diff --git a/libraries/scripts_library.sh b/libraries/scripts_library.sh
index 24cd2c3f67726a6b90ef82b3e842a32467b1916f..d5e1c0b44cd1c38f7eb3e0e94adc03f0695cc158 100644
--- a/libraries/scripts_library.sh
+++ b/libraries/scripts_library.sh
@@ -196,9 +196,14 @@ function find_ros_message
if [[ ${ext} = "msg" ]] || [[ ${ext} = "srv" ]]
then
- my_file_tmp="${my_file%.*}"
- ros_out=`eval "ros${ext} list | grep ${my_file_tmp}"`
- #ros_out=`eval "ros${ext} show ${my_file}"`
+ if [[ ${my_file} == */* ]]
+ then
+ my_file_tmp="${my_file%.*}" #extract extension
+ ros_out=`eval "ros${ext} list | grep ${my_file_tmp}$"`
+ else
+ my_file_tmp="${my_file%.*}" #extract extension
+ ros_out=`eval "ros${ext} list | grep /${my_file_tmp}$"`
+ fi
else
#action file
ros_out=`eval "rosmsg show ${my_file}Action"`
@@ -306,6 +311,30 @@ function find_comment_in_file
fi
}
+# text_found_in_file
+# Searches for $1 in $2. text_found is true if found.
+# - $1: text to be found in file
+# - $2: text file name
+function text_found_in_file
+{
+ if [[ -z $1 ]] || [[ -z $2 ]]
+ then
+ kill_exit "text_found_in_file missing input parameters"
+ fi
+
+ local text_to_find=$1
+ local file=$2
+
+ #look for key line
+ local found=$(grep -n "${text_to_find}" "${file}")
+ if [[ -n "${found}" ]]
+ then
+ text_found="true"
+ else
+ text_found="false"
+ fi
+}
+
# add_line_to_file
# Looks for comment line $2 in $3 file. If found, places line $1 after comment.
# If comment is not found, exits script. If $1 already exists, skips adding it
@@ -336,9 +365,6 @@ function add_line_to_file
if [[ -z "${line_found}" ]]
then
- #add line to file
-# echo "Modifying file ${file} with:"
-# echo " ${line_to_add}"
sed -i -e "/${comment}/a\\${line_to_add}" "${file}"
else
#skip line
@@ -430,38 +456,75 @@ function check_package_file_integrity
{
local driver_alg=$1
local comment=""
-
- # check the package.xml file
+
+ local type
+
+ local build_depend="false"
+ local run_depend="false"
+ local depend="false"
+ local exec_depend="false"
+
+
if [[ "${driver_alg}" = "driver" ]]
then
- comment="<build_depend>iri_base_driver<\/build_depend>"
- find_comment_in_file "${comment}" "package.xml"
- if [[ "${comment_found}" = "false" ]]
- then
- kill_exit "<build_depend>iri_base_driver<\/build_depend> missing in package.xml file"
- fi
+ type="driver"
else
- comment="<build_depend>iri_base_algorithm<\/build_depend>"
- find_comment_in_file "${comment}" "package.xml"
- if [[ "${comment_found}" = "false" ]]
- then
- kill_exit "<build_depend>iri_base_algorithm<\/build_depend> missing in package.xml file"
- fi
+ type="algorithm"
fi
- if [[ "${driver_alg}" = "driver" ]]
+
+ comment="<build_depend>iri_base_${type}</build_depend>"
+ text_found_in_file "${comment}" "package.xml"
+ if [[ "${text_found}" = "false" ]]
then
- comment="<run_depend>iri_base_driver<\/run_depend>"
- find_comment_in_file "${comment}" "package.xml"
- if [[ "${comment_found}" = "false" ]]
- then
- kill_exit "<run_depend>iri_base_driver<\/run_depend> missing in package.xml file"
- fi
+ echo "${comment} not found in package.xml file"
else
- comment="<run_depend>iri_base_algorithm<\/run_depend>"
- find_comment_in_file "${comment}" "package.xml"
- if [[ "${comment_found}" = "false" ]]
- then
- kill_exit "<run_depend>iri_base_algorithm<\/run_depend> missing in package.xml file"
+ #echo "${comment} found in package.xml file"
+ build_depend=true
+ fi
+
+ comment="<depend>iri_base_${type}</depend>"
+ text_found_in_file "${comment}" "package.xml"
+ if [[ "${text_found}" = "false" ]]
+ then
+ echo "${comment} not found in package.xml file"
+ else
+ #echo "${comment} found in package.xml file"
+ depend=true
+ fi
+
+ comment="<exec_depend>iri_base_${type}</exec_depend>"
+ text_found_in_file "${comment}" "package.xml"
+ if [[ "${text_found}" = "false" ]]
+ then
+ echo "${comment} not found in package.xml file"
+ else
+ #echo "${comment} found in package.xml file"
