/usr/lib/python2.7/dist-packages/roslib/manifestlib.py is in python-roslib 1.13.4-2.
This file is owned by root:root, with mode 0o644.
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# * Redistributions of source code must retain the above copyright
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# Revision $Id$
# $Author$
"""
Internal library for processing 'manifest' files, i.e. manifest.xml and stack.xml.
For external code apis, see L{roslib.manifest} and L{roslib.stack_manifest}.
"""
import sys
import os
import xml.dom
import xml.dom.minidom as dom
import roslib.exceptions
# stack.xml and manifest.xml have the same internal tags right now
REQUIRED = ['author', 'license']
ALLOWXHTML = ['description']
OPTIONAL = ['logo', 'url', 'brief', 'description', 'status',
'notes', 'depend', 'rosdep', 'export', 'review',
'versioncontrol', 'platform', 'version', 'rosbuild2',
'catkin']
VALID = REQUIRED + OPTIONAL
class ManifestException(roslib.exceptions.ROSLibException): pass
def get_nodes_by_name(n, name):
return [t for t in n.childNodes if t.nodeType == t.ELEMENT_NODE and t.tagName == name]
def check_optional(name, allowXHTML=False, merge_multiple=False):
"""
Validator for optional elements.
@raise ManifestException: if validation fails
"""
def check(n, filename):
n = get_nodes_by_name(n, name)
if len(n) > 1 and not merge_multiple:
raise ManifestException("Invalid manifest file: must have a single '%s' element"%name)
if n:
values = []
for child in n:
if allowXHTML:
values.append(''.join([x.toxml() for x in child.childNodes]))
else:
values.append(_get_text(child.childNodes).strip())
return ', '.join(values)
return check
def check_required(name, allowXHTML=False, merge_multiple=False):
"""
Validator for required elements.
@raise ManifestException: if validation fails
"""
def check(n, filename):
n = get_nodes_by_name(n, name)
if not n:
#print >> sys.stderr, "Invalid manifest file[%s]: missing required '%s' element"%(filename, name)
return ''
if len(n) != 1 and not merge_multiple:
raise ManifestException("Invalid manifest file: must have only one '%s' element"%name)
values = []
for child in n:
if allowXHTML:
values.append(''.join([x.toxml() for x in child.childNodes]))
else:
values.append(_get_text(child.childNodes).strip())
return ', '.join(values)
return check
def check_platform(name):
"""
Validator for manifest platform.
@raise ManifestException: if validation fails
"""
def check(n, filename):
platforms = get_nodes_by_name(n, name)
try:
vals = [(p.attributes['os'].value, p.attributes['version'].value, p.getAttribute('notes')) for p in platforms]
except KeyError as e:
raise ManifestException("<platform> tag is missing required '%s' attribute"%str(e))
return [Platform(*v) for v in vals]
return check
def check_depends(name):
"""
Validator for manifest depends.
@raise ManifestException: if validation fails
"""
def check(n, filename):
nodes = get_nodes_by_name(n, name)
# TDS 20110419: this is a hack.
# rosbuild2 has a <depend thirdparty="depname"/> tag,
# which is confusing this subroutine with
# KeyError: 'package'
# for now, explicitly don't consider thirdparty depends
depends = [e.attributes for e in nodes if 'thirdparty' not in e.attributes.keys()]
try:
packages = [d['package'].value for d in depends]
except KeyError:
raise ManifestException("Invalid manifest file: depends is missing 'package' attribute")
return [Depend(p) for p in packages]
return check
def check_stack_depends(name):
"""
Validator for stack depends.
@raise ManifestException: if validation fails
"""
def check(n, filename):
nodes = get_nodes_by_name(n, name)
depends = [e.attributes for e in nodes]
packages = [d['stack'].value for d in depends]
return [StackDepend(p) for p in packages]
return check
def check_rosdeps(name):
"""
Validator for stack rosdeps.
