#! /usr/bin/env python

# Copyright (c) 2009, Willow Garage, Inc.
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#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
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#       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.
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# Author Tully Foote/tfoote@willowgarage.com
from __future__ import print_function

import os
import sys
import subprocess

def assert_rospack_built():
    if os.path.exists(os.path.join(os.environ["ROS_ROOT"], "tools/rospack", "ROS_NOBUILD")):
        # Do not try to build rospack if a ROS_NOBUILD flag is present
        return True

    cmd = ["bash", "-c", "cd %s && make"%(os.path.join(os.environ["ROS_ROOT"], "tools/rospack"))]
    p = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE) 
    output = p.communicate()[0]
    if p.returncode != 0:
        
        print("Rospack failed to build:", output)
        return False

    p = subprocess.Popen(["which", "rospack"], stdout=subprocess.PIPE, stderr=subprocess.PIPE)
    output = p.communicate()
    if p.returncode != 0:
        print("Rospack not in path.  Please add ROS_ROOT/bin to PATH")
        return False
    return True
    
## make sure that rospack is built, it is a requirement for rosmake
if not assert_rospack_built():
    sys.exit(-1)

import roslib
roslib.load_manifest('rosmake')
import rosmake
result = 1
with rosmake.Printer():
    rma = rosmake.RosMakeAll()
    
    if rma.main():
        result = 0

#make sure the thread is done
rosmake.Printer().join()
import threading
for t in threading.enumerate():
    if t != threading.currentThread():
        # Join all threads before exiting
        print("Cleaning up thread", t)
        t.join()
sys.exit(result)
