def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description="Generate a 'Dockerfile' for the CI job")
# Positional
add_argument_rosdistro_name(parser)
add_argument_os_name(parser)
add_argument_os_code_name(parser)
add_argument_arch(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_distribution_repository_urls(parser)
add_argument_dockerfile_dir(parser)
add_argument_env_vars(parser)
add_argument_package_selection_args(parser)
add_argument_repos_file_urls(parser)
add_argument_repository_names(parser, optional=True)
add_argument_skip_rosdep_keys(parser)
add_argument_test_branch(parser)
parser.add_argument('--workspace-root',
nargs='+',
help='The root path of the workspace to compile')
args = parser.parse_args(argv)
assert args.repos_file_urls or args.repository_names
debian_pkg_names = [
'git',
'python3-apt',
'python3-colcon-metadata',
'python3-colcon-package-information',
'python3-colcon-package-selection',
'python3-colcon-recursive-crawl',
'python3-colcon-ros',
'python3-rosdep',
'python3-vcstool',
]
# get versions for build dependencies
apt_cache = Cache()
debian_pkg_versions = get_binary_package_versions(apt_cache,
debian_pkg_names)
# generate Dockerfile
data = {
'os_name':
args.os_name,
'os_code_name':
args.os_code_name,
'arch':
args.arch,
'distribution_repository_urls':
args.distribution_repository_urls,
'distribution_repository_keys':
get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'rosdistro_name':
args.rosdistro_name,
'custom_rosdep_urls': [],
'uid':
get_user_id(),
'build_environment_variables':
['%s=%s' % key_value for key_value in args.env_vars.items()],
'dependencies':
debian_pkg_names,
'dependency_versions':
debian_pkg_versions,
'repos_file_urls':
args.repos_file_urls,
'repository_names':
args.repository_names,
'test_branch':
args.test_branch,
'skip_rosdep_keys':
args.skip_rosdep_keys,
'package_selection_args':
args.package_selection_args,
'workspace_root':
args.workspace_root,
}
create_dockerfile('ci/create_workspace.Dockerfile.em', data,
args.dockerfile_dir)
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description="Generate a 'Dockerfile' for building the binarydeb")
add_argument_rosdistro_index_url(parser)
add_argument_rosdistro_name(parser)
add_argument_package_name(parser)
add_argument_os_name(parser)
add_argument_os_code_name(parser)
add_argument_arch(parser)
add_argument_distribution_repository_urls(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_binarydeb_dir(parser)
add_argument_dockerfile_dir(parser)
add_argument_env_vars(parser)
args = parser.parse_args(argv)
debian_package_name = get_debian_package_name(
args.rosdistro_name, args.package_name)
# get expected package version from rosdistro
index = get_index(args.rosdistro_index_url)
dist_file = get_distribution_file(index, args.rosdistro_name)
assert args.package_name in dist_file.release_packages
pkg = dist_file.release_packages[args.package_name]
repo = dist_file.repositories[pkg.repository_name]
package_version = repo.release_repository.version
debian_package_version = package_version
# build_binarydeb dependencies
debian_pkg_names = ['apt-src']
# add build dependencies from .dsc file
dsc_file = get_dsc_file(
args.binarydeb_dir, debian_package_name, debian_package_version)
debian_pkg_names += sorted(get_build_depends(dsc_file))
# get versions for build dependencies
apt_cache = Cache()
debian_pkg_versions = get_binary_package_versions(
apt_cache, debian_pkg_names)
# generate Dockerfile
data = {
'os_name': args.os_name,
'os_code_name': args.os_code_name,
'arch': args.arch,
'uid': get_user_id(),
'distribution_repository_urls': args.distribution_repository_urls,
'distribution_repository_keys': get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'build_environment_variables': args.env_vars,
'dependencies': debian_pkg_names,
'dependency_versions': debian_pkg_versions,
'install_lists': [],
'rosdistro_name': args.rosdistro_name,
'package_name': args.package_name,
'binarydeb_dir': args.binarydeb_dir,
}
create_dockerfile(
'release/binarydeb_task.Dockerfile.em', data, args.dockerfile_dir)
# output hints about necessary volumes to mount
ros_buildfarm_basepath = os.path.normpath(
os.path.join(os.path.dirname(__file__), '..', '..'))
print('Mount the following volumes when running the container:')
print(' -v %s:/tmp/ros_buildfarm:ro' % ros_buildfarm_basepath)
print(' -v %s:/tmp/binarydeb' % args.binarydeb_dir)
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description="Generate a 'Dockerfile' for the doc job")
add_argument_config_url(parser)
parser.add_argument(
'--rosdistro-name',
required=True,
help='The name of the ROS distro to identify the setup file to be '
'sourced')
add_argument_build_name(parser, 'doc')
parser.add_argument(
'--workspace-root',
required=True,
help='The root path of the workspace to compile')
parser.add_argument(
'--rosdoc-lite-dir',
required=True,
help='The root path of the rosdoc_lite repository')
parser.add_argument(
'--catkin-sphinx-dir',
required=True,
help='The root path of the catkin-sphinx repository')
parser.add_argument(
'--rosdoc-index-dir',
required=True,
help='The root path of the rosdoc_index folder')
add_argument_repository_name(parser)
parser.add_argument(
'--os-name',
required=True,
help="The OS name (e.g. 'ubuntu')")
parser.add_argument(
'--os-code-name',
required=True,
help="The OS code name (e.g. 'trusty')")
parser.add_argument(
'--arch',
required=True,
help="The architecture (e.g. 'amd64')")
add_argument_vcs_information(parser)
add_argument_distribution_repository_urls(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_force(parser)
add_argument_output_dir(parser, required=True)
add_argument_dockerfile_dir(parser)
args = parser.parse_args(argv)
config = get_config_index(args.config_url)
with Scope('SUBSECTION', 'packages'):
# find packages in workspace
source_space = os.path.join(args.workspace_root, 'src')
print("Crawling for packages in workspace '%s'" % source_space)
pkgs = find_packages(source_space)
pkg_names = [pkg.name for pkg in pkgs.values()]
print('Found the following packages:')
for pkg_name in sorted(pkg_names):
print(' -', pkg_name)
maintainer_emails = set([])
for pkg in pkgs.values():
for m in pkg.maintainers:
maintainer_emails.add(m.email)
if maintainer_emails:
print('Package maintainer emails: %s' %
' '.join(sorted(maintainer_emails)))
rosdoc_index = RosdocIndex(
[os.path.join(args.rosdoc_index_dir, args.rosdistro_name)])
vcs_type, vcs_version, vcs_url = args.vcs_info.split(' ', 2)
with Scope('SUBSECTION', 'determine need to run documentation generation'):
# compare hashes to determine if documentation needs to be regenerated
current_hashes = {}
current_hashes['ros_buildfarm'] = 2 # increase to retrigger doc jobs
current_hashes['rosdoc_lite'] = get_git_hash(args.rosdoc_lite_dir)
current_hashes['catkin-sphinx'] = get_git_hash(args.catkin_sphinx_dir)
repo_dir = os.path.join(
args.workspace_root, 'src', args.repository_name)
current_hashes[args.repository_name] = get_hash(repo_dir)
print('Current repository hashes: %s' % current_hashes)
tag_index_hashes = rosdoc_index.hashes.get(args.repository_name, {})
print('Stored repository hashes: %s' % tag_index_hashes)
skip_doc_generation = current_hashes == tag_index_hashes
if skip_doc_generation:
print('No changes to the source repository or any tooling repository')
if not args.force:
print('Skipping generation of documentation')
# create stamp files
print('Creating marker files to identify that documentation is ' +
'up-to-date')
create_stamp_files(pkg_names, os.path.join(args.output_dir, 'api'))
# check if any entry needs to be updated
print('Creating update manifest.yaml files')
for pkg_name in pkg_names:
# update manifest.yaml files
current_manifest_yaml_file = os.path.join(
args.rosdoc_index_dir, args.rosdistro_name, 'api', pkg_name,
'manifest.yaml')
if not os.path.exists(current_manifest_yaml_file):
print('- %s: skipping no manifest.yaml yet' % pkg_name)
continue
with open(current_manifest_yaml_file, 'r') as h:
remote_data = yaml.load(h)
