEntry` of given view.
:raises: :exc:`KeyError` if no entry for *view_name*
"""
return self._rosdep_db[view_name]
[docs]
def get_view_dependencies(self, view_name):
"""
:raises: :exc:`KeyError` if *view_name* is not an entry, or if
all of view's dependencies have not been properly loaded.
"""
entry = self.get_view_data(view_name)
dependencies = entry.view_dependencies[:]
# compute full set of dependencies by iterating over
# dependencies in reverse order and prepending.
for s in reversed(entry.view_dependencies):
dependencies = self.get_view_dependencies(s) + dependencies
# make unique preserving order
unique_deps = []
for d in dependencies:
if d not in unique_deps:
unique_deps.append(d)
return unique_deps
