This file is indexed.

/usr/lib/python3/dist-packages/rospkg/manifest.py is in python3-rospkg 1.1.4-1.

This file is owned by root:root, with mode 0o644.

The actual contents of the file can be viewed below.

  1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
# 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.

"""
Library for processing 'manifest' files, i.e. manifest.xml and
stack.xml.
"""

import os
import sys
import xml.dom.minidom as dom

from .common import MANIFEST_FILE, PACKAGE_FILE, STACK_FILE

# stack.xml and manifest.xml have the same internal tags right now
REQUIRED = ['license']
ALLOWXHTML = ['description']
OPTIONAL = ['author', 'logo', 'url', 'brief', 'description', 'status',
            'notes', 'depend', 'rosdep', 'export', 'review',
            'versioncontrol', 'platform', 'version', 'rosbuild2',
            'catkin']
VALID = REQUIRED + OPTIONAL


class InvalidManifest(Exception):
    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: :exc:`InvalidManifest` If validation fails
    """
    def check(n, filename):
        n = _get_nodes_by_name(n, name)
        if len(n) > 1 and not merge_multiple:
            raise InvalidManifest("Invalid manifest file [%s]: must have a single '%s' element" % (filename, 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: :exc:`InvalidManifest` If validation fails
    """
    def check(n, filename):
        n = _get_nodes_by_name(n, name)
        if not n:
            return ''
        if len(n) != 1 and not merge_multiple:
            raise InvalidManifest("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(n, filename):
    """
    Validator for manifest platform.
    :raise: :exc:`InvalidManifest` If validation fails
    """
    platforms = _get_nodes_by_name(n, 'platform')
    try:
        vals = [(p.attributes['os'].value, p.attributes['version'].value, p.getAttribute('notes')) for p in platforms]
    except KeyError as e:
        raise InvalidManifest("<platform> tag is missing required '%s' attribute" % str(e))
    return [Platform(*v) for v in vals]


def _check_depends(type_, n, filename):
    """
    Validator for manifest depends.
    :raise: :exc:`InvalidManifest` If validation fails
    """
    nodes = _get_nodes_by_name(n, 'depend')
    # 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:
        depend_names = [d[type_].value for d in depends]
    except KeyError:
        raise InvalidManifest("Invalid manifest file [%s]: depends is missing '%s' attribute" % (filename, type_))

    return [Depend(name, type_) for name in depend_names]


def _check_rosdeps(n, filename):
    """
    Validator for stack rosdeps.

    :raises: :exc:`InvalidManifest` If validation fails
    """
    try:
        nodes = _get_nodes_by_name(n, 'rosdep')
        rosdeps = [e.attributes for e in nodes]
        names = [d['name'].value for d in rosdeps]
        return [RosDep(n) for n in names]
    except KeyError:
        raise InvalidManifest("invalid rosdep tag in [%s]" % (filename))


def _attrs(node):
    attrs = {}
    for k in node.attributes.keys():
        attrs[k] = node.attributes.get(k).value
    return attrs


def _check_exports(n, filename):
    ret_val = []
    for e in _get_nodes_by_name(n, 'export'):
        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


def _check(name, merge_multiple=False):
    """
    Generic validator for text-based tags.
    """
    if 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):
        """
        :returns: value of attribute or ``None`` if attribute not set, ``str``
        """
        return self.attrs.get(attr, None)


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, ``str``
        :param version: OS version. must be non-empty, ``str``
        :param notes: (optional) notes about platform support, ``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 __hash__(self):
        """
        :returns: an integer, which must be the same for two equal instances.

        Since __eq__ is defined, Python 3 requires that this class also provide a __hash__ method.
        """
        return hash(self.os) ^ hash(self.version) ^ hash(self.notes)


class Depend(object):
    """
    Manifest 'depend' tag
    """
    __slots__ = ['name', 'type']

    def __init__(self, name, type_):
        """
        Create new depend instance.
        :param name: dependency name (e.g. package/stack). Must be non-empty
        @type  name: str
        :param type_: dependency type, e.g. 'package', 'stack'.  Must be non-empty.
        @type  type_: str

        @raise ValueError: if parameters are invalid
        """
        if not name:
            raise ValueError("bad '%s' attribute" % (type_))
        if not type_:
            raise ValueError("type_ must be specified")
        self.name = name
        self.type = type_

    def __str__(self):
        return self.name

    def __repr__(self):
        return self.name

    def __eq__(self, obj):
        if not isinstance(obj, Depend):
            return False
        return self.name == obj.name and self.type == obj.type

    def __hash__(self):
        """
        :returns: an integer, which must be the same for two equal instances.

        Since __eq__ is defined, Python 3 requires that this class also provide a __hash__ method.
        """
        return hash(self.name) ^ hash(self.type)


class RosDep(object):
    """
    Manifest 'rosdep' tag
    """
    __slots__ = ['name']

    def __init__(self, name):
        """
        Create new rosdep instance.