data = copy.deepcopy(remote_data)
data['vcs'] = vcs_type
data['vcs_uri'] = vcs_url
data['vcs_version'] = vcs_version
data['depends_on'] = sorted(rosdoc_index.reverse_deps.get(pkg_name, []))
if data == remote_data:
print('- %s: skipping same data' % pkg_name)
continue
# write manifest.yaml if it has changes
print('- %s: api/%s/manifest.yaml' % (pkg_name, pkg_name))
dst = os.path.join(
args.output_dir, 'api', pkg_name, 'manifest.yaml')
dst_dir = os.path.dirname(dst)
if not os.path.exists(dst_dir):
os.makedirs(dst_dir)
with open(dst, 'w') as h:
yaml.dump(data, h, default_flow_style=False)
return 0
print("But job was started with the 'force' parameter set")
else:
print('The source repository and/or a tooling repository has changed')
print('Running generation of documentation')
rosdoc_index.hashes[args.repository_name] = current_hashes
rosdoc_index.write_modified_data(args.output_dir, ['hashes'])
# create stamp files
print('Creating marker files to identify that documentation is ' +
'up-to-date')
create_stamp_files(pkg_names, os.path.join(args.output_dir, 'api_rosdoc'))
index = get_index(config.rosdistro_index_url)
dist_file = get_distribution_file(index, args.rosdistro_name)
assert args.repository_name in dist_file.repositories
valid_package_names = \
set(pkg_names) | set(dist_file.release_packages.keys())
# update package deps and metapackage deps
with Scope('SUBSECTION', 'updated rosdoc_index information'):
for pkg in pkgs.values():
print("Updating dependendencies for package '%s'" % pkg.name)
depends = _get_build_run_doc_dependencies(pkg)
ros_dependency_names = sorted(set([
d.name for d in depends if d.name in valid_package_names]))
rosdoc_index.set_forward_deps(pkg.name, ros_dependency_names)
if pkg.is_metapackage():
print("Updating dependendencies for metapackage '%s'" %
pkg.name)
depends = _get_run_dependencies(pkg)
ros_dependency_names = sorted(set([
d.name for d in depends if d.name in valid_package_names]))
else:
ros_dependency_names = None
rosdoc_index.set_metapackage_deps(
pkg.name, ros_dependency_names)
rosdoc_index.write_modified_data(
args.output_dir, ['deps', 'metapackage_deps'])
# generate changelog html from rst
package_names_with_changelogs = set([])
with Scope('SUBSECTION', 'generate changelog html from rst'):
for pkg_path, pkg in pkgs.items():
abs_pkg_path = os.path.join(source_space, pkg_path)
assert os.path.exists(os.path.join(abs_pkg_path, 'package.xml'))
changelog_file = os.path.join(abs_pkg_path, 'CHANGELOG.rst')
if os.path.exists(changelog_file):
print(("Package '%s' contains a CHANGELOG.rst, generating " +
"html") % pkg.name)
package_names_with_changelogs.add(pkg.name)
with open(changelog_file, 'r') as h:
rst_code = h.read()
from docutils.core import publish_string
html_code = publish_string(rst_code, writer_name='html')
html_code = html_code.decode()
# strip system message from html output
open_tag = re.escape('<div class="first system-message">')
close_tag = re.escape('</div>')
pattern = '(' + open_tag + '.+?' + close_tag + ')'
html_code = re.sub(pattern, '', html_code, flags=re.DOTALL)
pkg_changelog_doc_path = os.path.join(
args.output_dir, 'changelogs', pkg.name)
os.makedirs(pkg_changelog_doc_path)
with open(os.path.join(
pkg_changelog_doc_path, 'changelog.html'), 'w') as h:
h.write(html_code)
ordered_pkg_tuples = topological_order_packages(pkgs)
# create rosdoc tag list and location files
with Scope('SUBSECTION', 'create rosdoc tag list and location files'):
for _, pkg in ordered_pkg_tuples:
dst = os.path.join(
args.output_dir, 'rosdoc_tags', '%s.yaml' % pkg.name)
print("Generating rosdoc tag list file for package '%s'" %
pkg.name)
dep_names = rosdoc_index.get_recursive_dependencies(pkg.name)
# make sure that we don't pass our own tagfile to ourself
# bad things happen when we do this
assert pkg.name not in dep_names
locations = []
for dep_name in sorted(dep_names):
if dep_name not in rosdoc_index.locations:
print("- skipping not existing location file of " +
"dependency '%s'" % dep_name)
continue
print("- including location files of dependency '%s'" %
dep_name)
dep_locations = rosdoc_index.locations[dep_name]
if dep_locations:
for dep_location in dep_locations:
assert dep_location['package'] == dep_name
# update tag information to point to local location
location = copy.deepcopy(dep_location)
if not location['location'].startswith('file://'):
location['location'] = 'file://%s' % os.path.join(
args.rosdoc_index_dir, location['location'])
locations.append(location)
dst_dir = os.path.dirname(dst)
if not os.path.exists(dst_dir):
os.makedirs(dst_dir)
with open(dst, 'w') as h:
yaml.dump(locations, h)
print("Creating location file for package '%s'" % pkg.name)
data = {
'docs_url': '../../../api/%s/html' % pkg.name,
'location': 'file://%s' % os.path.join(
args.output_dir, 'symbols', '%s.tag' % pkg.name),
'package': pkg.name,
}
rosdoc_index.locations[pkg.name] = [data]
# do not write these local locations
# used to determine all source and release jobs
source_build_files = get_source_build_files(config, args.rosdistro_name)
release_build_files = get_release_build_files(config, args.rosdistro_name)
# TODO this should reuse the logic from the job generation
used_source_build_names = []
for source_build_name, build_file in source_build_files.items():
repo_names = build_file.filter_repositories([args.repository_name])
if not repo_names:
continue
matching_dist_file = get_distribution_file_matching_build_file(
index, args.rosdistro_name, build_file)
repo = matching_dist_file.repositories[args.repository_name]
if not repo.source_repository:
continue
if not repo.source_repository.version:
continue
if build_file.test_commits_force is False:
continue
elif repo.source_repository.test_commits is False:
continue
elif repo.source_repository.test_commits is None and \
not build_file.test_commits_default:
continue
used_source_build_names.append(source_build_name)
# create manifest.yaml files from repository / package meta information
# will be merged with the manifest.yaml file generated by rosdoc_lite later
repository = dist_file.repositories[args.repository_name]
with Scope('SUBSECTION', 'create manifest.yaml files'):
for pkg in pkgs.values():
data = {}
data['vcs'] = vcs_type
data['vcs_uri'] = vcs_url
data['vcs_version'] = vcs_version
data['repo_name'] = args.repository_name
data['timestamp'] = time.time()
data['depends'] = sorted(rosdoc_index.forward_deps.get(pkg.name, []))
data['depends_on'] = sorted(rosdoc_index.reverse_deps.get(pkg.name, []))
if pkg.name in rosdoc_index.metapackage_index:
data['metapackages'] = rosdoc_index.metapackage_index[pkg.name]
if pkg.name in rosdoc_index.metapackage_deps:
data['packages'] = rosdoc_index.metapackage_deps[pkg.name]
if pkg.name in package_names_with_changelogs:
data['has_changelog_rst'] = True
data['api_documentation'] = 'http://docs.ros.org/%s/api/%s/html' % \
(args.rosdistro_name, pkg.name)
pkg_status = None
pkg_status_description = None
# package level status information
if pkg.name in repository.status_per_package:
pkg_status_data = repository.status_per_package[pkg.name]
pkg_status = pkg_status_data.get('status', None)
pkg_status_description = pkg_status_data.get(
'status_description', None)
# repository level status information
if pkg_status is None:
pkg_status = repository.status
if pkg_status_description is None:
pkg_status_description = repository.status_description
if pkg_status is not None:
data['maintainer_status'] = pkg_status
if pkg_status_description is not None:
data['maintainer_status_description'] = pkg_status_description
# add doc job url
data['doc_job'] = get_doc_job_url(
config.jenkins_url, args.rosdistro_name, args.doc_build_name,
args.repository_name, args.os_name, args.os_code_name,
args.arch)
# add devel job urls
build_files = {}
for build_name in used_source_build_names:
build_files[build_name] = source_build_files[build_name]
devel_job_urls = get_devel_job_urls(
config.jenkins_url, build_files, args.rosdistro_name,
args.repository_name)
if devel_job_urls:
data['devel_jobs'] = devel_job_urls
