Source code for rosdep2.rospkg_loader

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# Author Ken Conley/kwc@willowgarage.com

"""
Library for loading rosdep files from the ROS package/stack
filesystem.
"""

import os

import catkin_pkg.package
import rospkg

from .catkin_packages import VALID_DEPENDENCY_TYPES
from .loader import RosdepLoader

# Default view key is the view that packages that are not in stacks
# see. It is the root of all dependencies.  It is superceded by an
# explicit underlay_key.
DEFAULT_VIEW_KEY = '*default*'

# Implementation details: this API was originally conceived under the
# rosdep 1 design.  It has since been retrofitted for the rosdep 2
# design, which means it is a bit overbuilt.  There really is no need
# for a notion of views for rospkg -- all rospkgs have the same view.
# It we be nice to refactor this API into something much, much
# simpler, which would probably involve merging RosPkgLoader and
# SourcesListLoader.  RosPkgLoader would provide identification of
# resources and SourcesListLoader would build a *single* view that was
# no longer resource-dependent.


[docs] class RosPkgLoader(RosdepLoader): def __init__(self, rospack=None, rosstack=None, underlay_key=None, dependency_types=[]): """ :param underlay_key: If set, all views loaded by this loader will depend on this key. """ if rospack is None: rospack = rospkg.RosPack() if rosstack is None: rosstack = rospkg.RosStack() self._rospack = rospack self._rosstack = rosstack self._rosdep_yaml_cache = {} self._underlay_key = underlay_key # cache computed list of loadable resources self._loadable_resource_cache = None self._catkin_packages_cache = None default_dep_types = VALID_DEPENDENCY_TYPES - {'doc'} self.include_dep_types = VALID_DEPENDENCY_TYPES.intersection(set(dependency_types)) if dependency_types else default_dep_types
[docs] def load_view(self, view_name, rosdep_db, verbose=False): """ Load view data into *rosdep_db*. If the view has already been loaded into *rosdep_db*, this method does nothing. If view has no rosdep data, it will be initialized with an empty data map. :raises: :exc:`InvalidData` if view rosdep.yaml is invalid :raises: :exc:`rospkg.ResourceNotFound` if view cannot be located :returns: ``True`` if view was loaded. ``False`` if view was already loaded. """ if rosdep_db.is_loaded(view_name): return if view_name not in self.get_loadable_views(): raise rospkg.ResourceNotFound(view_name) elif view_name == 'invalid': raise rospkg.ResourceNotFound('FOUND' + view_name + str(self.get_loadable_views())) if verbose: print('loading view [%s] with rospkg loader' % (view_name)) # chain into underlay if set if self._underlay_key: view_dependencies = [self._underlay_key] else: view_dependencies = [] # no rospkg view has actual data rosdep_db.set_view_data(view_name, {}, view_dependencies, '<nodata>')
[docs] def get_loadable_views(self): """ 'Views' map to ROS stack names. """ return list(self._rosstack.list()) + [DEFAULT_VIEW_KEY]
[docs] def get_loadable_resources(self): """ 'Resources' map to ROS packages names. """ if not self._loadable_resource_cache: self._loadable_resource_cache = list(self._rospack.list()) return self._loadable_resource_cache
def get_catkin_paths(self): if not self._catkin_packages_cache: def find_catkin_paths(src): return [(x, src.get_path(x)) for x in filter(lambda x: src.get_manifest(x).is_catkin, src.list())] self._catkin_packages_cache = dict(find_catkin_paths(self._rospack)) self._catkin_packages_cache.update(find_catkin_paths(self._rosstack)) return self._catkin_packages_cache
[docs] def get_rosdeps(self, resource_name, implicit=True): """ If *resource_name* is a stack, returns an empty list. :raises: :exc:`rospkg.ResourceNotFound` if *resource_name* cannot be found. """ if resource_name in self.get_catkin_paths(): pkg = catkin_pkg.package.parse_package(self.get_catkin_paths()[resource_name]) pkg.evaluate_conditions(os.environ) deps = sum((getattr(pkg, '{}_depends'.format(d)) for d in self.include_dep_types), []) return [d.name for d in deps if d.evaluated_condition] elif resource_name in self.get_loadable_resources(): rosdeps = set(self._rospack.get_rosdeps(resource_name, implicit=False)) if implicit: # This resource is a manifest.xml, but it might depend on things with a package.xml # Make sure they get a chance to evaluate conditions for dep in self._rospack.get_depends(resource_name): rosdeps = rosdeps.union(set(self.get_rosdeps(dep, implicit=True))) return list(rosdeps) elif resource_name in self._rosstack.list(): # stacks currently do not have rosdeps of their own, implicit or otherwise return [] else: raise rospkg.ResourceNotFound(resource_name)
def is_metapackage(self, resource_name): if resource_name in self._rosstack.list(): m = self._rosstack.get_manifest(resource_name) return m.is_catkin return False
[docs] def get_view_key(self, resource_name): """ Map *resource_name* to a view key. In rospkg, this maps the DEFAULT_VIEW_KEY if *resource_name* exists. :raises: :exc:`rospkg.ResourceNotFound` """ if ( resource_name in self.get_catkin_paths() or resource_name in self.get_loadable_resources() ): return DEFAULT_VIEW_KEY else: raise rospkg.ResourceNotFound(resource_name)