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Commit 72829a31 authored by Guilhem Saurel's avatar Guilhem Saurel
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1 merge request!4Update robotpkg-test-rc.py for pinocchio v2.0.0 tests
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scripts/robotpkg-test-rc.py
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#!/usr/bin/python3
import subprocess
import os
import socket
import subprocess
from pathlib import Path
class RobotpkgTestRC:
def __init__(self,ROBOTPKG_ROOT=None):
class RobotpkgTestRC:
def __init__(self, ROBOTPKG_ROOT=None):
""" Init colors and environment variables
Arguments:
ROBOTPKG_ROOT: The directory where the whole robotpkg install takes place.
"""
"""
if ROBOTPKG_ROOT is None:
self.ROBOTPKG_ROOT=str(Path.home())+'/devel-src/robotpkg-test-rc'
self.ROBOTPKG_ROOT = str(Path.home()) + '/devel-src/robotpkg-test-rc'
else:
self.ROBOTPKG_ROOT=ROBOTPKG_ROOT
self.ROBOTPKG_ROOT = ROBOTPKG_ROOT
self.init_colors()
self.init_environment_variables(self.ROBOTPKG_ROOT)
self.init_robotpkg_conf_add()
self.debug = 0
def init_colors(self):
""" Initialize colors for beautification
The following variables are available:
The following variables are available:
REG, GREEN, PURPLE, NC (no color)
"""
self.RED = '\033[0;31m'
self.GREEN= '\033[0;32m'
self.PURPLE='\033[0;35m'
self.NC = '\033[0m'
self.RED = '\033[0;31m'
self.GREEN = '\033[0;32m'
self.PURPLE = '\033[0;35m'
self.NC = '\033[0m'
def init_environment_variables(self, ROBOTPKG_ROOT):
"""Prepare the environment variables.
Specifies the environment when starting bash commands
"""
self.ROBOTPKG_ROOT = ROBOTPKG_ROOT
self.env = os.environ.copy()
ROBOTPKG_BASE = self.ROBOTPKG_ROOT+'/install'
ROBOTPKG_BASE = self.ROBOTPKG_ROOT + '/install'
self.env["ROBOTPKG_BASE"] = ROBOTPKG_BASE
# Imposes bash as the shell
self.env["SHELL"] = "/usr/bin/bash"
# For binaries
self.env["PATH"] = ROBOTPKG_BASE+'/sbin:' + \
ROBOTPKG_BASE+'/bin:'+self.env["PATH"]
# For libraries
prev_LD_LIBRARY_PATH=''
prev_LD_LIBRARY_PATH = ''
if "LD_LIBRARY_PATH" in self.env:
prev_LD_LIBRARY_PATH = self.env["LD_LIBRARY_PATH"]
self.env["LD_LIBRARY_PATH"] = ROBOTPKG_BASE+'/lib:' \
+ROBOTPKG_BASE+'/lib/plugin:' \
+ROBOTPKG_BASE+'/lib64:' \
+prev_LD_LIBRARY_PATH
# For python
prev_PYTHON_PATH=''
prev_PYTHON_PATH = ''
if "PYTHON_PATH" in self.env:
prev_PYTHON_PATH = self.env["PYTHON_PATH"]
self.env["PYTHON_PATH"]=ROBOTPKG_BASE+'/lib/python2.7/site-packages:' \
+ROBOTPKG_BASE+'/lib/python2.7/dist-packages:' \
+prev_PYTHON_PATH
# For pkgconfig
prev_PKG_CONFIG_PATH=''
prev_PKG_CONFIG_PATH = ''
if "PKG_CONFIG_PATH" in self.env:
prev_PKG_CONFIG_PATH = self.env["PKG_CONFIG_PATH"]
self.env["PKG_CONFIG_PATH"]=ROBOTPKG_BASE+'/lib/pkgconfig:' \
+prev_PKG_CONFIG_PATH
# For ros packages
prev_ROS_PACKAGE_PATH=''
prev_ROS_PACKAGE_PATH = ''
if "ROS_PACKAGE_PATH" in self.env:
prev_ROS_PACKAGE_PATH = self.env["ROS_PACKAGE_PATH"]
self.env["ROS_PACKAGE_PATH"]=ROBOTPKG_BASE+'/share:' \
+ROBOTPKG_BASE+'/stacks' \
+prev_ROS_PACKAGE_PATH
# For cmake
prev_CMAKE_PREFIX_PATH=''
prev_CMAKE_PREFIX_PATH = ''
if "CMAKE_PREFIX_PATH" in self.env:
prev_CMAKE_PREFIX_PATH = self.env["CMAKE_PREFIX_PATH"]
self.env["CMAKE_PREFIX_PATH"]=ROBOTPKG_BASE+':'+prev_CMAKE_PREFIX_PATH
self.env["CMAKE_PREFIX_PATH"] = ROBOTPKG_BASE + ':' + prev_CMAKE_PREFIX_PATH
def init_robotpkg_conf_add(self):
self.robotpkg_conf_lines = [
'ACCEPTABLE_LICENSES+=openhrp-grx-license',
'ACCEPTABLE_LICENSES+=cnrs-hpp-closed-source',
'ACCEPTABLE_LICENSES+=gnu-gpl',
'ACCEPTABLE_LICENSES+=motion-analysis-license',