# TODO this should reuse the logic from the job generation
used_release_build_names = []
for release_build_name, build_file in release_build_files.items():
filtered_pkg_names = build_file.filter_packages([pkg.name])
if not filtered_pkg_names:
continue
matching_dist_file = get_distribution_file_matching_build_file(
index, args.rosdistro_name, build_file)
repo = matching_dist_file.repositories[args.repository_name]
if not repo.release_repository:
continue
if not repo.release_repository.version:
continue
used_release_build_names.append(release_build_name)
# add release job urls
build_files = {}
for build_name in used_release_build_names:
build_files[build_name] = release_build_files[build_name]
release_job_urls = get_release_job_urls(
config.jenkins_url, build_files, args.rosdistro_name, pkg.name)
if release_job_urls:
data['release_jobs'] = release_job_urls
# write manifest.yaml
dst = os.path.join(
args.output_dir, 'manifests', pkg.name, 'manifest.yaml')
dst_dir = os.path.dirname(dst)
if not os.path.exists(dst_dir):
os.makedirs(dst_dir)
with open(dst, 'w') as h:
yaml.dump(data, h)
# overwrite CMakeLists.txt files of each package
with Scope(
'SUBSECTION',
'overwrite CMakeLists.txt files to only generate messages'
):
for pkg_path, pkg in pkgs.items():
abs_pkg_path = os.path.join(source_space, pkg_path)
build_types = [
e.content for e in pkg.exports if e.tagname == 'build_type']
build_type_cmake = build_types and build_types[0] == 'cmake'
data = {
'package_name': pkg.name,
'build_type_cmake': build_type_cmake,
}
content = expand_template('doc/CMakeLists.txt.em', data)
print("Generating 'CMakeLists.txt' for package '%s'" %
pkg.name)
cmakelist_file = os.path.join(abs_pkg_path, 'CMakeLists.txt')
with open(cmakelist_file, 'w') as h:
h.write(content)
with Scope(
'SUBSECTION',
'determine dependencies and generate Dockerfile'
):
# initialize rosdep view
context = initialize_resolver(
args.rosdistro_name, args.os_name, args.os_code_name)
apt_cache = Cache()
debian_pkg_names = [
'build-essential',
'openssh-client',
'python3',
'python3-yaml',
'rsync',
# the following are required by rosdoc_lite
'doxygen',
'python-catkin-pkg',
'python-epydoc',
'python-kitchen',
'python-rospkg',
'python-sphinx',
'python-yaml',
# since catkin is not a run dependency but provides the setup files
get_debian_package_name(args.rosdistro_name, 'catkin'),
# rosdoc_lite does not work without genmsg being importable
get_debian_package_name(args.rosdistro_name, 'genmsg'),
]
if 'actionlib_msgs' in pkg_names:
# to document actions in other packages in the same repository
debian_pkg_names.append(
get_debian_package_name(args.rosdistro_name, 'actionlib_msgs'))
print('Always install the following generic dependencies:')
for debian_pkg_name in sorted(debian_pkg_names):
print(' -', debian_pkg_name)
debian_pkg_versions = {}
# get build, run and doc dependencies and map them to binary packages
depends = get_dependencies(
pkgs.values(), 'build, run and doc', _get_build_run_doc_dependencies)
debian_pkg_names_depends = resolve_names(depends, **context)
debian_pkg_names_depends -= set(debian_pkg_names)
debian_pkg_names += order_dependencies(debian_pkg_names_depends)
missing_debian_pkg_names = []
for debian_pkg_name in debian_pkg_names:
try:
debian_pkg_versions.update(
get_binary_package_versions(apt_cache, [debian_pkg_name]))
except KeyError:
missing_debian_pkg_names.append(debian_pkg_name)
if missing_debian_pkg_names:
# we allow missing dependencies to support basic documentation
# of packages which use not released dependencies
print('# BEGIN SUBSECTION: MISSING DEPENDENCIES might result in failing build')
for debian_pkg_name in missing_debian_pkg_names:
print("Could not find apt package '%s', skipping dependency" %
debian_pkg_name)
debian_pkg_names.remove(debian_pkg_name)
print('# END SUBSECTION')
build_files = get_doc_build_files(config, args.rosdistro_name)
build_file = build_files[args.doc_build_name]
rosdoc_config_files = {}
for pkg_path, pkg in pkgs.items():
abs_pkg_path = os.path.join(source_space, pkg_path)
rosdoc_exports = [
e.attributes['content'] for e in pkg.exports
if e.tagname == 'rosdoc' and 'content' in e.attributes]
prefix = '${prefix}'
rosdoc_config_file = rosdoc_exports[-1] \
if rosdoc_exports else '%s/rosdoc.yaml' % prefix
rosdoc_config_file = rosdoc_config_file.replace(prefix, abs_pkg_path)
if os.path.isfile(rosdoc_config_file):
rosdoc_config_files[pkg.name] = rosdoc_config_file
# generate Dockerfile
data = {
'os_name': args.os_name,
'os_code_name': args.os_code_name,
'arch': args.arch,
'distribution_repository_urls': args.distribution_repository_urls,
'distribution_repository_keys': get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'rosdistro_name': args.rosdistro_name,
'uid': get_user_id(),
'dependencies': debian_pkg_names,
'dependency_versions': debian_pkg_versions,
'canonical_base_url': build_file.canonical_base_url,
'ordered_pkg_tuples': ordered_pkg_tuples,
'rosdoc_config_files': rosdoc_config_files,
}
create_dockerfile(
'doc/doc_task.Dockerfile.em', data, args.dockerfile_dir)
def write_install_list(install_list_path, debian_pkg_names, apt_cache):
debian_pkg_versions = get_binary_package_versions(apt_cache, debian_pkg_names)
with open(install_list_path, 'w') as out_file:
for pkg, pkg_version in sorted(debian_pkg_versions.items()):
out_file.write('%s=%s\n' % (pkg, pkg_version))
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description="Generate a 'Dockerfile' for the doc job")
add_argument_config_url(parser)
parser.add_argument(
'--rosdistro-name',
required=True,
help='The name of the ROS distro to identify the setup file to be '
'sourced')
add_argument_build_name(parser, 'doc')
parser.add_argument('--workspace-root',
required=True,
help='The root path of the workspace to compile')
parser.add_argument('--rosdoc-lite-dir',
required=True,
help='The root path of the rosdoc_lite repository')
parser.add_argument('--catkin-sphinx-dir',
required=True,
help='The root path of the catkin-sphinx repository')
parser.add_argument('--rosdoc-index-dir',
required=True,
help='The root path of the rosdoc_index folder')
add_argument_repository_name(parser)
parser.add_argument('--os-name',
required=True,
help="The OS name (e.g. 'ubuntu')")
parser.add_argument('--os-code-name',
required=True,
help="The OS code name (e.g. 'xenial')")
parser.add_argument('--arch',
required=True,
help="The architecture (e.g. 'amd64')")
add_argument_build_tool(parser, required=True)
add_argument_vcs_information(parser)
add_argument_distribution_repository_urls(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_force(parser)
add_argument_output_dir(parser, required=True)
add_argument_dockerfile_dir(parser)
args = parser.parse_args(argv)
config = get_config_index(args.config_url)
index = get_index(config.rosdistro_index_url)
condition_context = get_package_condition_context(index,
args.rosdistro_name)
with Scope('SUBSECTION', 'packages'):
# find packages in workspace
source_space = os.path.join(args.workspace_root, 'src')
print("Crawling for packages in workspace '%s'" % source_space)
pkgs = find_packages(source_space)
for pkg in pkgs.values():
pkg.evaluate_conditions(condition_context)
pkg_names = [pkg.name for pkg in pkgs.values()]
print('Found the following packages:')
for pkg_name in sorted(pkg_names):
print(' -', pkg_name)
maintainer_emails = set([])
for pkg in pkgs.values():
for m in pkg.maintainers:
maintainer_emails.add(m.email)
if maintainer_emails:
print('Package maintainer emails: %s' %
' '.join(sorted(maintainer_emails)))
rosdoc_index = RosdocIndex(
[os.path.join(args.rosdoc_index_dir, args.rosdistro_name)])
vcs_type, vcs_version, vcs_url = args.vcs_info.split(' ', 2)
with Scope('SUBSECTION', 'determine need to run documentation generation'):
# compare hashes to determine if documentation needs to be regenerated
current_hashes = {}
current_hashes['ros_buildfarm'] = 2 # increase to retrigger doc jobs
current_hashes['rosdoc_lite'] = get_git_hash(args.rosdoc_lite_dir)
current_hashes['catkin-sphinx'] = get_git_hash(args.catkin_sphinx_dir)
