def install(robustus, requirement_specifier, rob_file, ignore_index):
install_dir = robustus.install_cmake_package(
requirement_specifier, ['-DENABLE_TESTS_COMPILATION:BOOL=False'],
ignore_index)
# required gazebo executables
executables = [
'gazebo', 'gzserver', 'gzclient', 'gzfactory', 'gzlog', 'gzsdf',
'gzstats', 'gztopic'
]
# fix rpaths for binaries
lib_dir = os.path.join(install_dir, 'lib')
binaries = glob.glob(os.path.join(install_dir, 'lib/*.so*'))
for executable in executables:
binaries += glob.glob(
os.path.join(install_dir, 'bin/' + executable + '*'))
for binary in binaries:
if os.path.isfile(binary) and not os.path.islink(binary):
fix_rpath(robustus, robustus.env, binary, lib_dir)
# make symlinks
for executable in executables:
executable_path = os.path.join(install_dir, 'bin', executable)
ln(executable_path, os.path.join(robustus.env, 'bin', executable))
def install(robustus, requirement_specifier, rob_file, ignore_index):
# check if already installed
pocketsphinx = os.path.join(robustus.env, 'lib/python2.7/site-packages/pocketsphinx.so')
if os.path.isfile(pocketsphinx):
return
cwd = os.getcwd()
archive = None
try:
os.chdir(robustus.cache)
build_dir = os.path.join(robustus.cache, 'pocketsphinx-%s' % requirement_specifier.version)
if not os.path.isfile(os.path.join(build_dir, 'configure')):
archive = robustus.download('pocketsphinx', requirement_specifier.version)
unpack(archive)
# unfortunately we can't cache pocketsphinx, it has to be rebuild after reconfigure
logging.info('Building pocketsphinx')
os.chdir(build_dir)
sphinxbase_dir = os.path.join(robustus.cache, 'sphinxbase-%s/' % requirement_specifier.version)
retcode = run_shell('./configure'
+ (' --prefix=%s' % robustus.env)
+ (' --with-python=%s' % os.path.join(robustus.env, 'bin/python'))
+ (' --with-sphinxbase=%s' % sphinxbase_dir)
+ (' --with-sphinxbase-build=%s' % sphinxbase_dir),
shell=True,
verbose=robustus.settings['verbosity'] >= 1)
if retcode != 0:
raise RequirementException('pocketsphinx configure failed')
retcode = run_shell('make clean && make', shell=True, verbose=robustus.settings['verbosity'] >= 1)
if retcode != 0:
raise RequirementException('pocketsphinx build failed')
logging.info('Installing pocketsphinx into virtualenv')
retcode = run_shell('make install', shell=True, verbose=robustus.settings['verbosity'] >= 1)
if retcode != 0:
raise RequirementException('pocketsphinx install failed')
fix_rpath(robustus, robustus.env, pocketsphinx, os.path.join(robustus.env, 'lib'))
# there is a super weird bug, first import of pocketsphinx fails http://sourceforge.net/p/cmusphinx/bugs/284/
write_file(os.path.join(robustus.env, 'lib/python2.7/site-packages/wrap_pocketsphinx.py'),
'w',
'try:\n'
+ ' from pocketsphinx import *\n'
+ 'except:\n'
+ ' pass\n'
+ 'from pocketsphinx import *\n')
except RequirementException:
safe_remove(build_dir)
finally:
if archive is not None:
safe_remove(archive)
os.chdir(cwd)
def install(robustus, requirement_specifier, rob_file, ignore_index):
# check if already installed
sphinxbase = os.path.join(robustus.env, 'lib/python2.7/site-packages/sphinxbase.so')
if os.path.isfile(sphinxbase):
return
cwd = os.getcwd()
archive = None
try:
# build in cache
os.chdir(robustus.cache)
