/
common.py
278 lines (225 loc) · 9.75 KB
/
common.py
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import urllib2
import os
import subprocess
import sys
import fnmatch
import yaml
import threading
import time
from Queue import Queue
from threading import Thread
def append_pymodules_if_needed():
#TODO: This is a hack, in the chroot, the default python path does not
if not os.path.abspath("/usr/lib/pymodules/python2.7") in sys.path:
sys.path.append("/usr/lib/pymodules/python2.7")
def apt_get_install(pkgs, rosdep):
if len(pkgs) > 0:
call("apt-get install --yes %s"%(' '.join(rosdep.to_aptlist(pkgs))))
else:
print "Not installing anything from apt right now."
class RosDepResolver:
def __init__(self, ros_distro):
self.r2a = {}
self.a2r = {}
self.env = os.environ
self.env['ROS_DISTRO'] = ros_distro
print "Ininitalize rosdep database"
call("apt-get install --yes lsb-release python-rosdep")
call("rosdep init", self.env)
call("rosdep update", self.env)
print "Building dictionaries from a rosdep's db"
raw_db = call("rosdep db", self.env, verbose=False).split('\n')
for entry in raw_db:
split_entry = entry.split(' -> ')
if len(split_entry) < 2:
continue
ros_entry = split_entry[0]
apt_entries = split_entry[1].split(' ')
self.r2a[ros_entry] = apt_entries
for a in apt_entries:
self.a2r[a] = ros_entry
def to_aptlist(self, ros_entries):
res = []
for r in ros_entries:
for a in self.to_apt(r):
if not a in res:
res.append(a)
return res
def to_ros(self, apt_entry):
if not self.a2r.has_key(apt_entry):
print "Could not find %s in rosdep keys. Rosdep knows about these keys: %s"%(apt_entry, ', '.join(self.a2r.keys()))
return self.a2r[apt_entry]
def to_apt(self, ros_entry):
if not self.r2a.has_key(ros_entry):
print "Could not find %s in keys. Have keys %s"%(ros_entry, ', '.join(self.r2a.keys()))
return self.r2a[ros_entry]
def has_ros(self, ros_entry):
return ros_entry in self.r2a
def has_apt(self, apt_entry):
return apt_entry in self.a2r
class RosDep:
def __init__(self, ros_distro):
self.r2a = {}
self.a2r = {}
self.env = os.environ
self.env['ROS_DISTRO'] = ros_distro
# Initialize rosdep database
print "Ininitalize rosdep database"
call("apt-get install --yes lsb-release python-rosdep")
call("rosdep init", self.env)
call("rosdep update", self.env)
def to_apt(self, r):
if r in self.r2a:
return self.r2a[r]
else:
res = call("rosdep resolve %s"%r, self.env).split('\n')
if len(res) == 1:
raise Exception("Could not resolve rosdep")
a = call("rosdep resolve %s"%r, self.env).split('\n')[1]
print "Rosdep %s resolved into %s"%(r, a)
self.r2a[r] = a
self.a2r[a] = r
return a
def to_stack(self, a):
if not a in self.a2r:
print "%s not in apt-to-rosdep cache"%a
return self.a2r[a]
def copy_test_results(workspace, buildspace, errors=None, prefix='dummy'):
print "Preparing xml test results"
try:
os.makedirs(os.path.join(workspace, 'test_results'))
print "Created test results directory"
except:
pass
os.chdir(os.path.join(workspace, 'test_results'))
print "Copy all test results"
count = 0
for root, dirnames, filenames in os.walk(os.path.join(buildspace, 'test_results')):
for filename in fnmatch.filter(filenames, '*.xml'):
call("cp %s %s/test_results/"%(os.path.join(root, filename), workspace))
count += 1
if count == 0:
print "No test results, so I'll create a dummy test result xml file, with errors %s" % errors
with open(os.path.join(workspace, 'test_results/dummy.xml'), 'w') as f:
if errors:
f.write('<?xml version="1.0" encoding="UTF-8"?><testsuite tests="1" failures="0" time="1" errors="1" name="%s test"> <testcase name="%s rapport" classname="Results" /><testcase classname="%s_class" name="%sFailure"><error type="%sException">%s</error></testcase></testsuite>' % (prefix, prefix, prefix, prefix, prefix, errors))
else:
f.write('<?xml version="1.0" encoding="UTF-8"?><testsuite tests="1" failures="0" time="1" errors="0" name="dummy test"> <testcase name="dummy rapport" classname="Results" /></testsuite>')
def get_ros_env(setup_file):
res = os.environ
print "Retrieve the ROS build environment by sourcing %s"%setup_file
command = ['bash', '-c', 'source %s && env'%setup_file]
proc = subprocess.Popen(command, stdout = subprocess.PIPE)
