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update builder.py to add Windows support #982

Merged
merged 10 commits into from
Jan 28, 2019
Merged

update builder.py to add Windows support #982

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2da00d8
Create env.bat and setup.bat in build_cmake_package for Windows (#9)
johnsonshih Sep 14, 2018
9c94e46
Skip the drive letter if run on Windows (#10)
johnsonshih Sep 14, 2018
d79f793
Provide top level devel space environment and setup bat files for Win…
johnsonshih Sep 14, 2018
5c13cdc
use os.pathsep to join path components
kejxu Nov 7, 2018
27d3ae8
revert whitespace change
kejxu Nov 7, 2018
3aa35a6
Fix path backslashes in catkin_package.cmake (#25)
ojura Nov 26, 2018
46f5478
use underscope to exclude drive letter, and clarify there's no effect…
kejxu Jan 9, 2019
a6dfef3
Define string templates in separate steps and update comment (#32)
kejxu Jan 9, 2019
c7ab5bd
fix env script name typo (#33)
kejxu Jan 9, 2019
a776de2
minor nitpicks
dirk-thomas Jan 28, 2019
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281 changes: 186 additions & 95 deletions python/catkin/builder.py
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Original file line number Diff line number Diff line change
Expand Up @@ -466,10 +466,111 @@ def has_make_target(path, target, use_ninja=False, use_nmake=False):
def get_additional_environment(install, destdir, installspace):
add_env = {}
if install and destdir:
# exclude drive letter if on Windows, returns the same string on Linux since there is no drive specifications
_, installspace = os.path.splitdrive(installspace)

add_env['_CATKIN_SETUP_DIR'] = os.path.join(destdir, installspace[1:])
return add_env


def write_env_bat(dest_file, variables):
env_bat_template = """\
@echo off
REM generated from catkin.builder Python module

if "%1"=="" (
echo "Usage: env.bat COMMANDS"
echo "Calling env.bat without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
exit 1
) else (
call "{SETUP_DIR}\\{SETUP_FILENAME}.bat"
%*
)
"""
with open(dest_file, 'w') as f:
f.write(env_bat_template.format(**variables))


def write_setup_bat(dest_file, last_setup_basename, variables):
setup_bat_header = """\
@echo off
REM generated from catkin.builder Python module
"""
setup_bat_template = """\
REM Prepend to the environment
set CMAKE_PREFIX_PATH={cmake_prefix_path};%CMAKE_PREFIX_PATH%
set LD_LIBRARY_PATH={ld_path};%LD_LIBRARY_PATH%
set PATH={path};%PATH%
set PKG_CONFIG_PATH={pkgcfg_path};%PKG_CONFIG_PATH%
set PYTHONPATH={pythonpath};%PYTHONPATH%
"""
with open(dest_file, 'w') as f:
f.write(setup_bat_header)
if last_setup_basename is not None:
f.write('call "%s.bat"\n\n' % last_setup_basename)
f.write(setup_bat_template.format(**variables))


def write_env_sh(dest_file, variables):
env_sh_template = """\
#!/usr/bin/env sh
# generated from catkin.builder Python module

if [ $# -eq 0 ] ; then
/bin/echo "Usage: env.sh COMMANDS"
/bin/echo "Calling env.sh without arguments is not supported anymore. \
Instead spawn a subshell and source a setup file manually."
exit 1
fi

# ensure to not use different shell type which was set before
CATKIN_SHELL=sh

# source {SETUP_FILENAME}.sh from same directory as this file
. "$(cd "`dirname "$0"`" && pwd)/{SETUP_FILENAME}.sh"
exec "$@"
"""
with open(os.path.join(dest_file), 'w') as f:
f.write(env_sh_template.format(**variables))
os.chmod(dest_file, stat.S_IXUSR | stat.S_IWUSR | stat.S_IRUSR)


def write_setup_sh(dest_file, last_setup_basename, variables):
setup_sh_header = """\
#!/usr/bin/env sh
# generated from catkin.builder Python module

# remember type of shell if not already set
if [ -z "$CATKIN_SHELL" ]; then
CATKIN_SHELL=sh
fi
"""
setup_sh_template = """\
# detect if running on Darwin platform
_UNAME=`uname -s`
IS_DARWIN=0
if [ "$_UNAME" = "Darwin" ]; then
IS_DARWIN=1
fi

