def get_workspace_location(override):
    from . import __version__
    wsdir = find_workspace(override)
    if wsdir is not None:
        wstype, wsversion = detect_workspace_type(wsdir)
        if wstype == 3:
            return wsdir
        msg("catkin workspace detected in @{cf}%s@|\n\n" % escape(wsdir))
        if wstype == -1:
            msg(
                "I found a catkin workspace, but %(error_msg)s\n\n"
                "You can delete any corrupted settings and reinitialize the "
                "workspace for rosrepo with the command\n\n"
                "    @!rosrepo init --reset %(path)s@|\n\n"
                % {"path": escape(wsdir), "error_msg": wsversion}
            )
        if wstype == 0:
            msg(
                "I found a catkin workspace, but it is not configured with rosrepo.\n\n"
                "If you wish to use rosrepo with this workspace, run the command\n\n"
                "    @!rosrepo init %(path)s@|\n\n"
                % {"path": escape(wsdir)}
            )
        if wstype == 4:
            msg(
                "This catkin workspace has been configured by a newer version of rosrepo, "
                "please upgrade to version @{cf}%(new_version)s@| or newer.\n\n"
                "If you want to revert the workspace back to this version (@{cf}%(old_version)s@|), "
                "you can reset all settings with\n\n"
                "    @!rosrepo init --reset %(path)s@|\n\n"
                "@!@{yf}WARNING@|: Please make a backup before doing this!\n\n"
                % {"path": escape(wsdir), "new_version": escape(wsversion), "old_version": __version__}
            )
        if wstype == 1 or wstype == 2:
            msg(
                "This catkin workspace has been configured by rosrepo @{cf}%(old_version)s@|, "
                "but you are currently running version @{cf}%(new_version)s@|\n\n"
                "If you wish to use the new version of rosrepo, you need to reinitialize the "
                "workspace with the command\n\n"
                "    @!rosrepo init %(path)s@|\n\n"
                % {"old_version": escape(wsversion), "new_version": __version__, "path": escape(wsdir)}
            )
        if override is None:
            msg(
                "If this is not the workspace location you were looking for, try "
                "the @{cf}--workspace@| option to override the automatic detection.\n\n"
            )
    else:
        if override is not None:
            msg(
                "There is no catkin workspace in %(path)s\n\n"
                "You can create a new workspace there by running\n\n"
                "    @!rosrepo init %(path)s@|\n\n"
                "If you are really sure that there is a workspace there already, "
                "it is possible that the marker file has been deleted by accident. "
                "In that case, the above command will restore your workspace.\n\n"
                % {"path": escape(override)}
            )
        else:
            msg(
                "I cannot find any catkin workspace.\n\n"
                "Please make sure that you have sourced the @{cf}setup.bash@| file of "
                "your workspace or use the @{cf}--workspace@| option to override the "
                "automatic detection. If you have never created a workspace yet, "
                "you can initialize one in your home directory with\n\n"
                "    @!rosrepo init %s/ros@|\n\n"
                % escape(os.path.expanduser("~"))
            )
    fatal("valid workspace location required\n") def get_workspace_state(wsdir, config=None, cache=None, offline_mode=False, verbose=True, ws_state=None, flags=WSFL_ALL):
    if ws_state is None:
        ws_state = WorkspaceState()
    if config is None:
        config = Config(wsdir)
    if cache is None:
        cache = Cache(wsdir)
    link_projects = False
    if flags & WSFL_WS_PACKAGES:
        link_projects = True
        ws_state.ws_packages = find_catkin_packages(os.path.join(wsdir, "src"), cache=cache)
        for name, pkg_list in iteritems(ws_state.ws_packages):
            if len(pkg_list) > 1:
                msg("You have multiple versions of the package @{cf}%s@| in your workspace:\n\n" % escape(name))
                for pkg in pkg_list:
                    msg("     - @{cf}%s@|\n" % escape(os.path.join(wsdir, "src", pkg.workspace_path)))
                    if is_deprecated_package(pkg.manifest):
                        msg("       @{rf}(deprecated)@|\n")
                msg(
                    "\n"
                    "Please remove all but one of the versions or place a @{cf}CATKIN_IGNORE@| file "
                    "in their path to disable them.\n\n"
                )
                fatal("workspace has conflicting packages\n")
    if flags & WSFL_ROS_ROOT_PACKAGES:
        ros_rootdir = find_ros_root(config.get("ros_root", None))
        if ros_rootdir is not None:
            ws_state.ros_root_packages = find_catkin_packages(ros_rootdir, cache=cache, cache_id="ros_root_packages")
        else:
            ws_state.ros_root_packages = {}
    if flags & WSFL_REMOTE_PROJECTS:
        ws_state.remote_projects = get_gitlab_projects(wsdir, config, cache=cache, offline_mode=offline_mode, verbose=verbose)
    if flags & WSFL_WS_PROJECTS and ws_state.remote_projects is not None:
        link_projects = True
        ws_state.ws_projects, ws_state.other_git = find_cloned_gitlab_projects(ws_state.remote_projects, os.path.join(wsdir, "src"))
    if flags & WSFL_REMOTE_PACKAGES and ws_state.remote_projects is not None:
        ws_state.remote_packages = find_catkin_packages_from_gitlab_projects(ws_state.remote_projects)
    if link_projects and ws_state.ws_packages is not None and ws_state.ws_projects is not None:
        for _, pkg_list in iteritems(ws_state.ws_packages):
            for pkg in pkg_list:
                for prj in ws_state.ws_projects:
                    if path_has_prefix(pkg.workspace_path, prj.workspace_path):
                        pkg.project = prj
                        break
    return ws_state def resolve_this(wsdir, ws_state):
    result = set()
    curdir = os.path.relpath(os.getcwd(), os.path.join(wsdir, "src"))
    for name, pkg_list in iteritems(ws_state.ws_packages):
        for pkg in pkg_list:
            if path_has_prefix(curdir, pkg.workspace_path):
                result.add(name)
    if not result:
        fatal("no package in this folder")
    return result def find_ros_root(override=None):
    if override is not None:
        if is_ros_root(override):
            return os.path.realpath(override)
        return None
    if "ROS_ROOT" in os.environ:
        rosrootdir = os.environ["ROS_ROOT"]
        if os.path.isdir(rosrootdir):
            rosdir = os.path.normpath(os.path.join(rosrootdir, os.pardir, os.pardir))
            if is_ros_root(rosdir):
                return os.path.realpath(rosdir)
    if "ROS_PACKAGE_PATH" in os.environ:
        candidates = os.environ["ROS_PACKAGE_PATH"].split(os.pathsep)
        candidates.reverse()
        for path in candidates:
            rosdir = os.path.normpath(os.path.join(path, os.pardir))
            if is_ros_root(rosdir):
                return os.path.realpath(rosdir)
    if os.path.islink("/opt/ros/current"):
        rosdir = os.path.join("/opt/ros", os.readlink("/opt/ros/current"))
        if is_ros_root(rosdir):
            return os.path.realpath(rosdir)
    return None class Config(object):
    def __init__(self, wsdir, read_only=False):
        self.config_dir = os.path.join(wsdir, ".rosrepo")
        self.config_file = os.path.join(self.config_dir, "config")
        self.read_only = read_only
        if os.path.isfile(self.config_file):
            try:
                with open(self.config_file, "rb") as f:
                    self._data = yaml_load(f)
            except (OSError, IOError, YAMLError):
                raise ConfigError("unreadable configuration file")
            if not isinstance(self._data, dict):
                raise ConfigError("invalid configuration file")
            if "version" not in self._data:
                raise ConfigError("missing configuration version number")
            current = Version(__version__)
            try:
                stored = Version(self._data["version"])
            except (TypeError, ValueError):
                raise ConfigError("invalid configuration version number")
            if stored < current and not read_only:
                self._migrate(stored)
            if stored.version[:2] > current.version[:2] and not read_only:
                raise ConfigError("workspace was configured by newer version of rosrepo")
        else:
            self._data = {"version": __version__}