build_dir = os.path.join(robustus.cache, 'sphinxbase-%s' % requirement_specifier.version)
if not os.path.isfile(os.path.join(build_dir, 'configure')):
archive = robustus.download('sphinxbase', requirement_specifier.version)
unpack(archive)
# unfortunately we can't cache sphinxbase, it has to be rebuild after reconfigure
logging.info('Building sphinxbase')
os.chdir(build_dir)
# link python-config from system-wide installation, sphinxbase configure requires it
python_config = os.path.join(robustus.env, 'bin/python-config')
if not os.path.isfile(python_config):
ln('/usr/bin/python-config', python_config)
retcode = run_shell('./configure'
+ (' --prefix=%s' % robustus.env)
+ (' --with-python=%s' % os.path.join(robustus.env, 'bin/python')),
shell=True,
verbose=robustus.settings['verbosity'] >= 1)
if retcode != 0:
raise RequirementException('sphinxbase configure failed')
retcode = run_shell('make clean && make', shell=True, verbose=robustus.settings['verbosity'] >= 1)
if retcode != 0:
raise RequirementException('sphinxbase build failed')
logging.info('Installing sphinxbase into virtualenv')
retcode = run_shell('make install', shell=True, verbose=robustus.settings['verbosity'] >= 1)
if retcode != 0:
raise RequirementException('sphinxbase install failed')
fix_rpath(robustus, robustus.env, sphinxbase, os.path.join(robustus.env, 'lib'))
except RequirementException:
safe_remove(build_dir)
finally:
if archive is not None:
safe_remove(archive)
os.chdir(cwd)
def install(robustus, requirement_specifier, rob_file, ignore_index):
install_dir = robustus.install_cmake_package(requirement_specifier,
['-DENABLE_TESTS_COMPILATION:BOOL=False'],
ignore_index)
# required gazebo executables
executables = ['gazebo', 'gzserver', 'gzclient', 'gzfactory', 'gzlog', 'gzsdf', 'gzstats', 'gztopic']
# fix rpaths for binaries
lib_dir = os.path.join(install_dir, 'lib')
binaries = glob.glob(os.path.join(install_dir, 'lib/*.so*'))
for executable in executables:
binaries += glob.glob(os.path.join(install_dir, 'bin/' + executable + '*'))
for binary in binaries:
if os.path.isfile(binary) and not os.path.islink(binary):
fix_rpath(robustus, robustus.env, binary, lib_dir)
# make symlinks
for executable in executables:
executable_path = os.path.join(install_dir, 'bin', executable)
ln(executable_path, os.path.join(robustus.env, 'bin', executable))
def install(robustus, requirement_specifier, rob_file, ignore_index):
'''
Opencv has a lot of cmake flags. Here are some examples to play with:
brew configuration for opencv 2.4.9:
'-DCMAKE_OSX_DEPLOYMENT_TARGET=',
'-DBUILD_ZLIB=OFF',
'-DBUILD_TIFF=OFF',
'-DBUILD_PNG=OFF',
'-DBUILD_OPENEXR=OFF',
'-DBUILD_JASPER=OFF',
'-DBUILD_JPEG=OFF',
'-DJPEG_INCLUDE_DIR=/usr/local/opt/jpeg/include',
'-DJPEG_LIBRARY=/usr/local/opt/jpeg/lib/libjpeg.dylib',
'-DPYTHON_LIBRARY=/usr/local/Cellar/python/2.7.6_1/Frameworks/Python.framework/Versions/2.7/Python',
'-DPYTHON_INCLUDE_DIR=/usr/local/Cellar/python/2.7.6_1/Frameworks/Python.framework/Versions/2.7/Headers',
'-DBUILD_TESTS=OFF',
'-DBUILD_PERF_TESTS=OFF',
'-DBUILD_opencv_java=OFF',
'-DWITH_QT=OFF',
'-DWITH_TBB=OFF',
'-DWITH_FFMPEG=OFF',
'-DWITH_OPENEXR=OFF',
'-DWITH_CUDA=OFF',
'-DWITH_OPENCL=OFF',
'-DENABLE_SSSE3=ON',
'-DENABLE_SSE41=ON',
'-DENABLE_SSE42=ON',
'-DENABLE_AVX=ON',
'''