# Prepend to the environment
export CMAKE_PREFIX_PATH="{cmake_prefix_path}:$CMAKE_PREFIX_PATH"
if [ $IS_DARWIN -eq 0 ]; then
export LD_LIBRARY_PATH="{ld_path}:$LD_LIBRARY_PATH"
else
export DYLD_LIBRARY_PATH="{ld_path}:$DYLD_LIBRARY_PATH"
fi
export PATH="{path}:$PATH"
export PKG_CONFIG_PATH="{pkgcfg_path}:$PKG_CONFIG_PATH"
export PYTHONPATH="{pythonpath}:$PYTHONPATH"
"""
with open(dest_file, 'w') as f:
f.write(setup_sh_header)
if last_setup_basename is not None:
f.write('. "%s.$CATKIN_SHELL"\n\n' % last_setup_basename)
f.write(setup_sh_template.format(**variables))


def build_cmake_package(
path, package,
workspace, buildspace, develspace, installspace,
Expand Down Expand Up @@ -554,13 +655,14 @@ def build_cmake_package(
make_install_cmd = [last_env] + make_install_cmd
run_command(make_install_cmd, build_dir, quiet)

# If we are installing, and a env.sh exists, don't overwrite it
if install and os.path.exists(prefix_destdir(os.path.join(install_target, 'env.sh'), destdir)):
env_script = 'env' + '.bat' if sys.platform == 'win32' else '.sh'
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This change broke non-Windows platforms: see #1000.

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my apologies for the regression!

# If an env script already exists, don't overwrite it
if install and os.path.exists(prefix_destdir(os.path.join(install_target, env_script), destdir)):
return
cprint(blue_arrow + " Generating an env.sh")
# Generate env.sh for chaining to catkin packages
cprint(blue_arrow + " Generating an " + env_script)
# Generate env script for chaining to catkin packages
# except if using --merge which implies that new_env_path equals last_env
new_env_path = os.path.join(install_target, 'env.sh')
new_env_path = os.path.join(install_target, env_script)
if install:
new_env_path = prefix_destdir(new_env_path, destdir)
if new_env_path != last_env:
Expand All @@ -570,92 +672,50 @@ def build_cmake_package(
}
if not os.path.exists(os.path.dirname(new_env_path)):
os.makedirs(os.path.dirname(new_env_path))
with open(os.path.join(new_env_path), 'w') as f:
f.write("""\
#!/usr/bin/env sh
# generated from catkin.builder module

if [ $# -eq 0 ] ; then
/bin/echo "Usage: env.sh COMMANDS"
/bin/echo "Calling env.sh without arguments is not supported anymore. \
Instead spawn a subshell and source a setup file manually."
exit 1
fi

# ensure to not use different shell type which was set before
CATKIN_SHELL=sh

# source {SETUP_FILENAME}.sh from same directory as this file
. "$(cd "`dirname "$0"`" && pwd)/{SETUP_FILENAME}.sh"
exec "$@"
""".format(**variables))
os.chmod(new_env_path, stat.S_IXUSR | stat.S_IWUSR | stat.S_IRUSR)
env_script_writer = write_env_bat if sys.platform == 'win32' else write_env_sh
env_script_writer(dest_file=new_env_path, variables=variables)

