def doxygen(conf, package, deps, output_path, source_path, docs_build_path):
# We run doxygen twice, once to generate the actual docs, and then a second time to generate
# the tagfiles to link this documentation from other docs. See the following SO discussion
# for this suggestion: http://stackoverflow.com/a/35640905/109517
return [
FunctionStage('generate_doxygen_config',
generate_doxygen_config,
conf=conf,
package=package,
recursive_build_deps=deps,
output_path=output_path,
source_path=source_path,
docs_build_path=docs_build_path),
CommandStage(
'rosdoc_doxygen',
[which('doxygen'),
os.path.join(docs_build_path, 'Doxyfile')],
cwd=source_path),
FunctionStage('generate_doxygen_config_tags',
generate_doxygen_config_tags,
conf=conf,
package=package,
source_path=source_path,
docs_build_path=docs_build_path),
CommandStage(
'rosdoc_doxygen_tags',
[which('doxygen'),
os.path.join(docs_build_path, 'Doxyfile_tags')],
cwd=source_path),
# Filter the tags XML to remove user-defined references that may appear in multiple
# packages (like "codeapi"), since they are not namespaced.
FunctionStage('filter_doxygen_tags',
filter_doxygen_tags,
docs_build_path=docs_build_path)
]
def pydoctor(conf, package, deps, doc_deps, output_path, source_path, docs_build_path, job_env):
output_dir = os.path.join(output_path, 'html', conf.get('output_dir', ''))
# TODO: Would be better to extract this information from the setup.py, but easier
# for now to just codify an assumption of {pkg}/python, falling back to {pkg}/src.
src_dir = os.path.join(source_path, 'python')
if not os.path.isdir(src_dir):
src_dir = os.path.join(source_path, 'src')
command = [which('pydoctor'), '--project-name', package.name, '--html-output', output_dir]
if 'config' in conf and 'epydoc' not in conf['config']:
command.extend(['--config', os.path.join(source_path, conf['config'])])
for subdir in os.listdir(src_dir):
command.append(os.path.join(src_dir, subdir))
# pydoctor returns error codes for minor issues we don't care about.
wrapper_command = ['/bin/bash', '-c', '%s || true' % ' '.join(command)]
return [
FunctionStage(
'mkdir_pydoctor',
makedirs,
path=output_dir),
FunctionStage(
'cache_pydoctor_output',
write_file,
contents=output_dir,
dest_path=os.path.join(docs_build_path, output_dir_file('pydoctor'))),
CommandStage(
'rosdoc_pydoctor',
wrapper_command,
cwd=src_dir)
]
def create_cmake_clean_job(
context,
package,
package_path,
dependencies,
dry_run,
clean_build,
clean_devel,
clean_install):
"""Generate a Job to clean a cmake package"""
# Package build space path
build_space = context.package_build_space(package)
# Package metadata path
metadata_path = context.package_metadata_path(package)
# Environment dictionary for the job, empty for a clean job
job_env = {}
stages = []
if clean_install and context.install:
installed_files = get_installed_files(context.package_metadata_path(package))
stages.append(FunctionStage(
'cleaninstall',
rmfiles,
paths=sorted(installed_files),
remove_empty=True,
empty_root=context.install_space_abs,
dry_run=dry_run))
if clean_devel and not context.install:
installed_files = get_installed_files(context.package_metadata_path(package))
stages.append(FunctionStage(
'cleandevel',
rmfiles,
paths=sorted(installed_files),
remove_empty=True,
empty_root=context.devel_space_abs,
dry_run=dry_run))
if clean_build:
stages.append(FunctionStage(
'rmbuild',
rmfiles,
paths=[build_space],
dry_run=dry_run))
# Remove cached metadata
if clean_build and clean_devel and clean_install:
stages.append(FunctionStage(
'rmmetadata',
rmfiles,
paths=[metadata_path],
dry_run=dry_run))
return Job(
jid=package.name,
deps=dependencies,
env=job_env,
stages=stages)
def create_package_job(context, package, package_path, deps):
docs_space = os.path.join(context.build_space_abs, '..', 'docs', package.name)
docs_build_space = os.path.join(context.build_space_abs, 'docs', package.name)
package_path_abs = os.path.join(context.source_space_abs, package_path)
# Load rosdoc config, if it exists.
rosdoc_yaml_path = os.path.join(package_path_abs, 'rosdoc.yaml')
if os.path.exists(rosdoc_yaml_path):
with open(rosdoc_yaml_path) as f:
rosdoc_conf = yaml.load(f)
else:
if os.path.exists(os.path.join(package_path_abs, 'src')) or \
os.path.exists(os.path.join(package_path_abs, 'include')):
rosdoc_conf = [{'builder': 'doxygen'}]
else:
rosdoc_conf = []
stages = []
