forked from ray/RobotKernal-UESTC
305 lines
13 KiB
Python
305 lines
13 KiB
Python
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#!/usr/bin/python3
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# -*- coding: utf-8 -*-
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# Software License Agreement (BSD License)
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#
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# Copyright (c) 2012, Willow Garage, Inc.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above
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# copyright notice, this list of conditions and the following
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# disclaimer in the documentation and/or other materials provided
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# with the distribution.
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# * Neither the name of Willow Garage, Inc. nor the names of its
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# contributors may be used to endorse or promote products derived
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# from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
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from __future__ import print_function
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import argparse
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import copy
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import errno
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import os
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import platform
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import sys
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CATKIN_MARKER_FILE = '.catkin'
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system = platform.system()
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IS_DARWIN = (system == 'Darwin')
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IS_WINDOWS = (system == 'Windows')
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PATH_TO_ADD_SUFFIX = ['bin']
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if IS_WINDOWS:
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# while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
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# since Windows finds dll's via the PATH variable, prepend it with path to lib
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PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
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# subfolder of workspace prepended to CMAKE_PREFIX_PATH
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ENV_VAR_SUBFOLDERS = {
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'CMAKE_PREFIX_PATH': '',
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'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
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'PATH': PATH_TO_ADD_SUFFIX,
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'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
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'PYTHONPATH': 'lib/python3/dist-packages',
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}
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def rollback_env_variables(environ, env_var_subfolders):
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"""
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Generate shell code to reset environment variables.
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by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
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This does not cover modifications performed by environment hooks.
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"""
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lines = []
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unmodified_environ = copy.copy(environ)
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for key in sorted(env_var_subfolders.keys()):
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subfolders = env_var_subfolders[key]
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if not isinstance(subfolders, list):
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subfolders = [subfolders]
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value = _rollback_env_variable(unmodified_environ, key, subfolders)
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if value is not None:
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environ[key] = value
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lines.append(assignment(key, value))
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if lines:
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lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
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return lines
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def _rollback_env_variable(environ, name, subfolders):
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"""
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For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
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:param subfolders: list of str '' or subfoldername that may start with '/'
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:returns: the updated value of the environment variable.
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"""
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value = environ[name] if name in environ else ''
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env_paths = [path for path in value.split(os.pathsep) if path]
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value_modified = False
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for subfolder in subfolders:
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if subfolder:
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if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
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subfolder = subfolder[1:]
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if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
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subfolder = subfolder[:-1]
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for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
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path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
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path_to_remove = None
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for env_path in env_paths:
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env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
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if env_path_clean == path_to_find:
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path_to_remove = env_path
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break
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if path_to_remove:
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env_paths.remove(path_to_remove)
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value_modified = True
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new_value = os.pathsep.join(env_paths)
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return new_value if value_modified else None
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def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
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"""
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Based on CMAKE_PREFIX_PATH return all catkin workspaces.
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:param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
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"""
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# get all cmake prefix paths
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env_name = 'CMAKE_PREFIX_PATH'
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value = environ[env_name] if env_name in environ else ''
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paths = [path for path in value.split(os.pathsep) if path]
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# remove non-workspace paths
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workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
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return workspaces
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def prepend_env_variables(environ, env_var_subfolders, workspaces):
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"""Generate shell code to prepend environment variables for the all workspaces."""
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lines = []
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lines.append(comment('prepend folders of workspaces to environment variables'))
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paths = [path for path in workspaces.split(os.pathsep) if path]
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prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
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lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
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for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
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subfolder = env_var_subfolders[key]
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prefix = _prefix_env_variable(environ, key, paths, subfolder)
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lines.append(prepend(environ, key, prefix))
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return lines
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def _prefix_env_variable(environ, name, paths, subfolders):
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"""
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Return the prefix to prepend to the environment variable NAME.