# Make sure numpy is installed - to avoid weird error when bindings
# are silently not generated.
if not check_module_available(robustus.env, 'numpy'):
raise RequirementException('numpy is required for opencv')
if platform.linux_distribution()[0] == 'CentOS':
# linking opencv for CentOs
logging.info('Linking opencv for CentOS')
os.symlink('/usr/lib64/python2.7/site-packages/cv2.so', os.path.join(robustus.env, 'lib/python2.7/site-packages/cv2.so'))
os.symlink('/usr/lib64/python2.7/site-packages/cv.py', os.path.join(robustus.env, 'lib/python2.7/site-packages/cv.py'))
else:
cv_install_dir = os.path.join(robustus.cache, 'OpenCV-%s' % requirement_specifier.version)
cv2so = os.path.join(cv_install_dir, 'lib/python2.7/site-packages/cv2.so')
def in_cache():
return os.path.isfile(cv2so)
versions_to_fix_rpath = ['2.4.7', '2.4.8', '2.4.9']
if not in_cache() and not ignore_index:
cwd = os.getcwd()
opencv_archive = None
opencv_archive_name = None
try:
opencv_archive = robustus.download_compiled_archive('OpenCV', requirement_specifier.version)
if opencv_archive is not None:
opencv_archive_name = unpack(opencv_archive)
logging.info('Initializing compiled OpenCV')
# install into wheelhouse
safe_move(opencv_archive_name, cv_install_dir)
else:
opencv_archive = robustus.download('OpenCV', requirement_specifier.version)
opencv_archive_name = unpack(opencv_archive)
logging.info('Building OpenCV')
cv_build_dir = os.path.join(opencv_archive_name, 'build')
if not os.path.isdir(cv_build_dir):
os.mkdir(cv_build_dir)
os.chdir(cv_build_dir)
opencv_cmake_call_args = [
'cmake',
'../',
'-DPYTHON_EXECUTABLE=%s' % robustus.python_executable,
'-DBUILD_NEW_PYTHON_SUPPORT=ON',
'-DBUILD_TESTS=OFF',
'-DBUILD_PERF_TESTS=OFF',
'-DBUILD_DOCS=OFF',
'-DBUILD_opencv_apps=OFF',
'-DBUILD_opencv_java=OFF',
'-DWITH_CUDA=OFF',
'-DCMAKE_INSTALL_PREFIX=%s' % cv_install_dir]
if sys.platform.startswith('darwin'):
python_lib_path = subprocess.check_output(['python-config', '--prefix']).strip()
opencv_cmake_call_args.append('-DPYTHON_LIBRARY=%s/Python' % python_lib_path)
opencv_cmake_call_args.append('-DPYTHON_INCLUDE_DIR=%s/Headers' % python_lib_path)
run_shell(opencv_cmake_call_args,
verbose=robustus.settings['verbosity'] >= 1)
retcode = run_shell(['make', '-j4'], verbose=robustus.settings['verbosity'] >= 1)
if retcode != 0:
raise RequirementException('OpenCV build failed')
# install into wheelhouse
if not os.path.isdir(cv_install_dir):
os.mkdir(cv_install_dir)
retcode = run_shell(['make', 'install'], verbose=robustus.settings['verbosity'] >= 1)
if retcode != 0:
raise RequirementException('OpenCV installation failed')
finally:
safe_remove(opencv_archive)
safe_remove(opencv_archive_name)
os.chdir(cwd)
if in_cache() and requirement_specifier.version in versions_to_fix_rpath:
# fix rpath for all dynamic libraries of cv2
all_cv_dlibs = os.path.abspath(os.path.join(cv_install_dir, 'lib'))
if sys.platform.startswith('darwin'):
libs = glob.glob(os.path.join(all_cv_dlibs, '*.dylib'))
else:
libs = glob.glob(os.path.join(all_cv_dlibs, '*.so'))
for lib in libs:
fix_rpath(robustus, robustus.env, lib, cv_install_dir)
if in_cache():
logging.info('Copying OpenCV cv2.so to virtualenv')
