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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2008, 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.
from __future__ import print_function
import argparse
import os
import sys
import xml
from xml.dom import minidom
import rospkg
def main():
parser = argparse.ArgumentParser()
parser.add_argument('-v', '--verbose', action='store_true')
parser.add_argument('-p', '--package')
args = parser.parse_args()
rp = rospkg.RosPack()
nodelet_files = []
for p in rp.get_depends_on('nodelet', implicit=False):
manifest = rp.get_manifest(p)
for e in manifest.exports:
try:
if e.__dict__['tag'] == 'nodelet':
plugin_file = e.get('plugin')
if plugin_file:
plugin_file = plugin_file.replace('${prefix}', rp.get_path(p))
nodelet_files.append((p, plugin_file))
except Exception as e:
print(e, file=sys.stderr)
declared_nodelets = []
for p, f in nodelet_files:
nodelets = []
if not os.path.isfile(f):
print('%s: %s' % (f, 'The file does not exist.'), file=sys.stderr)
continue
with open(f) as fh:
try:
dom = minidom.parse(fh)
for lib in dom.getElementsByTagName('library'):
for name in lib.getElementsByTagName('class'):
nodelets.append(name.getAttribute('name'))
except xml.parsers.expat.ExpatError as e:
print('%s: %s' % (f, e), file=sys.stderr)
continue
declared_nodelets.append({
'package': p,
'manifest': f,
'nodelets': nodelets,
})
for declared in declared_nodelets:
if args.package and declared['package'] != args.package:
continue
if args.verbose:
print('- package: %s' % declared['package'])
print(' manifest: %s' % declared['manifest'])
print(' nodelets:')
for nodelet in declared['nodelets']:
print(' - %s' % nodelet)
else:
for nodelet in declared['nodelets']:
print(nodelet)
if __name__ == '__main__':
main()
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