def get_recursive_dependencies(distro,
package_names,
excludes=None,
limit_depth=None):
excludes = set(excludes or [])
dependencies = set([])
walker = DependencyWalker(distro)
# redirect all stderr output to logger
stderr = sys.stderr
sys.stderr = CustomLogger()
try:
for pkg_name in package_names:
try:
dependencies |= walker.get_recursive_depends(
pkg_name, ['buildtool', 'build', 'run', 'test'],
ros_packages_only=True,
ignore_pkgs=dependencies | excludes,
limit_depth=limit_depth)
except AssertionError as e:
raise RuntimeError(
"Failed to fetch recursive dependencies of package '%s': %s"
% (pkg_name, e))
finally:
sys.stderr = stderr
dependencies -= set(package_names)
return dependencies
def _gen_recipe_for_package(distro, pkg_name, pkg, repo, ros_pkg,
pkg_rosinstall, tar_dir, md5_cache, sha256_cache,
patches, incs):
pkg_dep_walker = DependencyWalker(distro)
pkg_buildtool_deps = pkg_dep_walker.get_depends(pkg_name, "buildtool")
pkg_build_deps = pkg_dep_walker.get_depends(pkg_name, "build")
pkg_run_deps = pkg_dep_walker.get_depends(pkg_name, "run")
src_uri = pkg_rosinstall[0]['tar']['uri']
pkg_recipe = yoctoRecipe(pkg_name, distro, src_uri, tar_dir, md5_cache,
sha256_cache, patches, incs)
# add run dependencies
for rdep in pkg_run_deps:
pkg_recipe.add_depend(rdep)
# add build dependencies
for bdep in pkg_build_deps:
pkg_recipe.add_depend(bdep)
# add build tool dependencies
for tdep in pkg_buildtool_deps:
pkg_recipe.add_depend(tdep)
# parse throught package xml
try:
pkg_xml = ros_pkg.get_package_xml(distro.name)
except Exception as e:
warn("fetch metadata for package {}".format(pkg_name))
return pkg_recipe
pkg_fields = PackageMetadata(pkg_xml)
pkg_recipe.pkg_xml = pkg_xml
pkg_recipe.license = pkg_fields.upstream_license
pkg_recipe.description = pkg_fields.description
pkg_recipe.homepage = pkg_fields.homepage
return pkg_recipe
def get_recursive_dependencies_on(distro,
package_names,
excludes=None,
limit=None):
excludes = set(excludes or [])
limit = set(limit or [])
# to improve performance limit search space if possible
if limit:
released_names, _ = get_package_names(distro)
excludes.update(set(released_names) - limit - set(package_names))
dependencies = set([])
walker = DependencyWalker(distro)
# redirect all stderr output to logger
stderr = sys.stderr
sys.stderr = CustomLogger()
try:
for pkg_name in package_names:
dependencies |= walker.get_recursive_depends_on(
pkg_name, ['buildtool', 'build', 'run', 'test'],
ignore_pkgs=dependencies | excludes)
finally:
sys.stderr = stderr
dependencies -= set(package_names)
return dependencies
def _gen_ebuild_for_package(distro, pkg_name, pkg, repo, ros_pkg,
pkg_rosinstall):
pkg_ebuild = Ebuild()
pkg_ebuild.distro = distro.name
pkg_ebuild.src_uri = pkg_rosinstall[0]['tar']['uri']
pkg_names = get_package_names(distro)
pkg_dep_walker = DependencyWalker(distro)
pkg_buildtool_deps = pkg_dep_walker.get_depends(pkg_name, "buildtool")
pkg_build_deps = pkg_dep_walker.get_depends(pkg_name, "build")
pkg_run_deps = pkg_dep_walker.get_depends(pkg_name, "run")
pkg_keywords = ['x86', 'amd64', 'arm', 'arm64']
# add run dependencies
for rdep in pkg_run_deps:
pkg_ebuild.add_run_depend(rdep, rdep in pkg_names[0])
# add build dependencies
for bdep in pkg_build_deps:
pkg_ebuild.add_build_depend(bdep, bdep in pkg_names[0])
# add build tool dependencies
for tdep in pkg_buildtool_deps:
pkg_ebuild.add_build_depend(tdep, tdep in pkg_names[0])
# add keywords
for key in pkg_keywords:
pkg_ebuild.add_keyword(key)
# parse throught package xml
try:
pkg_xml = ros_pkg.get_package_xml(distro.name)
except Exception as e:
warn("fetch metadata for package {}".format(pkg_name))
return pkg_ebuild
pkg_fields = xmltodict.parse(pkg_xml)
pkg_ebuild.upstream_license = pkg_fields['package']['license']
pkg_ebuild.description = pkg_fields['package']['description']
if isinstance(pkg_ebuild.description, str):
pkg_ebuild.description = pkg_ebuild.description.replace('`', "")
if len(pkg_ebuild.description) > 80:
pkg_ebuild.description = pkg_ebuild.description[:80]
try:
if 'url' not in pkg_fields['package']:
warn("no website field for package {}".format(pkg_name))
elif isinstance(pkg_fields['package']['url'], str):
pkg_ebuild.homepage = pkg_fields['package']['url']
elif '@type' in pkg_fields['package']['url']:
if pkg_fields['package']['url']['@type'] == 'website':
if '#text' in pkg_fields['package']['url']:
pkg_ebuild.homepage = pkg_fields['package']['url']['#text']
else:
warn("failed to parse website for package {}".format(pkg_name))
except TypeError as e:
warn("failed to parse website package {}: {}".format(pkg_name, e))
return pkg_ebuild
def _gen_recipe_for_package(distro, pkg_name, pkg, repo, ros_pkg,
pkg_rosinstall, tar_dir):
pkg_dep_walker = DependencyWalker(distro)
pkg_buildtool_deps = pkg_dep_walker.get_depends(pkg_name, "buildtool")
pkg_build_deps = pkg_dep_walker.get_depends(pkg_name, "build")
pkg_run_deps = pkg_dep_walker.get_depends(pkg_name, "run")
src_uri = pkg_rosinstall[0]['tar']['uri']
pkg_recipe = yoctoRecipe(pkg_name, distro, src_uri, tar_dir)
# add run dependencies
for rdep in pkg_run_deps:
pkg_recipe.add_depend(rdep)
# add build dependencies
for bdep in pkg_build_deps:
pkg_recipe.add_depend(bdep)
# add build tool dependencies
for tdep in pkg_buildtool_deps:
pkg_recipe.add_depend(tdep)
# parse throught package xml
try:
pkg_xml = ros_pkg.get_package_xml(distro.name)
except Exception as e:
warn("fetch metadata for package {}".format(pkg_name))
return pkg_recipe
pkg_fields = xmltodict.parse(pkg_xml)
pkg_recipe.pkg_xml = pkg_xml
pkg_recipe.license = pkg_fields['package']['license']
pkg_recipe.description = pkg_fields['package']['description']
if not isinstance(pkg_recipe.description, str):
if '#text' in pkg_recipe.description:
pkg_recipe.description = pkg_recipe.description['#text']
else:
pkg_recipe.description = "None"
pkg_recipe.description = pkg_recipe.description.replace('`', "")
if len(pkg_recipe.description) > 80:
pkg_recipe.description = pkg_recipe.description[:80]
try:
if 'url' not in pkg_fields['package']:
warn("no website field for package {}".format(pkg_name))
elif sys.version_info <= (3, 0):
pkg_recipe.recipe = pkg_fields['package']['url'].decode()
elif isinstance(pkg_fields['package']['url'], str):
pkg_recipe.homepage = pkg_fields['package']['url']
elif '@type' in pkg_fields['package']['url']:
if pkg_fields['package']['url']['@type'] == 'website':
if '#text' in pkg_fields['package']['url']:
pkg_recipe.homepage =\
pkg_fields['package']['url']['#text']
else:
warn("failed to parse website for package {}".format(pkg_name))
except TypeError as e:
warn("failed to parse website package {}: {}".format(pkg_name, e))
return pkg_recipe
def get_recursive_dependencies(distro, package_names, excludes=None, limit_depth=None):
excludes = set(excludes or [])
dependencies = set([])
walker = DependencyWalker(distro)
# redirect all stderr output to logger
stderr = sys.stderr
sys.stderr = CustomLogger()
try:
for pkg_name in package_names:
try:
dependencies |= walker.get_recursive_depends(pkg_name, ['buildtool', 'build', 'run', 'test'], ros_packages_only=True, ignore_pkgs=dependencies | excludes, limit_depth=limit_depth)