# Create package docs spaces.
stages.append(FunctionStage('mkdir_docs_build_space', makedirs, path=docs_build_space))
# Generate msg/srv/action docs with package summary page.
stages.append(FunctionStage('generate_messages', generate_messages,
package=package, package_path=package_path,
output_path=docs_build_space))
stages.append(FunctionStage('generate_services', generate_services,
package=package, package_path=package_path,
output_path=docs_build_space))
stages.append(FunctionStage('generate_package_summary', generate_package_summary,
package=package, package_path=package_path_abs,
rosdoc_conf=rosdoc_conf, output_path=docs_build_space))
# Add steps to run native doc generators, as appropriate. This has to happen after
# the package summary generates, as we're going to override the subdirectory index.html
# files generated by that sphinx run.
for conf in rosdoc_conf:
try:
stages.extend(getattr(builders, conf['builder'])(
conf, package, deps, docs_space, package_path_abs, docs_build_space))
except AttributeError:
log(fmt("[document] @!@{yf}Warning:@| Skipping unrecognized rosdoc builder [%s] for package [%s]" %
(conf['builder'], package.name)))
return Job(jid=package.name, deps=deps, env={}, stages=stages)
def create_cmake_test_job(
context,
package,
package_path,
test_target,
verbose,
):
"""Generate a job to test a cmake package"""
# Package build space path
build_space = context.package_build_space(package)
# Environment dictionary for the job, which will be built
# up by the executions in the loadenv stage.
job_env = dict(os.environ)
# Create job stages
stages = []
# Load environment for job
stages.append(
FunctionStage(
'loadenv',
loadenv,
locked_resource=None,
job_env=job_env,
package=package,
context=context,
verbose=False,
))
# Check if the test target exists
# make -q target_name returns 2 if the target does not exist, in that case we want to terminate this test job
# the other cases (0=target is up-to-date, 1=target exists but is not up-to-date) can be ignored
stages.append(
CommandStage(
'findtest',
[MAKE_EXEC, '-q', test_target],
cwd=build_space,
early_termination_retcode=2,
success_retcodes=(0, 1, 2),
))
# Make command
stages.append(
CommandStage(
'make',
[MAKE_EXEC, test_target] + context.make_args,
cwd=build_space,
logger_factory=IOBufferProtocol.factory,
))
return Job(
jid=package.name,
deps=[],
env=job_env,
stages=stages,
)
def sphinx(conf, package, deps, doc_deps, output_path, source_path, docs_build_path, job_env):
root_dir = os.path.join(source_path, conf.get('sphinx_root_dir', '.'))
output_dir = os.path.join(output_path, 'html', conf.get('output_dir', ''))
rpp = os.environ['ROS_PACKAGE_PATH'].split(':')
rpp.insert(0, source_path)
if os.path.isdir(os.path.join(source_path, 'src')):
rpp.insert(0, os.path.join(source_path, 'src'))
env = {
'PATH': os.environ.get('PATH', ''),
'PYTHONPATH': os.environ.get('PYTHONPATH', ''),
'ROS_PACKAGE_PATH': ':'.join(rpp),
'LD_LIBRARY_PATH': os.environ.get('LD_LIBRARY_PATH', '')
}
return [
FunctionStage(
'cache_sphinx_output',
write_file,
contents=output_dir,
dest_path=os.path.join(docs_build_path, output_dir_file('sphinx')),
),
FunctionStage(
'job_env_set_intersphinx_mapping',
generate_intersphinx_mapping,
output_path=output_path,
root_dir=root_dir,
doc_deps=doc_deps,
docs_build_path=docs_build_path,
job_env=job_env),
CommandStage(
'rosdoc_sphinx',
[which('sphinx-build'), '-E', root_dir, output_dir],
cwd=root_dir,
env=env),
FunctionStage(
'job_env_unset_intersphinx_mapping',
unset_env,
job_env=job_env,
keys=['INTERSPHINX_MAPPING']),
]
def create_summary_job(context, package_names):
docs_space = os.path.join(context.build_space_abs, '..', 'docs')
docs_build_space = os.path.join(context.build_space_abs, 'docs')
stages = []
stages.append(FunctionStage('generate_overall_summary', generate_overall_summary,
output_path=docs_build_space))
