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Commit 9f7b39a5 authored by Guilhem Saurel's avatar Guilhem Saurel
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fix_rosinstall.py
+ 15
− 15
View file @ 9f7b39a5
......@@ -11,38 +11,38 @@ FILE_PATH = os.path.dirname(os.path.realpath(__file__))
def read_yaml(path):
with open(path, 'rt') as f:
with open(path, "rt") as f:
data = yaml.safe_load(f)
return data
def write_yaml(path, data):
with open(path, 'wt') as f:
with open(path, "wt") as f:
yaml.safe_dump(data, f, default_flow_style=False)
def extract_github_tar_gz(data):
for entry in data:
if 'tar' not in entry:
if "tar" not in entry:
continue
tar = entry['tar']
if 'github.com' not in tar['uri'] or not tar['uri'].endswith('.tar.gz'):
tar = entry["tar"]
if "github.com" not in tar["uri"] or not tar["uri"].endswith(".tar.gz"):
continue
version = tar['uri'][tar['uri'].rindex('/') + 1: -len('.tar.gz')]
if not tar['version'].endswith(version):
version = tar["uri"][tar["uri"].rindex("/") + 1 : -len(".tar.gz")]
if not tar["version"].endswith(version):
continue
yield tar, version
def download_file(url, path):
r = requests.get(url, stream=True)
with open(path, 'wb') as fd:
with open(path, "wb") as fd:
for chunk in r.iter_content(chunk_size=128):
fd.write(chunk)
def check_tar_gz_version(path, version):
with tarfile.open(path, 'r:gz') as f:
with tarfile.open(path, "r:gz") as f:
name = f.getmembers()[0].name
return name.endswith(version)
......@@ -51,19 +51,19 @@ def github_bug_workaround(rosinstall, rosinstall_out):
tmp_dir = tempfile.mkdtemp()
data = read_yaml(rosinstall)
for entry, version in extract_github_tar_gz(data):
file_name = os.path.join(tmp_dir, 'tmp.tar.gz')
download_file(entry['uri'], file_name)
file_name = os.path.join(tmp_dir, "tmp.tar.gz")
download_file(entry["uri"], file_name)
has_version = check_tar_gz_version(file_name, version)
os.remove(file_name)
if not has_version:
entry['version'] = entry['version'][: -(len(version) + 1)]
entry["version"] = entry["version"][: -(len(version) + 1)]
write_yaml(rosinstall_out, data)
shutil.rmtree(tmp_dir)
if __name__ == '__main__':
rosinstall = os.environ['ROS_DISTRO'] + '-ros_comm.rosinstall'
rosinstall_out = rosinstall + '.new'
if __name__ == "__main__":
rosinstall = os.environ["ROS_DISTRO"] + "-ros_comm.rosinstall"
rosinstall_out = rosinstall + ".new"
github_bug_workaround(rosinstall, rosinstall_out)
generate_all.py
+ 55
− 51
View file @ 9f7b39a5
......@@ -5,78 +5,82 @@ from json import load
# import requests
with open('targets') as f:
with open("targets") as f:
TARGETS = [target.strip() for target in f.readlines()]
with open('all.Dockerfile') as f:
with open("all.Dockerfile") as f:
TEMPLATE = f.read()
ALL = './memmos.laas.fr:5000/gepetto/buildfarm/all'
CONF = '>> /opt/openrobots/etc/robotpkg.conf\n'
CACHE = '--mount=type=cache,target=/root/robotpkg/distfiles'
ALL = "./memmos.laas.fr:5000/gepetto/buildfarm/all"
CONF = ">> /opt/openrobots/etc/robotpkg.conf\n"
CACHE = "--mount=type=cache,target=/root/robotpkg/distfiles"
COMMENTED = {
'sot-hrprtc-hrp2': 'too old',
'sot-hrp2-v3': 'too old',
'hrp2-14-description': 'private',
'pyrene-motions': 'broken',
'openhrp3-simulator-wo-rtm': 'it cant find QMetaType from gepetto/viewer/config-osg.h',
'hpp-doc': 'not relevant',
'example-adder': 'tmp',
"sot-hrprtc-hrp2": "too old",
"sot-hrp2-v3": "too old",
"hrp2-14-description": "private",
"pyrene-motions": "broken",
"openhrp3-simulator-wo-rtm": "it cant find QMetaType from gepetto/viewer/config-osg.h",