except AssertionError as e:
raise RuntimeError("Failed to fetch recursive dependencies of package '%s': %s" % (pkg_name, e))
finally:
sys.stderr = stderr
dependencies -= set(package_names)
return dependencies
def _gen_recipe_for_package(distro, pkg_name, pkg, repo, ros_pkg,
pkg_rosinstall, tar_dir, md5_cache, sha256_cache,
skip_keys):
pkg_names = get_package_names(distro)
pkg_dep_walker = DependencyWalker(distro,
evaluate_condition_context=os.environ)
pkg_buildtool_deps = pkg_dep_walker.get_depends(pkg_name, "buildtool")
pkg_build_deps = pkg_dep_walker.get_depends(pkg_name, "build")
pkg_build_export_deps = pkg_dep_walker.get_depends(pkg_name,
"build_export")
pkg_buildtool_export_deps = pkg_dep_walker.get_depends(
pkg_name, "buildtool_export")
pkg_exec_deps = pkg_dep_walker.get_depends(pkg_name, "exec")
pkg_test_deps = pkg_dep_walker.get_depends(pkg_name, "test")
src_uri = pkg_rosinstall[0]['tar']['uri']
# parse through package xml
err_msg = 'Failed to fetch metadata for package {}'.format(pkg_name)
pkg_xml = retry_on_exception(ros_pkg.get_package_xml,
distro.name,
retry_msg='Could not get package xml!',
error_msg=err_msg)
pkg_recipe = yoctoRecipe(
pkg.repository_name,
len(ros_pkg.repository.package_names),
pkg_name,
pkg_xml,
distro,
src_uri,
tar_dir,
md5_cache,
sha256_cache,
skip_keys,
)
# add build dependencies
for bdep in pkg_build_deps:
pkg_recipe.add_build_depend(bdep, bdep in pkg_names[0])
# add build tool dependencies
for btdep in pkg_buildtool_deps:
pkg_recipe.add_buildtool_depend(btdep, btdep in pkg_names[0])
# add export dependencies
for edep in pkg_build_export_deps:
pkg_recipe.add_export_depend(edep, edep in pkg_names[0])
# add buildtool export dependencies
for btedep in pkg_buildtool_export_deps:
pkg_recipe.add_buildtool_export_depend(btedep, btedep in pkg_names[0])
# add exec dependencies
for xdep in pkg_exec_deps:
pkg_recipe.add_run_depend(xdep, xdep in pkg_names[0])
# add test dependencies
for tdep in pkg_test_deps:
pkg_recipe.add_test_depend(tdep, tdep in pkg_names[0])
return pkg_recipe
def get_recursive_dependencies_on(distro, package_names, excludes=None, limit=None):
excludes = set(excludes or [])
limit = set(limit or [])
# to improve performance limit search space if possible
if limit:
released_names, _ = get_package_names(distro)
excludes.update(set(released_names) - limit - set(package_names))
dependencies = set([])
walker = DependencyWalker(distro)
# redirect all stderr output to logger
stderr = sys.stderr
sys.stderr = CustomLogger()
try:
for pkg_name in package_names:
dependencies |= walker.get_recursive_depends_on(pkg_name, ['buildtool', 'build', 'run', 'test'], ignore_pkgs=dependencies | excludes)
finally:
sys.stderr = stderr
dependencies -= set(package_names)
return dependencies
def __init__(self, distro_name, python_version=None):
index = get_index(get_index_url())
self._distro = get_cached_distribution(index, distro_name)
self.distro_name = distro_name
# set up ROS environments
if python_version is None:
python_version = index.distributions[distro_name]["python_version"]
os.environ["ROS_PYTHON_VERSION"] = "{0}".format(python_version)
os.environ["ROS_DISTRO"] = "{0}".format(distro_name)
if "ROS_ROOT" in os.environ:
os.environ.pop("ROS_ROOT")
if "ROS_PACKAGE_PATH" in os.environ:
os.environ.pop("ROS_PACKAGE_PATH")
self._walker = DependencyWalker(self._distro,
evaluate_condition_context=os.environ)
# cache distribution type
self._distribution_type = index.distributions[distro_name][
"distribution_type"]
self._python_version = index.distributions[distro_name][
"python_version"]
self.build_packages = set()
os.environ["ROS_VERSION"] = "1" if self.check_ros1() else "2"
def _gen_ebuild_for_package(
distro, pkg_name, pkg, repo, ros_pkg, pkg_rosinstall
):
pkg_ebuild = Ebuild()
pkg_ebuild.distro = distro.name
pkg_ebuild.src_uri = pkg_rosinstall[0]['tar']['uri']
pkg_names = get_package_names(distro)
pkg_dep_walker = DependencyWalker(distro)
pkg_buildtool_deps = pkg_dep_walker.get_depends(pkg_name, "buildtool")
pkg_build_deps = pkg_dep_walker.get_depends(pkg_name, "build")
pkg_run_deps = pkg_dep_walker.get_depends(pkg_name, "run")
pkg_test_deps = pkg_dep_walker.get_depends(pkg_name, "test")
pkg_keywords = ['x86', 'amd64', 'arm', 'arm64']
# add run dependencies
for rdep in pkg_run_deps:
pkg_ebuild.add_run_depend(rdep, rdep in pkg_names[0])
# add build dependencies
for bdep in pkg_build_deps:
pkg_ebuild.add_build_depend(bdep, bdep in pkg_names[0])
# add build tool dependencies
for tdep in pkg_buildtool_deps:
pkg_ebuild.add_build_depend(tdep, tdep in pkg_names[0])
# add test dependencies
for test_dep in pkg_test_deps:
pkg_ebuild.add_test_depend(test_dep, test_dep in pkg_names[0])
# add keywords
for key in pkg_keywords:
pkg_ebuild.add_keyword(key)
# parse throught package xml
try:
pkg_xml = ros_pkg.get_package_xml(distro.name)
except Exception:
warn("fetch metadata for package {}".format(pkg_name))
return pkg_ebuild
pkg = PackageMetadata(pkg_xml)
pkg_ebuild.upstream_license = pkg.upstream_license
pkg_ebuild.description = pkg.description
pkg_ebuild.homepage = pkg.homepage
pkg_ebuild.build_type = pkg.build_type
return pkg_ebuild
def _get_blocked_releases_info(config_url, rosdistro_name, repo_names=None):
import rosdistro
from rosdistro.dependency_walker import DependencyWalker
config = get_config_index(config_url)
index = rosdistro.get_index(config.rosdistro_index_url)
print('Checking packages for "%s" distribution' % rosdistro_name)
# Find the previous distribution to the current one
try:
prev_rosdistro_name = _prev_rosdistro(index, rosdistro_name)
except ValueError as e:
print(e.args[0], file=sys.stderr)
exit(-1)
cache = rosdistro.get_distribution_cache(index, rosdistro_name)
distro_file = cache.distribution_file
prev_cache = rosdistro.get_distribution_cache(index, prev_rosdistro_name)
prev_distribution = rosdistro.get_cached_distribution(index,
prev_rosdistro_name,
cache=prev_cache)
prev_distro_file = prev_cache.distribution_file
dependency_walker = DependencyWalker(prev_distribution)
# Check missing dependencies for packages that were in the previous
# distribution that have not yet been released in the current distribution
# Filter repos without a version or a release repository
prev_repo_names = set(_released_repos(prev_distro_file))
if repo_names is not None:
ignored_inputs = prev_repo_names.difference(repo_names)
prev_repo_names.intersection_update(repo_names)
repo_names = prev_repo_names
if len(ignored_inputs) > 0:
print(
'Ignoring inputs for which repository info not found in previous distribution '
'(did you list a package instead of a repository?):')
print('\n'.join(
sorted('\t{0}'.format(repo) for repo in ignored_inputs)))
current_repo_names = set(_released_repos(distro_file))
# Get a list of currently released packages
current_package_names = set(
_released_packages(distro_file, current_repo_names))
released_repos = prev_repo_names.intersection(current_repo_names)
if prev_repo_names.issubset(current_repo_names):
print('All inputs already released in {0}.'.format(rosdistro_name))
repos_info = defaultdict(dict)
unprocessed_repos = prev_repo_names