for line in proc.stdout:
(key, _, value) = line.partition("=")
res[key] = value.split('\n')[0]
proc.communicate()
if proc.returncode != 0:
msg = "Failed to source %s"%setup_file
print "/!\ %s"%msg
raise BuildException(msg)
return res
def call_with_list(command, envir=None, verbose=True):
print "Executing command '%s'"%' '.join(command)
helper = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, close_fds=True, env=envir)
res, err = helper.communicate()
if verbose:
print str(res)
print str(err)
if helper.returncode != 0:
msg = "Failed to execute command '%s'"%command
print "/!\ %s"%msg
raise BuildException(msg)
return res
def call(command, envir=None, verbose=True):
return call_with_list(command.split(' '), envir, verbose)
def get_nonlocal_dependencies(catkin_packages, stacks, manifest_packages):
append_pymodules_if_needed()
from catkin_pkg import packages
import rospkg
depends = []
#First, we build the catkin deps
for name, path in catkin_packages.iteritems():
pkg_info = packages.parse_package(path)
depends.extend([d.name \
for d in pkg_info.build_depends + pkg_info.test_depends + pkg_info.run_depends \
if not d.name in catkin_packages and not d.name in depends])
#Next, we build the manifest deps for stacks
for name, path in stacks.iteritems():
stack_manifest = rospkg.parse_manifest_file(path, rospkg.STACK_FILE)
depends.extend([d.name \
for d in stack_manifest.depends + stack_manifest.rosdeps \
if not d.name in catkin_packages \
and not d.name in stacks \
and not d.name in depends])
#Next, we build manifest deps for packages
for name, path in manifest_packages.iteritems():
pkg_manifest = rospkg.parse_manifest_file(path, rospkg.MANIFEST_FILE)
depends.extend([d.name \
for d in pkg_manifest.depends + pkg_manifest.rosdeps \
if not d.name in catkin_packages \
and not d.name in stacks \
and not d.name in manifest_packages \
and not d.name in depends])
return depends
def build_local_dependency_graph(catkin_packages, manifest_packages):
append_pymodules_if_needed()
from catkin_pkg import packages
import rospkg
depends = {}
#First, we build the catkin dep tree
for name, path in catkin_packages.iteritems():
depends[name] = []
pkg_info = packages.parse_package(path)
for d in pkg_info.build_depends + pkg_info.test_depends + pkg_info.run_depends:
if d.name in catkin_packages and d.name != name:
depends[name].append(d.name)
#Next, we build the manifest dep tree
for name, path in manifest_packages.iteritems():
manifest = rospkg.parse_manifest_file(path, rospkg.MANIFEST_FILE)
depends[name] = []
for d in manifest.depends + manifest.rosdeps:
if (d.name in catkin_packages or d.name in manifest_packages) and d.name != name:
depends[name].append(str(d.name))
return depends
def reorder_paths(order, packages, paths):
#we want to make sure that we can still associate packages with paths
new_paths = []
for package in order:
old_index = [i for i, name in enumerate(packages) if package == name][0]
new_paths.append(paths[old_index])
return order, new_paths
def get_dependency_build_order(depends):
import networkx as nx
graph = nx.DiGraph()
for name, deps in depends.iteritems():
graph.add_node(name)
graph.add_edges_from([(name, d) for d in deps])
order = nx.topological_sort(graph)
order.reverse()
return order
def get_dependencies(source_folder, build_depends=True, test_depends=True):
# get the dependencies
print "Get the dependencies of source folder %s"%source_folder
append_pymodules_if_needed()
from catkin_pkg import packages
pkgs = packages.find_packages(source_folder)
local_packages = pkgs.keys()
if len(pkgs) > 0:
print "In folder %s, found packages %s"%(source_folder, ', '.join(local_packages))
else:
raise BuildException("Found no packages in folder %s. Are you sure your packages have a packages.xml file?"%source_folder)
depends = []
for name, pkg in pkgs.iteritems():
if build_depends:
for d in pkg.build_depends:
if not d.name in depends and not d.name in local_packages:
depends.append(d.name)
if test_depends:
for d in pkg.test_depends:
if not d.name in depends and not d.name in local_packages:
depends.append(d.name)
return depends
class BuildException(Exception):
def __init__(self, msg):
self.msg = msg