repo_dir = os.path.join(args.workspace_root, 'src',
args.repository_name)
current_hashes[args.repository_name] = get_hash(repo_dir)
print('Current repository hashes: %s' % current_hashes)
tag_index_hashes = rosdoc_index.hashes.get(args.repository_name, {})
print('Stored repository hashes: %s' % tag_index_hashes)
skip_doc_generation = current_hashes == tag_index_hashes
if skip_doc_generation:
print('No changes to the source repository or any tooling repository')
if not args.force:
print('Skipping generation of documentation')
# create stamp files
print('Creating marker files to identify that documentation is ' +
'up-to-date')
create_stamp_files(pkg_names, os.path.join(args.output_dir, 'api'))
# check if any entry needs to be updated
print('Creating update manifest.yaml files')
for pkg_name in pkg_names:
# update manifest.yaml files
current_manifest_yaml_file = os.path.join(
args.rosdoc_index_dir, args.rosdistro_name, 'api',
pkg_name, 'manifest.yaml')
if not os.path.exists(current_manifest_yaml_file):
print('- %s: skipping no manifest.yaml yet' % pkg_name)
continue
with open(current_manifest_yaml_file, 'r') as h:
remote_data = yaml.safe_load(h)
data = copy.deepcopy(remote_data)
data['vcs'] = vcs_type
data['vcs_uri'] = vcs_url
data['vcs_version'] = vcs_version
data['depends_on'] = sorted(
rosdoc_index.reverse_deps.get(pkg_name, []))
if data == remote_data:
print('- %s: skipping same data' % pkg_name)
continue
# write manifest.yaml if it has changes
print('- %s: api/%s/manifest.yaml' % (pkg_name, pkg_name))
dst = os.path.join(args.output_dir, 'api', pkg_name,
'manifest.yaml')
dst_dir = os.path.dirname(dst)
if not os.path.exists(dst_dir):
os.makedirs(dst_dir)
with open(dst, 'w') as h:
yaml.dump(data, h, default_flow_style=False)
return 0
print("But job was started with the 'force' parameter set")
else:
print('The source repository and/or a tooling repository has changed')
print('Running generation of documentation')
rosdoc_index.hashes[args.repository_name] = current_hashes
rosdoc_index.write_modified_data(args.output_dir, ['hashes'])
# create stamp files
print('Creating marker files to identify that documentation is ' +
'up-to-date')
create_stamp_files(pkg_names, os.path.join(args.output_dir, 'api_rosdoc'))
dist_file = get_distribution_file(index, args.rosdistro_name)
assert args.repository_name in dist_file.repositories
valid_package_names = \
set(pkg_names) | set(dist_file.release_packages.keys())
# update package deps and metapackage deps
with Scope('SUBSECTION', 'updated rosdoc_index information'):
for pkg in pkgs.values():
print("Updating dependendencies for package '%s'" % pkg.name)
depends = _get_build_run_doc_dependencies(pkg)
ros_dependency_names = sorted(
set([d.name for d in depends
if d.name in valid_package_names]))
rosdoc_index.set_forward_deps(pkg.name, ros_dependency_names)
if pkg.is_metapackage():
print("Updating dependendencies for metapackage '%s'" %
pkg.name)
depends = _get_run_dependencies(pkg)
ros_dependency_names = sorted(
set([
d.name for d in depends
if d.name in valid_package_names
]))
else:
ros_dependency_names = None
rosdoc_index.set_metapackage_deps(pkg.name, ros_dependency_names)
rosdoc_index.write_modified_data(args.output_dir,
['deps', 'metapackage_deps'])
# generate changelog html from rst
package_names_with_changelogs = set([])
with Scope('SUBSECTION', 'generate changelog html from rst'):
for pkg_path, pkg in pkgs.items():
abs_pkg_path = os.path.join(source_space, pkg_path)
assert os.path.exists(os.path.join(abs_pkg_path, 'package.xml'))
changelog_file = os.path.join(abs_pkg_path, 'CHANGELOG.rst')
if os.path.exists(changelog_file):
print(("Package '%s' contains a CHANGELOG.rst, generating " +
"html") % pkg.name)
package_names_with_changelogs.add(pkg.name)
with open(changelog_file, 'r') as h:
rst_code = h.read()
from docutils.core import publish_string
html_code = publish_string(rst_code, writer_name='html')
html_code = html_code.decode()
# strip system message from html output
open_tag = re.escape('<div class="first system-message">')
close_tag = re.escape('</div>')
pattern = '(' + open_tag + '.+?' + close_tag + ')'
html_code = re.sub(pattern, '', html_code, flags=re.DOTALL)
pkg_changelog_doc_path = os.path.join(args.output_dir,
'changelogs', pkg.name)
os.makedirs(pkg_changelog_doc_path)
with open(
os.path.join(pkg_changelog_doc_path, 'changelog.html'),
'w') as h:
h.write(html_code)
ordered_pkg_tuples = topological_order_packages(pkgs)
# create rosdoc tag list and location files
with Scope('SUBSECTION', 'create rosdoc tag list and location files'):
rosdoc_config_files = {}
for pkg_path, pkg in pkgs.items():
abs_pkg_path = os.path.join(source_space, pkg_path)
rosdoc_exports = [
e.attributes['content'] for e in pkg.exports
if e.tagname == 'rosdoc' and 'content' in e.attributes
]
prefix = '${prefix}'
rosdoc_config_file = rosdoc_exports[-1] \
if rosdoc_exports else '%s/rosdoc.yaml' % prefix
rosdoc_config_file = rosdoc_config_file.replace(
prefix, abs_pkg_path)
if os.path.isfile(rosdoc_config_file):
rosdoc_config_files[pkg.name] = rosdoc_config_file
for _, pkg in ordered_pkg_tuples:
dst = os.path.join(args.output_dir, 'rosdoc_tags',
'%s.yaml' % pkg.name)
print("Generating rosdoc tag list file for package '%s'" %
pkg.name)
dep_names = rosdoc_index.get_recursive_dependencies(pkg.name)
# make sure that we don't pass our own tagfile to ourself
# bad things happen when we do this
assert pkg.name not in dep_names
locations = []
for dep_name in sorted(dep_names):
if dep_name not in rosdoc_index.locations:
print("- skipping not existing location file of " +
"dependency '%s'" % dep_name)
continue
print("- including location files of dependency '%s'" %
dep_name)
dep_locations = rosdoc_index.locations[dep_name]
if dep_locations:
for dep_location in dep_locations:
assert dep_location['package'] == dep_name
# update tag information to point to local location
location = copy.deepcopy(dep_location)
if not location['location'].startswith('file://'):
location['location'] = 'file://%s' % os.path.join(
args.rosdoc_index_dir, location['location'])
locations.append(location)
dst_dir = os.path.dirname(dst)
if not os.path.exists(dst_dir):
os.makedirs(dst_dir)
with open(dst, 'w') as h:
yaml.dump(locations, h)
print("Creating location file for package '%s'" % pkg.name)
data = {
'docs_url':
'../../../api/%s/html' % pkg.name,
'location':
'file://%s' %
os.path.join(args.output_dir, 'symbols', '%s.tag' % pkg.name),
'package':
pkg.name,
}
# fetch generator specific output folders from rosdoc_lite
if pkg.name in rosdoc_config_files:
output_folders = get_generator_output_folders(
rosdoc_config_files[pkg.name], pkg.name)
if 'doxygen' in output_folders:
data['docs_url'] += '/' + output_folders['doxygen']
rosdoc_index.locations[pkg.name] = [data]
# do not write these local locations
# used to determine all source and release jobs
source_build_files = get_source_build_files(config, args.rosdistro_name)
release_build_files = get_release_build_files(config, args.rosdistro_name)
# TODO this should reuse the logic from the job generation
used_source_build_names = []
for source_build_name, build_file in source_build_files.items():
repo_names = build_file.filter_repositories([args.repository_name])
if not repo_names:
continue
matching_dist_file = get_distribution_file_matching_build_file(
index, args.rosdistro_name, build_file)
repo = matching_dist_file.repositories[args.repository_name]
if not repo.source_repository:
continue
if not repo.source_repository.version:
continue
if build_file.test_commits_force is False:
continue
elif repo.source_repository.test_commits is False:
continue
elif repo.source_repository.test_commits is None and \
not build_file.test_commits_default:
continue
used_source_build_names.append(source_build_name)
doc_build_files = get_doc_build_files(config, args.rosdistro_name)
doc_build_file = doc_build_files[args.doc_build_name]