    def write(self):
        if self.read_only:
            raise ConfigError("cannot write config file marked as read only")
        try:
            makedirs(self.config_dir)
            write_atomic(self.config_file, yaml_dump(self._data, encoding="UTF-8", default_flow_style=False))
        except (IOError, OSError):
            raise ConfigError("cannnot write config file %s" % self.config_file)

    def _migrate(self, old_version):
        if old_version <= Version("3.0.25"):
            if "crawl_depth" in self._data:
                self._data["gitlab_crawl_depth"] = self._data["crawl_depth"]
                del self._data["crawl_depth"]
        self._data["version"] = __version__
        try:
            self.write()
        except ConfigError:
            warning("cannot write updated configuration\n")

    def set_default(self, key, value):
        if self.read_only:
            raise ConfigError("cannot change read-only configuration")
        if key not in self._data:
            self._data[key] = value

    def get(self, key, default=None):
        return self._data.get(key, default)

    def __getitem__(self, key):
        return self._data[key]

    def __setitem__(self, key, value):
        if self.read_only:
            raise ConfigError("cannot change read-only configuration")
        self._data[key] = value

    def __delitem__(self, key):
        if self.read_only:
            raise ConfigError("cannot change read-only configuration")
        if key in self._data:
            del self._data[key]

    def __iter__(self):
        return self._data.__iter__()