# Run Sphinx for the package summary.
stages.append(CommandStage(
'summary_sphinx',
[which('sphinx-build'), '-j8', '-E', '.', docs_space],
cwd=docs_build_space
))
return Job(jid='summary', deps=package_names, env={}, stages=stages)
def epydoc(conf, package, deps, output_path, source_path, docs_build_path):
output_dir = os.path.join(output_path, 'html', conf.get('output_dir', ''))
command = [which('epydoc'), '--html', package.name, '-o', output_dir]
for s in conf.get('exclude', []):
command.extend(['--exclude', s])
if 'config' in conf:
command.extend(['--config', os.path.join(source_path, conf['config'])])
else:
# default options
command.extend(['--inheritance', 'included', '--no-private'])
env = {
'PYTHONPATH': ':'.join(sys.path),
'LD_LIBRARY_PATH': os.environ.get('LD_LIBRARY_PATH', '')
}
return [
FunctionStage('mkdir_epydoc', makedirs, path=output_dir),
CommandStage('rosdoc_epydoc', command, cwd=source_path, env=env)
]
def create_package_job(context, package, package_tests):
build_space = os.path.join(context.build_space_abs, package.name)
if not os.path.exists(os.path.join(build_space, 'Makefile')):
raise
build_space = context.package_build_space(package)
devel_space = context.package_devel_space(package)
catkin_test_results_dir = os.path.join(build_space, 'test_results')
#package_path_abs = os.path.join(context.source_space_abs, package_path)
job_env = dict(os.environ)
stages = []
stages.append(
FunctionStage('loadenv',
loadenv,
job_env=job_env,
package=package,
context=context))
package_test_targets = [
'run_tests_%s_%s' % (package.name, test_name)
for test_name in package_tests
]
make_args = handle_make_arguments(context.make_args +
context.catkin_make_args +
package_test_targets)
stages.append(
CommandStage(
'make',
[MAKE_EXEC] + make_args,
cwd=build_space,
#env_overrides=env_overrides,
logger_factory=CMakeMakeIOBufferProtocol.factory))
return Job(jid=package.name, deps=[], env=job_env, stages=stages)
def epydoc(conf, package, deps, output_path, source_path, docs_build_path):
try:
which('epydoc')
except KeyError:
# If epydoc is missing, fall back to pydoctor.
return pydoctor(conf, package, deps, output_path, source_path, docs_build_path)
output_dir = os.path.join(output_path, 'html', conf.get('output_dir', ''))
command = [which('epydoc'), '--html', package.name, '-o', output_dir]
for s in conf.get('exclude', []):
command.extend(['--exclude', s])
if 'config' in conf:
command.extend(['--config', os.path.join(source_path, conf['config'])])
else:
# default options
command.extend(['--inheritance', 'included', '--no-private'])
env = {
'PYTHONPATH': os.environ.get('PYTHONPATH', ''),
'LD_LIBRARY_PATH': os.environ.get('LD_LIBRARY_PATH', '')
}
# Swallow errors from epydoc until we figure out a better story for Python 3.
wrapper_command = ['/bin/bash', '-c', '%s || true' % ' '.join(command)]
return [
FunctionStage(
'mkdir_epydoc',
makedirs,
path=output_dir),
CommandStage(
'rosdoc_epydoc',
wrapper_command,
cwd=source_path,
env=env)
]
def create_catkin_test_job(
context,
package,
package_path,
test_target,
verbose,
):
"""Generate a job that tests a package"""
# Package source space path
pkg_dir = os.path.join(context.source_space_abs, package_path)
# Package build space path
build_space = context.package_build_space(package)
# Environment dictionary for the job, which will be built
# up by the executions in the loadenv stage.
job_env = dict(os.environ)
# Create job stages
stages = []
# Load environment for job
stages.append(
FunctionStage(
'loadenv',
loadenv,
locked_resource=None,
job_env=job_env,
package=package,
context=context,
verbose=False,
))
# Check buildsystem command
# The stdout is suppressed here instead of globally because for the actual tests,
# stdout contains important information, but for cmake it is only relevant when verbose
stages.append(
CommandStage('check', [MAKE_EXEC, 'cmake_check_build_system'],
cwd=build_space,
logger_factory=CMakeIOBufferProtocol.factory_factory(
pkg_dir, suppress_stdout=not verbose),
occupy_job=True))
# Check if the test target exists
# make -q target_name returns 2 if the target does not exist, in that case we want to terminate this test job
# the other cases (0=target is up-to-date, 1=target exists but is not up-to-date) can be ignored
stages.append(
CommandStage(
'findtest',
[MAKE_EXEC, '-q', test_target],
cwd=build_space,
early_termination_retcode=2,
success_retcodes=(0, 1, 2),
))
# Make command
stages.append(
CommandStage(
'make',
[MAKE_EXEC, test_target] + context.make_args,
cwd=build_space,
logger_factory=CMakeMakeRunTestsIOBufferProtocol.factory_factory(
verbose),
))
# catkin_test_results
result_cmd = ['catkin_test_results']
if verbose:
result_cmd.append('--verbose')
stages.append(
CommandStage(
'results',
result_cmd,
cwd=build_space,
logger_factory=CatkinTestResultsIOBufferProtocol.factory,
))
return Job(
jid=package.name,
deps=[],
env=job_env,
stages=stages,
)
def create_catkin_clean_job(context, package, package_path, dependencies,
dry_run, clean_build, clean_devel, clean_install):
"""Generate a Job that cleans a catkin package"""
stages = []
# Package build space path
build_space = context.package_build_space(package)
# Package metadata path
metadata_path = context.package_metadata_path(package)
# Environment dictionary for the job, empty for a clean job
job_env = {}
# Remove installed files
if clean_install:
installed_files = get_installed_files(
context.package_metadata_path(package))
install_dir = context.package_install_space(package)
if context.merge_install:
# Don't clean shared files in a merged install space layout.
installed_files = [
path for path in installed_files
if os.path.dirname(path) != install_dir
]
# If a Python package with the package name is installed, clean it too.
python_dir = os.path.join(install_dir, get_python_install_dir(context),
package.name)
if os.path.exists(python_dir):
installed_files.append(python_dir)
stages.append(
FunctionStage('cleaninstall',
rmfiles,
paths=sorted(installed_files),
remove_empty=True,
empty_root=context.install_space_abs,
dry_run=dry_run))
# Remove products in develspace
if clean_devel:
if context.merge_devel:
# Remove build targets from devel space
stages.append(
CommandStage(
'clean',
[MAKE_EXEC, 'clean'],
cwd=build_space,
))
elif context.link_devel:
# Remove symlinked products
stages.append(
FunctionStage(
'unlink',
unlink_devel_products,
locked_resource='symlink-collisions-file',
devel_space_abs=context.devel_space_abs,
private_devel_path=context.package_private_devel_path(
package),
metadata_path=context.metadata_path(),
package_metadata_path=context.package_metadata_path(
package),
dry_run=dry_run))
# Remove devel space
stages.append(
FunctionStage(
'rmdevel',
rmfiles,
paths=[context.package_private_devel_path(package)],
dry_run=dry_run))
elif context.isolate_devel:
# Remove devel space
stages.append(
FunctionStage('rmdevel',
rmfiles,
paths=[context.package_devel_space(package)],
dry_run=dry_run))
# Remove build space
if clean_build:
stages.append(
FunctionStage('rmbuild',
rmfiles,
paths=[build_space],
dry_run=dry_run))
# Remove cached metadata
if clean_build and clean_devel and clean_install:
stages.append(
FunctionStage('rmmetadata',
rmfiles,
paths=[metadata_path],
dry_run=dry_run))
return Job(jid=package.name, deps=dependencies, env=job_env, stages=stages)
def create_catkin_build_job(context,
package,
package_path,
dependencies,
force_cmake,
pre_clean,
prebuild=False):
"""Job class for building catkin packages"""
# Package source space path
pkg_dir = os.path.join(context.source_space_abs, package_path)
# Package build space path
build_space = context.package_build_space(package)
# Package devel space path
devel_space = context.package_devel_space(package)
# Package install space path
install_space = context.package_install_space(package)
# Package metadata path
metadata_path = context.package_metadata_path(package)
# Environment dictionary for the job, which will be built
# up by the executions in the loadenv stage.
job_env = dict(os.environ)
# Create job stages
stages = []
