RobotKernal-UESTC/Code/RK3588/Robot_ROS_Driver/devel/_setup_util.py

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2023-12-11 11:17:13 +08:00
#!/usr/bin/python3
# -*- coding: utf-8 -*-
# Software License Agreement (BSD License)
#
# Copyright (c) 2012, 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 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.
"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
from __future__ import print_function
import argparse
import copy
import errno
import os
import platform
import sys
CATKIN_MARKER_FILE = '.catkin'
system = platform.system()
IS_DARWIN = (system == 'Darwin')
IS_WINDOWS = (system == 'Windows')
PATH_TO_ADD_SUFFIX = ['bin']
if IS_WINDOWS:
# while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
# since Windows finds dll's via the PATH variable, prepend it with path to lib
PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
# subfolder of workspace prepended to CMAKE_PREFIX_PATH
ENV_VAR_SUBFOLDERS = {
'CMAKE_PREFIX_PATH': '',
'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
'PATH': PATH_TO_ADD_SUFFIX,
'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
'PYTHONPATH': 'lib/python3/dist-packages',
}
def rollback_env_variables(environ, env_var_subfolders):
"""
Generate shell code to reset environment variables.
by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
This does not cover modifications performed by environment hooks.
"""
lines = []
unmodified_environ = copy.copy(environ)
for key in sorted(env_var_subfolders.keys()):
subfolders = env_var_subfolders[key]
if not isinstance(subfolders, list):
subfolders = [subfolders]
value = _rollback_env_variable(unmodified_environ, key, subfolders)
if value is not None:
environ[key] = value
lines.append(assignment(key, value))
if lines:
lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
return lines
def _rollback_env_variable(environ, name, subfolders):
"""
For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
:param subfolders: list of str '' or subfoldername that may start with '/'
:returns: the updated value of the environment variable.
"""
value = environ[name] if name in environ else ''
env_paths = [path for path in value.split(os.pathsep) if path]
value_modified = False
for subfolder in subfolders:
if subfolder:
if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
subfolder = subfolder[1:]
if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
subfolder = subfolder[:-1]
for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
path_to_remove = None
for env_path in env_paths:
env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
if env_path_clean == path_to_find:
path_to_remove = env_path
break
if path_to_remove:
env_paths.remove(path_to_remove)
value_modified = True
new_value = os.pathsep.join(env_paths)
return new_value if value_modified else None
def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
"""
Based on CMAKE_PREFIX_PATH return all catkin workspaces.
:param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
"""
# get all cmake prefix paths
env_name = 'CMAKE_PREFIX_PATH'
value = environ[env_name] if env_name in environ else ''
paths = [path for path in value.split(os.pathsep) if path]
# remove non-workspace paths
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))]
return workspaces
def prepend_env_variables(environ, env_var_subfolders, workspaces):
"""Generate shell code to prepend environment variables for the all workspaces."""
lines = []
lines.append(comment('prepend folders of workspaces to environment variables'))
paths = [path for path in workspaces.split(os.pathsep) if path]
prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
subfolder = env_var_subfolders[key]
prefix = _prefix_env_variable(environ, key, paths, subfolder)
lines.append(prepend(environ, key, prefix))
return lines
def _prefix_env_variable(environ, name, paths, subfolders):
"""
Return the prefix to prepend to the environment variable NAME.
Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
"""
value = environ[name] if name in environ else ''
environ_paths = [path for path in value.split(os.pathsep) if path]
checked_paths = []
for path in paths:
if not isinstance(subfolders, list):
subfolders = [subfolders]
for subfolder in subfolders:
path_tmp = path
if subfolder:
path_tmp = os.path.join(path_tmp, subfolder)
# skip nonexistent paths
if not os.path.exists(path_tmp):
continue
# exclude any path already in env and any path we already added
if path_tmp not in environ_paths and path_tmp not in checked_paths:
checked_paths.append(path_tmp)
prefix_str = os.pathsep.join(checked_paths)
if prefix_str != '' and environ_paths:
prefix_str += os.pathsep
return prefix_str
def assignment(key, value):
if not IS_WINDOWS:
return 'export %s="%s"' % (key, value)
else:
return 'set %s=%s' % (key, value)
def comment(msg):
if not IS_WINDOWS:
return '# %s' % msg
else:
return 'REM %s' % msg
def prepend(environ, key, prefix):
if key not in environ or not environ[key]:
return assignment(key, prefix)
if not IS_WINDOWS:
return 'export %s="%s$%s"' % (key, prefix, key)
else:
return 'set %s=%s%%%s%%' % (key, prefix, key)
def find_env_hooks(environ, cmake_prefix_path):
"""Generate shell code with found environment hooks for the all workspaces."""
lines = []
lines.append(comment('found environment hooks in workspaces'))
generic_env_hooks = []
generic_env_hooks_workspace = []
specific_env_hooks = []
specific_env_hooks_workspace = []
generic_env_hooks_by_filename = {}
specific_env_hooks_by_filename = {}
generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
# remove non-workspace paths
workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
for workspace in reversed(workspaces):
env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
if os.path.isdir(env_hook_dir):
for filename in sorted(os.listdir(env_hook_dir)):
if filename.endswith('.%s' % generic_env_hook_ext):
# remove previous env hook with same name if present
if filename in generic_env_hooks_by_filename:
i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
generic_env_hooks.pop(i)
generic_env_hooks_workspace.pop(i)
# append env hook
generic_env_hooks.append(os.path.join(env_hook_dir, filename))
generic_env_hooks_workspace.append(workspace)
generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
# remove previous env hook with same name if present
if filename in specific_env_hooks_by_filename:
i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
specific_env_hooks.pop(i)
specific_env_hooks_workspace.pop(i)
# append env hook
specific_env_hooks.append(os.path.join(env_hook_dir, filename))
specific_env_hooks_workspace.append(workspace)
specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
env_hooks = generic_env_hooks + specific_env_hooks
env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
count = len(env_hooks)
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
for i in range(count):
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
return lines
def _parse_arguments(args=None):
parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
return parser.parse_known_args(args=args)[0]
if __name__ == '__main__':
try:
try:
args = _parse_arguments()
except Exception as e:
print(e, file=sys.stderr)
sys.exit(1)
if not args.local:
# environment at generation time
CMAKE_PREFIX_PATH = r'/home/luoruidi/Desktop/ros_learn/communicat_01/src/commu_01/devel;/opt/ros/noetic'.split(';')
else:
# don't consider any other prefix path than this one
CMAKE_PREFIX_PATH = []
# prepend current workspace if not already part of CPP
base_path = os.path.dirname(__file__)
# CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
# base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
if os.path.sep != '/':
base_path = base_path.replace(os.path.sep, '/')
if base_path not in CMAKE_PREFIX_PATH:
CMAKE_PREFIX_PATH.insert(0, base_path)
CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
environ = dict(os.environ)
lines = []
if not args.extend:
lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
print('\n'.join(lines))
# need to explicitly flush the output
sys.stdout.flush()
except IOError as e:
# and catch potential "broken pipe" if stdout is not writable
# which can happen when piping the output to a file but the disk is full
if e.errno == errno.EPIPE:
print(e, file=sys.stderr)
sys.exit(2)
raise
sys.exit(0)