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 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 _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)
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)