cp(os.path.join(cv_install_dir, 'lib/python2.7/site-packages/*'),
os.path.join(robustus.env, 'lib/python2.7/site-packages'))
if requirement_specifier.version in versions_to_fix_rpath:
# fix rpath for cv2
cv2lib = os.path.join(robustus.env, 'lib/python2.7/site-packages/cv2.so')
fix_rpath(robustus, robustus.env, cv2lib, cv_install_dir)
else:
raise RequirementException('can\'t find OpenCV-%s in robustus cache' % requirement_specifier.version)
def install(robustus, requirement_specifier, rob_file, ignore_index):
ni_install_dir = os.path.join(robustus.cache, 'OpenNI2')
if requirement_specifier.version is not None:
ni_install_dir += requirement_specifier.version
def in_cache():
return os.path.isfile(os.path.join(ni_install_dir, 'libOpenNI2.so'))
if not in_cache() and not ignore_index:
cwd = os.getcwd()
ni_clone_dir = os.path.join(cwd, 'OpenNI2')
try:
if os.path.isdir(ni_clone_dir):
logging.warn(
'Directory for cloning OpenNI found, cloning skipped')
else:
logging.info('Cloning OpenNI')
retcode = run_shell([
'git', 'clone', 'https://github.com/occipital/OpenNI2.git'
])
if retcode != 0:
raise RequirementException('OpenNI2 clone failed')
os.chdir(ni_clone_dir)
# checkout requested version
branch = requirement_specifier.version if requirement_specifier.version is not None else 'master'
if requirement_specifier.version is not None:
retcode = run_shell(['git', 'checkout', branch])
if retcode != 0:
raise RequirementException('OpenNI2 checkout failed')
logging.info('Building OpenNI')
if platform.machine().startswith('arm'):
ver = 'Arm'
# patch flags for arm
file_to_patch = os.path.join(
ni_clone_dir,
'ThirdParty/PSCommon/BuildSystem/Platform.Arm')
with open(file_to_patch, "rt") as f:
content = f.read()
with open(file_to_patch, "wt") as f:
f.write(content.replace('-mfloat-abi=softfp', ''))
elif platform.architecture()[0].startswith('64'):
ver = 'x64'
else:
ver = 'x86'
retcode = run_shell(['make', 'PLATFORM=' + ver],
verbose=robustus.settings['verbosity'] >= 1)
if retcode != 0:
raise RequirementException('OpenNI2 build failed')
# copy release dir and usb rules to wheelhouse
if os.path.isdir(ni_install_dir):
shutil.rmtree(ni_install_dir)
release_dir = os.path.join(ni_clone_dir, 'Bin', ver + '-Release')
shutil.copytree(release_dir, ni_install_dir)
cp(
os.path.join(ni_clone_dir,
'Packaging/Linux/primesense-usb.rules'),
ni_install_dir)
finally:
os.chdir(cwd)
safe_remove(ni_clone_dir)
# copy files to venv
if in_cache():
logging.info('Copying OpenNI2 to virtualenv')
cp(os.path.join(ni_install_dir, '*.so'),
os.path.join(robustus.env, 'lib'))
cp(os.path.join(ni_install_dir, '*.jar'),
os.path.join(robustus.env, 'lib'))
ni_drivers_dir = os.path.join(robustus.env, 'lib/OpenNI2')
if os.path.isdir(ni_drivers_dir):
shutil.rmtree(ni_drivers_dir)
shutil.copytree(os.path.join(ni_install_dir, 'OpenNI2'),
ni_drivers_dir)
# copy demo for testing purposes
cp(os.path.join(ni_install_dir, 'SimpleRead'),
os.path.join(robustus.env, 'bin'))
fix_rpath(robustus, robustus.env,
os.path.join(robustus.env, 'bin/SimpleRead'),
os.path.join(robustus.env, 'lib'))
# setup usb rules
logging.info(