# create manifest.yaml files from repository / package meta information
# will be merged with the manifest.yaml file generated by rosdoc_lite later
repository = dist_file.repositories[args.repository_name]
with Scope('SUBSECTION', 'create manifest.yaml files'):
for pkg in pkgs.values():
data = {}
data['vcs'] = vcs_type
data['vcs_uri'] = vcs_url
data['vcs_version'] = vcs_version
data['repo_name'] = args.repository_name
data['timestamp'] = time.time()
data['depends'] = sorted(
rosdoc_index.forward_deps.get(pkg.name, []))
data['depends_on'] = sorted(
rosdoc_index.reverse_deps.get(pkg.name, []))
if pkg.name in rosdoc_index.metapackage_index:
data['metapackages'] = rosdoc_index.metapackage_index[pkg.name]
if pkg.name in rosdoc_index.metapackage_deps:
data['packages'] = rosdoc_index.metapackage_deps[pkg.name]
if pkg.name in package_names_with_changelogs:
data['has_changelog_rst'] = True
data['api_documentation'] = '%s/%s/api/%s/html' % \
(doc_build_file.canonical_base_url, args.rosdistro_name, pkg.name)
pkg_status = None
pkg_status_description = None
# package level status information
if pkg.name in repository.status_per_package:
pkg_status_data = repository.status_per_package[pkg.name]
pkg_status = pkg_status_data.get('status', None)
pkg_status_description = pkg_status_data.get(
'status_description', None)
# repository level status information
if pkg_status is None:
pkg_status = repository.status
if pkg_status_description is None:
pkg_status_description = repository.status_description
if pkg_status is not None:
data['maintainer_status'] = pkg_status
if pkg_status_description is not None:
data['maintainer_status_description'] = pkg_status_description
# add doc job url
data['doc_job'] = get_doc_job_url(config.jenkins_url,
args.rosdistro_name,
args.doc_build_name,
args.repository_name,
args.os_name, args.os_code_name,
args.arch)
# add devel job urls
build_files = {}
for build_name in used_source_build_names:
build_files[build_name] = source_build_files[build_name]
devel_job_urls = get_devel_job_urls(config.jenkins_url,
build_files,
args.rosdistro_name,
args.repository_name)
if devel_job_urls:
data['devel_jobs'] = devel_job_urls
# TODO this should reuse the logic from the job generation
used_release_build_names = []
for release_build_name, build_file in release_build_files.items():
filtered_pkg_names = build_file.filter_packages([pkg.name])
if not filtered_pkg_names:
continue
matching_dist_file = get_distribution_file_matching_build_file(
index, args.rosdistro_name, build_file)
repo = matching_dist_file.repositories[args.repository_name]
if not repo.release_repository:
continue
if not repo.release_repository.version:
continue
used_release_build_names.append(release_build_name)
# add release job urls
build_files = {}
for build_name in used_release_build_names:
build_files[build_name] = release_build_files[build_name]
release_job_urls = get_release_job_urls(config.jenkins_url,
build_files,
args.rosdistro_name,
pkg.name)
if release_job_urls:
data['release_jobs'] = release_job_urls
# write manifest.yaml
dst = os.path.join(args.output_dir, 'manifests', pkg.name,
'manifest.yaml')
dst_dir = os.path.dirname(dst)
if not os.path.exists(dst_dir):
os.makedirs(dst_dir)
with open(dst, 'w') as h:
yaml.dump(data, h)
# overwrite CMakeLists.txt files of each package
with Scope('SUBSECTION',
'overwrite CMakeLists.txt files to only generate messages'):
for pkg_path, pkg in pkgs.items():
abs_pkg_path = os.path.join(source_space, pkg_path)
build_types = [
e.content for e in pkg.exports if e.tagname == 'build_type'
]
build_type_cmake = build_types and build_types[0] == 'cmake'
data = {
'package_name': pkg.name,
'build_type_cmake': build_type_cmake,
}
content = expand_template('doc/CMakeLists.txt.em', data)
print("Generating 'CMakeLists.txt' for package '%s'" % pkg.name)
cmakelist_file = os.path.join(abs_pkg_path, 'CMakeLists.txt')
with open(cmakelist_file, 'w') as h:
h.write(content)
with Scope('SUBSECTION', 'determine dependencies and generate Dockerfile'):
# initialize rosdep view
context = initialize_resolver(args.rosdistro_name, args.os_name,
args.os_code_name)
apt_cache = Cache()
debian_pkg_names = [
'build-essential',
'openssh-client',
'python3',
'python3-yaml',
'rsync',
# the following are required by rosdoc_lite
'doxygen',
# since catkin is not a run dependency but provides the setup files
get_os_package_name(args.rosdistro_name, 'catkin'),
# rosdoc_lite does not work without genmsg being importable
get_os_package_name(args.rosdistro_name, 'genmsg'),
]
if '3' == str(condition_context['ROS_PYTHON_VERSION']):
# the following are required by rosdoc_lite
debian_pkg_names.extend([
'python3-catkin-pkg-modules', 'python3-kitchen',
'python3-rospkg-modules', 'python3-sphinx', 'python3-yaml'
])
else:
if '2' != str(condition_context['ROS_PYTHON_VERSION']):
print('Unknown python version, using Python 2',
condition_context)
# the following are required by rosdoc_lite
debian_pkg_names.extend([
'python-catkin-pkg-modules', 'python-epydoc', 'python-kitchen',
'python-rospkg', 'python-sphinx', 'python-yaml'
])
if args.build_tool == 'colcon':
debian_pkg_names.append('python3-colcon-ros')
if 'actionlib_msgs' in pkg_names:
# to document actions in other packages in the same repository
debian_pkg_names.append(
get_os_package_name(args.rosdistro_name, 'actionlib_msgs'))
print('Always install the following generic dependencies:')
for debian_pkg_name in sorted(debian_pkg_names):
print(' -', debian_pkg_name)
debian_pkg_versions = {}
# get build, run and doc dependencies and map them to binary packages
depends = get_dependencies(pkgs.values(), 'build, run and doc',
_get_build_run_doc_dependencies)
debian_pkg_names_depends = resolve_names(depends, **context)
debian_pkg_names_depends -= set(debian_pkg_names)
debian_pkg_names += order_dependencies(debian_pkg_names_depends)
missing_debian_pkg_names = []
for debian_pkg_name in debian_pkg_names:
try:
debian_pkg_versions.update(
get_binary_package_versions(apt_cache, [debian_pkg_name]))
except KeyError:
missing_debian_pkg_names.append(debian_pkg_name)
if missing_debian_pkg_names:
# we allow missing dependencies to support basic documentation
# of packages which use not released dependencies
print(
'# BEGIN SUBSECTION: MISSING DEPENDENCIES might result in failing build'
)
for debian_pkg_name in missing_debian_pkg_names:
print("Could not find apt package '%s', skipping dependency" %
debian_pkg_name)
debian_pkg_names.remove(debian_pkg_name)
print('# END SUBSECTION')
# generate Dockerfile
data = {
'os_name':
args.os_name,
'os_code_name':
args.os_code_name,
'arch':
args.arch,
'build_tool':
doc_build_file.build_tool,
'distribution_repository_urls':
args.distribution_repository_urls,
'distribution_repository_keys':
get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'environment_variables': [
'ROS_PYTHON_VERSION={}'.format(
condition_context['ROS_PYTHON_VERSION'])
],
'rosdistro_name':
args.rosdistro_name,
'uid':
get_user_id(),
'dependencies':
debian_pkg_names,
'dependency_versions':
debian_pkg_versions,
'install_lists': [],
'canonical_base_url':
doc_build_file.canonical_base_url,
'ordered_pkg_tuples':
ordered_pkg_tuples,
'rosdoc_config_files':
rosdoc_config_files,
}
create_dockerfile('doc/doc_task.Dockerfile.em', data,
args.dockerfile_dir)
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description="Generate a 'Dockerfile' for the devel job")
parser.add_argument(
'--rosdistro-name',
required=True,
help='The name of the ROS distro to identify the setup file to be '
'sourced')
parser.add_argument(
'--workspace-root',
nargs='+',
help='The root path of the workspace to compile')
parser.add_argument(
'--os-name',
required=True,
help="The OS name (e.g. 'ubuntu')")
parser.add_argument(
'--os-code-name',
required=True,
help="The OS code name (e.g. 'xenial')")
parser.add_argument(
'--arch',
required=True,
help="The architecture (e.g. 'amd64')")
add_argument_distribution_repository_urls(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_dockerfile_dir(parser)
parser.add_argument(
'--testing',
action='store_true',
help='The flag if the workspace should be built with tests enabled '
