generate_debs.py

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# Copyright 2021 RobosoftAI Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
 
# /bin/python
 
import rospkg
import subprocess
import os
import shutil
import re
 
# src/smacc_ci/generate_debs.py -smacc_src_folder src -smacc_viewer_src_folder src
 
 
def build_deb_package(
    workspace_source_folder, package_name, packagepath, ubuntu_version, ros_distro, already_visited
):
    print("-----------------------")
    print("Working folder: " + str(os.getcwd()))
    print("Building debian package: " + str(package_name))
    cmd = (
        "bloom-generate rosdebian --os-name ubuntu --os-version "
        + str(ubuntu_version)
        + " --ros-distro "
        + str(ros_distro)
        + " "
        + str(packagepath)
    )
    print(cmd)
    bloomprocess = subprocess.Popen(cmd, shell=True)
    bloomprocess.wait()
 
    develpackagefolder = None
    for root, dirs, files in os.walk(workspace_source_folder, topdown=False):
        if "package.xml" in files and package_name == root.split("/")[-1]:
            print(root)
            develpackagefolder = root
            break
 
    localpackagepath = develpackagefolder
 
    print("current directory:")
    print(os.getcwd())
    print("debian files:")
    print(os.listdir(""))
 
    # copy the debian folder generated by bloom inside the package
    shutil.move("debian", os.path.join(localpackagepath, "debian"))
 
    os.chdir(localpackagepath)
    fakerootprocess = subprocess.Popen("fakeroot debian/rules binary", shell=True)
    fakerootprocess.wait()
 
    os.chdir(localpackagepath)
    shutil.rmtree("debian")
    shutil.rmtree("obj-x86_64-linux-gnu")
 
    os.chdir(workspace_source_folder)
 
    # improve this regex
 
    firstregexstr = ".*ros-" + ros_distro + r"-.*\.deb"
    regexstr = ".*ros-" + ros_distro + "-" + package_name.replace("_", "-") + r".*\.deb"
    print("Finding deb package: " + str(regexstr))
 
    thisfolderfiles = []
    for root, dirs, files in os.walk(workspace_source_folder, topdown=False):
        thisfolderfiles = thisfolderfiles + [os.path.join(root, f) for f in files]
 
    debianfiles = [f for f in thisfolderfiles if re.search(firstregexstr, f)]
    print("DETECTED DEBIAN FILES:")
    print(debianfiles)
    print("VISITED DEBIAN FILES:")
    print(already_visited)
 
    debianfilename = [
        f for f in debianfiles if re.search(regexstr, f) and f not in already_visited
    ][0]
 
    print("Debian file found: ")
    print(debianfilename)
 
    installdebiantask = subprocess.Popen("sudo dpkg -i " + debianfilename, shell=True)
    installdebiantask.wait()
 
    return debianfilename
 
 
def iterate_debian_generation(
    workspace_source_folder, package_names, identified_install_packages, osversion, rosversion
):
    os.chdir(workspace_source_folder)
    debianfiles = []
    for pname in package_names:
        debianfiles.append(
            build_deb_package(
                workspace_source_folder,
                pname,
                identified_install_packages[pname],
                osversion,
                rosversion,
                debianfiles,
            )
        )
    return debianfiles
 
 
def get_identified_packages(workspace_folder):
    identified_install_packages = {}
    exclude_with_words = ["ridgeback", "mecanum", "catkin"]
    for pname in packagesl:
        packpath = rospack.get_path(pname)
        print(pname)
        if workspace_folder in packpath:
            if any([True for excludedword in exclude_with_words if excludedword in pname]):
                continue
 
            identified_install_packages[pname] = packpath
    return identified_install_packages
 
 
def push_debian_files(repo_owner, reponame, osname, osversion, debianfiles):
    for debf in debianfiles:
        print("pushing debfile")
        push_debian_task = subprocess.Popen(
            "package_cloud push "
            + repo_owner
            + "/"
            + reponame
            + "/"
            + osname
            + "/"
            + osversion
            + " "
            + debf,
            shell=True,
        )
        push_debian_task.wait()
 
 
def remove_debian_files(repo_owner, reponame, osname, osversion, debianfiles):
    for debf in debianfiles:
        shortdebfile = debf.split("/")[-1]
        print("yanking debfile")
        push_debian_task = subprocess.Popen(
            "package_cloud yank "
            + repo_owner
            + "/"
            + reponame
            + "/"
            + osname
            + "/"
            + osversion
            + " "
            + shortdebfile,
            shell=True,
        )
        push_debian_task.wait()
 