while unprocessed_repos:
print('Processing repos:\n%s' %
'\n'.join(['- %s' % r for r in sorted(unprocessed_repos)]))
new_repos_to_process = set(
) # set containing repos that come up while processing others
for repo_name in unprocessed_repos:
repos_info[repo_name]['released'] = repo_name in released_repos
if repo_name in released_repos:
repo = distro_file.repositories[repo_name]
version = repo.release_repository.version
repos_info[repo_name]['version'] = version
else:
# Gather info on which required repos have not been released yet
# Assume dependencies will be the same as in the previous distribution and find
# which ones have been released
repo = prev_distro_file.repositories[repo_name]
release_repo = repo.release_repository
package_dependencies = set()
packages = release_repo.package_names
# Accumulate all dependencies for those packages
for package in packages:
package_dependencies.update(
_package_dependencies(dependency_walker, package))
# For all package dependencies, check if they are released yet
unreleased_pkgs = package_dependencies.difference(
current_package_names)
# Remove the packages which this repo provides
unreleased_pkgs = unreleased_pkgs.difference(packages)
# Get maintainer info and repo of unreleased packages
maintainers = defaultdict(dict)
repos_blocked_by = set()
for pkg_name in unreleased_pkgs:
unreleased_repo_name = \
prev_distro_file.release_packages[pkg_name].repository_name
repos_blocked_by.add(unreleased_repo_name)
maintainers[unreleased_repo_name].update(
dict(_maintainers(prev_distribution, pkg_name)))
if maintainers:
repos_info[repo_name]['maintainers'] = maintainers
repos_info[repo_name]['repos_blocked_by'] = {}
for blocking_repo_name in repos_blocked_by:
# Get url of blocking repos
repo_url = _repo_url(prev_distribution, blocking_repo_name)
repos_info[repo_name]['repos_blocked_by'].update(
{blocking_repo_name: repo_url})
# Mark blocking relationship in other direction
if blocking_repo_name not in repos_info:
new_repos_to_process.add(blocking_repo_name)
repos_info[blocking_repo_name] = {}
if 'repos_blocking' not in repos_info[blocking_repo_name]:
repos_info[blocking_repo_name]['repos_blocking'] = set(
[])
repos_info[blocking_repo_name]['repos_blocking'].add(
repo_name)
# Get url of repo
repo_url = _repo_url(prev_distribution, repo_name)
if repo_url:
repos_info[repo_name]['url'] = repo_url
new_repos_to_process.discard(
repo_name) # this repo has been fully processed now
for repo_name in repos_info.keys():
# Recursively get all repos being blocked by this repo
recursive_blocks = set([])
repos_to_check = set([repo_name])
while repos_to_check:
next_repo_to_check = repos_to_check.pop()
blocks = repos_info[next_repo_to_check].get(
'repos_blocking', set([]))
new_blocks = blocks - recursive_blocks
repos_to_check |= new_blocks
recursive_blocks |= new_blocks
if recursive_blocks:
repos_info[repo_name][
'recursive_repos_blocking'] = recursive_blocks
unprocessed_repos = new_repos_to_process
return repos_info
'robot',
'viz',
'desktop',
'perception',
'simulators',
'desktop_full',
]
# Get packages which make up each layer of the veriants
mp_sets = {}
index = get_index(get_index_url())
hydro = get_cached_distribution(index, 'hydro')
indigo = get_cached_distribution(index, 'indigo')
dist_file = get_distribution_file(index, 'hydro')
indigo_dist_file = get_distribution_file(index, 'indigo')
dw = DependencyWalker(hydro)
for mp in keys:
# print("Fetching deps for: ", mp)
deps = list(set(metapackages[mp].run_depends))
mp_sets[mp] = set([])
for dep in deps:
mp_sets[mp].update(set([dep.name]))
if dep.name in keys:
continue
# print(" ", dep.name)
previous_pkgs = set([])
for mp_, mp_set in mp_sets.items():
if mp == mp_:
continue
previous_pkgs.update(mp_set)
mp_sets[mp].update(dw.get_recursive_depends(
def get_blocking_info(distro_key, repo_names, depth):
prev_distro_key = None
index = rosdistro.get_index(rosdistro.get_index_url())
valid_distro_keys = index.distributions.keys()
valid_distro_keys.sort()
if distro_key is None:
distro_key = valid_distro_keys[-1]
print('Checking packages for "%s" distribution' % distro_key)
# Find the previous distribution to the current one
try:
i = valid_distro_keys.index(distro_key)
except ValueError:
print('Distribution key not found in list of valid distributions.')
exit(-1)
if i == 0:
print('No previous distribution found.')
exit(-1)
prev_distro_key = valid_distro_keys[i - 1]
cache = rosdistro.get_distribution_cache(index, distro_key)
distro_file = cache.distribution_file
prev_cache = rosdistro.get_distribution_cache(index, prev_distro_key)
prev_distribution = rosdistro.get_cached_distribution(
index, prev_distro_key, cache=prev_cache)
prev_distro_file = prev_cache.distribution_file
dependency_walker = DependencyWalker(prev_distribution)
if repo_names is None:
# Check missing dependencies for packages that were in the previous
# distribution that have not yet been released in the current distribution
# Filter repos without a version or a release repository
keys = prev_distro_file.repositories.keys()
prev_repo_names = set(
repo for repo in keys if is_released(repo, prev_distro_file))
repo_names = prev_repo_names
ignored_inputs = []
else:
prev_repo_names = set(
repo for repo in repo_names if is_released(repo, prev_distro_file))
ignored_inputs = list(set(repo_names).difference(prev_repo_names))
if len(ignored_inputs) > 0:
print('Ignoring inputs for which repository info not found in previous distribution' +
' (did you list a package instead of a repository?):')
print('\n'.join(
sorted('\t{0}'.format(repo) for repo in ignored_inputs)))
keys = distro_file.repositories.keys()
current_repo_names = set(
repo for repo in keys if is_released(repo, distro_file))
released_repos = prev_repo_names.intersection(
current_repo_names)
unreleased_repos = list(prev_repo_names.difference(
current_repo_names))
# Get a list of currently released packages
current_package_names = set(
pkg for repo in current_repo_names
for pkg in distro_file.repositories[repo].release_repository.package_names)
# Construct a dictionary where keys are repository names and values are a list
# of the repos blocking/blocked by that repo
blocked_repos = {}
blocking_repos = {}
unblocked_blocking_repos = set()
if len(unreleased_repos) == 0:
print('All inputs already released in {0}.'.format(
distro_key))
# Process repo dependencies
unblocked_repos = set()
total_blocking_repos = set()
for repository_name in unreleased_repos:
repo = prev_distro_file.repositories[repository_name]
release_repo = repo.release_repository
package_dependencies = set()
packages = release_repo.package_names
# Accumulate all dependencies for those packages
for package in packages:
recursive_dependencies = dependency_walker.get_recursive_depends(
package, ['build', 'run', 'buildtool'], ros_packages_only=True,
limit_depth=depth)
package_dependencies = package_dependencies.union(
recursive_dependencies)
# For all package dependencies, check if they are released yet
unreleased_pkgs = package_dependencies.difference(
current_package_names)
# remove the packages which this repo provides.
unreleased_pkgs = unreleased_pkgs.difference(packages)