"hpp-doc": "not relevant",
"example-adder": "tmp",
}
COMMENTED_TARGETS = {}
NO_TESTS = [
'rqt-dynamic-graph',
'py-sot-talos-balance',
'tiago-robot',
'talos-metapkg-ros-control-sot',
'py-multicontact-api'
'hpp-rbprm'
"rqt-dynamic-graph",
"py-sot-talos-balance",
"tiago-robot",
"talos-metapkg-ros-control-sot",
"py-multicontact-api" "hpp-rbprm",
]
NO_TESTS_TARGETS = {
'hpp-constraints': ['archlinux', 'stretch', '16.04'],
'hpp-core': ['archlinux', 'stretch', '16.04'],
'py-hpp-corbaserver': ['stretch', '16.04'],
'hpp-pinocchio': ['stretch', '16.04'],
'py-hpp-rbprm-corba': ['fedora34'],
}
HIDDEN_DEPS = {
"hpp-constraints": ["archlinux", "stretch", "16.04"],
"hpp-core": ["archlinux", "stretch", "16.04"],
"py-hpp-corbaserver": ["stretch", "16.04"],
"hpp-pinocchio": ["stretch", "16.04"],
"py-hpp-rbprm-corba": ["fedora34"],
}
HIDDEN_DEPS = {}
# RAINBOARD_DATA = requests.get('https://rainboard.laas.fr/projects/ordered').json()['ret']
with open('ordered') as f:
RAINBOARD_DATA = load(f)['ret']
with open("ordered") as f:
RAINBOARD_DATA = load(f)["ret"]
for target in TARGETS:
user = 'home/user' if target == 'archlinux' else 'root'
user = "home/user" if target == "archlinux" else "root"
path = ALL
if target in ['ferrum']:
path = path.replace('memmos.laas.fr:5000', 'gitlab.laas.fr:4567')
with (Path(path) / target / 'Dockerfile').open('w') as f:
f.write('# syntax=docker/dockerfile:experimental\n')
f.write(f'FROM memmos.laas.fr:5000/gepetto/buildfarm/robotpkg:{target} as main\n\n')
if target in ["ferrum"]:
path = path.replace("memmos.laas.fr:5000", "gitlab.laas.fr:4567")
with (Path(path) / target / "Dockerfile").open("w") as f:
f.write("# syntax=docker/dockerfile:experimental\n")
f.write(
f"FROM memmos.laas.fr:5000/gepetto/buildfarm/robotpkg:{target} as main\n\n"
)
f.write(TEMPLATE)
for category, project, _, deps in RAINBOARD_DATA:
f.write(f'\nFROM main as {project}\n')
f.write(f"\nFROM main as {project}\n")
for dep in deps + HIDDEN_DEPS.get(project, []):
f.write(f'COPY --from={dep} /opt/openrobots /opt/openrobots\n')
f.write(f'\nWORKDIR /{user}/robotpkg/{category}/{project}\n')
if project == 'pinocchio':
f.write("RUN sed -i 's/-DBUILD_TESTING=OFF/-DBUILD_TESTING=ON/' Makefile\n")
f.write(f"COPY --from={dep} /opt/openrobots /opt/openrobots\n")
f.write(f"\nWORKDIR /{user}/robotpkg/{category}/{project}\n")
if project == "pinocchio":
f.write(
"RUN sed -i 's/-DBUILD_TESTING=OFF/-DBUILD_TESTING=ON/' Makefile\n"
)
if project in COMMENTED:
f.write(f'# TODO {COMMENTED[project]}\n#')
f.write(f"# TODO {COMMENTED[project]}\n#")
if project in COMMENTED_TARGETS and target in COMMENTED_TARGETS[project]:
f.write(f'# TODO not on {target}\n#')
f.write(f"# TODO not on {target}\n#")
if project in NO_TESTS:
f.write('# TODO test fail\n')
f.write("# TODO test fail\n")
if project in NO_TESTS_TARGETS and target in NO_TESTS_TARGETS[project]:
f.write(f'# TODO test fail on {target}\n')
f.write(f'RUN {CACHE} sccache -s && make install')
if project not in NO_TESTS and (project not in NO_TESTS_TARGETS
or target not in NO_TESTS_TARGETS[project]):
f.write(' && build=$(make show-var VARNAME=CONFIGURE_DIRS)')
f.write(' && pushd $(make show-var VARNAME=WRKSRC) && pushd $build')
f.write(' && make test && popd && popd')
f.write(f' && make clean # {project}\n')
f.write(f"# TODO test fail on {target}\n")
f.write(f"RUN {CACHE} sccache -s && make install")
if project not in NO_TESTS and (
project not in NO_TESTS_TARGETS
or target not in NO_TESTS_TARGETS[project]
):