# Load environment for job.
stages.append(
FunctionStage('loadenv',
loadenv,
locked_resource=None
if context.isolate_install else 'installspace',
job_env=job_env,
package=package,
context=context))
# Create package build space
stages.append(FunctionStage('mkdir', makedirs, path=build_space))
# Create package metadata dir
stages.append(FunctionStage('mkdir', makedirs, path=metadata_path))
# Copy source manifest
stages.append(
FunctionStage('cache-manifest',
copyfiles,
source_paths=[
os.path.join(context.source_space_abs, package_path,
'package.xml')
],
dest_path=os.path.join(metadata_path, 'package.xml')))
# Only run CMake if the Makefile doesn't exist or if --force-cmake is given
# TODO: This would need to be different with `cmake --build`
makefile_path = os.path.join(build_space, 'Makefile')
if not os.path.isfile(makefile_path) or force_cmake:
require_command('cmake', CMAKE_EXEC)
# CMake command
stages.append(
CommandStage(
'cmake',
[
CMAKE_EXEC, pkg_dir, '--no-warn-unused-cli',
'-DCATKIN_DEVEL_PREFIX=' + devel_space,
'-DCMAKE_INSTALL_PREFIX=' + install_space
] + context.cmake_args,
cwd=build_space,
logger_factory=CMakeIOBufferProtocol.factory_factory(pkg_dir),
occupy_job=True))
else:
# Check buildsystem command
stages.append(
CommandStage(
'check', [MAKE_EXEC, 'cmake_check_build_system'],
cwd=build_space,
logger_factory=CMakeIOBufferProtocol.factory_factory(pkg_dir),
occupy_job=True))
# Filter make arguments
make_args = handle_make_arguments(context.make_args +
context.catkin_make_args)
# Pre-clean command
if pre_clean:
# TODO: Remove target args from `make_args`
stages.append(
CommandStage(
'preclean',
[MAKE_EXEC, 'clean'] + make_args,
cwd=build_space,
))
require_command('make', MAKE_EXEC)
# Make command
stages.append(
CommandStage('make', [MAKE_EXEC] + make_args,
cwd=build_space,
logger_factory=CMakeMakeIOBufferProtocol.factory))
# Symlink command if using a linked develspace
if context.link_devel:
stages.append(
FunctionStage(
'symlink',
link_devel_products,
locked_resource='symlink-collisions-file',
package=package,
package_path=package_path,
devel_manifest_path=context.package_metadata_path(package),
source_devel_path=context.package_devel_space(package),
dest_devel_path=context.devel_space_abs,
metadata_path=context.metadata_path(),
prebuild=prebuild))
# Make install command, if installing
if context.install:
stages.append(
CommandStage('install', [MAKE_EXEC, 'install'],
cwd=build_space,
logger_factory=CMakeMakeIOBufferProtocol.factory,
locked_resource=None
if context.isolate_install else 'installspace'))
# Copy install manifest
stages.append(
FunctionStage(
'register',
copy_install_manifest,
src_install_manifest_path=build_space,
dst_install_manifest_path=context.package_metadata_path(
package)))
return Job(jid=package.name, deps=dependencies, env=job_env, stages=stages)
def create_cmake_build_job(context, package, package_path, dependencies,
force_cmake, pre_clean):
# Package source space path
pkg_dir = os.path.join(context.source_space_abs, package_path)
# Package build space path
build_space = context.package_build_space(package)
# Package metadata path
metadata_path = context.package_metadata_path(package)
# Environment dictionary for the job, which will be built
# up by the executions in the loadenv stage.
job_env = dict(os.environ)
# Get actual staging path
dest_path = context.package_dest_path(package)
final_path = context.package_final_path(package)
# Create job stages
stages = []
# Load environment for job.
stages.append(
FunctionStage('loadenv',
loadenv,
locked_resource='installspace',
job_env=job_env,
package=package,
context=context))
# Create package build space
stages.append(FunctionStage('mkdir', makedirs, path=build_space))
# Create package metadata dir
stages.append(FunctionStage('mkdir', makedirs, path=metadata_path))
# Copy source manifest
stages.append(
FunctionStage('cache-manifest',
copyfiles,
source_paths=[
os.path.join(context.source_space_abs, package_path,
'package.xml')
],
dest_path=os.path.join(metadata_path, 'package.xml')))
require_command('cmake', CMAKE_EXEC)
# CMake command
makefile_path = os.path.join(build_space, 'Makefile')
if not os.path.isfile(makefile_path) or force_cmake:
stages.append(
CommandStage(
'cmake', ([
CMAKE_EXEC, pkg_dir, '--no-warn-unused-cli',
'-DCMAKE_INSTALL_PREFIX=' + final_path
] + context.cmake_args),
cwd=build_space,
logger_factory=CMakeIOBufferProtocol.factory_factory(pkg_dir)))
else:
stages.append(
CommandStage(
'check', [MAKE_EXEC, 'cmake_check_build_system'],
cwd=build_space,
logger_factory=CMakeIOBufferProtocol.factory_factory(pkg_dir)))
# Pre-clean command
if pre_clean:
make_args = handle_make_arguments(context.make_args +
context.catkin_make_args)
stages.append(
CommandStage(
'preclean',
[MAKE_EXEC, 'clean'] + make_args,
cwd=build_space,
))
require_command('make', MAKE_EXEC)
# Make command
stages.append(
CommandStage('make',
[MAKE_EXEC] + handle_make_arguments(context.make_args),
cwd=build_space,
logger_factory=CMakeMakeIOBufferProtocol.factory))
# Make install command (always run on plain cmake)
stages.append(
CommandStage('install', [MAKE_EXEC, 'install'],
cwd=build_space,
logger_factory=CMakeMakeIOBufferProtocol.factory,
locked_resource='installspace'))
# Copy install manifest
stages.append(
FunctionStage(
'register',
copy_install_manifest,
src_install_manifest_path=build_space,
dst_install_manifest_path=context.package_metadata_path(package)))
# Determine the location where the setup.sh file should be created
stages.append(
FunctionStage('setupgen',
generate_setup_file,
context=context,
install_target=dest_path))
stages.append(
FunctionStage('envgen',
generate_env_file,
context=context,
install_target=dest_path))
return Job(jid=package.name, deps=dependencies, env=job_env, stages=stages)
def create_package_job(context, package, package_path, deps, doc_deps):
docs_space = os.path.join(context.docs_space_abs, package.name)
docs_build_space = os.path.join(context.build_space_abs, 'docs',
package.name)
package_path_abs = os.path.join(context.source_space_abs, package_path)
package_meta_path = context.package_metadata_path(package)