# Now get the repositories for these packages.
blocking_repos_for_this_repo = set(prev_distro_file.release_packages[pkg].repository_name
for pkg in unreleased_pkgs)
if len(blocking_repos_for_this_repo) == 0:
unblocked_repos.add(repository_name)
else:
# Get the repository for the unreleased packages
blocked_repos[repository_name] = blocking_repos_for_this_repo
total_blocking_repos |= blocking_repos_for_this_repo
for blocking_repo in blocking_repos_for_this_repo:
try:
blocking_repos[blocking_repo] |= set([repository_name])
except KeyError:
blocking_repos[blocking_repo] = set([repository_name])
unblocked_blocking_repos_names = total_blocking_repos.intersection(unblocked_repos)
unblocked_blocking_repos = {
repo:blocking for repo, blocking in blocking_repos.iteritems()
if repo in unblocked_blocking_repos_names
}
unblocked_leaf_repos = unblocked_repos.difference(unblocked_blocking_repos_names)
# Double-check repositories that we think are leaf repos
for repo in unblocked_leaf_repos:
# Check only one level of depends_on
depends_on = dependency_walker.get_depends_on(package, 'build') | \
dependency_walker.get_depends_on(package, 'run') | \
dependency_walker.get_depends_on(package, 'buildtool')
if len(depends_on) != 0:
# There are packages that depend on this "leaf", but we didn't find
# them initially because they weren't related to our inputs
for package in depends_on:
depends_on_repo = prev_distro_file.release_packages[package].repository_name
try:
unblocked_blocking_repos[repo] |= set([depends_on_repo])
except KeyError:
unblocked_blocking_repos[repo] = set([depends_on_repo])
unblocked_unblocking_repos = unblocked_leaf_repos.difference(
unblocked_blocking_repos.keys())
if not len(repo_names) == (len(ignored_inputs) + len(released_repos) + len(blocked_repos.keys()) +
len(unblocked_blocking_repos.keys()) + len(unblocked_unblocking_repos)):
raise Exception('Somewhere a repo has not been accounted for')
return released_repos, blocked_repos, unblocked_blocking_repos, unblocked_unblocking_repos
exit(-1)
prev_distro_key = args.comparison
else:
prev_distro_key = valid_distro_keys[i - 1]
cache = rosdistro.get_distribution_cache(index, distro_key)
distro_file = cache.distribution_file
prev_cache = rosdistro.get_distribution_cache(index, prev_distro_key)
prev_distribution = rosdistro.get_cached_distribution(index,
prev_distro_key,
cache=prev_cache)
prev_distro_file = prev_cache.distribution_file
dependency_walker = DependencyWalker(prev_distribution)
if repo_names_argument is None:
# Check missing dependencies for packages that were in the previous
# distribution that have not yet been released in the current distribution
# Filter repos without a version or a release repository
repo_names_argument = prev_distro_file.repositories.keys()
prev_repo_names = set(repo for repo in repo_names_argument
if is_released(repo, prev_distro_file))
keys = distro_file.repositories.keys()
current_repo_names = set(repo for repo in keys
if is_released(repo, distro_file))
# Print the repositories that will be eliminated from the input
def _test_repositories(ros_distro, repo_list, version_list, workspace, test_depends_on,
repo_sourcespace, dependson_sourcespace, repo_buildspace, dependson_buildspace,
sudo=False, no_chroot=False):
from catkin_pkg.package import InvalidPackage, parse_package_string
from rosdistro import get_cached_release, get_index, get_index_url, get_source_file
from rosdistro.dependency_walker import DependencyWalker
from rosdistro.manifest_provider import get_release_tag
index = get_index(get_index_url())
print "Parsing rosdistro file for %s" % ros_distro
release = get_cached_release(index, ros_distro)
print "Parsing devel file for %s" % ros_distro
source_file = get_source_file(index, ros_distro)
# Create rosdep object
print "Create rosdep object"
rosdep_resolver = rosdep.RosDepResolver(ros_distro, sudo, no_chroot)
# download the repo_list from source
print "Creating rosinstall file for repo list"
rosinstall = ""
for repo_name, version in zip(repo_list, version_list):
if version == 'devel':
if repo_name not in source_file.repositories:
raise BuildException("Repository %s does not exist in Devel Distro" % repo_name)
print "Using devel distro file to download repositories"
rosinstall += _generate_rosinstall_for_repo(source_file.repositories[repo_name])
else:
if repo_name not in release.repositories:
raise BuildException("Repository %s does not exist in Ros Distro" % repo_name)
repo = release.repositories[repo_name]
if version not in ['latest', 'master']:
assert repo.version is not None, 'Repository "%s" does not have a version set' % repo_name
assert 'release' in repo.tags, 'Repository "%s" does not have a "release" tag set' % repo_name
for pkg_name in repo.package_names:
release_tag = get_release_tag(repo, pkg_name)
if version in ['latest', 'master']:
release_tag = '/'.join(release_tag.split('/')[:-1])
print 'Using tag "%s" of release distro file to download package "%s from repo "%s' % (version, pkg_name, repo_name)
rosinstall += _generate_rosinstall_for_repo(release.repositories[repo_name], version=release_tag)
print "rosinstall file for all repositories: \n %s" % rosinstall
with open(os.path.join(workspace, "repo.rosinstall"), 'w') as f:
f.write(rosinstall)
print "Install repo list from source"
os.makedirs(repo_sourcespace)
call("rosinstall %s %s/repo.rosinstall --catkin" % (repo_sourcespace, workspace))
# get the repositories build dependencies
print "Get build dependencies of repo list"
repo_build_dependencies = get_dependencies(repo_sourcespace, build_depends=True, test_depends=False)
# ensure that catkin gets installed, for non-catkin packages so that catkin_make_isolated is available
if 'catkin' not in repo_build_dependencies:
repo_build_dependencies.append('catkin')
print "Install build dependencies of repo list: %s" % (', '.join(repo_build_dependencies))
apt_get_install(repo_build_dependencies, rosdep_resolver, sudo)
# replace the CMakeLists.txt file for repositories that use catkin
print "Removing the CMakeLists.txt file generated by rosinstall"
os.remove(os.path.join(repo_sourcespace, 'CMakeLists.txt'))
print "Create a new CMakeLists.txt file using catkin"
# get environment
ros_env = get_ros_env('/opt/ros/%s/setup.bash' % ros_distro)
# check if source workspace contains only package built with catkin
non_catkin_pkgs = _get_non_catkin_packages(repo_sourcespace)
# make build folder and change into it
os.makedirs(repo_buildspace)
os.chdir(repo_buildspace)
# make test results dir
test_results_dir = os.path.join(workspace, 'test_results')
if os.path.exists(test_results_dir):
shutil.rmtree(test_results_dir)
os.makedirs(test_results_dir)
if not non_catkin_pkgs:
print "Build catkin workspace"
call("catkin_init_workspace %s" % repo_sourcespace, ros_env)
repos_test_results_dir = os.path.join(test_results_dir, 'repos')
call("cmake %s -DCATKIN_TEST_RESULTS_DIR=%s" % (repo_sourcespace, repos_test_results_dir), ros_env)
#ros_env_repo = get_ros_env(os.path.join(repo_buildspace, 'devel/setup.bash'))
# build repositories and tests
print "Build repo list"
call("make", ros_env)
call("make tests", ros_env)
# get the repositories test and run dependencies
print "Get test and run dependencies of repo list"
repo_test_dependencies = get_dependencies(repo_sourcespace, build_depends=False, test_depends=True)
print "Install test and run dependencies of repo list: %s" % (', '.join(repo_test_dependencies))
apt_get_install(repo_test_dependencies, rosdep_resolver, sudo)
# run tests
print "Test repo list"
call("make run_tests", ros_env)
else:
print "Build workspace with non-catkin packages in isolation"
# work around catkin_make_isolated issue (at least with version 0.5.65 of catkin)
os.makedirs(os.path.join(repo_buildspace, 'devel_isolated'))
call('catkin_make_isolated --source %s --install-space install_isolated --install' % repo_sourcespace, ros_env)
setup_file = os.path.join(repo_buildspace, 'install_isolated', 'setup.sh')
ros_env = get_ros_env(setup_file)
# see if we need to do more work or not
if not test_depends_on:
print "We're not testing the depends-on repositories"
ensure_test_results(test_results_dir)
return
# get repo_list depends-on list
print "Get list of wet repositories that build-depend on repo list: %s" % ', '.join(repo_list)
walker = DependencyWalker(release)
depends_on = set([])
try:
for repo_name in repo_list:
print('repo_name', repo_name)
repo = release.repositories[repo_name]
for pkg_name in repo.package_names:
print('pkg_name', pkg_name)
depends_on |= walker.get_recursive_depends_on(pkg_name, ['buildtool', 'build'], ignore_pkgs=depends_on)