+ exec_depend="true"
+ fi
+
+ comment="<run_depend>iri_base_${type}</run_depend>"
+ text_found_in_file "${comment}" "package.xml"
+ if [[ "${text_found}" = "false" ]]
+ then
+ echo "${comment} not found in package.xml file"
+ else
+ #echo "${comment} found in package.xml file"
+ run_depend="true"
+ fi
+
+ comment="<package format=\"2\">"
+ text_found_in_file "${comment}" "package.xml"
+ if [[ "${text_found}" = "true" ]]
+ then
+ if [[ $build_depend != "true" || $exec_depend != "true" ]]; then
+ if [[ "$depend"!="true" ]]
+ then
+ kill_exit "Exit. Missing iri_base_$type <build_depend> or <exec_depend> on package.xml (format 2)"
+ fi
+ fi
+ else #format 1: <package>
+ if [ "$build_depend" != "true" ] || [ "$run_depend" != "true" ]; then
+ kill_exit "Exit. Missing iri_base_$type <build_depend> or <run_depend> on package.xml (format 1)"
fi
fi
}
@@ -500,44 +563,62 @@ function add_build_run_dependencies
local new_pkg=$3
local line=""
local comment=""
+
+ local type=
+ local dep=
+ local dep2="build_depend"
+
+ if [[ "${driver_alg}" = "driver" ]]
+ then
+ type="driver"
+ else
+ type="algorithm"
+ fi
if [[ "${new_pkg}" != "${ros_pkg}" ]]
then
- line="<build_depend>${new_pkg}<\/build_depend>"
- find_comment_in_file "${line}" "package.xml"
- if [[ "${comment_found}" = "false" ]]
+
+ comment="<package format=\"2\">"
+ text_found_in_file "${comment}" "package.xml"
+ if [[ "${text_found}" = "true" ]]
then
- if [[ "${driver_alg}" = "driver" ]]
+ dep="depend"
+ line="<${dep}>${new_pkg}</${dep}>"
+ find_comment_in_file "${line}" "package.xml"
+ if [[ "${comment_found}" = "false" ]]
then
- line="<build_depend>${new_pkg}<\/build_depend>"
- comment="<build_depend>iri_base_driver<\/build_depend>"
- add_line_to_file "\ \ ${line}" "${comment}" "package.xml"
+ line="\ \ <${dep}>${new_pkg}<\/${dep}>"
+ comment="<${dep2}>iri_base_${type}<\/${dep2}>"
+ add_line_to_file "${line}" "${comment}" "package.xml"
else
- line="<build_depend>${new_pkg}<\/build_depend>"
- comment="<build_depend>iri_base_algorithm<\/build_depend>"
- add_line_to_file "\ \ ${line}" "${comment}" "package.xml"
+ echo "$dep dependency already included."
fi
- else
- echo "Build dependencies already included."
- fi
-
- line="<run_depend>${new_pkg}<\/run_depend>"
- find_comment_in_file "${line}" "package.xml"
- if [[ "${comment_found}" = "false" ]]
- then
- if [[ "${driver_alg}" = "driver" ]]
+ else #format 1: <package>
+ dep="build_depend"
+ line="<${dep}>${new_pkg}</${dep}>"
+ find_comment_in_file "${line}" "package.xml"
+ if [[ "${comment_found}" = "false" ]]
then
- line="<run_depend>${new_pkg}<\/run_depend>"
- comment="<run_depend>iri_base_driver<\/run_depend>"
- add_line_to_file "\ \ ${line}" "${comment}" "package.xml"
+ line="\ \ <${dep}>${new_pkg}<\/${dep}>"
+ comment="<${dep2}>iri_base_${type}<\/${dep2}>"
+ add_line_to_file "${line}" "${comment}" "package.xml"
else
- line="<run_depend>${new_pkg}<\/run_depend>"
- comment="<run_depend>iri_base_algorithm<\/run_depend>"
- add_line_to_file "\ \ ${line}" "${comment}" "package.xml"
+ echo "$dep dependency already included."
+ fi
+
+ dep="run_depend"
+ line="<${dep}>${new_pkg}</${dep}>"
+ find_comment_in_file "${line}" "package.xml"
+ if [[ "${comment_found}" = "false" ]]
+ then
+ line="\ \ <${dep}>${new_pkg}<\/${dep}>"
+ comment="<${dep2}>iri_base_${type}<\/${dep2}>"
+ add_line_to_file "${line}" "${comment}" "package.xml"
+ else
+ echo "$dep dependency already included."
fi
- else
- echo "Run dependencies already included."
fi
+
fi
}
@@ -566,7 +647,8 @@ function add_cmake_dependencies
old_string="iri_base_algorithm"
fi
new_string="${old_string}\ ${new_pkg}"
- sed -i "s/${old_string}/${new_string}/g" "CMakeLists.txt"
+ sed -i -e "/find_package/ s/${old_string}/${new_string}/g" "CMakeLists.txt"
+ sed -i -e "/CATKIN_DEPENDS/ s/${old_string}/${new_string}/g" "CMakeLists.txt"
fi
line="add_dependencies(\${PROJECT_NAME} ${new_pkg}_generate_messages_cpp)"