@raise ManifestException: if validation fails
"""
def check(n, filename):
nodes = get_nodes_by_name(n, name)
rosdeps = [e.attributes for e in nodes]
names = [d['name'].value for d in rosdeps]
return [ROSDep(n) for n in names]
return check
def _attrs(node):
attrs = {}
for k in node.attributes.keys():
attrs[k] = node.attributes.get(k).value
return attrs
def check_exports(name):
def check(n, filename):
ret_val = []
for e in get_nodes_by_name(n, name):
elements = [c for c in e.childNodes if c.nodeType == c.ELEMENT_NODE]
ret_val.extend([Export(t.tagName, _attrs(t), _get_text(t.childNodes)) for t in elements])
return ret_val
return check
def check_versioncontrol(name):
def check(n, filename):
e = get_nodes_by_name(n, name)
if not e:
return None
# note: 'url' isn't actually required, but as we only support type=svn it implicitly is for now
return VersionControl(e[0].attributes['type'].value, e[0].attributes['url'].value)
return check
def check(name, merge_multiple=False):
if name == 'depend':
return check_depends('depend')
elif name == 'export':
return check_exports('export')
elif name == 'versioncontrol':
return check_versioncontrol('versioncontrol')
elif name == 'rosdep':
return check_rosdeps('rosdep')
elif name == 'platform':
return check_platform('platform')
elif name in REQUIRED:
if name in ALLOWXHTML:
return check_required(name, True, merge_multiple)
return check_required(name, merge_multiple=merge_multiple)
elif name in OPTIONAL:
if name in ALLOWXHTML:
return check_optional(name, True, merge_multiple)
return check_optional(name, merge_multiple=merge_multiple)
class Export(object):
"""
Manifest 'export' tag
"""
def __init__(self, tag, attrs, str):
"""
Create new export instance.
@param tag: name of the XML tag
@type tag: str
@param attrs: dictionary of XML attributes for this export tag
@type attrs: dict
@param str: string value contained by tag, if any
@type str: str
"""
self.tag = tag
self.attrs = attrs
self.str = str
def get(self, attr):
"""
@return: value of attribute or None if attribute not set
@rtype: str
"""
return self.attrs.get(attr, None)
def xml(self):
"""
@return: export instance represented as manifest XML
@rtype: str
"""
attrs = ' '.join([' %s="%s"'%(k,v) for k,v in self.attrs.items()]) #py3k
if self.str:
return '<%s%s>%s</%s>'%(self.tag, attrs, self.str, self.tag)
else:
return '<%s%s />'%(self.tag, attrs)
class Platform(object):
"""
Manifest 'platform' tag
"""
__slots__ = ['os', 'version', 'notes']
def __init__(self, os, version, notes=None):
"""
Create new depend instance.
@param os: OS name. must be non-empty
@type os: str
@param version: OS version. must be non-empty
@type version: str
@param notes: (optional) notes about platform support
@type notes: str
"""
if not os:
raise ValueError("bad 'os' attribute")
if not version:
raise ValueError("bad 'version' attribute")
self.os = os
self.version = version
self.notes = notes
def __str__(self):
return "%s %s"%(self.os, self.version)
def __repr__(self):
return "%s %s"%(self.os, self.version)
def __eq__(self, obj):
"""
Override equality test. notes *are* considered in the equality test.
"""
if not isinstance(obj, Platform):
return False
return self.os == obj.os and self.version == obj.version and self.notes == obj.notes
def xml(self):
"""
@return: instance represented as manifest XML
@rtype: str
"""
if self.notes is not None:
return '<platform os="%s" version="%s" notes="%s"/>'%(self.os, self.version, self.notes)
else:
return '<platform os="%s" version="%s"/>'%(self.os, self.version)
class Depend(object):
"""
Manifest 'depend' tag
"""
__slots__ = ['package']
def __init__(self, package):
"""
Create new depend instance.