print('depends_on', depends_on)
except RuntimeError:
print "Exception %s: If you are not in the rosdistro and only in the devel", \
" builds there will be no depends on"
depends_on = set([])
print "Build depends_on list of pkg list: %s" % (', '.join(depends_on))
if len(depends_on) == 0:
print "No wet packages depend on our repo list. Test finished here"
ensure_test_results(test_results_dir)
return
# install depends_on packages from source from release repositories
rosinstall = ''
non_catkin_pkgs = []
for pkg_name in depends_on:
repo = release.repositories[release.packages[pkg_name].repository_name]
if repo.version is None:
continue
pkg_xml = release.get_package_xml(pkg_name)
if pkg_xml is None:
raise BuildException('Could not retrieve package.xml for package "%s" from rosdistro cache' % pkg_name)
try:
pkg = parse_package_string(pkg_xml)
except InvalidPackage as e:
raise BuildException('package.xml for package "%s" from rosdistro cache is invalid: %s' % (pkg_name, e))
if _is_non_catkin_package(pkg):
non_catkin_pkgs.append(pkg.name)
rosinstall += _generate_rosinstall_for_pkg(repo, pkg_name)
if non_catkin_pkgs:
print 'Non-catkin packages depend on our repo list (%s). Skipping depends_on packages here' % ', '.join(sorted(non_catkin_pkgs))
create_test_result(test_results_dir, failure='Non-catkin packages depend on the repos (%s). Skip building and testing depends_on packages.' % ', '.join(sorted(non_catkin_pkgs)))
return
print "Rosinstall for depends_on:\n %s" % rosinstall
with open(workspace + "/depends_on.rosinstall", 'w') as f:
f.write(rosinstall)
print "Created rosinstall file for depends on"
# install all repository and system dependencies of the depends_on list
print "Install all depends_on from source: %s" % (', '.join(depends_on))
os.makedirs(dependson_sourcespace)
call("rosinstall --catkin %s %s/depends_on.rosinstall" % (dependson_sourcespace, workspace))
# check if depends_on workspace contains only package built with catkin
non_catkin_pkgs = _get_non_catkin_packages(dependson_sourcespace)
if non_catkin_pkgs:
print 'Non-catkin packages depend on our repo list (%s). Skipping depends_on packages here' % ', '.join(sorted(non_catkin_pkgs))
create_test_result(test_results_dir, failure='Non-catkin packages depend on the repos (%s). Skip building and testing depends_on packages.' % ', '.join(sorted(non_catkin_pkgs)))
return
# get build and test dependencies of depends_on list
dependson_build_dependencies = []
for d in get_dependencies(dependson_sourcespace, build_depends=True, test_depends=False):
print " Checking dependency %s" % d
if d in dependson_build_dependencies:
print " Already in dependson_build_dependencies"
if d in depends_on:
print " Is a direct dependency of the repo list, and is installed from source"
if d in repo_list:
print " Is one of the repositories tested"
if not d in dependson_build_dependencies and not d in depends_on and not d in repo_list:
dependson_build_dependencies.append(d)
print "Build dependencies of depends_on list are %s" % (', '.join(dependson_build_dependencies))
dependson_test_dependencies = []
for d in get_dependencies(dependson_sourcespace, build_depends=False, test_depends=True):
if not d in dependson_test_dependencies and not d in depends_on and not d in repo_list:
dependson_test_dependencies.append(d)
print "Test dependencies of depends_on list are %s" % (', '.join(dependson_test_dependencies))
# install build dependencies
print "Install all build dependencies of the depends_on list"
apt_get_install(dependson_build_dependencies, rosdep_resolver, sudo)
# replace the CMakeLists.txt file again
print "Removing the CMakeLists.txt file generated by rosinstall"
os.remove(os.path.join(dependson_sourcespace, 'CMakeLists.txt'))
os.makedirs(dependson_buildspace)
os.chdir(dependson_buildspace)
print "Create a new CMakeLists.txt file using catkin"
call("catkin_init_workspace %s" % dependson_sourcespace, ros_env)
depends_on_test_results_dir = os.path.join(test_results_dir, 'depends_on')
call("cmake %s -DCATKIN_TEST_RESULTS_DIR=%s" % (dependson_sourcespace, depends_on_test_results_dir), ros_env)
#ros_env_depends_on = get_ros_env(os.path.join(dependson_buildspace, 'devel/setup.bash'))
# build repositories
print "Build depends-on packages"
call("make", ros_env)
# install test dependencies
print "Install all test dependencies of the depends_on list"
apt_get_install(dependson_test_dependencies, rosdep_resolver, sudo)
# test repositories
print "Test depends-on packages"
call("make run_tests", ros_env)
ensure_test_results(test_results_dir)
def _get_blocked_releases_info(config_url, rosdistro_name, repo_names=None):
import rosdistro
from rosdistro.dependency_walker import DependencyWalker
from catkin_pkg.package import InvalidPackage, parse_package_string
prev_rosdistro_name = None
config = get_config_index(config_url)
index = rosdistro.get_index(config.rosdistro_index_url)
valid_rosdistro_names = list(index.distributions.keys())
valid_rosdistro_names.sort()
if rosdistro_name is None:
rosdistro_name = valid_rosdistro_names[-1]
print('Checking packages for "%s" distribution' % rosdistro_name)
# Find the previous distribution to the current one
try:
i = valid_rosdistro_names.index(rosdistro_name)
except ValueError:
print('Distribution key not found in list of valid distributions.',
file=sys.stderr)
exit(-1)
if i == 0:
print('No previous distribution found.', file=sys.stderr)
exit(-1)
prev_rosdistro_name = valid_rosdistro_names[i - 1]
cache = rosdistro.get_distribution_cache(index, rosdistro_name)
distro_file = cache.distribution_file
prev_cache = rosdistro.get_distribution_cache(index, prev_rosdistro_name)
prev_distribution = rosdistro.get_cached_distribution(index,
prev_rosdistro_name,
cache=prev_cache)
prev_distro_file = prev_cache.distribution_file
dependency_walker = DependencyWalker(prev_distribution)
if repo_names is None:
# Check missing dependencies for packages that were in the previous
# distribution that have not yet been released in the current distribution
# Filter repos without a version or a release repository
keys = prev_distro_file.repositories.keys()
prev_repo_names = set(repo for repo in keys
if _is_released(repo, prev_distro_file))
repo_names = prev_repo_names
ignored_inputs = []
else:
prev_repo_names = set(repo for repo in repo_names
if _is_released(repo, prev_distro_file))
ignored_inputs = list(set(repo_names).difference(prev_repo_names))
if len(ignored_inputs) > 0:
print(
'Ignoring inputs for which repository info not found in previous distribution '
'(did you list a package instead of a repository?):')
print('\n'.join(
sorted('\t{0}'.format(repo) for repo in ignored_inputs)))
keys = distro_file.repositories.keys()
current_repo_names = set(repo for repo in keys
if _is_released(repo, distro_file))
# Get a list of currently released packages
current_package_names = set(
pkg for repo in current_repo_names for pkg in
distro_file.repositories[repo].release_repository.package_names)
released_repos = prev_repo_names.intersection(current_repo_names)
unreleased_repos = list(prev_repo_names.difference(current_repo_names))
if len(unreleased_repos) == 0:
print('All inputs already released in {0}.'.format(rosdistro_name))
repos_info = defaultdict(dict)
unprocessed_repos = prev_repo_names
while unprocessed_repos:
print('Processing repos:\n%s' %
'\n'.join(['- %s' % r for r in sorted(unprocessed_repos)]))
new_repos_to_process = set(
) # set containing repos that come up while processing others
for repo_name in unprocessed_repos:
repos_info[repo_name]['released'] = repo_name in released_repos
if repo_name in released_repos:
repo = distro_file.repositories[repo_name]
version = repo.release_repository.version
repos_info[repo_name]['version'] = version
else:
# Gather info on which required repos have not been released yet
# Assume dependencies will be the same as in the previous distribution and find
# which ones have been released
repo = prev_distro_file.repositories[repo_name]
release_repo = repo.release_repository
package_dependencies = set()
packages = release_repo.package_names
# Accumulate all dependencies for those packages
for package in packages:
try:
package_dependencies |= dependency_walker.get_recursive_depends(
package, ['build', 'buildtool', 'run', 'test'],
ros_packages_only=True,
limit_depth=1)
except AssertionError as e:
print(e, file=sys.stderr)
# For all package dependencies, check if they are released yet
unreleased_pkgs = package_dependencies.difference(
current_package_names)