'and instead of installing the tests are ran')
args = parser.parse_args(argv)
# get direct build dependencies
pkgs = {}
for workspace_root in args.workspace_root:
source_space = os.path.join(workspace_root, 'src')
print("Crawling for packages in workspace '%s'" % source_space)
pkgs.update(find_packages(source_space))
pkg_names = [pkg.name for pkg in pkgs.values()]
print("Found the following packages:")
for pkg_name in sorted(pkg_names):
print(' -', pkg_name)
maintainer_emails = set([])
for pkg in pkgs.values():
for m in pkg.maintainers:
maintainer_emails.add(m.email)
if maintainer_emails:
print('Package maintainer emails: %s' %
' '.join(sorted(maintainer_emails)))
context = initialize_resolver(
args.rosdistro_name, args.os_name, args.os_code_name)
apt_cache = Cache()
debian_pkg_names = [
'build-essential',
'python3',
]
if 'catkin' not in pkg_names:
debian_pkg_names.append(
get_debian_package_name(args.rosdistro_name, 'catkin'))
print('Always install the following generic dependencies:')
for debian_pkg_name in sorted(debian_pkg_names):
print(' -', debian_pkg_name)
debian_pkg_versions = {}
# get build dependencies and map them to binary packages
build_depends = get_dependencies(
pkgs.values(), 'build', _get_build_and_recursive_run_dependencies)
debian_pkg_names_building = resolve_names(build_depends, **context)
debian_pkg_names_building -= set(debian_pkg_names)
debian_pkg_names += order_dependencies(debian_pkg_names_building)
debian_pkg_versions.update(
get_binary_package_versions(apt_cache, debian_pkg_names))
# get run and test dependencies and map them to binary packages
run_and_test_depends = get_dependencies(
pkgs.values(), 'run and test', _get_run_and_test_dependencies)
debian_pkg_names_testing = resolve_names(
run_and_test_depends, **context)
# all additional run/test dependencies
# are added after the build dependencies
# in order to reuse existing images in the docker container
debian_pkg_names_testing -= set(debian_pkg_names)
debian_pkg_versions.update(
get_binary_package_versions(apt_cache, debian_pkg_names_testing))
if args.testing:
debian_pkg_names += order_dependencies(debian_pkg_names_testing)
# generate Dockerfile
data = {
'os_name': args.os_name,
'os_code_name': args.os_code_name,
'arch': args.arch,
'distribution_repository_urls': args.distribution_repository_urls,
'distribution_repository_keys': get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'rosdistro_name': args.rosdistro_name,
'uid': get_user_id(),
'dependencies': debian_pkg_names,
'dependency_versions': debian_pkg_versions,
'testing': args.testing,
'prerelease_overlay': len(args.workspace_root) > 1,
}
create_dockerfile(
'devel/devel_task.Dockerfile.em', data, args.dockerfile_dir)
# output hints about necessary volumes to mount
ros_buildfarm_basepath = os.path.normpath(
os.path.join(os.path.dirname(__file__), '..', '..'))
print('Mount the following volumes when running the container:')
print(' -v %s:/tmp/ros_buildfarm:ro' % ros_buildfarm_basepath)
print(' -v %s:/tmp/catkin_workspace' % args.workspace_root[-1])
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description='Lists available binary packages and versions which are'
'needed to satisfy rosdep keys for ROS packages in the workspace')
# Positional
add_argument_rosdistro_name(parser)
add_argument_os_name(parser)
add_argument_os_code_name(parser)
add_argument_output_dir(parser)
add_argument_package_selection_args(parser)
add_argument_skip_rosdep_keys(parser)
parser.add_argument('--package-root',
nargs='+',
help='The path to the directory containing packages')
args = parser.parse_args(argv)
workspace_root = args.package_root[-1]
os.chdir(workspace_root)
with Scope('SUBSECTION', 'mark packages with IGNORE files'):
all_packages = locate_packages(workspace_root)
selected_packages = all_packages
if args.package_selection_args:
print('Using package selection arguments:',
args.package_selection_args)
selected_packages = locate_packages(
workspace_root, extra_args=args.package_selection_args)
to_ignore = all_packages.keys() - selected_packages.keys()
print('Ignoring %d packages' % len(to_ignore))
for package in sorted(to_ignore):
print('-', package)
package_root = all_packages[package]
Path(package_root, 'COLCON_IGNORE').touch()
print('There are %d packages which meet selection criteria' %
len(selected_packages))
with Scope('SUBSECTION', 'Enumerating packages needed to build'):
# find all of the underlay packages
underlay_pkgs = {}
all_underlay_pkg_names = set()
for package_root in args.package_root[0:-1]:
print("Crawling for packages in '%s'" % package_root)
underlay_pkgs.update(find_packages(package_root))
# Check for a colcon index for non-ROS package detection
colcon_index = os.path.join(package_root, 'colcon-core',
'packages')
try:
all_underlay_pkg_names.update(os.listdir(colcon_index))
except FileNotFoundError:
pass
underlay_pkg_names = [pkg.name for pkg in underlay_pkgs.values()]
print('Found the following ROS underlay packages:')
for pkg_name in sorted(underlay_pkg_names):
print(' -', pkg_name)
# get direct build dependencies
package_root = args.package_root[-1]
print("Crawling for packages in '%s'" % package_root)
pkgs = find_packages(package_root)
pkg_names = [pkg.name for pkg in pkgs.values()]
print('Found the following ROS packages:')
for pkg_name in sorted(pkg_names):
print(' -', pkg_name)
# get build dependencies and map them to binary packages
all_pkgs = set(pkgs.values()).union(underlay_pkgs.values())
for pkg in all_pkgs:
pkg.evaluate_conditions(os.environ)
for pkg in all_pkgs:
for group_depend in pkg.group_depends:
if group_depend.evaluated_condition:
group_depend.extract_group_members(all_pkgs)
dependency_keys_build = get_dependencies(
all_pkgs, 'build', _get_build_and_recursive_run_dependencies,
pkgs.values())
dependency_keys_test = get_dependencies(
all_pkgs, 'run and test', _get_test_and_recursive_run_dependencies,
pkgs.values())
if args.skip_rosdep_keys:
dependency_keys_build.difference_update(args.skip_rosdep_keys)
dependency_keys_test.difference_update(args.skip_rosdep_keys)
# remove all non-ROS packages and packages which are present but
# specifically ignored
every_package_name = all_packages.keys() | all_underlay_pkg_names
dependency_keys_build -= every_package_name
dependency_keys_test -= every_package_name
context = initialize_resolver(args.rosdistro_name, args.os_name,
args.os_code_name)
os_pkg_names_build = resolve_names(dependency_keys_build, **context)
os_pkg_names_test = resolve_names(dependency_keys_test, **context)
os_pkg_names_test -= os_pkg_names_build
with Scope('SUBSECTION', 'Resolving packages versions using apt cache'):
apt_cache = Cache()
os_pkg_versions = get_binary_package_versions(
apt_cache, os_pkg_names_build | os_pkg_names_test)
with open(os.path.join(args.output_dir, 'install_list_build.txt'),
'w') as out_file:
for package in sorted(os_pkg_names_build):
out_file.write('%s=%s\n' % (package, os_pkg_versions[package]))
with open(os.path.join(args.output_dir, 'install_list_test.txt'),
'w') as out_file:
for package in sorted(os_pkg_names_test):
out_file.write('%s=%s\n' % (package, os_pkg_versions[package]))
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description="Generate a 'Dockerfile' for the devel job")
parser.add_argument(
'--rosdistro-name',
required=True,
help='The name of the ROS distro to identify the setup file to be '
'sourced')
parser.add_argument('--workspace-root',
nargs='+',
help='The root path of the workspace to compile')
parser.add_argument('--os-name',
required=True,
help="The OS name (e.g. 'ubuntu')")
parser.add_argument('--os-code-name',
required=True,
help="The OS code name (e.g. 'xenial')")
parser.add_argument('--arch',
required=True,
help="The architecture (e.g. 'amd64')")
add_argument_distribution_repository_urls(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_build_tool(parser, required=True)
add_argument_ros_version(parser)
add_argument_env_vars(parser)
add_argument_dockerfile_dir(parser)
add_argument_run_abichecker(parser)
