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Create package whitelist from package.xml
The prior mechanism to generate an ignore/include list was to use a static file at the workspace root. This doesn't play very well with our build system so instead use package.xml. Any <build_depend> package will now be included in the ros1_bridge build. This is done using a simple python script to parse package.xml which is then called by cmake (stdout of the script is the list). We then feed that list into a modified filter_packages() function that takes a list of include/ignore packages rather than using the static list.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| #!/usr/bin/env python3 | ||
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| import sys | ||
| from catkin_pkg.package import parse_package | ||
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| def main(argv=sys.argv[1:]): | ||
| pkg = parse_package("package.xml") | ||
| packages = [] | ||
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| for depend in pkg["build_depends"]: | ||
| packages.append(depend.name) | ||
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| print(';'.join(packages), end='') | ||
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| if __name__ == '__main__': | ||
| sys.exit(main()) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,68 +1,26 @@ | ||
| # Module/Package resp. message ignores and includes | ||
| # | ||
| # Finds lists of ROS modules/packages resp. messages that shall | ||
| # be included resp. ignored by the ROS bridge according to the | ||
| # following rules: | ||
| # - Include lists over ignore lists. I.e. if an include list is | ||
| # present, the ignore list will be ... well, ignored.) | ||
| function(filter_packages) | ||
| set(options "") | ||
| set(oneValueArgs PKG_LIST) | ||
| set(multiValueArgs INCLUDE IGNORE) | ||
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| set(USE_PKG_IGNORE OFF) | ||
| set(USE_PKG_INCLUDE OFF) | ||
| set(USE_MSG_IGNORE OFF) | ||
| set(USE_MSG_INCLUDE OFF) | ||
| cmake_parse_arguments(FILTER_PACKAGES "${options}" | ||
| "${oneValueArgs}" "${multiValueArgs}", "${ARGN}") | ||
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| set(BRIDGE_IGNORE_PKGS "") | ||
| set(BRIDGE_IGNORE_MSGS "") | ||
| set(BRIDGE_INCLUDE_PKGS "") | ||
| set(BRIDGE_INCLUDE_MSGS "") | ||
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| # File with packages to ignore/include in ROS 1 Bridge | ||
| set(BRIDGE_PACKAGE_IGNORE "${CMAKE_SOURCE_DIR}/../../../BridgePackageIgnore.List") | ||
| set(BRIDGE_PACKAGE_INCLUDE "${CMAKE_SOURCE_DIR}/../../../BridgePackageInclude.List") | ||
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| # File with messages to ignore/include in ROS 1 Bridge | ||
| set(BRIDGE_MSG_IGNORE "${CMAKE_SOURCE_DIR}/../../../BridgePackageIgnore.List") | ||
| set(BRIDGE_MSG_INCLUDE "${CMAKE_SOURCE_DIR}/../../../BridgePackageInclude.List") | ||
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| if(EXISTS "${BRIDGE_PACKAGE_INCLUDE}") | ||
| set(USE_PKG_INCLUDE ON) | ||
| else() # EXISTS "${BRIDGE_PACKAGE_INCLUDE}" | ||
| if(EXISTS "${BRIDGE_PACKAGE_IGNORE}") | ||
| set(USE_PKG_IGNORE ON) | ||
| endif() # EXISTS "${BRIDGE_PACKAGE_IGNORE}" | ||
| endif() # EXISTS "${BRIDGE_PACKAGE_INCLUDE}" | ||
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| if(${USE_PKG_INCLUDE}) | ||
| FILE(READ "${BRIDGE_PACKAGE_INCLUDE}" BRIDGE_INCLUDE_PKGS) | ||
| STRING(REGEX REPLACE ";" "\\\\;" BRIDGE_INCLUDE_PKGS "${BRIDGE_INCLUDE_PKGS}") | ||
| STRING(REGEX REPLACE "\n" ";" BRIDGE_INCLUDE_PKGS "${BRIDGE_INCLUDE_PKGS}") | ||
| list(REMOVE_DUPLICATES BRIDGE_INCLUDE_PKGS) | ||
| message(STATUS "Found package include list, including: ${BRIDGE_INCLUDE_PKGS}") | ||
| endif() # USE_PKG_INCLUDE | ||
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| if(${USE_PKG_IGNORE}) | ||
| FILE(READ "${BRIDGE_PACKAGE_IGNORE}" BRIDGE_IGNORE_PKGS) | ||
| STRING(REGEX REPLACE ";" "\\\\;" BRIDGE_IGNORE_PKGS "${BRIDGE_IGNORE_PKGS}") | ||
| STRING(REGEX REPLACE "\n" ";" BRIDGE_IGNORE_PKGS "${BRIDGE_IGNORE_PKGS}") | ||
| list(REMOVE_DUPLICATES BRIDGE_IGNORE_PKGS) | ||
| message(STATUS "Found package ignore list, ignoring: ${BRIDGE_IGNORE_PKGS}") | ||
| endif() # USE_PKG_IGNORE | ||
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| function(filter_packages pkg_list) | ||
| set(ros2_packages ${${pkg_list}}) | ||
| if(BRIDGE_INCLUDE_PKGS) | ||
| set(ros2_packages ${${FILTER_PACKAGES_PKG_LIST}}) | ||
| cmake_print_variables(ros2_packages) | ||
| if(FILTER_PACKAGES_INCLUDE) | ||
| foreach(pkg ${ros2_packages}) | ||
| if(NOT ${pkg} IN_LIST BRIDGE_INCLUDE_PKGS) | ||
| if(NOT ${pkg} IN_LIST FILTER_PACKAGES_INCLUDE) | ||
| list(REMOVE_ITEM ros2_packages ${pkg}) | ||
| endif(NOT ${pkg} IN_LIST BRIDGE_INCLUDE_PKGS) | ||
| endif(NOT ${pkg} IN_LIST FILTER_PACKAGES_INCLUDE) | ||
| endforeach() | ||
| elseif(BRIDGE_IGNORE_PKGS) | ||
| elseif(FILTER_PACKAGES_IGNORE) | ||
| foreach(pkg ${ros2_packages}) | ||
| if(${pkg} IN_LIST BRIDGE_IGNORE_PKGS) | ||
| if(${pkg} IN_LIST FILTER_PACKAGES_IGNORE) | ||
| list(REMOVE_ITEM ros2_packages ${pkg}) | ||
| endif(${pkg} IN_LIST BRIDGE_IGNORE_PKGS) | ||
| endif(${pkg} IN_LIST FILTER_PACKAGES_IGNORE) | ||
| endforeach() | ||
| endif(BRIDGE_INCLUDE_PKGS) | ||
| set(${pkg_list} "${ros2_packages}" PARENT_SCOPE) | ||
| endif(FILTER_PACKAGES_INCLUDE) | ||
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| set(${FILTER_PACKAGES_PKG_LIST} "${ros2_packages}" PARENT_SCOPE) | ||
| endfunction(filter_packages ros2_packages) |