# Remove the packages which this repo provides
unreleased_pkgs = unreleased_pkgs.difference(packages)
# Get maintainer info and repo of unreleased packages
maintainers = {}
repos_blocked_by = set()
for pkg_name in unreleased_pkgs:
unreleased_repo_name = \
prev_distro_file.release_packages[pkg_name].repository_name
repos_blocked_by.add(unreleased_repo_name)
pkg_xml = prev_distribution.get_release_package_xml(
pkg_name)
if pkg_xml is not None:
try:
pkg = parse_package_string(pkg_xml)
except InvalidPackage:
pass
else:
pkg_maintainers = {
m.name: m.email
for m in pkg.maintainers
}
if unreleased_repo_name not in maintainers:
maintainers[unreleased_repo_name] = {}
maintainers[unreleased_repo_name].update(
pkg_maintainers)
if maintainers:
repos_info[repo_name]['maintainers'] = maintainers
repos_info[repo_name]['repos_blocked_by'] = {}
for blocking_repo_name in repos_blocked_by:
# Get url of blocking repos
repo_url = None
blocking_repo = prev_distro_file.repositories[
blocking_repo_name]
if blocking_repo.source_repository:
repo_url = blocking_repo.source_repository.url
elif blocking_repo.doc_repository:
repo_url = blocking_repo.doc_repository.url
repos_info[repo_name]['repos_blocked_by'].update(
{blocking_repo_name: repo_url})
# Mark blocking relationship in other direction
if blocking_repo_name not in repos_info:
new_repos_to_process.add(blocking_repo_name)
repos_info[blocking_repo_name] = {}
if 'repos_blocking' not in repos_info[blocking_repo_name]:
repos_info[blocking_repo_name]['repos_blocking'] = set(
[])
repos_info[blocking_repo_name]['repos_blocking'].add(
repo_name)
# Get url of repo
repo_url = None
if repo.source_repository:
repo_url = repo.source_repository.url
elif repo.doc_repository:
repo_url = repo.doc_repository.url
if repo_url:
repos_info[repo_name]['url'] = repo_url
new_repos_to_process.discard(
repo_name) # this repo has been fully processed now
for repo_name in repos_info.keys():
# Recursively get all repos being blocked by this repo
recursive_blocks = set([])
repos_to_check = set([repo_name])
while repos_to_check:
next_repo_to_check = repos_to_check.pop()
blocks = repos_info[next_repo_to_check].get(
'repos_blocking', set([]))
new_blocks = blocks - recursive_blocks
repos_to_check |= new_blocks
recursive_blocks |= new_blocks
if recursive_blocks:
repos_info[repo_name][
'recursive_repos_blocking'] = recursive_blocks
unprocessed_repos = new_repos_to_process
return repos_info
def _test_repositories(ros_distro, repo_list, version_list, workspace, test_depends_on,
repo_sourcespace, dependson_sourcespace, repo_buildspace, dependson_buildspace,
sudo=False, no_chroot=False):
from catkin_pkg.package import InvalidPackage, parse_package_string
from rosdistro import get_cached_release, get_index, get_index_url, get_source_file
from rosdistro.dependency_walker import DependencyWalker
from rosdistro.manifest_provider import get_release_tag
index = get_index(get_index_url())
print "Parsing rosdistro file for %s" % ros_distro
release = get_cached_release(index, ros_distro)
print "Parsing devel file for %s" % ros_distro
source_file = get_source_file(index, ros_distro)
# Create rosdep object
print "Create rosdep object"
rosdep_resolver = rosdep.RosDepResolver(ros_distro, sudo, no_chroot)
# download the repo_list from source
print "Creating rosinstall file for repo list"
rosinstall = ""
for repo_name, version in zip(repo_list, version_list):
if version == 'devel':
if repo_name not in source_file.repositories:
raise BuildException("Repository %s does not exist in Devel Distro" % repo_name)
print "Using devel distro file to download repositories"
rosinstall += _generate_rosinstall_for_repo(source_file.repositories[repo_name])
else:
if repo_name not in release.repositories:
raise BuildException("Repository %s does not exist in Ros Distro" % repo_name)
repo = release.repositories[repo_name]
if version not in ['latest', 'master']:
assert repo.version is not None, 'Repository "%s" does not have a version set' % repo_name
assert 'release' in repo.tags, 'Repository "%s" does not have a "release" tag set' % repo_name
for pkg_name in repo.package_names:
release_tag = get_release_tag(repo, pkg_name)
if version in ['latest', 'master']:
release_tag = '/'.join(release_tag.split('/')[:-1])
print 'Using tag "%s" of release distro file to download package "%s from repo "%s' % (version, pkg_name, repo_name)
rosinstall += _generate_rosinstall_for_repo(release.repositories[repo_name], version=release_tag)
print "rosinstall file for all repositories: \n %s" % rosinstall
with open(os.path.join(workspace, "repo.rosinstall"), 'w') as f:
f.write(rosinstall)
print "Install repo list from source"
os.makedirs(repo_sourcespace)
call("rosinstall %s %s/repo.rosinstall --catkin" % (repo_sourcespace, workspace))
# get the repositories build dependencies
print "Get build dependencies of repo list"
repo_build_dependencies = get_dependencies(repo_sourcespace, build_depends=True, test_depends=False)
# ensure that catkin gets installed, for non-catkin packages so that catkin_make_isolated is available
if 'catkin' not in repo_build_dependencies:
repo_build_dependencies.append('catkin')
print "Install build dependencies of repo list: %s" % (', '.join(repo_build_dependencies))
apt_get_install(repo_build_dependencies, rosdep_resolver, sudo)
# replace the CMakeLists.txt file for repositories that use catkin
print "Removing the CMakeLists.txt file generated by rosinstall"
os.remove(os.path.join(repo_sourcespace, 'CMakeLists.txt'))
print "Create a new CMakeLists.txt file using catkin"
# get environment
ros_env = get_ros_env('/opt/ros/%s/setup.bash' % ros_distro)
# check if source workspace contains only package built with catkin
non_catkin_pkgs = _get_non_catkin_packages(repo_sourcespace)
# make build folder and change into it
os.makedirs(repo_buildspace)
os.chdir(repo_buildspace)
# make test results dir
test_results_dir = os.path.join(workspace, 'test_results')
if os.path.exists(test_results_dir):
shutil.rmtree(test_results_dir)
os.makedirs(test_results_dir)
if not non_catkin_pkgs:
print "Build catkin workspace"
call("catkin_init_workspace %s" % repo_sourcespace, ros_env)
repos_test_results_dir = os.path.join(test_results_dir, 'repos')
call("cmake %s -DCATKIN_TEST_RESULTS_DIR=%s" % (repo_sourcespace, repos_test_results_dir), ros_env)
#ros_env_repo = get_ros_env(os.path.join(repo_buildspace, 'devel/setup.bash'))
# build repositories and tests
print "Build repo list"
call("make", ros_env)
call("make tests", ros_env)
# get the repositories test and run dependencies
print "Get test and run dependencies of repo list"
repo_test_dependencies = get_dependencies(repo_sourcespace, build_depends=False, test_depends=True)
print "Install test and run dependencies of repo list: %s" % (', '.join(repo_test_dependencies))
apt_get_install(repo_test_dependencies, rosdep_resolver, sudo)
# run tests
print "Test repo list"
call("make run_tests", ros_env)
else:
print "Build workspace with non-catkin packages in isolation"
# work around catkin_make_isolated issue (at least with version 0.5.65 of catkin)
os.makedirs(os.path.join(repo_buildspace, 'devel_isolated'))
call('catkin_make_isolated --source %s --install-space install_isolated --install' % repo_sourcespace, ros_env)
setup_file = os.path.join(repo_buildspace, 'install_isolated', 'setup.sh')
ros_env = get_ros_env(setup_file)
# don't do depends-on on things not in release
not_in_release = set(repo_list) - set(release.repositories.keys())
if not_in_release:
print "Removed [%s] repositories which are not in the " %\
', '.join(sorted(not_in_release)), \
"release file for depends-on testing"
repo_list = list(set(repo_list) - not_in_release)
# see if we need to do more work or not
if not test_depends_on:
print "We're not testing the depends-on repositories"
ensure_test_results(test_results_dir)
return
# get repo_list depends-on list
print "Get list of wet repositories that build-depend on repo list: %s" % ', '.join(repo_list)
walker = DependencyWalker(release)
depends_on = set([])
try:
for repo_name in repo_list:
print('repo_name', repo_name)
repo = release.repositories[repo_name]
for pkg_name in repo.package_names:
print('pkg_name', pkg_name)
depends_on |= walker.get_recursive_depends_on(pkg_name, ['buildtool', 'build'], ignore_pkgs=depends_on)
print('depends_on', depends_on)
except RuntimeError:
print "Exception %s: If you are not in the rosdistro and only in the devel", \
" builds there will be no depends on"
depends_on = set([])
print "Build depends_on list of pkg list: %s" % (', '.join(depends_on))
if len(depends_on) == 0:
print "No wet packages depend on our repo list. Test finished here"
ensure_test_results(test_results_dir)
return
# install depends_on packages from source from release repositories
rosinstall = ''
non_catkin_pkgs = []
for pkg_name in depends_on:
repo = release.repositories[release.packages[pkg_name].repository_name]
if repo.version is None:
continue
pkg_xml = release.get_package_xml(pkg_name)
if pkg_xml is None:
raise BuildException('Could not retrieve package.xml for package "%s" from rosdistro cache' % pkg_name)
try:
pkg = parse_package_string(pkg_xml)
except InvalidPackage as e:
raise BuildException('package.xml for package "%s" from rosdistro cache is invalid: %s' % (pkg_name, e))
if _is_non_catkin_package(pkg):
non_catkin_pkgs.append(pkg.name)
rosinstall += _generate_rosinstall_for_pkg(repo, pkg_name)
if non_catkin_pkgs:
print 'Non-catkin packages depend on our repo list (%s). Skipping depends_on packages here' % ', '.join(sorted(non_catkin_pkgs))
create_test_result(test_results_dir, failure='Non-catkin packages depend on the repos (%s). Skip building and testing depends_on packages.' % ', '.join(sorted(non_catkin_pkgs)))
return
print "Rosinstall for depends_on:\n %s" % rosinstall
with open(workspace + "/depends_on.rosinstall", 'w') as f:
f.write(rosinstall)
print "Created rosinstall file for depends on"
# install all repository and system dependencies of the depends_on list
print "Install all depends_on from source: %s" % (', '.join(depends_on))
os.makedirs(dependson_sourcespace)
call("rosinstall --catkin %s %s/depends_on.rosinstall" % (dependson_sourcespace, workspace))
# check if depends_on workspace contains only package built with catkin
non_catkin_pkgs = _get_non_catkin_packages(dependson_sourcespace)
if non_catkin_pkgs:
print 'Non-catkin packages depend on our repo list (%s). Skipping depends_on packages here' % ', '.join(sorted(non_catkin_pkgs))
create_test_result(test_results_dir, failure='Non-catkin packages depend on the repos (%s). Skip building and testing depends_on packages.' % ', '.join(sorted(non_catkin_pkgs)))
return
# get build and test dependencies of depends_on list
dependson_build_dependencies = []
for d in get_dependencies(dependson_sourcespace, build_depends=True, test_depends=False):
print " Checking dependency %s" % d
if d in dependson_build_dependencies:
print " Already in dependson_build_dependencies"
if d in depends_on:
print " Is a direct dependency of the repo list, and is installed from source"
if d in repo_list:
print " Is one of the repositories tested"
if not d in dependson_build_dependencies and not d in depends_on and not d in repo_list:
dependson_build_dependencies.append(d)
print "Build dependencies of depends_on list are %s" % (', '.join(dependson_build_dependencies))
dependson_test_dependencies = []
for d in get_dependencies(dependson_sourcespace, build_depends=False, test_depends=True):
if not d in dependson_test_dependencies and not d in depends_on and not d in repo_list:
dependson_test_dependencies.append(d)
print "Test dependencies of depends_on list are %s" % (', '.join(dependson_test_dependencies))
# install build dependencies
print "Install all build dependencies of the depends_on list"
apt_get_install(dependson_build_dependencies, rosdep_resolver, sudo)
# replace the CMakeLists.txt file again
print "Removing the CMakeLists.txt file generated by rosinstall"
os.remove(os.path.join(dependson_sourcespace, 'CMakeLists.txt'))
os.makedirs(dependson_buildspace)
os.chdir(dependson_buildspace)
print "Create a new CMakeLists.txt file using catkin"
call("catkin_init_workspace %s" % dependson_sourcespace, ros_env)
depends_on_test_results_dir = os.path.join(test_results_dir, 'depends_on')
call("cmake %s -DCATKIN_TEST_RESULTS_DIR=%s" % (dependson_sourcespace, depends_on_test_results_dir), ros_env)
#ros_env_depends_on = get_ros_env(os.path.join(dependson_buildspace, 'devel/setup.bash'))
# build repositories
print "Build depends-on packages"
call("make", ros_env)
# install test dependencies
print "Install all test dependencies of the depends_on list"
apt_get_install(dependson_test_dependencies, rosdep_resolver, sudo)
# test repositories
print "Test depends-on packages"
call("make run_tests", ros_env)
ensure_test_results(test_results_dir)
print('Valid rosdistros are %s.' % valid_comparison_keys, file=sys.stderr)
exit(-1)
prev_distro_key = args.comparison
else:
prev_distro_key = valid_distro_keys[i - 1]
cache = rosdistro.get_distribution_cache(index, distro_key)
distro_file = cache.distribution_file
prev_cache = rosdistro.get_distribution_cache(index, prev_distro_key)
prev_distribution = rosdistro.get_cached_distribution(
index, prev_distro_key, cache=prev_cache)
prev_distro_file = prev_cache.distribution_file
dependency_walker = DependencyWalker(prev_distribution)
if repo_names_argument is None:
# Check missing dependencies for packages that were in the previous
# distribution that have not yet been released in the current distribution
# Filter repos without a version or a release repository
repo_names_argument = prev_distro_file.repositories.keys()
prev_repo_names = set(
repo for repo in repo_names_argument if is_released(repo, prev_distro_file))
keys = distro_file.repositories.keys()
current_repo_names = set(
repo for repo in keys if is_released(repo, distro_file))
# Print the repositories that will be eliminated from the input
def _get_blocked_releases_info(config_url, rosdistro_name, repo_names=None):
import rosdistro
from rosdistro.dependency_walker import DependencyWalker
from catkin_pkg.package import InvalidPackage, parse_package_string
prev_rosdistro_name = None
config = get_config_index(config_url)
index = rosdistro.get_index(config.rosdistro_index_url)
valid_rosdistro_names = list(index.distributions.keys())
valid_rosdistro_names.sort()
if rosdistro_name is None:
rosdistro_name = valid_rosdistro_names[-1]
print('Checking packages for "%s" distribution' % rosdistro_name)
# skip distributions with a different type if the information is available
distro_type = index.distributions[rosdistro_name].get('distribution_type')
if distro_type is not None:
valid_rosdistro_names = [
n for n in valid_rosdistro_names
if distro_type == index.distributions[n].get('distribution_type')]
# Find the previous distribution to the current one
try:
i = valid_rosdistro_names.index(rosdistro_name)
except ValueError:
print('Distribution key not found in list of valid distributions.', file=sys.stderr)
exit(-1)
if i == 0:
print('No previous distribution found.', file=sys.stderr)
exit(-1)
prev_rosdistro_name = valid_rosdistro_names[i - 1]
cache = rosdistro.get_distribution_cache(index, rosdistro_name)
distro_file = cache.distribution_file
prev_cache = rosdistro.get_distribution_cache(index, prev_rosdistro_name)
prev_distribution = rosdistro.get_cached_distribution(
index, prev_rosdistro_name, cache=prev_cache)
prev_distro_file = prev_cache.distribution_file
dependency_walker = DependencyWalker(prev_distribution)
if repo_names is None:
# Check missing dependencies for packages that were in the previous
# distribution that have not yet been released in the current distribution
# Filter repos without a version or a release repository
keys = prev_distro_file.repositories.keys()
prev_repo_names = set(
repo for repo in keys if _is_released(repo, prev_distro_file))
repo_names = prev_repo_names
ignored_inputs = []
else:
prev_repo_names = set(
repo for repo in repo_names if _is_released(repo, prev_distro_file))
ignored_inputs = list(set(repo_names).difference(prev_repo_names))
if len(ignored_inputs) > 0:
print(
'Ignoring inputs for which repository info not found in previous distribution '
'(did you list a package instead of a repository?):')
print('\n'.join(
sorted('\t{0}'.format(repo) for repo in ignored_inputs)))
keys = distro_file.repositories.keys()
current_repo_names = set(
repo for repo in keys if _is_released(repo, distro_file))
# Get a list of currently released packages
current_package_names = set(
pkg for repo in current_repo_names
for pkg in distro_file.repositories[repo].release_repository.package_names)
released_repos = prev_repo_names.intersection(
current_repo_names)
unreleased_repos = list(prev_repo_names.difference(
current_repo_names))
if len(unreleased_repos) == 0:
print('All inputs already released in {0}.'.format(
rosdistro_name))
repos_info = defaultdict(dict)
unprocessed_repos = prev_repo_names
while unprocessed_repos:
print('Processing repos:\n%s' %
'\n'.join(['- %s' % r for r in sorted(unprocessed_repos)]))
new_repos_to_process = set() # set containing repos that come up while processing others