'Configuring udev rules, you may need to reconnect sensor or restart computer'
)
retcode = run_shell([
'sudo', 'cp',
os.path.join(ni_install_dir, 'primesense-usb.rules'),
'/etc/udev/rules.d/557-primesense-usb.rules'
],
verbose=robustus.settings['verbosity'] >= 1)
if retcode != 0:
raise RequirementException('Faied to copy udev rules')
# return nonzero code, but seems to work
subprocess.call(['sudo', 'udevadm', 'control', '--reload-rules'])
else:
raise RequirementException('can\'t find OpenNI2-%s in robustus cache' %
requirement_specifier.version)
def install(robustus, requirement_specifier, rob_file, ignore_index):
ni_install_dir = os.path.join(robustus.cache, 'OpenNI2')
if requirement_specifier.version is not None:
ni_install_dir += requirement_specifier.version
def in_cache():
return os.path.isfile(os.path.join(ni_install_dir, 'libOpenNI2.so'))
if not in_cache() and not ignore_index:
cwd = os.getcwd()
ni_clone_dir = os.path.join(cwd, 'OpenNI2')
try:
if os.path.isdir(ni_clone_dir):
logging.warn('Directory for cloning OpenNI found, cloning skipped')
else:
logging.info('Cloning OpenNI')
retcode = run_shell(['git', 'clone', 'https://github.com/occipital/OpenNI2.git'])
if retcode != 0:
raise RequirementException('OpenNI2 clone failed')
os.chdir(ni_clone_dir)
# checkout requested version
branch = requirement_specifier.version if requirement_specifier.version is not None else 'master'
if requirement_specifier.version is not None:
retcode = run_shell(['git', 'checkout', branch])
if retcode != 0:
raise RequirementException('OpenNI2 checkout failed')
logging.info('Building OpenNI')
if platform.machine().startswith('arm'):
ver = 'Arm'
# patch flags for arm
file_to_patch = os.path.join(ni_clone_dir, 'ThirdParty/PSCommon/BuildSystem/Platform.Arm')
with open(file_to_patch, "rt") as f:
content = f.read()
with open(file_to_patch, "wt") as f:
f.write(content.replace('-mfloat-abi=softfp', ''))
elif platform.architecture()[0].startswith('64'):
ver = 'x64'
else:
ver = 'x86'
retcode = run_shell(['make', 'PLATFORM=' + ver], verbose=robustus.settings['verbosity'] >= 1)
if retcode != 0:
raise RequirementException('OpenNI2 build failed')
# copy release dir and usb rules to wheelhouse
if os.path.isdir(ni_install_dir):
shutil.rmtree(ni_install_dir)
release_dir = os.path.join(ni_clone_dir, 'Bin', ver + '-Release')
shutil.copytree(release_dir, ni_install_dir)
cp(os.path.join(ni_clone_dir, 'Packaging/Linux/primesense-usb.rules'), ni_install_dir)
finally:
os.chdir(cwd)
safe_remove(ni_clone_dir)
# copy files to venv
if in_cache():
logging.info('Copying OpenNI2 to virtualenv')
cp(os.path.join(ni_install_dir, '*.so'), os.path.join(robustus.env, 'lib'))
cp(os.path.join(ni_install_dir, '*.jar'), os.path.join(robustus.env, 'lib'))
ni_drivers_dir = os.path.join(robustus.env, 'lib/OpenNI2')
if os.path.isdir(ni_drivers_dir):
shutil.rmtree(ni_drivers_dir)
shutil.copytree(os.path.join(ni_install_dir, 'OpenNI2'), ni_drivers_dir)
# copy demo for testing purposes
cp(os.path.join(ni_install_dir, 'SimpleRead'), os.path.join(robustus.env, 'bin'))
fix_rpath(robustus, robustus.env, os.path.join(robustus.env, 'bin/SimpleRead'), os.path.join(robustus.env, 'lib'))