add_argument_require_gpu_support(parser)
a1 = add_argument_build_tool_args(parser)
a2 = add_argument_build_tool_test_args(parser)
parser.add_argument(
'--testing',
action='store_true',
help='The flag if the workspace should be built with tests enabled '
'and instead of installing the tests are ran')
remainder_args = extract_multiple_remainders(argv, (a1, a2))
args = parser.parse_args(argv)
for k, v in remainder_args.items():
setattr(args, k, v)
condition_context = dict(args.env_vars)
condition_context['ROS_DISTRO'] = args.rosdistro_name
condition_context['ROS_VERSION'] = args.ros_version
# get direct build dependencies
pkgs = get_packages_in_workspaces(args.workspace_root, condition_context)
pkg_names = [pkg.name for pkg in pkgs.values()]
print("Found the following packages:")
for pkg_name in sorted(pkg_names):
print(' -', pkg_name)
maintainer_emails = set([])
for pkg in pkgs.values():
for m in pkg.maintainers:
maintainer_emails.add(m.email)
if maintainer_emails:
print('Package maintainer emails: %s' %
' '.join(sorted(maintainer_emails)))
context = initialize_resolver(args.rosdistro_name, args.os_name,
args.os_code_name)
apt_cache = Cache()
debian_pkg_names = [
'build-essential',
'python3',
]
if args.build_tool == 'colcon':
debian_pkg_names += [
'python3-colcon-metadata',
'python3-colcon-output',
'python3-colcon-parallel-executor',
'python3-colcon-ros',
'python3-colcon-test-result',
]
elif 'catkin' not in pkg_names:
debian_pkg_names += resolve_names(['catkin'], **context)
print('Always install the following generic dependencies:')
for debian_pkg_name in sorted(debian_pkg_names):
print(' -', debian_pkg_name)
debian_pkg_versions = {}
# get build dependencies and map them to binary packages
build_depends = get_dependencies(
pkgs.values(), 'build', _get_build_and_recursive_run_dependencies)
debian_pkg_names_building = resolve_names(build_depends, **context)
debian_pkg_names_building -= set(debian_pkg_names)
debian_pkg_names += order_dependencies(debian_pkg_names_building)
debian_pkg_versions.update(
get_binary_package_versions(apt_cache, debian_pkg_names))
# get run and test dependencies and map them to binary packages
run_and_test_depends = get_dependencies(pkgs.values(), 'run and test',
_get_run_and_test_dependencies)
debian_pkg_names_testing = resolve_names(run_and_test_depends, **context)
# all additional run/test dependencies
# are added after the build dependencies
# in order to reuse existing images in the docker container
debian_pkg_names_testing -= set(debian_pkg_names)
debian_pkg_versions.update(
get_binary_package_versions(apt_cache, debian_pkg_names_testing))
if args.testing:
debian_pkg_names += order_dependencies(debian_pkg_names_testing)
mapped_workspaces = [
(workspace_root, '/tmp/ws%s' % (index if index > 1 else ''))
for index, workspace_root in enumerate(args.workspace_root, 1)
]
parent_result_space = []
if len(args.workspace_root) > 1:
parent_result_space = ['/opt/ros/%s' % args.rosdistro_name] + \
[mapping[1] for mapping in mapped_workspaces[:-1]]
# generate Dockerfile
data = {
'os_name':
args.os_name,
'os_code_name':
args.os_code_name,
'arch':
args.arch,
'distribution_repository_urls':
args.distribution_repository_urls,
'distribution_repository_keys':
get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'rosdistro_name':
args.rosdistro_name,
'uid':
get_user_id(),
'build_tool':
args.build_tool,
'build_tool_args':
args.build_tool_args,
'build_tool_test_args':
args.build_tool_test_args,
'ros_version':
args.ros_version,
'build_environment_variables':
['%s=%s' % key_value for key_value in args.env_vars.items()],
'dependencies':
debian_pkg_names,
'dependency_versions':
debian_pkg_versions,
'install_lists': [],
'testing':
args.testing,
'run_abichecker':
args.run_abichecker,
'require_gpu_support':
args.require_gpu_support,
'workspace_root':
mapped_workspaces[-1][1],
'parent_result_space':
parent_result_space,
}
create_dockerfile('devel/devel_task.Dockerfile.em', data,
args.dockerfile_dir)
# output hints about necessary volumes to mount
ros_buildfarm_basepath = os.path.normpath(
os.path.join(os.path.dirname(__file__), '..', '..'))
print('Mount the following volumes when running the container:')
print(' -v %s:/tmp/ros_buildfarm:ro' % ros_buildfarm_basepath)
for mapping in mapped_workspaces:
print(' -v %s:%s' % mapping)
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description="Generate a 'Dockerfile' for the devel job")
parser.add_argument(
'--rosdistro-name',
required=True,
help='The name of the ROS distro to identify the setup file to be '
'sourced')
parser.add_argument('--workspace-root',
nargs='+',
help='The root path of the workspace to compile')
parser.add_argument('--os-name',
required=True,
help="The OS name (e.g. 'ubuntu')")
parser.add_argument('--os-code-name',
required=True,
help="The OS code name (e.g. 'trusty')")
parser.add_argument('--arch',
required=True,
help="The architecture (e.g. 'amd64')")
add_argument_distribution_repository_urls(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_dockerfile_dir(parser)
parser.add_argument(
'--testing',
action='store_true',
help='The flag if the workspace should be built with tests enabled '
'and instead of installing the tests are ran')
args = parser.parse_args(argv)
# get direct build dependencies
pkgs = {}
for workspace_root in args.workspace_root:
source_space = os.path.join(workspace_root, 'src')
print("Crawling for packages in workspace '%s'" % source_space)
pkgs.update(find_packages(source_space))
pkg_names = [pkg.name for pkg in pkgs.values()]
print("Found the following packages:")
for pkg_name in sorted(pkg_names):
print(' -', pkg_name)
maintainer_emails = set([])
for pkg in pkgs.values():
for m in pkg.maintainers:
maintainer_emails.add(m.email)
if maintainer_emails:
print('Package maintainer emails: %s' %
' '.join(sorted(maintainer_emails)))
context = initialize_resolver(args.rosdistro_name, args.os_name,
args.os_code_name)
apt_cache = Cache()
debian_pkg_names = [
'build-essential',
'python3',
]
if 'catkin' not in pkg_names:
debian_pkg_names.append(
get_debian_package_name(args.rosdistro_name, 'catkin'))
print('Always install the following generic dependencies:')
for debian_pkg_name in sorted(debian_pkg_names):
print(' -', debian_pkg_name)
debian_pkg_versions = {}
# get build dependencies and map them to binary packages
build_depends = get_dependencies(
pkgs.values(), 'build', _get_build_and_recursive_run_dependencies)
debian_pkg_names_building = resolve_names(build_depends, **context)
debian_pkg_names_building -= set(debian_pkg_names)
debian_pkg_names += order_dependencies(debian_pkg_names_building)
debian_pkg_versions.update(
get_binary_package_versions(apt_cache, debian_pkg_names))
# get run and test dependencies and map them to binary packages
run_and_test_depends = get_dependencies(pkgs.values(), 'run and test',
_get_run_and_test_dependencies)
debian_pkg_names_testing = resolve_names(run_and_test_depends, **context)
# all additional run/test dependencies
# are added after the build dependencies
# in order to reuse existing images in the docker container
debian_pkg_names_testing -= set(debian_pkg_names)
debian_pkg_versions.update(
get_binary_package_versions(apt_cache, debian_pkg_names_testing))
if args.testing:
debian_pkg_names += order_dependencies(debian_pkg_names_testing)
# generate Dockerfile
data = {
'os_name':
args.os_name,
'os_code_name':
args.os_code_name,
'arch':
args.arch,
'distribution_repository_urls':
args.distribution_repository_urls,
'distribution_repository_keys':
get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'rosdistro_name':
args.rosdistro_name,
'uid':
get_user_id(),
'dependencies':
debian_pkg_names,
'dependency_versions':
debian_pkg_versions,
'testing':
args.testing,
'prerelease_overlay':
len(args.workspace_root) > 1,
}
create_dockerfile('devel/devel_task.Dockerfile.em', data,
args.dockerfile_dir)
# output hints about necessary volumes to mount
ros_buildfarm_basepath = os.path.normpath(
os.path.join(os.path.dirname(__file__), '..', '..'))