# Generate setup.sh for chaining to catkin packages
# Generate setup script for chaining to catkin packages
# except if using --merge which implies that new_setup_path equals last_setup_env
new_setup_path = os.path.join(install_target, 'setup.sh')
setup_script = 'setup' + '.bat' if sys.platform == 'win32' else '.sh'
new_setup_path = os.path.join(install_target, setup_script)
if install:
new_setup_path = prefix_destdir(new_setup_path, destdir)
last_setup_env = os.path.join(os.path.dirname(last_env), 'setup.sh') if last_env is not None else None
last_setup_env = os.path.join(os.path.dirname(last_env), setup_script) if last_env is not None else None
if new_setup_path != last_setup_env:
subs = {}
subs['cmake_prefix_path'] = install_target + ":"
subs['ld_path'] = os.path.join(install_target, 'lib') + ":"
# CMAKE_PREFIX_PATH uses forward slash on all platforms.
subs['cmake_prefix_path'] = install_target.replace(os.sep, '/')
subs['ld_path'] = os.path.join(install_target, 'lib')
pythonpath = os.path.join(install_target, get_python_install_dir())
subs['pythonpath'] = pythonpath + ':'
subs['pkgcfg_path'] = os.path.join(install_target, 'lib', 'pkgconfig') + ":"
subs['path'] = os.path.join(install_target, 'bin') + ":"
subs['pythonpath'] = pythonpath
subs['pkgcfg_path'] = os.path.join(install_target, 'lib', 'pkgconfig')
subs['path'] = os.path.join(install_target, 'bin')
arch = get_multiarch()
if arch:
subs['ld_path'] += os.path.join(install_target, 'lib', arch) + ":"
subs['pkgcfg_path'] += os.path.join(install_target, 'lib', arch, 'pkgconfig') + ":"
subs['ld_path'] = os.pathsep.join([subs['ld_path'], os.path.join(install_target, 'lib', arch)])
subs['pkgcfg_path'] = os.pathsep.join([subs['pkgcfg_path'], os.path.join(install_target, 'lib', arch, 'pkgconfig')])
if not os.path.exists(os.path.dirname(new_setup_path)):
os.mkdir(os.path.dirname(new_setup_path))
with open(new_setup_path, 'w') as file_handle:
file_handle.write("""\
#!/usr/bin/env sh
# generated from catkin.builder module
setup_script_writer = write_setup_bat if sys.platform == 'win32' else write_setup_sh
last_setup_basename = os.path.splitext(last_setup_env)[0] if last_setup_env is not None else None
setup_script_writer(dest_file=new_setup_path, last_setup_basename=last_setup_basename, variables=subs)

# remember type of shell if not already set
if [ -z "$CATKIN_SHELL" ]; then
CATKIN_SHELL=sh
fi
""")
if last_env is not None:
file_handle.write('. "%s.$CATKIN_SHELL"\n\n' % last_setup_env[:-3])
file_handle.write("""\
# detect if running on Darwin platform
_UNAME=`uname -s`
IS_DARWIN=0
if [ "$_UNAME" = "Darwin" ]; then
IS_DARWIN=1
fi

# Prepend to the environment
export CMAKE_PREFIX_PATH="{cmake_prefix_path}$CMAKE_PREFIX_PATH"
if [ $IS_DARWIN -eq 0 ]; then
export LD_LIBRARY_PATH="{ld_path}$LD_LIBRARY_PATH"
else
export DYLD_LIBRARY_PATH="{ld_path}$DYLD_LIBRARY_PATH"
fi
export PATH="{path}$PATH"
export PKG_CONFIG_PATH="{pkgcfg_path}$PKG_CONFIG_PATH"
export PYTHONPATH="{pythonpath}$PYTHONPATH"
""".format(**subs))

# generate setup.bash|zsh scripts
for shell in ['bash', 'zsh']:
setup_path = os.path.join(install_target, 'setup.%s' % shell)
if install:
setup_path = prefix_destdir(setup_path, destdir)
with open(setup_path, 'w') as f:
f.write("""\
if sys.platform != 'win32':
# generate setup.bash|zsh scripts
setup_script_template = """\
#!/usr/bin/env {1}
# generated from catkin.builder module
# generated from catkin.builder Python module

CATKIN_SHELL={1}
. "{0}/setup.sh"
""".format(os.path.dirname(setup_path), shell))
"""
for shell in ['bash', 'zsh']:
setup_path = os.path.join(install_target, 'setup.%s' % shell)
if install:
setup_path = prefix_destdir(setup_path, destdir)
with open(setup_path, 'w') as f:
f.write(setup_script_template.format(os.path.dirname(setup_path), shell))


def build_package(
Expand Down Expand Up @@ -719,6 +779,9 @@ def get_new_env(package, develspace, installspace, install, last_env, destdir=No

def prefix_destdir(path, destdir=None):
if destdir is not None:
# exclude drive letter if on Windows, returns the same string on Linux since there is no drive specifications
_, path = os.path.splitdrive(path)