@param package: package name. must be non-empty
@type package: str
"""
if not package:
raise ValueError("bad 'package' attribute")
self.package = package
def __str__(self):
return self.package
def __repr__(self):
return self.package
def __eq__(self, obj):
if not isinstance(obj, Depend):
return False
return self.package == obj.package
def xml(self):
"""
@return: depend instance represented as manifest XML
@rtype: str
"""
return '<depend package="%s" />'%self.package
class StackDepend(object):
"""
Stack Manifest 'depend' tag
"""
__slots__ = ['stack', 'annotation']
def __init__(self, stack):
"""
@param stack: stack name. must be non-empty
@type stack: str
"""
if not stack:
raise ValueError("bad 'stack' attribute")
self.stack = stack
self.annotation = None
def __str__(self):
return self.stack
def __repr__(self):
return self.stack
def __eq__(self, obj):
if not isinstance(obj, StackDepend):
return False
return self.stack == obj.stack
def xml(self):
"""
@return: stack depend instance represented as stack manifest XML
@rtype: str
"""
if self.annotation:
return '<depend stack="%s" /> <!-- %s -->'%(self.stack, self.annotation)
else:
return '<depend stack="%s" />'%self.stack
class ROSDep(object):
"""
Manifest 'rosdep' tag
"""
__slots__ = ['name',]
def __init__(self, name):
"""
Create new rosdep instance.
@param name: dependency name. Must be non-empty.
@type name: str
"""
if not name:
raise ValueError("bad 'name' attribute")
self.name = name
def xml(self):
"""
@return: rosdep instance represented as manifest XML
@rtype: str
"""
return '<rosdep name="%s" />'%self.name
class VersionControl(object):
"""
Manifest 'versioncontrol' tag
"""
__slots__ = ['type', 'url']
def __init__(self, type_, url):
"""
@param type_: version control type (e.g. 'svn'). must be non empty
@type type_: str
@param url: URL associated with version control. must be non empty
@type url: str
"""
def is_string_type(obj):
try:
return isinstance(obj, basestring)
except NameError:
return isinstance(obj, str)
if not type_ or not is_string_type(type_):
raise ValueError("bad 'type' attribute")
if not url is None and not is_string_type(url):
raise ValueError("bad 'url' attribute")
self.type = type_
self.url = url
def xml(self):
"""
@return: versioncontrol instance represented as manifest XML
@rtype: str
"""
if self.url:
return '<versioncontrol type="%s" url="%s" />'%(self.type, self.url)
else:
return '<versioncontrol type="%s" />'%self.type
class _Manifest(object):
"""
Object representation of a ROS manifest file
"""
__slots__ = ['description', 'brief', \
'author', 'license', 'license_url', 'url', \
'depends', 'rosdeps','platforms',\
'logo', 'exports', 'version',\
'versioncontrol', 'status', 'notes',\
'unknown_tags',\
'_type']
def __init__(self, _type='package'):
self.description = self.brief = self.author = \
self.license = self.license_url = \
self.url = self.logo = self.status = \
self.version = self.notes = ''
self.depends = []
self.rosdeps = []
self.exports = []
self.platforms = []
self._type = _type
# store unrecognized tags during parsing
self.unknown_tags = []
def __str__(self):
return self.xml()
def get_export(self, tag, attr):
"""
@return: exports that match the specified tag and attribute, e.g. 'python', 'path'
@rtype: [L{Export}]
"""
return [e.get(attr) for e in self.exports if e.tag == tag if e.get(attr) is not None]
def xml(self):
"""
@return: Manifest instance as ROS XML manifest
@rtype: str
"""
if not self.brief:
desc = " <description>%s</description>"%self.description
else:
desc = ' <description brief="%s">%s</description>'%(self.brief, self.description)
author = " <author>%s</author>"%self.author
if self.license_url:
license = ' <license url="%s">%s</license>'%(self.license_url, self.license)
else:
license = " <license>%s</license>"%self.license
versioncontrol = url = logo = exports = version = ""
