Merge branch 'master' of git://github.com/willowgarage/catkin

00.catkin.buildspace.sh.in

@@ -0,0 +1,5 @@
+#
+#  Dummy buildspace file containing nothing of interest
+#
+
+

00.catkin.sh.in

@@ -0,0 +1,4 @@
+#
+# Dummy installspace file containing nothing of interest.
+#
+

CMakeLists.txt

@@ -7,6 +7,8 @@ set(catkin_EXTRAS_DIR ${catkin_EXTRAS_DIR_VALUE} CACHE FILEPATH "catkin extras")
 
 include(${catkin_EXTRAS_DIR}/all.cmake)
 
+catkin_add_env_hooks(00.catkin.buildspace.sh 00.catkin.sh)
+
 catkin_project(catkin)
 
 install_cmake_config_version(ROS 12.04)
@@ -28,8 +30,10 @@ configure_file(ros-config.buildspace.cmake.in
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/ros-config.cmake
   DESTINATION share/ros/cmake)
 
-install(DIRECTORY cmake/
-  DESTINATION share/catkin/cmake    #to be consistent, all catkin specific cmake should live under catkin.
+install(DIRECTORY cmake
+  #to be consistent, all catkin specific cmake should live under catkin.
+  #NOTE the trailing slash here.  You need it.
+  DESTINATION share/catkin/
   USE_SOURCE_PERMISSIONS
   )
 
@@ -55,3 +59,4 @@ catkin_export_python(python)
 stamp(cmake/stack_get.py)
 
 sphinx(${CMAKE_CURRENT_SOURCE_DIR}/doc ${CMAKE_CURRENT_BINARY_DIR}/doc)
+

bin/catkin_install_parse

@@ -0,0 +1,23 @@
+#!/usr/bin/env python
+
+import yaml
+import argparse
+import sys
+
+def parse_args(argv=None):
+    parser = argparse.ArgumentParser(description="Parse a rosinstall file, and output fields in a CSV format.")
+    parser.add_argument('ri_file',help='The rosinstall file to parse.')
+    parser.add_argument('vcs_type',help='The vcs type')
+    parser.add_argument('FIELD',nargs='*',help='The field to extract from the ros install file per entry.')
+    return parser.parse_args(args=argv)
+
+args = parse_args()
+ri_file = yaml.load(open(args.ri_file))
+for info in [ x[args.vcs_type] for x in ri_file if args.vcs_type in x] :
+    infos = []
+    for x in args.FIELD:
+        val = info.get(x,None)
+        if val:
+            infos.append(val)
+    if infos:
+        sys.stdout.write(','.join(infos)+'\n')

bin/catkin_util.sh

@@ -24,6 +24,12 @@ initializeANSI()
 
 initializeANSI
 
+find_workspace() {
+    VAR=$1
+    pushd .
+
+}
+
 maybe_continue () {
     DEFAULT=$1
     shift

bin/git-catkin

@@ -1,16 +1,15 @@
-#!/bin/bash
+#!/bin/bash -e
 
-WORKSPACE=$(cd `dirname $0`/../..; pwd)
+#
+# Possibly lousy assumption:  workspace is two directories up.
+#
+TOP=$(cd `dirname $0`; /bin/pwd)
+. $TOP/catkin_util.sh
 
-#SUBDIRECTORY_OK=1
-#. $(git --exec-path)/git-sh-setup
 
-echo $USAGE
-
-help ()
-{
-    cat <<EOF
+gc_help() {
 
+cat <<EOF
 Usage: git catkin [command] ..
 
 commands:
@@ -35,6 +34,7 @@ commands:
 
       git pull
       hg  pull -u
+      svn update
 
    fetch
 
@@ -48,31 +48,65 @@ commands:
       hg  status
       svn status
 
+   install ROSINSTALL_FILE
 
+      This updates the current directory with the given rosinstall yaml
+      file.     
 
 EOF
+}
 
+USAGE=$(gc_help)
+
+
+# set -x
+
+search_up ()
+{
+    FNAME=$1
+    DESTVAR=$2
+    if [ -n "$WORKSPACE" ] ; then
+        return 0
+    fi
+    if [ $# -gt 2 ] ; then
+        SEARCHDIR=$3
+    else
+        SEARCHDIR=$(/bin/pwd)
+    fi
+    while [ 1 ] ; do
+        /bin/echo "searchdir=$SEARCHDIR"
+        if [ -e $SEARCHDIR/$FNAME ] ; then
+            eval $DESTVAR=$SEARCHDIR
+            status "Workspace is ${boldon}${yellowf}$WORKSPACE${reset}"
+            return 0
+        fi
+        if [ $SEARCHDIR = "/" ] ; then
+            return 1
+        fi
+        SEARCHDIR=$(dirname $SEARCHDIR)
+    done
 }
 