path = os.path.join(destdir, path[1:])
return path

Expand Down Expand Up @@ -1011,34 +1074,55 @@ def build_workspace_isolated(
if not os.path.exists(develspace):
os.makedirs(develspace)
if not build_packages:
generated_env_sh = os.path.join(develspace, 'env.sh')
generated_setup_util_py = os.path.join(develspace, '_setup_util.py')
if not merge and pkg_develspace:
# generate env.sh and setup.sh|bash|zsh which relay to last devel space
with open(generated_env_sh, 'w') as f:
f.write("""\
env_script = 'env'
if sys.platform == 'win32':
env_script += '.bat'
env_script_content = """\
@echo off
REM generated from catkin.builder Python module

call {0} %*
"""
setup_script_content = """\
@echo off
REM generated from catkin.builder Python module

call "{0}/setup.{1}"
"""
else:
env_script += '.sh'
env_script_content = """\
#!/usr/bin/env sh
# generated from catkin.builder module
# generated from catkin.builder Python module

{0} "$@"
""".format(os.path.join(pkg_develspace, 'env.sh')))
os.chmod(generated_env_sh, stat.S_IXUSR | stat.S_IWUSR | stat.S_IRUSR)

for shell in ['sh', 'bash', 'zsh']:
with open(os.path.join(develspace, 'setup.%s' % shell), 'w') as f:
f.write("""\
"""
setup_script_content = """\
#!/usr/bin/env {1}
# generated from catkin.builder module
# generated from catkin.builder Python module

. "{0}/setup.{1}"
""".format(pkg_develspace, shell))
"""

generated_env_sh = os.path.join(develspace, env_script)
generated_setup_util_py = os.path.join(develspace, '_setup_util.py')
if not merge and pkg_develspace:
# generate env script and setup.sh|bash|zsh or setup.bat which relay to last devel space
with open(generated_env_sh, 'w') as f:
f.write(env_script_content.format(os.path.join(pkg_develspace, env_script)))
os.chmod(generated_env_sh, stat.S_IXUSR | stat.S_IWUSR | stat.S_IRUSR)

shells_to_write = ['bat'] if sys.platform == 'win32' else ['sh', 'bash', 'zsh']
for shell in shells_to_write:
with open(os.path.join(develspace, 'setup.%s' % shell), 'w') as f:
f.write(setup_script_content.format(pkg_develspace, shell))

# remove _setup_util.py file which might have been generated for an empty devel space before
if os.path.exists(generated_setup_util_py):
os.remove(generated_setup_util_py)

elif not pkg_develspace:
# generate env.sh and setup.sh|bash|zsh for an empty devel space
# generate env.* and setup.* scripts for an empty devel space
if 'CMAKE_PREFIX_PATH' in os.environ.keys():
variables = {
'CATKIN_GLOBAL_BIN_DESTINATION': 'bin',
Expand All @@ -1056,13 +1140,20 @@ def build_workspace_isolated(
else:
sys.exit("Unable to process CMAKE_PREFIX_PATH from environment. Cannot generate environment files.")

variables = {'SETUP_FILENAME': 'setup'}
variables = {
'SETUP_DIR': develspace,
'SETUP_FILENAME': 'setup',
}
with open(generated_env_sh, 'w') as f:
f.write(configure_file(os.path.join(get_cmake_path(), 'templates', 'env.sh.in'), variables))
f.write(configure_file(os.path.join(get_cmake_path(), 'templates', env_script + '.in'), variables))
os.chmod(generated_env_sh, stat.S_IXUSR | stat.S_IWUSR | stat.S_IRUSR)

variables = {'SETUP_DIR': develspace}
for shell in ['sh', 'bash', 'zsh']:
variables = {
'PYTHON_EXECUTABLE': sys.executable,
'SETUP_DIR': develspace,
}
shells_to_write = ['bat'] if sys.platform == 'win32' else ['sh', 'bash', 'zsh']
for shell in shells_to_write:
with open(os.path.join(develspace, 'setup.%s' % shell), 'w') as f:
f.write(configure_file(
os.path.join(get_cmake_path(), 'templates', 'setup.%s.in' % shell),
Expand Down