 
# ------------------------ SMACC PACKAGES -----------------------
 
 
def create_and_push_smacc_debians(osname, osversion, rosversion):
    workspace_source_folder = os.path.join(workspace_folder, relative_smacc_folder)
    identified_install_packages = get_identified_packages(workspace_folder)
 
    smacc_manual_order_packages = [  # 'forward_global_planner',
        "smacc_msgs",
        "smacc",
        "sr_all_events_go",
        "sr_conditional",
        "sr_event_countdown",
        "keyboard_client",
        "multirole_sensor_client",
        "ros_publisher_client",
        "ros_timer_client",
        "nav2z_client",
        "forward_global_planner",
        "forward_local_planner",
        "backward_global_planner",
        "undo_path_global_planner",
        "backward_local_planner",
        "move_group_interface_client",
        "sm_atomic",
        "sm_dance_bot",
        "sm_dance_bot_strikes_back",
        "sm_moveit",
    ]
 
    smacc_debian_files = iterate_debian_generation(
        workspace_source_folder,
        smacc_manual_order_packages,
        identified_install_packages,
        osversion,
        rosversion,
    )
 
    create_repo_task = subprocess.Popen("package_cloud repository create smacc", shell=True)
    create_repo_task.wait()
 
    # ----- PUSHING TO SMACC --------------
    remove_debian_files(repo_owner, "smacc", osname, osversion, smacc_debian_files)
    push_debian_files(repo_owner, "smacc", osname, osversion, smacc_debian_files)
 
    return smacc_debian_files
 
 
if __name__ == "__main__":
    # === requirements for the build machine ==
    # sudo apt-get install ruby-dev rake
    # sudo gem update --system
    # sudo gem install package_cloud
    # == OR ==
    # curl -s https://packagecloud.io/install/repositories/fdio/tutorial/script.deb.sh | sudo bash
 
    import argparse
    import argcomplete
 
    # ==== CONFIGURATION PARAMETERS =========
    repo_owner = "pibgeus"
 
    # =========================================
 
    rospack = rospkg.RosPack()
    packages = rospack.list()
    packagesl = list(packages)
 
    parser = argparse.ArgumentParser()
    parser.add_argument("-smacc_src_folder", help="smacc workspace folder", default="src/SMACC")
    parser.add_argument(
        "-smacc_viewer_src_folder", help="relative smacc src folder", default="src/SMACC_Viewer"
    )
    parser.add_argument("-repo_owner", help="Repo owner", default="pibgeus")
    parser.add_argument("-token", help="Repo token", default="")
    parser.add_argument(
        "-ros_version", help="The version of ros, ie: kinetic", default="kinetic", type=str
    )
    parser.add_argument(
        "-ubuntu_version", help="The version of ros, ie: xenial", default="xenial", type=str
    )
    parser.add_argument("-help", help="Help command")
 
    argcomplete.autocomplete(parser)
 
    args = parser.parse_args()
    # if hasattr(args,'help'):
    #     parser.print_help()
 
    osname = "ubuntu"
    osversion = args.ubuntu_version
    ros_version = args.ros_version
 
    print("args:" + str(args))
    print("rosversion: " + ros_version)
    print("ubuntu: " + osversion)
 
    relative_smacc_folder = args.smacc_src_folder  # "src/SMACC"
    workspace_folder = os.path.abspath(os.path.join(os.getcwd(), "."))
 
    repo_owner = args.repo_owner
 
    print("CREATING TOKEN FILE FOR PACKAGE CLOUD:")
    homefolder = os.getenv("HOME")
    packagecloud_token_filepath = os.path.join(homefolder, ".packagecloud")
 
    outfile = open(packagecloud_token_filepath, "w")
    outfile.write('{"token":"%s"}' % args.token)
    outfile.close()
 
    smacc_debians = create_and_push_smacc_debians(osname, osversion, ros_version)
 
    print("SMACC DEBIAN'S: " + str(smacc_debians))