# Load rosdoc config, if it exists.
rosdoc_yaml_path = os.path.join(package_path_abs, 'rosdoc.yaml')
for export in package.exports:
if export.tagname == "rosdoc":
config = export.attributes.get('config', '')
if config:
rosdoc_yaml_path_temp = os.path.join(package_path_abs, config)
if os.path.isfile(rosdoc_yaml_path_temp):
# Stop if configuration is found which exists
rosdoc_yaml_path = rosdoc_yaml_path_temp
break
if os.path.isfile(rosdoc_yaml_path):
with open(rosdoc_yaml_path) as f:
rosdoc_conf = yaml.full_load(f)
else:
if os.path.isdir(os.path.join(package_path_abs, 'src')) or \
os.path.isdir(os.path.join(package_path_abs, 'include')):
rosdoc_conf = [{'builder': 'doxygen'}]
else:
rosdoc_conf = []
stages = []
# Create package docs spaces.
stages.append(
FunctionStage('mkdir_docs_build_space',
makedirs,
path=docs_build_space))
# Generate msg/srv/action docs with package summary page.
stages.append(
FunctionStage('generate_messages',
generate_messages,
package=package,
package_path=package_path,
output_path=docs_build_space))
stages.append(
FunctionStage('generate_services',
generate_services,
package=package,
package_path=package_path,
output_path=docs_build_space))
stages.append(
FunctionStage('generate_package_summary',
generate_package_summary,
package=package,
package_path=package_path_abs,
rosdoc_conf=rosdoc_conf,
output_path=docs_build_space))
# Cache document config
stages.append(
FunctionStage('cache_rosdoc_config',
yaml_dump_file,
contents=rosdoc_conf,
dest_path=os.path.join(package_meta_path,
'rosdoc.yaml')))
job_env = {}
# Add steps to run native doc generators, as appropriate. This has to happen after
# the package summary generates, as we're going to override the subdirectory index.html
# files generated by that sphinx run.
for conf in rosdoc_conf:
try:
builder = conf['builder']
if builder == 'doxygen':
docs_space = os.path.realpath(docs_space)
docs_build_space = os.path.realpath(docs_build_space)
package_path_abs = os.path.realpath(package_path_abs)
stages.extend(
getattr(builders,
builder)(conf, package, deps, doc_deps, docs_space,
package_path_abs, docs_build_space, job_env))
except AttributeError:
log(
fmt("[document] @!@{yf}Warning:@| Skipping unrecognized rosdoc builder [%s] for package [%s]"
% (conf['builder'], package.name)))
return Job(jid=package.name, deps=deps, env=job_env, stages=stages)
def create_catkin_build_job(context,
package,
package_path,
dependencies,
force_cmake,
pre_clean,
prebuild=False):
"""Job class for building catkin packages"""
# Package source space path
pkg_dir = os.path.join(context.source_space_abs, package_path)
# Package build space path
build_space = context.package_build_space(package)
# Package devel space path
devel_space = context.package_devel_space(package)
# Package install space path
install_space = context.package_install_space(package)
# Package metadata path
metadata_path = context.package_metadata_path(package)
# Create job stages
stages = []
# Create package build space
stages.append(FunctionStage('mkdir', makedirs, path=build_space))
# Create package metadata dir
stages.append(FunctionStage('mkdir', makedirs, path=metadata_path))
# Copy source manifest
stages.append(
FunctionStage('cache-manifest',
copyfiles,
source_paths=[
os.path.join(context.source_space_abs, package_path,
'package.xml')
],
dest_path=os.path.join(metadata_path, 'package.xml')))
# Define test results directory
catkin_test_results_dir = os.path.join(build_space, 'test_results')