 examine_workspace ()
 {
+    search_up .rosinstall WORKSPACE
     [ -z "$ALLDIRS" ] || return 0
-    for gitdir in $WORKSPACE/*/.git
-    do
-        GITDIRS="$GITDIRS $(dirname $gitdir)"
-    done
-    for svndir in $WORKSPACE/*/.svn
-    do
-        SVNDIRS="$SVNDIRS $(dirname $svndir)"
-    done
-    for hgdir in $WORKSPACE/*/.hg
+    for dir in $WORKSPACE/*
     do
-        HGDIRS="$HGDIRS $(dirname $hgdir)"
+      if [ -d $dir ] ; then
+        if [ -e $dir/.git ] ; then
+          GITDIRS="$GITDIRS $dir"
+        elif [ -e $dir/.hg ] ; then
+          HGDIRS="$HGDIRS $dir"
+        elif [ -e $dir/.svn ] ; then
+          SVNDIRS="$SVNDIRS $dir"
+        fi
+      fi
     done
     ALLDIRS="$GITDIRS $SVNDIRS $HGDIRS"
 }
 
-foreach ()
+gc_foreach ()
 {
     examine_workspace
     type=${1}
@@ -81,38 +115,103 @@ foreach ()
     DIRS=${!TYPE}
     for d in $DIRS
     do
-        /bin/echo "===  $type: $(basename $d) ==="
+        /bin/echo "${boldon}${whitef}===  ${greeni}$type: ${cyanf}$(basename $d)${whitef} ===${reset}"
         cd $d
         eval $JUSTECHO $*
     done
 }
 
-status () {
-    foreach git git status
-    foreach hg hg status
-    foreach svn svn status
+gc_status () {
+    gc_foreach git git status
+    gc_foreach hg hg status
+    gc_foreach svn svn status
+}
+
+gc_fetch () {
+    gc_foreach git git fetch --all
+    gc_foreach hg hg pull
+    gc_foreach svn svn update
 }
 
-fetch () {
-    foreach git git fetch --all
-    foreach hg hg pull
-    foreach svn svn update
+gc_pull () {
+    gc_foreach git git pull
+    gc_foreach hg hg pull -u
+    gc_foreach svn svn update
 }
 
-pull () {
-    foreach git git pull
-    foreach hg hg pull -u
+gc_difforigin () {
+    gc_foreach git git diff --stat origin/master
+    gc_foreach hg hg outgoing --stat
+    gc_foreach svn svn diff
 }
 
-difforigin () {
-    foreach git git diff --stat origin/master
-    foreach hg hg outgoing --stat
+gc_remotes () {
+    gc_foreach git git remote -v
+    gc_foreach hg hg paths
+    gc_foreach svn "svn info | grep URL"
 }
 
-remotes () {
-    foreach git git remote -v
-    foreach hg hg paths
-    foreach svn "svn info | grep URL"
+ri_svn()
+{
+    repo_uri=$1
+    local_name=$2
+    version=$3
+    if [ ! -e $local_name/.svn ] ; then
+      (set -x && svn checkout $repo_uri $local_name)
+    fi
+}
+
+ri_hg()
+{
+    repo_uri=$1
+    local_name=$2
+    version=$3
+    if [ ! -e $local_name/.hg ] ; then
+      (set -x && hg clone $repo_uri $local_name)
+    fi
+}
+
+ri_git()
+{
+    repo_uri=$1
+    local_name=$2
+    version=$3
+    if [ ! -e $local_name/.git ] ; then
+      (set -x && git clone $repo_uri $local_name)
+      (set -x && cd $local_name && git checkout $version)
+    fi
+}
+
+ri_foreach()
+{
+  ri=$($TOP/catkin_install_parse $1 $2 uri local-name version)
+  for i in $ri
+  do
+    arr=($(echo $i | tr "," "\n"))
+    repo_uri=${arr[0]}
+    local_name=${arr[1]}
+    version=${arr[2]}
+    status  "${boldon}${whitef}===  ${greeni}$2: ${cyanf}${local_name}${whitef} ===${reset}"
+    ri_$2 $repo_uri $local_name $version  
+  done
+
+  if [ "$1" !=  ".rosinstall" ] ; then
+    cp $1 .rosinstall
+  fi
+}
+
+gc_install()
+{
+    if [ ! -e $1 ] ; then
+      status "Please supply a rosinstall style yaml file"
+      status "usage: git catkin install <rosinstal file>"
+      exit -1
+    fi
+    status "Will install workspace to ${cyanf}$(pwd)${reset}"
+    status "Using ${boldon}$1${reset}"
+    ri_foreach $1 git
+    ri_foreach $1 hg
+    ri_foreach $1 svn
 }
 