'PREFER.gnupg=system',
'PREFER.urdfdom=system',
'PREFER.urdfdom-headers=system',
'PREFER.ros-catkin = system',
'PREFER.ros-comm = system',
'PREFER.ros-genlisp = system',
'PREFER.ros-message-generation = system',
'PREFER.ros-std-msgs = system',
'PREFER.ros-rospack = system',
'PREFER.ros-message-runtime = system',
'PREFER.ros-roscpp-core = system',
'PREFER.ros-xacro = system',
'PREFER.ros-common-msgs = system',
'PREFER.ros-lint = system',
'PREFER.ros-com-msgs = system',
'PREFER.ros-com-msgs = system',
'PREFER.bullet = system',
'PREFER.ros-ros = system',
'PREFER.ros-cmake-modules = system',
'PREFER.ros-dynamic-reconfigure = system',
'PREFER.ros-realtime-tools = system',
'PREFER.ros-control-toolbox = system',
'PREFER.ros-bond-core = system',
'PREFER.ros-class-loader = system',
'PREFER.ros-pluginlib = system',
'PREFER.ros-rqt = system',
'PREFER.ros-humanoid-msgs = system',
'PREFER.ros-genmsg = system',
'PREFER.ros-actionlib = system',
'PREFER.ros-geometry = system',
'PREFER.collada-dom = system',
'PREFER.orocos-kdl = system',
'PREFER.ros-angles = system',
'PREFER.ros-console-bridge = system',
'PREFER.ros-eigen-stl-containers = system',
'PREFER.ros-random-numbers = system',
'PREFER.ros-resource-retriever = system',
'PREFER.ros-shape-tools = system',
'PREFER.ros-geometric-shapes = system',
'PREFER.ros-srdfdom = system',
'PREFER.ros-robot-model = system',
'PREFER.ros-orocos-kdl = system',
'PREFER.assimp=system',
'ACCEPTABLE_LICENSES+=pal-license',
'ROS_PACKAGE_PATH=${ROBOTPKG_ROOT}/install/share:$ROS_PACKAGE_PATH ']
def execute(self,bashCommand):
""" Execute baschCommand
'ACCEPTABLE_LICENSES+=openhrp-grx-license', 'ACCEPTABLE_LICENSES+=cnrs-hpp-closed-source',
'ACCEPTABLE_LICENSES+=gnu-gpl', 'ACCEPTABLE_LICENSES+=motion-analysis-license', 'PREFER.gnupg=system',
'PREFER.urdfdom=system', 'PREFER.urdfdom-headers=system', 'PREFER.ros-catkin = system',
'PREFER.ros-comm = system', 'PREFER.ros-genlisp = system', 'PREFER.ros-message-generation = system',
'PREFER.ros-std-msgs = system', 'PREFER.ros-rospack = system', 'PREFER.ros-message-runtime = system',
'PREFER.ros-roscpp-core = system', 'PREFER.ros-xacro = system', 'PREFER.ros-common-msgs = system',
'PREFER.ros-lint = system', 'PREFER.ros-com-msgs = system', 'PREFER.ros-com-msgs = system',
'PREFER.bullet = system', 'PREFER.ros-ros = system', 'PREFER.ros-cmake-modules = system',
'PREFER.ros-dynamic-reconfigure = system', 'PREFER.ros-realtime-tools = system',
'PREFER.ros-control-toolbox = system', 'PREFER.ros-bond-core = system', 'PREFER.ros-class-loader = system',
'PREFER.ros-pluginlib = system', 'PREFER.ros-rqt = system', 'PREFER.ros-humanoid-msgs = system',
'PREFER.ros-genmsg = system', 'PREFER.ros-actionlib = system', 'PREFER.ros-geometry = system',
'PREFER.collada-dom = system', 'PREFER.orocos-kdl = system', 'PREFER.ros-angles = system',
'PREFER.ros-console-bridge = system', 'PREFER.ros-eigen-stl-containers = system',
'PREFER.ros-random-numbers = system', 'PREFER.ros-resource-retriever = system',
'PREFER.ros-shape-tools = system', 'PREFER.ros-geometric-shapes = system', 'PREFER.ros-srdfdom = system',
'PREFER.ros-robot-model = system', 'PREFER.ros-orocos-kdl = system', 'PREFER.assimp=system',
'ACCEPTABLE_LICENSES+=pal-license', 'ROS_PACKAGE_PATH=${ROBOTPKG_ROOT}/install/share:$ROS_PACKAGE_PATH '
]
def execute(self, bashCommand):
""" Execute baschCommand
Keyword arguments:
bashCommand -- the bashCommand to be run in a bash script
It returns a list of binary string that can be iterate
It returns a list of binary string that can be iterate
and decode.