if self.url:
url = " <url>%s</url>"%self.url
if self.version:
version = " <version>%s</version>"%self.version
if self.logo:
logo = " <logo>%s</logo>"%self.logo
depends = '\n'.join([" %s"%d.xml() for d in self.depends])
rosdeps = '\n'.join([" %s"%rd.xml() for rd in self.rosdeps])
platforms = '\n'.join([" %s"%p.xml() for p in self.platforms])
if self.exports:
exports = ' <export>\n' + '\n'.join([" %s"%e.xml() for e in self.exports]) + ' </export>'
if self.versioncontrol:
versioncontrol = " %s"%self.versioncontrol.xml()
if self.status or self.notes:
review = ' <review status="%s" notes="%s" />'%(self.status, self.notes)
fields = filter(lambda x: x,
[desc, author, license, review, url, logo, depends,
rosdeps, platforms, exports, versioncontrol, version])
return "<%s>\n"%self._type + "\n".join(fields) + "\n</%s>"%self._type
def _get_text(nodes):
"""
DOM utility routine for getting contents of text nodes
"""
return "".join([n.data for n in nodes if n.nodeType == n.TEXT_NODE])
def parse_file(m, file):
"""
Parse manifest file (package, stack)
@param m: field to populate
@type m: L{_Manifest}
@param file: manifest.xml file path
@type file: str
@return: return m, populated with parsed fields
@rtype: L{_Manifest}
"""
if not file:
raise ValueError("Missing manifest file argument")
if not os.path.isfile(file):
raise ValueError("Invalid/non-existent manifest file: %s"%file)
with open(file, 'r') as f:
text = f.read()
try:
return parse(m, text, file)
except ManifestException as e:
raise ManifestException("Invalid manifest file [%s]: %s"%(os.path.abspath(file), e))
def parse(m, string, filename='string'):
"""
Parse manifest.xml string contents
@param string: manifest.xml contents
@type string: str
@param m: field to populate
@type m: L{_Manifest}
@return: return m, populated with parsed fields
@rtype: L{_Manifest}
"""
try:
d = dom.parseString(string)
except Exception as e:
raise ManifestException("invalid XML: %s"%e)
p = get_nodes_by_name(d, m._type)
if len(p) != 1:
raise ManifestException("manifest must have a single '%s' element"%m._type)
p = p[0]
m.description = check('description')(p, filename)
m.brief = ''
try:
tag = get_nodes_by_name(p, 'description')[0]
m.brief = tag.getAttribute('brief') or ''
except:
# means that 'description' tag is missing
pass
#TODO: figure out how to multiplex
if m._type == 'package':
m.depends = check_depends('depend')(p, filename)
elif m._type == 'stack':
m.depends = check_stack_depends('depend')(p, filename)
elif m._type == 'app':
# not implemented yet
pass
m.rosdeps = check('rosdep')(p, filename)
m.platforms = check('platform')(p, filename)
m.exports = check('export')(p, filename)
m.versioncontrol = check('versioncontrol')(p,filename)
m.license = check('license')(p, filename)
m.license_url = ''
try:
tag = get_nodes_by_name(p, 'license')[0]
m.license_url = tag.getAttribute('url') or ''
except:
pass #manifest is missing required 'license' tag
m.status='unreviewed'
try:
tag = get_nodes_by_name(p, 'review')[0]
m.status=tag.getAttribute('status') or ''
except:
pass #manifest is missing optional 'review status' tag
m.notes=''
try:
tag = get_nodes_by_name(p, 'review')[0]
m.notes=tag.getAttribute('notes') or ''
except:
pass #manifest is missing optional 'review notes' tag
m.author = check('author', True)(p, filename)
m.url = check('url')(p, filename)
m.version = check('version')(p, filename)
m.logo = check('logo')(p, filename)
# do some validation on what we just parsed
if m._type == 'stack':
if m.exports:
raise ManifestException("stack manifests are not allowed to have exports")
if m.rosdeps:
raise ManifestException("stack manifests are not allowed to have rosdeps")
# store unrecognized tags
m.unknown_tags = [e for e in p.childNodes if e.nodeType == e.ELEMENT_NODE and e.tagName not in VALID]
return m
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