Adds more robust message package detection from PR #13

Upgrades Android plugin version as done in PR #13

Author: damonkohler

gradle_plugins/src/main/groovy/org/ros/gradle_plugins/CatkinPlugin.groovy

@@ -23,7 +23,7 @@ import org.gradle.api.*;
  *     println d
  *   }
  *   // filtered list of *_msg dependencies.
- *   pkg.messageDependencies().each { d ->
+ *   pkg.getMessageDependencies().each { d ->
  *     println d
  *   }
  * }
@@ -32,7 +32,7 @@ import org.gradle.api.*;
  * only generate the properties once and share them this way.
  */
 class CatkinPlugin implements Plugin<Project> {
-	def void apply(Project project) {
+  def void apply(Project project) {
 	  project.extensions.create("catkin", CatkinPluginExtension)
 
     def workspaces = System.getenv("ROS_PACKAGE_PATH")
@@ -48,7 +48,7 @@ class CatkinPlugin implements Plugin<Project> {
     if (!packageXml.exists()) {
       throw new StopActionException("Missing package.xml for project: ${project}")
     }
-    project.catkin.pkg = new CatkinPackage(packageXml)
+    project.catkin.pkg = new CatkinPackage(project, packageXml)
 
     project.task("catkinPackageInfo") << {
       println "Catkin Workspaces: ${project.catkin.workspaces}"
@@ -64,26 +64,31 @@ class CatkinPluginExtension {
 }
 
 class CatkinPackages {
-  def Map<String, CatkinPackage> pkgs
-  def List<String> workspaces
-  def Project project
 
-  def CatkinPackages(Project project, List<String> workspaces) {
+  Map<String, CatkinPackage> pkgs
+  List<String> workspaces
+  Project project
+
+  CatkinPackages(Project project, List<String> workspaces) {
     this.project = project
     this.workspaces = workspaces
     pkgs = [:]
   }
 
-  def generate() {
+  void generate() {
     if (pkgs.size() == 0) {
       workspaces.each { workspace ->
-        def manifestTree = project.fileTree(dir: workspace, include: "**/package.xml")
+        def manifestTree = project.fileTree(dir: workspace,
+                                            include: "**/package.xml")
         manifestTree.each {
-          def pkg = new CatkinPackage(it)
+          def pkg = new CatkinPackage(project, it)
           if (pkgs.containsKey(pkg.name)) {
+            // TODO(damonkohler): This comparison probably doesn't work since
+            // versions are strings.
             if (pkgs[pkg.name].version < pkg.version) {
-              println("Replacing " + pkg.name + " version " + pkgs[pkg.name].version +
-                      " with version " + pkg.version + ".")
+              println("Replacing " + pkg.name + " version " +
+                      pkgs[pkg.name].version + " with version " + pkg.version +
+                      ".")
               pkgs[pkg.name] = pkg
             }
           } else {
@@ -96,44 +101,51 @@ class CatkinPackages {
 }
 
 class CatkinPackage {
-  def name
-  def version
-  def dependencies
 
-  def CatkinPackage(File packageXmlFilename) {
+  Project project
+  String name
+  String version
+  Set<String> dependencies
+
+  CatkinPackage(Project project, File packageXmlFilename) {
+    this.project = project
     println "Loading " + packageXmlFilename
     def packageXml = new XmlParser().parse(packageXmlFilename)
     name = packageXml.name.text()
     version = packageXml.version.text()
-    dependencies = packageXml.build_depend.collect({ it.text() })
+    dependencies = packageXml.build_depend.collect{ it.text() }
   }
 
   String toString() { "${name} ${version} ${dependencies}" }
 
-  /*
-   * Find and annotate a list of package package dependencies.
-   * Useful for message artifact generation).
-   *
-   * @return List<String> : dependencies (package name strings)
-   */
-  Set<String> messageDependencies(Project project, Collection<String> dependencies) {
+  Set<String> getTransitiveDependencies(Collection<String> dependencies) {
     Set<String> result = [];
     dependencies.each {
       if (project.catkin.tree.pkgs.containsKey(it)) {
-        if (it.contains("_msgs") || it.contains("_srvs")) {
-          result.add(it)
-        }
-        result.addAll(messageDependencies(project, project.catkin.tree.pkgs[it].dependencies))
+        result.add(it)
+        result.addAll(getTransitiveDependencies(
+            project.catkin.tree.pkgs[it].dependencies))
       }
     }
     return result
   }
 
+  Set<String> getMessageDependencies() {
+    getTransitiveDependencies(dependencies).findAll {
+      project.catkin.tree.pkgs.containsKey(it) &&
+      project.catkin.tree.pkgs[it].dependencies.contains("message_generation")
+    } as Set
+  }
+
   void generateMessageArtifact(Project project) {
     project.version = version
     project.dependencies.add("compile", "org.ros.rosjava_bootstrap:message_generation:[0.2,0.3)")
-    messageDependencies(project, dependencies).each {
-      project.dependencies.add("compile", project.dependencies.project(path: ":${it}"))
+    getMessageDependencies().each {
+      if (project.getParent().getChildProjects().containsKey(it)) {
+        project.dependencies.add("compile", project.dependencies.project(path: ":${it}"))
+      } else {
+        project.dependencies.add("compile", "org.ros.rosjava_messages:${it}:[0.0,)")
+      }
     }
     def generatedSourcesDir = "${project.buildDir}/generated-src"
     def generateSourcesTask = project.tasks.create("generateSources", JavaExec)
@@ -155,8 +167,8 @@ class CatkinPackage {
     project.version = version
     project.group = "org.ros.rosjava_messages"
     project.dependencies.add("compile", "org.ros.rosjava_bootstrap:message_generation:[0.2,0.3)")
-    messageDependencies(project, dependencies).each { d ->
-      project.dependencies.add("compile", "org.ros.rosjava_messages:" + d + ":[0.1,)")
+    getMessageDependencies().each {
+      project.dependencies.add("compile", "org.ros.rosjava_messages:${it}:[0.1,)")
     }
     def generatedSourcesDir = "${project.buildDir}/generated-src"
     def generateSourcesTask = project.tasks.create("generateSources", JavaExec)

gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosAndroid.groovy

@@ -4,63 +4,49 @@ import org.gradle.api.Project
 import org.gradle.api.Plugin
 import java.util.HashMap
 
-/*
- * Configures java for the ros-android build environment. Pretty elementary right now,
- * just applies the java plugin and defines the jdk compatibility level.
+/**
+ * Configures ROS on Android build environment.
  */
 class RosAndroidPlugin implements Plugin<Project> {
-    Project project
-    
-	def void apply(Project project) {
-	    this.project = project
-        if (!project.plugins.findPlugin('ros')) {
-            project.apply(plugin: 'ros')
-        }
-        project.extensions.create("rosandroid", RosAndroidPluginExtension)
-        project.rosandroid.buildToolsVersion = "18.1.1"
-        /*********************************************************************
-         * Find the android plugin
-         *********************************************************************/ 
-        project.buildscript {
-            repositories {
-                mavenCentral()
-            }
-            dependencies {
-                classpath 'com.android.tools.build:gradle:0.6.1'
-            }
-        }
-        /********************************************************************** 
-         * Publishing - not we're using old style here. Upgrade to maven-publish
-         * once they have support: 
-         *   https://github.com/rosjava/rosjava_bootstrap/issues/1 
-         **********************************************************************/ 
-        project.uploadArchives {
-            repositories.mavenDeployer {
-                repository(url: 'file://' + project.ros.mavenDeploymentRepository)
-            }
-        }
-        /**********************************************************************
-         * Our maven repo 3rd parties are currently incompatible with android
-         * junit especially could use a look at - find a compatible version!
-         **********************************************************************/
-        project.configurations.create('compile')
-        def excludes = new HashMap<String, String>()
-        excludes.put('group', 'junit')
-        excludes.put('group', 'xml-apis')
-        project.configurations['compile'].exclude(excludes)
-        /**********************************************************************
-         * Delay android plugin configuration because that will depend on
-         * the subproject's late loading of android or android-library plugin.
-         **********************************************************************/
-        project.afterEvaluate {
-            project.android {
-                buildToolsVersion project.rosandroid.buildToolsVersion
-            }
-        }
-        
+
+	void apply(Project project) {
+    project.apply plugin: "ros"
+    project.extensions.create("rosandroid", RosAndroidPluginExtension)
+    project.rosandroid.buildToolsVersion = "18.1.1"
+
+    //Find the android plugin
+    project.buildscript {
+      repositories {
+        mavenCentral()
+      }
+      dependencies {
+        classpath "com.android.tools.build:gradle:0.7.1"
+      }
+    }
+
+    // Note that we're using old style here. Upgrade to maven-publish once they
+    // have support: https://github.com/rosjava/rosjava_bootstrap/issues/1
+    project.uploadArchives {
+      repositories.mavenDeployer {
+        repository(url: uri(project.ros.mavenDeploymentRepository))
+      }
+    }
+
+    // Our Maven repo 2rd parties are currently incompatible with Android JUnit.
+    project.configurations.create("compile")
+    project.configurations.compile.exclude "group": "junit"
+    project.configurations.compile.exclude "group": "xml-apis"
+
+    // Delay android plugin configuration because that will depend on the
+    // subproject's late loading of android or android-library plugin.
+    project.afterEvaluate {
+      project.android {
+        buildToolsVersion project.rosandroid.buildToolsVersion
+      }
     }
+  }
 }
 
 class RosAndroidPluginExtension {
-    String buildToolsVersion
+  String buildToolsVersion
 }

gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosPlugin.groovy

@@ -3,8 +3,8 @@ package org.ros.gradle_plugins;
 import org.gradle.api.*;
 import org.gradle.api.publish.maven.MavenPublication;
 
-/*
- * Provides information about the ros workspace.
+/**
+ * Configures a Java project for use with ROS.
  *
  * - project.ros.mavenPath : location of local ros maven repositories (in your chained workspaces)
  * - project.ros.mavenDeploymentRepository : location of the ros maven repository you will publish to
@@ -16,10 +16,8 @@ import org.gradle.api.publish.maven.MavenPublication;
  * - configures the uploadArchives for artifact deployment to the local ros maven repo (devel/share/maven)
  */
 class RosPlugin implements Plugin<Project> {
-  Project project
 
   def void apply(Project project) {
-    this.project = project
     project.apply plugin: "eclipse"
     project.apply plugin: "java"
     project.apply plugin: "maven"
@@ -84,4 +82,4 @@ class RosPluginExtension {
   String mavenRepository
   String mavenDeploymentRepository
   List<String> mavenPath
-}
+}