    def __len__(self):
        return len(self._data)

    def __contains__(self, key):
        return key in self._data class Cache(object):

    def __init__(self, wsdir):
        self.cache_dir = os.path.join(wsdir, ".rosrepo", "cache")
        self.preloaded = {}

    def get_object(self, name, version, default=None):
        if name in self.preloaded:
            if self.preloaded[name].version == version:
                return self.preloaded[name].obj
            return default
        try:
            with open(os.path.join(self.cache_dir, name), "rb") as f:
                cache_file = pickle.loads(zlib.decompress(f.read()))
        except Exception:
            return default
        if not isinstance(cache_file, CacheFile):
            return default
        self.preloaded[name] = cache_file
        if cache_file.version != version:
            return default
        return cache_file.obj

    def set_object(self, name, version, obj):
        cache_file = CacheFile(version=version, obj=obj)
        makedirs(self.cache_dir)
        filepath = os.path.join(self.cache_dir, name)
        write_atomic(filepath, zlib.compress(pickle.dumps(cache_file, -1)), ignore_fail=True)
        self.preloaded[name] = cache_file

    def reset_object(self, name):
        if name in self.preloaded:
            del self.preloaded[name]
        try:
            os.unlink(os.path.join(self.cache_dir, name))
        except OSError:
            pass def msg(text, max_width=None, use_color=None, wrap=True, fd=None, **wrap_args):
    from .terminal_color import ansi
    if fd is None:
        fd = sys.stderr
    if use_color is None:
        use_color = isatty(fd)
    ansi_text = color_fmt(text, use_color=use_color)
    if wrap:
        try:
            if max_width is None:
                max_width, _ = get_terminal_size()
        except OSError:
            pass
    fd.write(wrap_ansi_text(ansi_text, max_width, **wrap_args) + (ansi('reset') if use_color else "")) def warning(text, use_color=None):
    prog = "rosrepo"
    msg("@!@{yf}%s: warning: %s" % (prog, text), use_color=use_color, indent_next=len(prog) + 11) def fatal(text):
    raise UserError(text) def show_conflicts(conflicts):
    for name in sorted(conflicts.keys()):
        error("cannot use package '%s'\n" % escape(name))
        for reason in conflicts[name]:
            msg("   - %s\n" % reason, indent_next=5) def yaml_load(stream, Loader=SafeLoader):
def yaml_dump(data, stream=None, Dumper=SafeDumper, **kwargs):
    def __init__(self, *args, **kwargs):
    def __str__(self):
    def __getitem__(self, item):
    def __setitem__(self, item, value):
    def __len__(self):
def is_deprecated_package(manifest):
def deprecated_package_info(manifest):
def path_has_prefix(path, prefix):
def has_package_path(obj, paths):
def env_path_list_contains(path_list, path):
def makedirs(path):
def write_atomic(filepath, data, mode=0o644, ignore_fail=False):
def isatty(fd):
def get_terminal_size():
def find_program(program):
    def is_exe(fpath):
def getmtime(path):
def call_process(args, bufsize=0, stdin=None, stdout=None, stderr=None, cwd=None, env=None, input_data=None):
def create_multiprocess_manager():
def _worker_init(worker_init, worker_init_args):
def run_multiprocess_workers(worker, workload, worker_init=None, worker_init_args=(), jobs=None, timeout=None):
class NamedTuple(object):
class UserError(RuntimeError): def find_dependees(packages, ws_state, auto_resolve=False, ignore_missing=False, recursive=True, force_workspace=True):
    P_REMOTE = 1
    P_WS = 2
    P_ROS_ROOT = 3

    def find_package_candidates(name, ws_state, resolver_msgs):
        # Returns a list of packages which satisfy the given dependency
        if name in ws_state.ws_packages:
            # If the package is in the workspace, it will be used unconditionally
            return [(ws_state.ws_packages[name][0], P_WS)]
        result = []
        if name in ws_state.ros_root_packages:
            result.append((ws_state.ros_root_packages[name][0], P_ROS_ROOT))
        if name in ws_state.remote_packages:
            remotes = ws_state.remote_packages[name]
            if len(remotes) > 1 and not auto_resolve:
                # If desired, let the user pick one
                desired = pick_dependency_resolution(name, remotes)
                if desired is not None:
                    remotes = [desired]
            for pkg in remotes:
                result.append((pkg, P_REMOTE))
        return sorted(result, key=lambda x: (ManifestVersion(x[0].manifest.version), x[1]), reverse=True)