"""
# TODO: Handle error
if self.debug>3:
print("execute bash command: "+bashCommand)
process = subprocess.Popen(bashCommand.split(),
stdout=subprocess.PIPE,
env=self.env)
if self.debug > 3:
print("execute bash command: " + bashCommand)
process = subprocess.Popen(bashCommand.split(), stdout=subprocess.PIPE, env=self.env)
outputdata, error = process.communicate()
for stdout_line in outputdata.splitlines():
print(stdout_line.decode('ascii'))
return outputdata
def prepare_robotpkg(self):
"""
"""
Prepare the robotpkg environment
Make robotpkg directoriers, clone it with wip, bootstrap and add
Make robotpkg directoriers, clone it with wip, bootstrap and add
information in the file ${ROBOTPKG_ROOT}/install/etc/robotpkg.conf
"""
self.make_robotpkg_dirs()
......@@ -174,34 +142,34 @@ class RobotpkgTestRC:
self.cloning_robotpkg_wip()
self.bootstrap_robotpkg()
self.complete_robotpkg_conffile()
def make_robotpkg_dirs(self):
"""Create directories for robotpkg
ROBOTPKG_ROOT
ROBOTPKG_ROOT/install
"""
print(self.GREEN+'Creating the repositories'+self.NC)
dirname=self.ROBOTPKG_ROOT+'/'
os.makedirs(dirname,0o777,True)
dirname=self.ROBOTPKG_ROOT+'/install'
os.makedirs(dirname,0o777,True)
print(self.GREEN + 'Creating the repositories' + self.NC)
dirname = self.ROBOTPKG_ROOT + '/'
os.makedirs(dirname, 0o777, True)
dirname = self.ROBOTPKG_ROOT + '/install'
os.makedirs(dirname, 0o777, True)
def cloning_robotpkg_main(self):
"""Clones the main robotpkg repository"""
print(self.GREEN+'Cloning robotpkg'+self.NC+'\n')
print(self.GREEN + 'Cloning robotpkg' + self.NC + '\n')
os.chdir(self.ROBOTPKG_ROOT)
self.execute("git clone https://git.openrobots.org/robots/robotpkg.git")
def cloning_robotpkg_wip(self):
"""Clones the wip robotpkg repository"""
os.chdir(self.ROBOTPKG_ROOT+'/robotpkg')
print(self.GREEN+'Cloning robotpkg/wip'+self.NC+'\n')
os.chdir(self.ROBOTPKG_ROOT + '/robotpkg')
print(self.GREEN + 'Cloning robotpkg/wip' + self.NC + '\n')
self.execute("git clone ssh://git@git.openrobots.org/robots/robotpkg/robotpkg-wip wip")
def bootstrap_robotpkg(self):
""" bootstrap robotpkg
This method calls:
bootstrap --prefix=${ROBOTPKG_ROOT}/install
only if there is no
......@@ -209,89 +177,89 @@ class RobotpkgTestRC:
already present.
"""
# Test if a file in ROBOTPKG_ROOT/install/etc/robotpkg.conf already exists
rpkg_conf_filename=self.ROBOTPKG_ROOT+'/install/etc/robotpkg.conf'
rpkg_conf_filename = self.ROBOTPKG_ROOT + '/install/etc/robotpkg.conf'
rpkg_conf_file = Path(rpkg_conf_filename)
if rpkg_conf_file.is_file():
print(self.PURPLE+rpkg_conf_filename+self.NC+' already exists\n')
print(self.PURPLE + rpkg_conf_filename + self.NC + ' already exists\n')
return
os.chdir(self.ROBOTPKG_ROOT+'/robotpkg/bootstrap')
print(self.GREEN+'Boostrap robotpkg'+self.NC+'\n')
self.execute('./bootstrap --prefix='+self.ROBOTPKG_ROOT+'/install')
os.chdir(self.ROBOTPKG_ROOT + '/robotpkg/bootstrap')
print(self.GREEN + 'Boostrap robotpkg' + self.NC + '\n')
self.execute('./bootstrap --prefix=' + self.ROBOTPKG_ROOT + '/install')
def complete_robotpkg_conffile(self):
"""Add the contents of robotpkg_conf_lines in robotpkg.conf file
Avoid to add two times the same information.