for repo_name in unprocessed_repos:
repos_info[repo_name]['released'] = repo_name in released_repos
if repo_name in released_repos:
repo = distro_file.repositories[repo_name]
version = repo.release_repository.version
repos_info[repo_name]['version'] = version
else:
# Gather info on which required repos have not been released yet
# Assume dependencies will be the same as in the previous distribution and find
# which ones have been released
repo = prev_distro_file.repositories[repo_name]
release_repo = repo.release_repository
package_dependencies = set()
packages = release_repo.package_names
# Accumulate all dependencies for those packages
for package in packages:
try:
package_dependencies |= dependency_walker.get_recursive_depends(
package, ['build', 'buildtool', 'run', 'test'], ros_packages_only=True,
limit_depth=1)
except AssertionError as e:
print(e, file=sys.stderr)
# For all package dependencies, check if they are released yet
unreleased_pkgs = package_dependencies.difference(
current_package_names)
# Remove the packages which this repo provides
unreleased_pkgs = unreleased_pkgs.difference(packages)
# Get maintainer info and repo of unreleased packages
maintainers = {}
repos_blocked_by = set()
for pkg_name in unreleased_pkgs:
unreleased_repo_name = \
prev_distro_file.release_packages[pkg_name].repository_name
repos_blocked_by.add(unreleased_repo_name)
pkg_xml = prev_distribution.get_release_package_xml(pkg_name)
if pkg_xml is not None:
try:
pkg = parse_package_string(pkg_xml)
except InvalidPackage:
pass
else:
pkg_maintainers = {m.name: m.email for m in pkg.maintainers}
if unreleased_repo_name not in maintainers:
maintainers[unreleased_repo_name] = {}
maintainers[unreleased_repo_name].update(pkg_maintainers)
if maintainers:
repos_info[repo_name]['maintainers'] = maintainers
repos_info[repo_name]['repos_blocked_by'] = {}
for blocking_repo_name in repos_blocked_by:
# Get url of blocking repos
repo_url = None
blocking_repo = prev_distro_file.repositories[blocking_repo_name]
if blocking_repo.source_repository:
repo_url = blocking_repo.source_repository.url
elif blocking_repo.doc_repository:
repo_url = blocking_repo.doc_repository.url
repos_info[repo_name]['repos_blocked_by'].update(
{blocking_repo_name: repo_url})
# Mark blocking relationship in other direction
if blocking_repo_name not in repos_info:
new_repos_to_process.add(blocking_repo_name)
repos_info[blocking_repo_name] = {}
if 'repos_blocking' not in repos_info[blocking_repo_name]:
repos_info[blocking_repo_name]['repos_blocking'] = set([])
repos_info[blocking_repo_name]['repos_blocking'].add(repo_name)
# Get url of repo
repo_url = None
if repo.source_repository:
repo_url = repo.source_repository.url
elif repo.doc_repository:
repo_url = repo.doc_repository.url
if repo_url:
repos_info[repo_name]['url'] = repo_url
new_repos_to_process.discard(repo_name) # this repo has been fully processed now
for repo_name in repos_info.keys():
# Recursively get all repos being blocked by this repo
recursive_blocks = set([])
repos_to_check = set([repo_name])
while repos_to_check:
next_repo_to_check = repos_to_check.pop()
blocks = repos_info[next_repo_to_check].get('repos_blocking', set([]))
new_blocks = blocks - recursive_blocks
repos_to_check |= new_blocks
recursive_blocks |= new_blocks
if recursive_blocks:
repos_info[repo_name]['recursive_repos_blocking'] = recursive_blocks
unprocessed_repos = new_repos_to_process
return repos_info
def _get_blocked_source_entries_info(config_url, rosdistro_name):
from rosdistro import get_cached_distribution
from rosdistro import get_index
from rosdistro.dependency_walker import DependencyWalker
config = get_config_index(config_url)
index = get_index(config.rosdistro_index_url)
print('Getting blocked source entries for', rosdistro_name)
try:
prev_rosdistro_name = _prev_rosdistro(index, rosdistro_name)
except ValueError as e:
print(e.args[0], file=sys.stderr)
exit(-1)
print('Comparing', rosdistro_name, 'with', prev_rosdistro_name)
dist = get_cached_distribution(index, rosdistro_name)
prev_dist = get_cached_distribution(index, prev_rosdistro_name)
prev_walker = DependencyWalker(prev_dist)
prev_released_repos = set(_released_repos(prev_dist))
source_entry_repos = set(_source_entry_repos(dist))
missing_repos = prev_released_repos.difference(source_entry_repos)
# Assume repos will provide the same packages as previous distro
missing_packages = set(_released_packages(prev_dist, missing_repos))
repos_info = defaultdict(dict)
# Give all repos some basic info
for repo_name in prev_released_repos.union(source_entry_repos).union(
missing_repos):
repos_info[repo_name]['url'] = ''
repos_info[repo_name]['repos_blocking'] = set()
repos_info[repo_name]['recursive_repos_blocking'] = set()
repos_info[repo_name]['released'] = False
repos_info[repo_name]['version'] = 'no'
repos_info[repo_name]['repos_blocked_by'] = {}
repos_info[repo_name]['maintainers'] = defaultdict(dict)
for repo_name in prev_released_repos:
repos_info[repo_name]['url'] = _repo_url(prev_dist, repo_name)
# has a source entry? Call that 'released' with a 'version' to reuse _format_repo_table_row
for repo_name in source_entry_repos:
repos_info[repo_name]['released'] = True
repos_info[repo_name]['version'] = 'yes'
# Determine which repos directly block the missing ones
for repo_name in missing_repos:
package_dependencies = set()
for pkg in _released_packages(prev_dist, (repo_name, )):
package_dependencies.update(_package_dependencies(
prev_walker, pkg))
for dep in package_dependencies:
if dep in missing_packages:
blocking_repo = prev_dist.release_packages[dep].repository_name
if blocking_repo == repo_name:
# ignore packages in the same repo
continue
repos_info[repo_name]['repos_blocked_by'][blocking_repo] = \
_repo_url(prev_dist, repo_name)
repos_info[repo_name]['maintainers'][blocking_repo].update(
dict(_maintainers(prev_dist, dep)))
# Mark blocking relationship in other direction
repos_info[blocking_repo]['repos_blocking'].add(repo_name)
# Compute which repos block another recursively
for repo_name in repos_info.keys():
checked_repos = set()
repos_to_check = set([repo_name])
while repos_to_check:
next_repo = repos_to_check.pop()
new_repos_blocking = repos_info[next_repo]['repos_blocking']
repos_info[repo_name]['recursive_repos_blocking'].update(
new_repos_blocking)
checked_repos.add(next_repo)
repos_to_check.update(repos_info[next_repo]
['repos_blocking'].difference(checked_repos))
return repos_info
class Distro(object):
def __init__(self, distro_name, python_version=None):
index = get_index(get_index_url())
self._distro = get_cached_distribution(index, distro_name)
self.distro_name = distro_name
# set up ROS environments
if python_version is None:
python_version = index.distributions[distro_name]["python_version"]
os.environ["ROS_PYTHON_VERSION"] = "{0}".format(python_version)
os.environ["ROS_DISTRO"] = "{0}".format(distro_name)
if "ROS_ROOT" in os.environ:
os.environ.pop("ROS_ROOT")
if "ROS_PACKAGE_PATH" in os.environ:
os.environ.pop("ROS_PACKAGE_PATH")
self._walker = DependencyWalker(self._distro,
evaluate_condition_context=os.environ)
# cache distribution type
self._distribution_type = index.distributions[distro_name][
"distribution_type"]
self._python_version = index.distributions[distro_name][
"python_version"]
self.build_packages = set()
os.environ["ROS_VERSION"] = "1" if self.check_ros1() else "2"
@property
def name(self):
return self.distro_name
def add_packages(self, packages):
self.build_packages = set(packages)
def get_depends(self, pkg):
dependencies = set()
dependencies |= self._walker.get_recursive_depends(
pkg,
[
"buildtool",
"buildtool_export",
"build",
"build_export",
"run",
"test",
"exec",
],
ros_packages_only=True,
)
return dependencies
def get_released_repo(self, pkg_name):
pkg = self._distro.release_packages[pkg_name]
repo = self._distro.repositories[
pkg.repository_name].release_repository
release_tag = get_release_tag(repo, pkg_name)
return repo.url, release_tag
def check_package(self, pkg_name):
if pkg_name in self._distro.release_packages:
return True
elif pkg_name in self.build_packages:
return True
else:
return False
def get_version(self, pkg_name):
pkg = self._distro.release_packages[pkg_name]
repo = self._distro.repositories[
pkg.repository_name].release_repository
return repo.version.split("-")[0]
def get_release_package_xml(self, pkg_name):
return self._distro.get_release_package_xml(pkg_name)
def check_ros1(self):
return self._distribution_type == "ros1"
def get_python_version(self):
return self._python_version