print('Mount the following volumes when running the container:')
print(' -v %s:/tmp/ros_buildfarm:ro' % ros_buildfarm_basepath)
print(' -v %s:/tmp/catkin_workspace' % args.workspace_root[-1])
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description='Lists available binary packages and versions which are'
'needed to satisfy rosdep keys for ROS packages in the workspace')
# Positional
add_argument_rosdistro_name(parser)
add_argument_os_name(parser)
add_argument_os_code_name(parser)
add_argument_output_dir(parser)
add_argument_skip_rosdep_keys(parser)
parser.add_argument('--package-root',
nargs='+',
help='The path to the directory containing packages')
args = parser.parse_args(argv)
with Scope('SUBSECTION', 'Enumerating packages needed to build'):
# find all of the underlay packages
underlay_pkgs = {}
for package_root in args.package_root[0:-1]:
print("Crawling for packages in '%s'" % package_root)
underlay_pkgs.update(find_packages(package_root))
underlay_pkg_names = [pkg.name for pkg in underlay_pkgs.values()]
print('Found the following underlay packages:')
for pkg_name in sorted(underlay_pkg_names):
print(' -', pkg_name)
# get direct build dependencies
package_root = args.package_root[-1]
print("Crawling for packages in '%s'" % package_root)
pkgs = find_packages(package_root)
pkg_names = [pkg.name for pkg in pkgs.values()]
print('Found the following packages:')
for pkg_name in sorted(pkg_names):
print(' -', pkg_name)
# get build dependencies and map them to binary packages
all_pkgs = set(pkgs.values()).union(underlay_pkgs.values())
for pkg in all_pkgs:
pkg.evaluate_conditions(os.environ)
for pkg in all_pkgs:
for group_depend in pkg.group_depends:
if group_depend.evaluated_condition:
group_depend.extract_group_members(all_pkgs)
dependency_keys_build = get_dependencies(
all_pkgs, 'build', _get_build_and_recursive_run_dependencies,
pkgs.values())
dependency_keys_test = get_dependencies(
all_pkgs, 'run and test', _get_test_and_recursive_run_dependencies,
pkgs.values())
if args.skip_rosdep_keys:
dependency_keys_build.difference_update(args.skip_rosdep_keys)
dependency_keys_test.difference_update(args.skip_rosdep_keys)
context = initialize_resolver(args.rosdistro_name, args.os_name,
args.os_code_name)
os_pkg_names_build = resolve_names(dependency_keys_build, **context)
os_pkg_names_test = resolve_names(dependency_keys_test, **context)
os_pkg_names_test -= os_pkg_names_build
with Scope('SUBSECTION', 'Resolving packages versions using apt cache'):
apt_cache = Cache()
os_pkg_versions = get_binary_package_versions(
apt_cache, os_pkg_names_build | os_pkg_names_test)
with open(os.path.join(args.output_dir, 'install_list_build.txt'),
'w') as out_file:
for package in sorted(os_pkg_names_build):
out_file.write('%s=%s\n' % (package, os_pkg_versions[package]))
with open(os.path.join(args.output_dir, 'install_list_test.txt'),
'w') as out_file:
for package in sorted(os_pkg_names_test):
out_file.write('%s=%s\n' % (package, os_pkg_versions[package]))
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description='Lists available binary packages and versions which are'
'needed to satisfy rosdep keys for ROS packages in the workspace')
# Positional
add_argument_rosdistro_name(parser)
add_argument_os_name(parser)
add_argument_os_code_name(parser)
add_argument_output_dir(parser)
add_argument_skip_rosdep_keys(parser)
parser.add_argument(
'--package-root',
nargs='+',
help='The path to the directory containing packages')
args = parser.parse_args(argv)
with Scope('SUBSECTION', 'Enumerating packages needed to build'):
# find all of the underlay packages
underlay_pkgs = {}
for package_root in args.package_root[0:-1]:
print("Crawling for packages in '%s'" % package_root)
underlay_pkgs.update(find_packages(package_root))
underlay_pkg_names = [pkg.name for pkg in underlay_pkgs.values()]
print('Found the following underlay packages:')
for pkg_name in sorted(underlay_pkg_names):
print(' -', pkg_name)
# get direct build dependencies
package_root = args.package_root[-1]
print("Crawling for packages in '%s'" % package_root)
pkgs = find_packages(package_root)
pkg_names = [pkg.name for pkg in pkgs.values()]
print('Found the following packages:')
for pkg_name in sorted(pkg_names):
print(' -', pkg_name)
# get build dependencies and map them to binary packages
all_pkgs = set(pkgs.values()).union(underlay_pkgs.values())
for pkg in all_pkgs:
pkg.evaluate_conditions(os.environ)
for pkg in all_pkgs:
for group_depend in pkg.group_depends:
if group_depend.evaluated_condition:
group_depend.extract_group_members(all_pkgs)
dependency_keys_build = get_dependencies(
all_pkgs, 'build', _get_build_and_recursive_run_dependencies,
pkgs.values())
dependency_keys_test = get_dependencies(
all_pkgs, 'run and test', _get_test_and_recursive_run_dependencies,
pkgs.values())
if args.skip_rosdep_keys:
dependency_keys_build.difference_update(args.skip_rosdep_keys)
dependency_keys_test.difference_update(args.skip_rosdep_keys)
context = initialize_resolver(
args.rosdistro_name, args.os_name, args.os_code_name)
os_pkg_names_build = resolve_names(dependency_keys_build, **context)
os_pkg_names_test = resolve_names(dependency_keys_test, **context)
os_pkg_names_test -= os_pkg_names_build
with Scope('SUBSECTION', 'Resolving packages versions using apt cache'):
apt_cache = Cache()
os_pkg_versions = get_binary_package_versions(
apt_cache, os_pkg_names_build | os_pkg_names_test)
with open(os.path.join(args.output_dir, 'install_list_build.txt'), 'w') as out_file:
for package in sorted(os_pkg_names_build):
out_file.write('%s=%s\n' % (package, os_pkg_versions[package]))
with open(os.path.join(args.output_dir, 'install_list_test.txt'), 'w') as out_file:
for package in sorted(os_pkg_names_test):
out_file.write('%s=%s\n' % (package, os_pkg_versions[package]))
def write_install_list(install_list_path, debian_pkg_names, apt_cache):
debian_pkg_versions = get_binary_package_versions(apt_cache, debian_pkg_names)
with open(install_list_path, 'w') as out_file:
for pkg, pkg_version in sorted(debian_pkg_versions.items()):
out_file.write('%s=%s\n' % (pkg, pkg_version))
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description="Generate a 'Dockerfile' for the CI job")
# Positional
add_argument_rosdistro_name(parser)
add_argument_os_name(parser)
add_argument_os_code_name(parser)
add_argument_arch(parser)
add_argument_build_ignore(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_distribution_repository_urls(parser)
add_argument_dockerfile_dir(parser)
add_argument_env_vars(parser)
add_argument_package_selection_args(parser)
add_argument_repos_file_urls(parser, required=True)
add_argument_skip_rosdep_keys(parser)
add_argument_test_branch(parser)
parser.add_argument(
'--workspace-root',
nargs='+',
help='The root path of the workspace to compile')
args = parser.parse_args(argv)
debian_pkg_names = [
'git',
'python3-apt',
'python3-colcon-common-extensions',
'python3-rosdep',
'python3-vcstool',
]
# get versions for build dependencies
apt_cache = Cache()
debian_pkg_versions = get_binary_package_versions(
apt_cache, debian_pkg_names)
# generate Dockerfile
data = {
'os_name': args.os_name,
'os_code_name': args.os_code_name,
'arch': args.arch,
'distribution_repository_urls': args.distribution_repository_urls,
'distribution_repository_keys': get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'rosdistro_name': args.rosdistro_name,
'custom_rosdep_urls': [],
'uid': get_user_id(),
'build_environment_variables': args.env_vars,
'dependencies': debian_pkg_names,
'dependency_versions': debian_pkg_versions,
'repos_file_urls': args.repos_file_urls,
'test_branch': args.test_branch,
'skip_rosdep_keys': args.skip_rosdep_keys,
'build_ignore': args.build_ignore,
'package_selection_args': args.package_selection_args,
'workspace_root': args.workspace_root,
}
create_dockerfile(
'ci/create_workspace.Dockerfile.em', data, args.dockerfile_dir)