"""
os.chdir(self.ROBOTPKG_ROOT+'/install/etc')
print(self.GREEN+'Adding information to '+self.ROBOTPKG_ROOT+'/install/etc/robotpkg.conf\n')
os.chdir(self.ROBOTPKG_ROOT + '/install/etc')
print(self.GREEN + 'Adding information to ' + self.ROBOTPKG_ROOT + '/install/etc/robotpkg.conf\n')
# Open the file, read it and stores it in file_robotpkg_contents
file_robotpkgconf = open("robotpkg.conf",'r')
file_robotpkgconf = open("robotpkg.conf", 'r')
file_robotpkgconf_contents = file_robotpkgconf.read()
file_robotpkgconf.close()
# Add new lines at the end of robotpkg.conf file.
file_robotpkgconf = open("robotpkg.conf",'a')
file_robotpkgconf = open("robotpkg.conf", 'a')
for stdout_line in self.robotpkg_conf_lines:
if file_robotpkgconf_contents.find(stdout_line)==-1:
file_robotpkgconf.write(stdout_line+'\n')
if file_robotpkgconf_contents.find(stdout_line) == -1:
file_robotpkgconf.write(stdout_line + '\n')
file_robotpkgconf.close()
def build_rpkg_checkout_package(self,packagename):
def build_rpkg_checkout_package(self, packagename):
''' Execute bashcmd in the working directory of packagename'''
# Going into the repository directory
hostname = socket.gethostname()
pathname = self.ROBOTPKG_ROOT+'/robotpkg/wip/'+packagename+'/work.'+hostname
pathname = self.ROBOTPKG_ROOT + '/robotpkg/wip/' + packagename + '/work.' + hostname
return pathname
def apply_rpkg_checkout_package(self,packagename,branchname):
def apply_rpkg_checkout_package(self, packagename, branchname):
""" Performs a make checkout in packagename directory
packagename: The name of package in which the git clone will be perfomed.
branchname: The name of the branch used in the repository.
The location of the repository is specified in the robotpkg Makefile.
"""
print(self.GREEN+'Checkout '+ packagename +' in robotpkg/wip'+self.NC+'\n')
print(self.GREEN + 'Checkout ' + packagename + ' in robotpkg/wip' + self.NC + '\n')
# Checking if we need to clean or not the package
# First check if the working directory exists
directory_to_clean=True
checkoutdir_packagename=self.build_rpkg_checkout_package(packagename)
directory_to_clean = True
checkoutdir_packagename = self.build_rpkg_checkout_package(packagename)
if os.path.isdir(checkoutdir_packagename):
if self.debug>3:
print('Going into :\n'+checkoutdir_packagename)
if self.debug > 3:
print('Going into :\n' + checkoutdir_packagename)
os.chdir(checkoutdir_packagename)
# If it does then maybe this is not a git directory
folders=[f.path for f in os.scandir(checkoutdir_packagename) if f.is_dir()]
folders = [f.path for f in os.scandir(checkoutdir_packagename) if f.is_dir()]
for folder in folders:
if self.debug>3:
print("Going into: "+folder)
if self.debug > 3:
print("Going into: " + folder)
os.chdir(folder)
# Check if there is a git folder
git_folder=folder+'/.git'
git_folder = folder + '/.git'
if os.path.isdir(git_folder):
if self.debug>3:
if self.debug > 3:
print('Git folder found:')
# Now that we detected a git folder
# Check the branch
outputdata =self.execute("git symbolic-ref --short -q HEAD")
outputdata = self.execute("git symbolic-ref --short -q HEAD")
for stdout_line in outputdata.splitlines():
lstr = str(stdout_line.decode('ascii'))
if lstr != branchname:
print(self.RED+' Wrong branch name: '+lstr+' instead of '+branchname+self.NC)
print(self.RED + ' Wrong branch name: ' + lstr + ' instead of ' + branchname + self.NC)
else:
finaldirectory=folder
directory_to_clean=False
finaldirectory = folder
directory_to_clean = False
if self.debug>3:
print('Directory to clean: '+str(directory_to_clean))
if self.debug > 3:
print('Directory to clean: ' + str(directory_to_clean))
if directory_to_clean:
# Going into the directory of the package
os.chdir(self.ROBOTPKG_ROOT+'/robotpkg/wip/'+packagename)
os.chdir(self.ROBOTPKG_ROOT + '/robotpkg/wip/' + packagename)
self.execute("make clean confirm")
self.execute("make checkout")
else:
......@@ -299,66 +267,60 @@ class RobotpkgTestRC:
# Remove all the files which may have been modified.
self.execute("git reset --hard")
# Pull all the modification push upstream.
self.execute("git pull origin "+branchname+':'+branchname)
self.execute("git pull origin " + branchname + ':' + branchname)
def apply_git_checkout_branch(self,packagename,branchname):
def apply_git_checkout_branch(self, packagename, branchname):
"""
Changes the branch of a git repository in robotpkg.
The method first detects that the package working directory is
The method first detects that the package working directory is
really a git repository. Then it performs the branch switch.
"""
bashcmd='git checkout '+branchname
checkoutdir_packagename=self.build_rpkg_checkout_package(packagename)
folders=[f.path for f in os.scandir(checkoutdir_packagename) if f.is_dir()]
bashcmd = 'git checkout ' + branchname
checkoutdir_packagename = self.build_rpkg_checkout_package(packagename)
folders = [f.path for f in os.scandir(checkoutdir_packagename) if f.is_dir()]
for folder in folders:
if self.debug>3:
print("Going into: "+folder)
os.chdir(folder)
git_folder=folder+'/.git'
if os.path.isdir(git_folder):
self.execute(bashcmd)
if self.debug > 3:
print("Going into: " + folder)
os.chdir(folder)
git_folder = folder + '/.git'
if os.path.isdir(git_folder):
self.execute(bashcmd)
def compile_package(self,packagename):
def compile_package(self, packagename):
""" Performs make replace confirm in package working directory
"""
# Going into the directory of the package
os.chdir(self.ROBOTPKG_ROOT+'/robotpkg/wip/'+packagename)
print(self.GREEN+'Compile '+ packagename +' in robotpkg/wip'+self.NC+'\n')
os.chdir(self.ROBOTPKG_ROOT + '/robotpkg/wip/' + packagename)
print(self.GREEN + 'Compile ' + packagename + ' in robotpkg/wip' + self.NC + '\n')
# Compiling the repository
self.execute("make replace confirm")
self.execute("make replace confirm")
def handle_package(self,packagename,branchname):
def handle_package(self, packagename, branchname):
"""Compile and install packagename with branch branchname
First performs the proper make checkout and git operation to get the branch
Then compile the package with make replace.
Do not use make update confirm, this install the release version (the tar file).
"""
self.apply_rpkg_checkout_package(packagename,branchname)
self.apply_git_checkout_branch(packagename,branchname)
self.apply_rpkg_checkout_package(packagename, branchname)
self.apply_git_checkout_branch(packagename, branchname)
self.compile_package(packagename)
def perform_test(self,arch_release_candidates):
def perform_test(self, arch_release_candidates):
"""Install packages specifued by release_candidates
arch_release_candidates: tuple of pair [ ('package_name','branch_name'), ... ]
"""
self.prepare_robotpkg()
for package_name,branch_name in arch_release_candidates:
self.handle_package(package_name,branch_name)
for package_name, branch_name in arch_release_candidates:
self.handle_package(package_name, branch_name)
arch_release_candidates= [ ('dynamic-graph-v3','devel'),
('py-dynamic-graph-v3','devel'),
('sot-core-v3','rc-v3.3.0'),
('py-sot-core-v3','rc-v3.3.0'),
('sot-dyninv-v3','master'),
('py-sot-dyninv-v3','master'),
('sot-dynamic-pinocchio-v3','rc-v3.2.4'),
('py-sot-dynamic-pinocchio-v3','rc-v3.2.4'),
('roscontrol-sot','master')]
arch_release_candidates = [('dynamic-graph-v3', 'devel'), ('py-dynamic-graph-v3', 'devel'),
('sot-core-v3', 'rc-v3.3.0'), ('py-sot-core-v3', 'rc-v3.3.0'), ('sot-dyninv-v3', 'master'),
('py-sot-dyninv-v3', 'master'), ('sot-dynamic-pinocchio-v3', 'rc-v3.2.4'),
('py-sot-dynamic-pinocchio-v3', 'rc-v3.2.4'), ('roscontrol-sot', 'master')]
arpgtestrc =RobotpkgTestRC()
arpgtestrc = RobotpkgTestRC()
arpgtestrc.perform_test(arch_release_candidates)
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