f.write(" && build=$(make show-var VARNAME=CONFIGURE_DIRS)")
f.write(" && pushd $(make show-var VARNAME=WRKSRC) && pushd $build")
f.write(" && make test && popd && popd")
f.write(f" && make clean # {project}\n")
f.write('\nFROM main as final\n')
f.write("\nFROM main as final\n")
for _, project, _, _ in RAINBOARD_DATA:
f.write(f'COPY --from={project} /opt/openrobots /opt/openrobots\n')
f.write(f"COPY --from={project} /opt/openrobots /opt/openrobots\n")
memmos.laas.fr:5000/gepetto/buildfarm/memmo/18.04/load_talos.ipynb
+ 3
− 1
View file @ 9f7b39a5
%% Cell type:code id: tags:
``` python
from pathlib import Path
from example_robot_data.path import EXAMPLE_ROBOT_DATA_MODEL_DIR
import pinocchio as pin
from pinocchio.visualize import MeshcatVisualizer
```
%% Cell type:code id: tags:
``` python
model_path = Path(EXAMPLE_ROBOT_DATA_MODEL_DIR)
mesh_dir = model_path
urdf_filename = "talos_reduced.urdf"
urdf_model_path = model_path / "talos_data/robots" / urdf_filename
```
%% Cell type:code id: tags:
``` python
model, collision_model, visual_model = pin.buildModelsFromUrdf(str(urdf_model_path), str(mesh_dir), pin.JointModelFreeFlyer())
model, collision_model, visual_model = pin.buildModelsFromUrdf(
str(urdf_model_path), str(mesh_dir), pin.JointModelFreeFlyer()
)
```
%% Cell type:code id: tags:
``` python
viz = MeshcatVisualizer(model, collision_model, visual_model)
```
%% Cell type:code id: tags:
``` python
viz.initViewer(open=True)
```
%% Output
You can open the visualizer by visiting the following URL:
http://127.0.0.1:7000/static/
%% Cell type:code id: tags:
``` python
viz.loadViewerModel()
```
%% Cell type:code id: tags:
``` python
q0 = pin.neutral(model)
```
%% Cell type:code id: tags:
``` python
viz.display(q0)
```
%% Cell type:code id: tags:
``` python
```
......
read_logs.py
+ 19
− 13
View file @ 9f7b39a5
......@@ -6,8 +6,8 @@ from pathlib import Path
from tabulate import tabulate
LOGDIR = Path('logs')
with open('targets') as f:
LOGDIR = Path("logs")
with open("targets") as f:
TARGETS = [line.strip() for line in f]
......@@ -15,33 +15,39 @@ def parse_log(path):
results = {}
with path.open() as f:
for line in f:
if 'docker build' in line:
if "docker build" in line:
try:
results[':'.join(re.search(' -t ([^ ]+) ', line).groups()[0].split(':')[:2])] = False
results[
":".join(
re.search(" -t ([^ ]+) ", line).groups()[0].split(":")[:2]
)
] = False
except Exception:
print(f'fail in {path}: {line} do not contain a valid tag')
if 'Successfully tagged' in line:
results[':'.join(line.split()[2].split(':')[:2])] = True
print(f"fail in {path}: {line} do not contain a valid tag")
if "Successfully tagged" in line:
results[":".join(line.split()[2].split(":")[:2])] = True
return results
def show_result(results, target, tag):
if tag not in results[target]:
return ' '
return ' .' if results[target][tag] else ' x'
return " "
return " ." if results[target][tag] else " x"
def get_tags(results):
# TODO
return sorted(set(sum((list(results[target].keys()) for target in TARGETS), []))) # TODO
return sorted(
set(sum((list(results[target].keys()) for target in TARGETS), []))
) # TODO
if __name__ == '__main__':
if __name__ == "__main__":
results = {}
table = [[''] + TARGETS]
table = [[""] + TARGETS]
for target in TARGETS:
results[target] = parse_log(LOGDIR / f'build_{target}')
results[target] = parse_log(LOGDIR / f"build_{target}")
for tag in get_tags(results):
table += [[tag] + [show_result(results, target, tag) for target in TARGETS]]
......
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