# setup usb rules
logging.info('Configuring udev rules, you may need to reconnect sensor or restart computer')
retcode = run_shell(['sudo', 'cp', os.path.join(ni_install_dir, 'primesense-usb.rules'), '/etc/udev/rules.d/557-primesense-usb.rules'], verbose=robustus.settings['verbosity'] >= 1)
if retcode != 0:
raise RequirementException('Faied to copy udev rules')
# return nonzero code, but seems to work
subprocess.call(['sudo', 'udevadm', 'control', '--reload-rules'])
else:
raise RequirementException('can\'t find OpenNI2-%s in robustus cache' % requirement_specifier.version)
def install(robustus, requirement_specifier, rob_file, ignore_index):
'''
Opencv has a lot of cmake flags. Here are some examples to play with:
brew configuration for opencv 2.4.9:
'-DCMAKE_OSX_DEPLOYMENT_TARGET=',
'-DBUILD_ZLIB=OFF',
'-DBUILD_TIFF=OFF',
'-DBUILD_PNG=OFF',
'-DBUILD_OPENEXR=OFF',
'-DBUILD_JASPER=OFF',
'-DBUILD_JPEG=OFF',
'-DJPEG_INCLUDE_DIR=/usr/local/opt/jpeg/include',
'-DJPEG_LIBRARY=/usr/local/opt/jpeg/lib/libjpeg.dylib',
'-DPYTHON_LIBRARY=/usr/local/Cellar/python/2.7.6_1/Frameworks/Python.framework/Versions/2.7/Python',
'-DPYTHON_INCLUDE_DIR=/usr/local/Cellar/python/2.7.6_1/Frameworks/Python.framework/Versions/2.7/Headers',
'-DBUILD_TESTS=OFF',
'-DBUILD_PERF_TESTS=OFF',
'-DBUILD_opencv_java=OFF',
'-DWITH_QT=OFF',
'-DWITH_TBB=OFF',
'-DWITH_FFMPEG=OFF',
'-DWITH_OPENEXR=OFF',
'-DWITH_CUDA=OFF',
'-DWITH_OPENCL=OFF',
'-DENABLE_SSSE3=ON',
'-DENABLE_SSE41=ON',
'-DENABLE_SSE42=ON',
'-DENABLE_AVX=ON',
'''
# Make sure numpy is installed - to avoid weird error when bindings
# are silently not generated.
if not check_module_available(robustus.env, 'numpy'):
raise RequirementException('numpy is required for opencv')
if platform.linux_distribution()[0] == 'CentOS':
# linking opencv for CentOs
logging.info('Linking opencv for CentOS')
os.symlink('/usr/lib64/python2.7/site-packages/cv2.so', os.path.join(robustus.env, 'lib/python2.7/site-packages/cv2.so'))
os.symlink('/usr/lib64/python2.7/site-packages/cv.py', os.path.join(robustus.env, 'lib/python2.7/site-packages/cv.py'))
else:
cv_install_dir = os.path.join(robustus.cache, 'OpenCV-%s' % requirement_specifier.version)
cv2so = os.path.join(cv_install_dir, 'lib/python2.7/site-packages/cv2.so')
def in_cache():
return os.path.isfile(cv2so)
if not in_cache() and not ignore_index:
cwd = os.getcwd()
opencv_archive = None
opencv_archive_name = None
try:
opencv_archive = robustus.download_compiled_archive('OpenCV', requirement_specifier.version)
if opencv_archive is not None:
opencv_archive_name = unpack(opencv_archive)
logging.info('Initializing compiled OpenCV')
# install into wheelhouse
safe_move(opencv_archive_name, cv_install_dir)
else:
opencv_archive = robustus.download('OpenCV', requirement_specifier.version)
opencv_archive_name = unpack(opencv_archive)
logging.info('Building OpenCV')
cv_build_dir = os.path.join(opencv_archive_name, 'build')
if not os.path.isdir(cv_build_dir):
os.mkdir(cv_build_dir)
os.chdir(cv_build_dir)
opencv_cmake_call_args = [
'cmake',
'../',
'-DPYTHON_EXECUTABLE=%s' % robustus.python_executable,
'-DBUILD_NEW_PYTHON_SUPPORT=ON',
'-DBUILD_TESTS=OFF',