        :param name: dependency name. Must be non-empty. ``str``
        """
        if not name:
            raise ValueError("bad 'name' attribute")
        self.name = name


class Manifest(object):
    """
    Object representation of a ROS manifest file (``manifest.xml`` and ``stack.xml``)
    """
    __slots__ = [
        'description', 'brief',
        'author', 'license', 'license_url', 'url',
        'depends', 'rosdeps', 'platforms',
        'exports', 'version',
        'status', 'notes',
        'unknown_tags', 'type', 'filename',
        'is_catkin']

    def __init__(self, type_='package', filename=None, is_catkin=False):
        """
        :param type: `'package'` or `'stack'`
        :param filename: location of manifest file.  Necessary if
          converting ``${prefix}`` in ``<export>`` values, ``str``.
        """
        self.description = self.brief = self.author = \
            self.license = self.license_url = \
            self.url = self.status = \
            self.version = self.notes = ''
        self.depends = []
        self.rosdeps = []
        self.exports = []
        self.platforms = []
        self.is_catkin = is_catkin

        self.type = type_
        self.filename = filename

        # store unrecognized tags during parsing
        self.unknown_tags = []

    def get_export(self, tag, attr, convert=True):
        """
        :param tag: Name of XML tag to retrieve, ``str``
        :param attr: Name of XML attribute to retrieve from tag, ``str``
        :param convert: If ``True``, interpret variables (e.g. ``${prefix}``) export values.
        :returns: exports that match the specified tag and attribute, e.g. 'python', 'path'. ``[str]``
        """
        vals = [e.get(attr) for e in self.exports if e.tag == tag if e.get(attr) is not None]
        if convert:
            if not self.filename:
                raise ValueError("cannot convert export values when filename for Manifest is not set")
            prefix = os.path.dirname(self.filename)
            vals = [v.replace('${prefix}', prefix) for v in vals]
        return vals


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])


_static_rosdep_view = None


def parse_manifest_file(dirpath, manifest_name, rospack=None):
    """
    Parse manifest file (package, stack).  Type will be inferred from manifest_name.

    :param dirpath: directory of manifest file, ``str``
    :param manifest_name: ``MANIFEST_FILE`` or ``STACK_FILE``, ``str``
    :param rospack: a RosPack instance to identify local packages as ROS packages

    :returns: return :class:`Manifest` instance, populated with parsed fields
    :raises: :exc:`InvalidManifest`
    :raises: :exc:`IOError`
    """
    filename = os.path.join(dirpath, manifest_name)
    if not os.path.isfile(filename):
        # hack for backward compatibility
        package_filename = os.path.join(dirpath, PACKAGE_FILE)
        if not os.path.isfile(package_filename):
            raise IOError("Invalid/non-existent manifest file: %s" % filename)
        manifest = Manifest(filename=filename, is_catkin=True)

        # extract all information from package.xml
        from catkin_pkg.package import parse_package
        p = parse_package(package_filename)
        # put these into manifest
        manifest.description = p.description
        manifest.author = ', '.join([('Maintainer: %s' % str(m)) for m in p.maintainers] + [str(a) for a in p.authors])
        manifest.license = ', '.join(p.licenses)
        if p.urls:
            manifest.url = str(p.urls[0])
        manifest.version = p.version
        for export in p.exports:
            manifest.exports.append(Export(export.tagname, export.attributes, export.content))

        # split ros and system dependencies (using rosdep)
        try:
            from rosdep2.rospack import init_rospack_interface, is_ros_package, is_system_dependency, is_view_empty
            global _static_rosdep_view
            # initialize rosdep view once
            if _static_rosdep_view is None:
                _static_rosdep_view = init_rospack_interface()
                if is_view_empty(_static_rosdep_view):
                    sys.stderr.write("the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'\n")
                    _static_rosdep_view = False
            if _static_rosdep_view:
                depends = set([])
                rosdeps = set([])
                for d in (p.buildtool_depends + p.build_depends + p.run_depends + p.test_depends):
                    if (rospack and d.name in rospack.list()) or is_ros_package(_static_rosdep_view, d.name):
                        depends.add(d.name)
                    if is_system_dependency(_static_rosdep_view, d.name):
                        rosdeps.add(d.name)
                for name in depends:
                    manifest.depends.append(Depend(name, 'package'))
                for name in rosdeps:
                    manifest.rosdeps.append(RosDep(name))
        except ImportError:
            pass

        return manifest

    with open(filename, 'r') as f:
        return parse_manifest(manifest_name, f.read(), filename)


def parse_manifest(manifest_name, string, filename='string'):
    """
    Parse manifest string contents.

    :param manifest_name: ``MANIFEST_FILE`` or ``STACK_FILE``, ``str``
    :param string: manifest.xml contents, ``str``
    :param filename: full file path for debugging, ``str``
    :returns: return parsed :class:`Manifest`
    """
    if manifest_name == MANIFEST_FILE:
        type_ = 'package'
    elif manifest_name == STACK_FILE:
        type_ = 'stack'

    try:
        d = dom.parseString(string)
    except Exception as e:
        raise InvalidManifest("[%s] invalid XML: %s" % (filename, e))

    m = Manifest(type_, filename)
    p = _get_nodes_by_name(d, type_)
    if len(p) != 1:
        raise InvalidManifest("manifest [%s] must have a single '%s' element" % (filename, 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

    m.depends = _check_depends(type_, p, filename)
    m.rosdeps = _check_rosdeps(p, filename)
    m.platforms = _check_platform(p, filename)
    m.exports = _check_exports(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)

    # do some validation on what we just parsed
    if type_ == 'stack':
        if m.exports:
            raise InvalidManifest("stack manifests are not allowed to have exports")
        if m.rosdeps:
            raise InvalidManifest("stack manifests are not allowed to have rosdeps")

    m.is_catkin = bool(_get_nodes_by_name(p, 'catkin')) or bool(_get_nodes_by_name(p, 'name'))

    # 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