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Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
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"""
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value = environ[name] if name in environ else ''
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environ_paths = [path for path in value.split(os.pathsep) if path]
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checked_paths = []
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for path in paths:
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if not isinstance(subfolders, list):
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subfolders = [subfolders]
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for subfolder in subfolders:
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path_tmp = path
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if subfolder:
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path_tmp = os.path.join(path_tmp, subfolder)
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# skip nonexistent paths
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if not os.path.exists(path_tmp):
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continue
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# exclude any path already in env and any path we already added
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if path_tmp not in environ_paths and path_tmp not in checked_paths:
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checked_paths.append(path_tmp)
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prefix_str = os.pathsep.join(checked_paths)
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if prefix_str != '' and environ_paths:
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prefix_str += os.pathsep
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return prefix_str
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def assignment(key, value):
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if not IS_WINDOWS:
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return 'export %s="%s"' % (key, value)
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else:
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return 'set %s=%s' % (key, value)
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def comment(msg):
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if not IS_WINDOWS:
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return '# %s' % msg
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else:
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return 'REM %s' % msg
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def prepend(environ, key, prefix):
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if key not in environ or not environ[key]:
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return assignment(key, prefix)
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if not IS_WINDOWS:
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return 'export %s="%s$%s"' % (key, prefix, key)
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else:
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return 'set %s=%s%%%s%%' % (key, prefix, key)
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def find_env_hooks(environ, cmake_prefix_path):
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"""Generate shell code with found environment hooks for the all workspaces."""
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lines = []
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lines.append(comment('found environment hooks in workspaces'))
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generic_env_hooks = []
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generic_env_hooks_workspace = []
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specific_env_hooks = []
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specific_env_hooks_workspace = []
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generic_env_hooks_by_filename = {}
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specific_env_hooks_by_filename = {}
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generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
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specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
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# remove non-workspace paths
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workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
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for workspace in reversed(workspaces):
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env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
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if os.path.isdir(env_hook_dir):
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for filename in sorted(os.listdir(env_hook_dir)):
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if filename.endswith('.%s' % generic_env_hook_ext):
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# remove previous env hook with same name if present
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if filename in generic_env_hooks_by_filename:
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i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
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generic_env_hooks.pop(i)
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generic_env_hooks_workspace.pop(i)
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# append env hook
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generic_env_hooks.append(os.path.join(env_hook_dir, filename))
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generic_env_hooks_workspace.append(workspace)
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generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
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elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
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# remove previous env hook with same name if present
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if filename in specific_env_hooks_by_filename:
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i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
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specific_env_hooks.pop(i)
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specific_env_hooks_workspace.pop(i)
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# append env hook
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specific_env_hooks.append(os.path.join(env_hook_dir, filename))
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specific_env_hooks_workspace.append(workspace)
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specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
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env_hooks = generic_env_hooks + specific_env_hooks
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env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
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count = len(env_hooks)
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lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
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for i in range(count):
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lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
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lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
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return lines
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def _parse_arguments(args=None):
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parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
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parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
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parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
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return parser.parse_known_args(args=args)[0]
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if __name__ == '__main__':
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try:
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try:
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args = _parse_arguments()
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except Exception as e:
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print(e, file=sys.stderr)
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sys.exit(1)
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if not args.local:
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# environment at generation time
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CMAKE_PREFIX_PATH = r'/home/luoruidi/Desktop/ros_learn/communicat_01/src/commu_01/devel;/opt/ros/noetic'.split(';')
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else:
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# don't consider any other prefix path than this one
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CMAKE_PREFIX_PATH = []
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# prepend current workspace if not already part of CPP
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base_path = os.path.dirname(__file__)
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# CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
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# base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
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if os.path.sep != '/':
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base_path = base_path.replace(os.path.sep, '/')
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if base_path not in CMAKE_PREFIX_PATH:
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CMAKE_PREFIX_PATH.insert(0, base_path)
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CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
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environ = dict(os.environ)
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lines = []
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if not args.extend:
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lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
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lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
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lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
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print('\n'.join(lines))
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# need to explicitly flush the output
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sys.stdout.flush()
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except IOError as e:
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# and catch potential "broken pipe" if stdout is not writable
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# which can happen when piping the output to a file but the disk is full
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if e.errno == errno.EPIPE:
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print(e, file=sys.stderr)
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sys.exit(2)
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raise
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sys.exit(0)
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