 CMD=$1
@@ -124,5 +223,10 @@ else
     JUSTECHO=""
 fi
 
-eval $CMD $*
-
+if eval gc_$CMD $* ;then
+  exit 0
+else
+  status "try :"
+  status "${boldon}    git catkin help${reset}"
+  exit -1  
+fi

cmake/all.cmake

@@ -40,6 +40,7 @@ foreach(f
     catkin_project
     catkin_workspace
     catkin_export_python
+    catkin_add_env_hooks
     langs
     rosbuild_compat
     tools/doxygen

cmake/catkin_add_env_hooks.cmake

@@ -0,0 +1,15 @@
+if (NOT IS_DIRECTORY ${CMAKE_BINARY_DIR}/etc/catkin/profile.d)
+  file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/etc/catkin/profile.d)
+endif()
+
+function(catkin_add_env_hooks BUILDSPACE INSTALLSPACE)
+
+  configure_file(${BUILDSPACE}.in ${CMAKE_BINARY_DIR}/etc/catkin/profile.d/${BUILDSPACE})
+  configure_file(${INSTALLSPACE}.in ${CMAKE_CURRENT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/${INSTALLSPACE})
+
+  install(FILES ${CMAKE_CURRENT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/${INSTALLSPACE}
+    DESTINATION
+    etc/catkin/profile.d)
+
+endfunction()
+

cmake/catkin_project.cmake

@@ -26,7 +26,12 @@ function(catkin_project PACKAGE_NAME)
   set(PACKAGE_LIBRARIES ${PACKAGE_LIBRARIES})
   set(PACKAGE_CFG_EXTRAS ${PACKAGE_CFG_EXTRAS})
   set(PACKAGE_CMAKE_CONFIG_FILES_DIR ${CMAKE_INSTALL_PREFIX}/share/${PACKAGE_NAME}/cmake)
-  set(PACKAGE_MSG_DIRS ${PACKAGE_MSG_DIRS})
+  # set(PACKAGE_MSG_DIRS ${PACKAGE_MSG_DIRS})
+
+  #
+  # Default executable output location to "private".
+  #
+  set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin PARENT_SCOPE)
 
   #
   # Versions find_packageable from the buildspace
@@ -39,7 +44,7 @@ function(catkin_project PACKAGE_NAME)
   # in source
   set(PKG_INCLUDE_PREFIX ${CMAKE_CURRENT_SOURCE_DIR})
   set(PKG_LIB_PREFIX ${CMAKE_CURRENT_BINARY_DIR})
-  set(PKG_MSG_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/msg)
+  # set(PKG_MSG_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/msg)
   set(PKG_CMAKE_DIR ${_cfgdir})
   set(PKG_CMAKE_SRC_DIR ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
   set(PKG_BIN_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/scripts
@@ -93,7 +98,7 @@ function(catkin_project PACKAGE_NAME)
   # installable
   set(PKG_INCLUDE_PREFIX ${CMAKE_INSTALL_PREFIX})
   set(PKG_LIB_PREFIX ${CMAKE_INSTALL_PREFIX})
-  set(PKG_MSG_DIRS ${CMAKE_INSTALL_PREFIX}/share/${PACKAGE_NAME}/msg)
+  # set(PKG_MSG_DIRS ${CMAKE_INSTALL_PREFIX}/share/${PACKAGE_NAME}/msg)
   set(PKG_CMAKE_DIR ${CMAKE_INSTALL_PREFIX}/share/${PACKAGE_NAME}/cmake)
   set(PKG_CMAKE_SRC_DIR ${PKG_CMAKE_DIR})
   set(PKG_BIN_DIRS ${CMAKE_INSTALL_PREFIX}/bin)

cmake/templates/setup.sh.buildspace.in

@@ -1,7 +1,10 @@
-export ROS_ROOT=@CMAKE_SOURCE_DIR@/ros
 export PYTHONPATH=@CMAKE_BINARY_DIR@/gen/py:@CMAKE_BINARY_DIR@/lib:$PYTHONPATH
-export PATH=@CMAKE_BINARY_DIR@/bin:@catkin_SOURCE_DIR@/bin:@CMAKE_SOURCE_DIR@/ros/bin:$PATH
+export PATH=@CMAKE_BINARY_DIR@/bin:@catkin_SOURCE_DIR@/bin:$PATH
 export CATKIN_BINARY_DIR=@CMAKE_BINARY_DIR@
 export CATKIN_SOURCE_DIR=@CMAKE_SOURCE_DIR@
-export ROS_PACKAGE_PATH=@CMAKE_SOURCE_DIR@:$ROS_PACKAGE_PATH
-export ROS_TEST_RESULTS_DIR=@CMAKE_BINARY_DIR@/test_results
+
+for envfile in $CATKIN_BINARY_DIR/etc/catkin/profile.d/*
+do
+  . $envfile
+done
+