# Always override the CATKIN and ROS _TEST_RESULTS_DIR environment variables.
# This is in order to avoid cross talk due to parallel builds.
# This is only needed for ROS Hydro and earlier (the problem was addressed upstream in Indigo).
# See: https://github.com/catkin/catkin_tools/issues/139
ctr_env = {
'CATKIN_TEST_RESULTS_DIR': catkin_test_results_dir,
'ROS_TEST_RESULTS_DIR': catkin_test_results_dir
}
# Only run CMake if the Makefile doesn't exist or if --force-cmake is given
# TODO: This would need to be different with `cmake --build`
makefile_path = os.path.join(build_space, 'Makefile')
if not os.path.isfile(makefile_path) or force_cmake:
# Create an env-hook which clears the catkin and ros test results environment variable.
stages.append(
FunctionStage('ctr-nuke',
ctr_nuke,
prefix=context.package_dest_path(package)))
# CMake command
stages.append(
CommandStage(
'cmake',
[
CMAKE_EXEC, pkg_dir, '--no-warn-unused-cli',
'-DCATKIN_DEVEL_PREFIX=' + devel_space,
'-DCMAKE_INSTALL_PREFIX=' + install_space
] + context.cmake_args,
cwd=build_space,
logger_factory=CMakeIOBufferProtocol.factory_factory(pkg_dir),
occupy_job=True))
else:
# Check buildsystem command
stages.append(
CommandStage(
'check', [MAKE_EXEC, 'cmake_check_build_system'],
cwd=build_space,
logger_factory=CMakeIOBufferProtocol.factory_factory(pkg_dir),
occupy_job=True))
# Filter make arguments
make_args = handle_make_arguments(context.make_args +
context.catkin_make_args)
# Determine if the catkin test results env needs to be overridden
env_overrides = ctr_env if 'test' in make_args else {}
# Pre-clean command
if pre_clean:
# TODO: Remove target args from `make_args`
stages.append(
CommandStage(
'preclean',
[MAKE_EXEC, 'clean'] + make_args,
cwd=build_space,
))
# Make command
stages.append(
CommandStage('make', [MAKE_EXEC] + make_args,
cwd=build_space,
env_overrides=env_overrides,
logger_factory=CMakeMakeIOBufferProtocol.factory))
# Symlink command if using a linked develspace
if context.link_devel:
stages.append(
FunctionStage(
'symlink',
link_devel_products,
locked_resource='symlink-collisions-file',
package=package,
package_path=package_path,
devel_manifest_path=context.package_metadata_path(package),
source_devel_path=context.package_devel_space(package),
dest_devel_path=context.devel_space_abs,
metadata_path=context.metadata_path(),
prebuild=prebuild))
# Make install command, if installing
if context.install:
stages.append(
CommandStage('install', [MAKE_EXEC, 'install'],
cwd=build_space,
logger_factory=CMakeMakeIOBufferProtocol.factory,
locked_resource='installspace'))
return Job(jid=package.name,
deps=dependencies,
env_loader=get_env_loader(package, context),
stages=stages)
def create_catkin_clean_job(context, package, package_path, dependencies,
dry_run, clean_build, clean_devel, clean_install):
"""Generate a Job that cleans a catkin package"""
stages = []
# Package build space path
build_space = context.package_build_space(package)
# Package metadata path
metadata_path = context.package_metadata_path(package)
# Remove installed files
if clean_install:
installed_files = get_installed_files(
context.package_metadata_path(package))
stages.append(
FunctionStage('cleaninstall',
rmfiles,
paths=sorted(installed_files),
remove_empty=True,
empty_root=context.install_space_abs,
dry_run=dry_run))
# Remove products in develspace
if clean_devel:
if context.merge_devel:
# Remove build targets from devel space
stages.append(
CommandStage(
'clean',
[MAKE_EXEC, 'clean'],
cwd=build_space,
))
elif context.link_devel:
# Remove symlinked products
stages.append(
FunctionStage(
'unlink',
unlink_devel_products,
locked_resource='symlink-collisions-file',
devel_space_abs=context.devel_space_abs,
private_devel_path=context.package_private_devel_path(
package),
metadata_path=context.metadata_path(),
package_metadata_path=context.package_metadata_path(
package),
dry_run=dry_run))
# Remove devel space
stages.append(
FunctionStage(
'rmdevel',
rmfiles,
paths=[context.package_private_devel_path(package)],
dry_run=dry_run))
elif context.isolate_devel:
# Remove devel space
stages.append(
FunctionStage('rmdevel',
rmfiles,
paths=[context.package_devel_space(package)],
dry_run=dry_run))
# Remove build space
if clean_build:
stages.append(
FunctionStage('rmbuild',
rmfiles,
paths=[build_space],
dry_run=dry_run))
# Remove cached metadata
if clean_build and clean_devel and clean_install:
stages.append(
FunctionStage('rmmetadata',
rmfiles,
paths=[metadata_path],
dry_run=dry_run))
return Job(jid=package.name,
deps=dependencies,
env_loader=get_env_loader(package, context),
stages=stages)
def create_python_build_job(context, package, package_path, dependencies, force_cmake, pre_clean):
# Package source space path
pkg_dir = os.path.join(context.source_space_abs, package_path)
# Package build space path
build_space = context.package_build_space(package)
# Package metadata path
metadata_path = context.package_metadata_path(package)