    def try_resolve(queue, depends=None, system_depends=None, conflicts=None):
        if depends is None:
            depends = {}
        if system_depends is None:
            system_depends = set()
        if conflicts is None:
            conflicts = {}
        while len(queue) > 0:
            root_depender, depender, name = queue.pop()
            if name not in depends and name not in conflicts and name not in system_depends:
                resolver_msgs = []
                if root_depender is not None and root_depender != depender:
                    resolver_msgs.append("is needed to resolve dependencies of package @{cf}%s@|" % escape(root_depender))
                if depender is not None:
                    resolver_msgs.append("is dependee of package @{cf}%s@|" % escape(depender))
                if root_depender is None:
                    root_depender = name
                candidates = find_package_candidates(name, ws_state, resolver_msgs)
                for pkg, source in candidates:
                    if source not in [P_WS, P_REMOTE] and depender is None and force_workspace:
                        continue  # Ignore other sources if primary depender should be a workspace package
                    if source == P_REMOTE:
                        if pkg.project in ws_state.ws_projects:
                            resolver_msgs.append("missing from @{cf}%s/@| (maybe you need to @{cf}git pull@|?)" % escape(pkg.project.workspace_path))
                            continue  # Fail, try next
                        # Check all other packages in the same project for conflicts
                        ok = True
                        for other in pkg.project.packages:
                            # Is the other package in the workspace already?
                            if other.manifest.name in ws_state.ws_packages:
                                resolver_msgs.append("cannot be cloned from @{cf}%s@| because package @{cf}%s@| is in the workspace already" % (escape(pkg.project.name), escape(other.manifest.name)))
                                ok = False
                                break  # Fail
                            # If not, check if we already decided to download
                            # the package from another project
                            if other.manifest.name in depends:
                                # Is it the same project?
                                if other.project != pkg.project:
                                    resolver_msgs.append("cannot be cloned from @{cf}%s@| because it contains package @{cf}%s@| which will be cloned from @{cf}%s@|" % (escape(pkg.project.name), escape(other.manifest.name), escape(other.project.name)))
                                    ok = False
                                    break  # Fail
                        if not ok:
                            continue  # Fail, try next
                    # If we got to this point, the package can be used to resolve the dependency
                    if source in [P_WS, P_REMOTE]:
                        depends[name] = pkg
                        if recursive or depender is None:
                            recursive_depends = pkg.manifest.buildtool_depends + pkg.manifest.build_depends + pkg.manifest.run_depends + pkg.manifest.test_depends
                            queue += [(root_depender, name, p.name) for p in recursive_depends]
                    else:
                        system_depends.add(name)
                    break  # Success, do not check more candidates
                else:
                    if not candidates:
                        resolver_msgs.append("no such package available")
                    else:
                        resolver_msgs.append("not in workspace and cannot be cloned from Gitlab")
                    # No candidate matched, but maybe we got lucky and it's a known system dependency
                    # However, if it is requested explicitly, we won't use system dependencies
                    if depender is not None and name in get_rosdep():
                        system_depends.add(name)
                    else:
                        # We cannot resolve this
                        # If the package is unknown, i.e. does not have any installation candidates,
                        # we may choose to ignore it, if so instructed
                        if candidates or not ignore_missing:
                            conflicts[name] = resolver_msgs
        return depends, system_depends, conflicts
    queue = [(None, None, name) for name in packages]
    depends, system_depends, conflicts = try_resolve(queue)
    return depends, system_depends, conflicts
from .workspace import get_workspace_location, get_workspace_state, resolve_this, find_ros_root
from .config import Config
from .cache import Cache
from .ui import msg, warning, fatal, show_conflicts
from .util import call_process, PIPE
from .resolver import find_dependees
    from os import scandir
    from scandir import scandir
import os
# coding=utf-8
#
# ROSREPO
# Manage ROS workspaces with multiple Gitlab repositories
#
# Author: Timo Röhling
#
# Copyright 2016 Fraunhofer FKIE
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
#
try:
except ImportError:


def run(args):
    wsdir = get_workspace_location(args.workspace)
    config = Config(wsdir)
    cache = Cache(wsdir)
    ros_rootdir = find_ros_root(config.get("ros_root", None))
    if ros_rootdir is None:
        fatal("cannot detect ROS distribution. Have you sourced your setup.bash?\n")

    if args.this:
        if args.offline is None:
            args.offline = config.get("offline_mode", False)
            if args.offline:
                warning("offline mode. Run 'rosrepo config --online' to disable\n")
        ws_state = get_workspace_state(wsdir, config, cache, offline_mode=args.offline)
        args.packages = resolve_this(wsdir, ws_state)
    elif args.vanished or args.unused:
        if args.offline is None:
            args.offline = config.get("offline_mode", False)
            if args.offline:
                warning("offline mode. Run 'rosrepo config --online' to disable\n")

        ws_state = get_workspace_state(wsdir, config, cache, offline_mode=args.offline)