'-DBUILD_PERF_TESTS=OFF',
'-DBUILD_DOCS=OFF',
'-DBUILD_opencv_apps=OFF',
'-DBUILD_opencv_java=OFF',
'-DWITH_CUDA=OFF',
'-DCMAKE_INSTALL_PREFIX=%s' % cv_install_dir]
if sys.platform.startswith('darwin'):
python_lib_path = subprocess.check_output(['python-config', '--prefix']).strip()
opencv_cmake_call_args.append('-DPYTHON_LIBRARY=%s/Python' % python_lib_path)
opencv_cmake_call_args.append('-DPYTHON_INCLUDE_DIR=%s/Headers' % python_lib_path)
run_shell(opencv_cmake_call_args,
verbose=robustus.settings['verbosity'] >= 1)
retcode = run_shell(['make', '-j4'], verbose=robustus.settings['verbosity'] >= 1)
if retcode != 0:
raise RequirementException('OpenCV build failed')
# install into wheelhouse
if not os.path.isdir(cv_install_dir):
os.mkdir(cv_install_dir)
retcode = run_shell(['make', 'install'], verbose=robustus.settings['verbosity'] >= 1)
if retcode != 0:
raise RequirementException('OpenCV installation failed')
finally:
safe_remove(opencv_archive)
safe_remove(opencv_archive_name)
os.chdir(cwd)
if in_cache():
# fix rpath for all dynamic libraries of cv2
all_cv_dlibs = os.path.abspath(os.path.join(cv_install_dir, 'lib'))
if sys.platform.startswith('darwin'):
libs = glob.glob(os.path.join(all_cv_dlibs, '*.dylib'))
else:
libs = glob.glob(os.path.join(all_cv_dlibs, '*.so'))
for lib in libs:
fix_rpath(robustus, robustus.env, lib, cv_install_dir)
if in_cache():
logging.info('Copying OpenCV cv2.so to virtualenv')
cp(os.path.join(cv_install_dir, 'lib/python2.7/site-packages/*'),
os.path.join(robustus.env, 'lib/python2.7/site-packages'))
# fix rpath for cv2
cv2lib = os.path.join(robustus.env, 'lib/python2.7/site-packages/cv2.so')
fix_rpath(robustus, robustus.env, cv2lib, cv_install_dir)
else:
raise RequirementException('can\'t find OpenCV-%s in robustus cache' % requirement_specifier.version)
def install(robustus, requirement_specifier, rob_file, ignore_index):
if requirement_specifier.version != '1.8.1' and not requirement_specifier.version.startswith('bc'):
raise RequirementException('can only install panda3d 1.8.1/bc1/bc2')
panda_install_dir = os.path.join(robustus.cache, 'panda3d-%s' % requirement_specifier.version)
def in_cache():
return os.path.isfile(os.path.join(panda_install_dir, 'lib/panda3d.py'))
if not in_cache() and not ignore_index:
cwd = os.getcwd()
panda3d_tgz = None
panda3d_archive_name = None
try:
panda3d_tgz = robustus.download('panda3d', requirement_specifier.version)
panda3d_archive_name = unpack(panda3d_tgz)
logging.info('Builduing panda3d')
os.chdir(panda3d_archive_name)
# link bullet into panda dependencies dir
bullet_installations = glob.glob(os.path.join(robustus.env, 'lib/bullet-*'))
if len(bullet_installations) > 0:
bullet_dir = bullet_installations[0]
if sys.platform.startswith('darwin'):
panda_thirdparty_dir = 'thirdparty/darwin-libs-a'
elif sys.platform.startswith('linux'):
panda_thirdparty_dir = 'thirdparty/linux-libs-x64'
else:
raise RequirementException('unsupported platform ' + sys.platform)
os.mkdir('thirdparty')
os.mkdir(panda_thirdparty_dir)
os.mkdir(os.path.join(panda_thirdparty_dir, 'bullet'))
ln(os.path.join(bullet_dir, 'include/bullet'),
os.path.join(panda_thirdparty_dir, 'bullet/include'))
