Catkin Subset Maker

#!/usr/bin/python
#
# Catking Subfolders creator => FOCUS
# Emanuele Ruffaldi @ SSSA 2016
import argparse
import xml.etree.ElementTree as ET
import os,sys
known = "catkin,roscpp,cmake_modules,geometry_msgs,tf,message_generation,urdf,xacro,message_runtime,std_msgs,std_srvs"

def commonpath(path1,path2):
	p1 = path1.split(os.sep)
	p2 = path2.split(os.sep)
	same = True
	for i in range(0,min(len(p1),len(p2))):
		if p1[i] != p2[i]:
			same = False
			break
	if same:
		# different length
		if len(p1) == len(p2):
			return common,".","."
		elif len(p1) > len(p2):
			i+=1
			common = os.sep.join(p2)
			a2b = os.sep.join([".." for j in range(0,len(p1)-i)])
			b2a = os.sep.join([".." for j in range(0,len(p2)-i)]+p1[i:])
		else:
			i+=1
			common = os.sep.join(p1)
			a2b = os.sep.join([".." for j in range(0,len(p1)-i)]+p2[i:])
			b2a = os.sep.join([".." for j in range(0,len(p2)-i)])
	else:
		common = os.sep.join(p1[0:i])
		a2b = os.sep.join([".." for j in range(0,len(p1)-i)]+p2[i:])
		b2a = os.sep.join([".." for j in range(0,len(p2)-i)]+p1[i:])
	return common,a2b,b2a

def getpackdeps(path):
	# look into package.xml
	#		buildtool_depend
	#		build_depend
	#		run_depend
	tree = ET.parse(path)
	root = tree.getroot()
	r = set()
	for x in root.iter('buildtool_depend'):
		r.add(x.text)
	for x in root.iter('build_depend'):
		r.add(x.text)
	for x in root.iter('run_depend'):
		r.add(x.text)
	return r

def getpacks(root):
	# direct if contains package.xml
	z ={}
	pf = os.path.join(root,"package.xml")
	if os.path.isfile(pf):
		z[os.path.split(root)[1]]= getpackdeps(pf)
	else:
		z 
		for l in os.listdir(root):
			fp = os.path.join(root,l)
			if os.path.isdir(fp):
				z.update(getpacks(fp)) # ignore conflicts
	return z

#if __name__ == '__main__':
#	import sys
#	print commonpath(os.path.abspath(sys.argv[1]),os.path.abspath(sys.argv[2]))
if __name__ == '__main__':
	
	#TODO: support multiple full paths	
	parser = argparse.ArgumentParser(description='Process some integers.')
	parser.add_argument('package',nargs='+',help='needed packages')
	parser.add_argument('--full',help='full source base with all packages')
	parser.add_argument('--dest',default="src",help='destination path')
	parser.add_argument('--simulate',action="store_true")
	parser.add_argument('--abs',action="store_true",help="abs paths")

	args = parser.parse_args()
	args.full = os.path.abspath(args.full)
	args.dest = os.path.abspath(args.dest)
	common,a2b,b2a = commonpath(args.full,args.dest)
	deps = getpacks(args.full)

	if not os.path.isdir(args.full):
		os.mkdir(args.full)

	done = set()
	ds = set()
	todo = set(args.package)
	while len(todo) > 0:
		p = todo.pop()
		done.add(p)

		if os.path.isdir(os.path.join(args.full,p)):
			if not args.abs:
				sp = os.path.join(b2a,p)
			else:
				sp = os.path.join(args.full,p)
			dp = os.path.join(args.dest,p)

			if args.simulate:
				print "symlink",sp,dp
			else:
				os.symlink(sp,dp)

			todo = todo | (deps.get(p,ds)-done)

	for p in done:
		needed = deps.get(p,ds)-done
		if len(needed) > 0:
			print p,"externals: ",",".join(list(needed))