# Environment dictionary for the job, which will be built
# up by the executions in the loadenv stage.
job_env = dict(os.environ)
# Some Python packages (in particular matplotlib) seem to struggle with
# being built by ccache, so strip that out if present.
def strip_ccache(cc_str):
parts = cc_str.split()
return ' '.join([part for part in parts if not 'ccache' in part])
if 'CC' in job_env:
job_env['CC'] = strip_ccache(job_env['CC'])
if 'CXX' in job_env:
job_env['CXX'] = strip_ccache(job_env['CXX'])
# Get actual staging path
dest_path = context.package_dest_path(package)
final_path = context.package_final_path(package)
# determine if python executable has been passed in
determine_python_exec(context.cmake_args)
# determine python version being used
python_version = determine_python_version()
# Create job stages
stages = []
# Load environment for job.
stages.append(FunctionStage(
'loadenv',
loadenv,
locked_resource='installspace',
job_env=job_env,
package=package,
context=context
))
# Create package metadata dir
stages.append(FunctionStage(
'mkdir',
makedirs,
path=metadata_path
))
# Copy source manifest
stages.append(FunctionStage(
'cache-manifest',
copyfiles,
source_paths=[os.path.join(context.source_space_abs, package_path, 'package.xml')],
dest_path=os.path.join(metadata_path, 'package.xml')
))
# Check if this package supports --single-version-externally-managed flag, as some old
# distutils packages don't, notably pyyaml. The following check is fast and cheap. A more
# comprehensive check would be to parse the results of python setup.py --help or similar,
# but that is expensive to do, since it has to occur at the start of the build.
with open(os.path.join(pkg_dir, 'setup.py')) as f:
setup_file_contents = f.read()
svem_supported = re.search('(from|import) setuptools', setup_file_contents)
# Python setup install
stages.append(CommandStage(
'python',
[PYTHON_EXEC, 'setup.py',
'build', '--build-base', build_space,
'install',
'--root', build_space,
'--prefix', 'install'] +
(['--single-version-externally-managed'] if svem_supported else []),
cwd=pkg_dir
))
# Special path rename required only on Debian.
python_install_dir = get_python_install_dir()
if 'dist-packages' in python_install_dir:
python_install_dir_site = python_install_dir.replace('dist-packages', 'site-packages')
if python_version['major'] == 3:
python_install_dir = python_install_dir.replace('python%s.%s' % (python_version['major'], python_version['minor']), 'python%s' % python_version['major'])
stages.append(FunctionStage(
'debian-fix',
renamepath,
source_path=os.path.join(build_space, 'install', python_install_dir_site),
dest_path=os.path.join(build_space, 'install', python_install_dir)
))
# Create package install space.
stages.append(FunctionStage(
'mkdir-install',
makedirs,
path=dest_path
))
# Copy files from staging area into final install path, using rsync. Despite
# having to spawn a process, this is much faster than copying one by one
# with native Python.
stages.append(CommandStage(
'install',
[RSYNC_EXEC, '-a',
os.path.join(build_space, 'install', ''),
dest_path],
cwd=pkg_dir,
locked_resource='installspace'))
# fix shebangs that point to the global space to use the python exec
stages.append(FunctionStage(
'fix-shebang',
fix_shebangs,
pkg_dir=dest_path,
python_exec=PYTHON_EXEC,
locked_resource=None if context.isolate_install else 'installspace'))
# Determine the location where the setup.sh file should be created
stages.append(FunctionStage(
'setupgen',
generate_setup_file,
context=context,
install_target=dest_path
))
stages.append(FunctionStage(
'envgen',
generate_env_file,
context=context,
install_target=dest_path
))
# fix the setup.sh which exports PYTHONPATH incorrectly for how we install python3 vs python3.5
if python_version['major'] == 3:
stages.append(FunctionStage(
'fix_python3_install_space',
fix_python3_install_space,
install_space=dest_path,
old_python="%s.%s" % (python_version['major'], python_version['minor']),
new_python=python_version['major'],
locked_resource='installspace'
))
return Job(
jid=package.name,
deps=dependencies,
env=job_env,
stages=stages)