ln(os.path.join(bullet_dir, 'lib'),
os.path.join(panda_thirdparty_dir, 'bullet/lib'))
make_panda_options = ['--nothing',
'--use-python',
'--use-direct',
'--use-bullet',
'--use-zlib',
'--use-png',
'--use-jpeg',
'--use-tiff',
'--use-freetype',
'--use-x11',
'--use-gl',
'--use-nvidiacg',
'--use-pandatool',
'--use-tinydisplay',
'--threads', '4']
if sys.platform.startswith('darwin'):
make_panda_options += ['--use-cocoa']
os.environ['CC'] = 'gcc'
os.environ['CXX'] = 'g++'
makepanda_cmd = [robustus.python_executable, 'makepanda/makepanda.py'] + make_panda_options
# command takes much time and output very long, so run_shell isn't used
retcode = subprocess.call(makepanda_cmd)
if retcode != 0:
raise RequirementException('panda3d build failed')
# copy panda3d files to cache
shutil.rmtree(panda_install_dir, ignore_errors=True)
os.mkdir(panda_install_dir)
subprocess.call('cp -R built/lib %s' % panda_install_dir, shell=True)
subprocess.call('cp -R built/bin %s' % panda_install_dir, shell=True)
subprocess.call('cp -R built/include %s' % panda_install_dir, shell=True)
subprocess.call('cp -R built/direct %s' % panda_install_dir, shell=True)
subprocess.call('cp -R built/pandac %s' % panda_install_dir, shell=True)
subprocess.call('cp -R built/models %s' % panda_install_dir, shell=True)
subprocess.call('cp -R built/etc %s' % panda_install_dir, shell=True)
finally:
safe_remove(panda3d_tgz)
safe_remove(panda3d_archive_name)
os.chdir(cwd)
if in_cache():
# install panda3d to virtualenv
libdir = os.path.join(robustus.env, 'lib/panda3d')
shutil.rmtree(libdir, ignore_errors=True)
os.mkdir(libdir)
env_etcdir = os.path.join(robustus.env, 'etc')
if not os.path.isdir(env_etcdir):
os.mkdir(env_etcdir)
etcdir = os.path.join(env_etcdir, 'panda3d')
shutil.rmtree(etcdir, ignore_errors=True)
os.mkdir(etcdir)
run_shell('cp -r -p %s/lib/* %s/' % (panda_install_dir, libdir), shell=True)
run_shell('cp -r -p %s/direct %s/' % (panda_install_dir, libdir), shell=True)
run_shell('cp -r -p %s/pandac %s/' % (panda_install_dir, libdir), shell=True)
run_shell('cp -r -p %s/etc/* %s/' % (panda_install_dir, etcdir), shell=True)
# modify rpath of libs
libdir = os.path.abspath(libdir)
if sys.platform.startswith('darwin'):
libs = glob.glob(os.path.join(libdir, '*.dylib'))
else:
libs = glob.glob(os.path.join(libdir, '*.so'))
for lib in libs:
fix_rpath(robustus, robustus.env, lib, libdir)
prc_dir_setup = "import os; os.environ['PANDA_PRC_DIR'] = '%s'" % etcdir
write_file(os.path.join(robustus.env, 'lib/python2.7/site-packages/panda3d.pth'),
'w',
'%s\n%s\n' % (libdir, prc_dir_setup))
# patch panda prc file
with open(os.path.join(etcdir, 'Config.prc'), 'a') as f:
extra_options = []
extra_options.append("# enable antialiasing\n"
"framebuffer-multisample 1\n"
"multisamples 4\n")
extra_options.append("# disable panda3d transform caching to avoid memory leak in bullet bindings\n"
"garbage-collect-states 0\n")
extra_options.append("# enable software rendering as fallback\n"
"aux-display p3tinydisplay\n")
f.write('\n'.join(extra_options))
else:
raise RequirementException('can\'t find panda3d-%s in robustus cache' % requirement_specifier.version)
