Skip to content

Rosdep #608

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Draft
wants to merge 10 commits into
base: master
Choose a base branch
from
Draft

Rosdep #608

Changes from all commits
Commits
Show all changes
10 commits
Select commit Hold shift + click to select a range
a84c54e
(CI) fix script styling (#637)
MatthijsBurgh Dec 21, 2022
46fcfa1
install ros before calling rosdep
MatthijsBurgh Mar 28, 2019
874726e
Add ros prefix in dependency 'graph'
MatthijsBurgh Mar 28, 2019
531b199
No need to unset cmds, we are using local
MatthijsBurgh Mar 5, 2022
612d8b6
apply some fixes for now option
MatthijsBurgh Mar 5, 2022
9e82964
Fix linting
MatthijsBurgh Mar 5, 2022
e8abe7d
seperation line
MatthijsBurgh Mar 5, 2022
4248431
tue-install-rosdep fully now compatible
MatthijsBurgh Mar 5, 2022
c542af8
Correct multiline read to array
MatthijsBurgh Mar 5, 2022
2a2b707
Dependency file needs to be set also if rosdep target
MatthijsBurgh Mar 5, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
197 changes: 182 additions & 15 deletions installer/tue-install-impl.bash
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -207,6 +207,168 @@ function tue-install-target-now

# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # #

function _set_dependencies
{
local parent_target=$1
local target=$2

# If the target has a parent target, add target as a dependency to the parent target
if [ -n "$parent_target" ] && [ "$parent_target" != "main-loop" ]
then

if [ "$parent_target" != "$target" ]
then
tue-install-debug "echo $target >> $TUE_INSTALL_DEPENDENCIES_DIR/$parent_target"
tue-install-debug "echo $parent_target >> $TUE_INSTALL_DEPENDENCIES_ON_DIR/$target"
echo "$target" >> "$TUE_INSTALL_DEPENDENCIES_DIR"/"$parent_target"
echo "$parent_target" >> "$TUE_INSTALL_DEPENDENCIES_ON_DIR"/"$target"
sort "$TUE_INSTALL_DEPENDENCIES_DIR"/"$parent_target" -u -o "$TUE_INSTALL_DEPENDENCIES_DIR"/"$parent_target"
sort "$TUE_INSTALL_DEPENDENCIES_ON_DIR"/"$target" -u -o "$TUE_INSTALL_DEPENDENCIES_ON_DIR"/"$target"
fi
fi
}

# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # #

function tue-install-rosdep
{
tue-install-debug "tue-install-rosdep $*"

local target=$1
local now=$2

local parent_target=$TUE_INSTALL_CURRENT_TARGET
TUE_INSTALL_CURRENT_TARGET=$target
TUE_INSTALL_CURRENT_TARGET_DIR=$TUE_INSTALL_TARGETS_DIR/$target

local state_file="$TUE_INSTALL_STATE_DIR"/"$target"
local state_file_now="${state_file}-now"

# Determine if this target needs to be executed
local execution_needed="true"

if [ -f "$state_file_now" ]
then
tue-install-debug "File $state_file_now does exist, so installation has already been executed with 'now' option. No execution is needed"
execution_needed="false"
elif [ -f "$state_file" ]
then
if [ "$now" == "true" ]
then
tue-install-debug "File $state_file_now doesn't exist, but file $state_file does. So installation has been executed yet, but not with the 'now' option. Going to execute it with 'now' option."
else
tue-install-debug "File $state_file_now does exist. 'now' is not enabled, so no execution needed."
execution_needed="false"
fi
else
if [ "$now" == "true" ]
then
tue-install-debug "Files $state_file_now and $state_file don't exist. Going to execute with 'now' option."
else
tue-install-debug "Files $state_file_now and $state_file don't exist. Going to execute without 'now' option."
fi
fi

# If file exist, target has been resolved correctly in the past.
if [ "$execution_needed" == "true" ]
then
tue-install-debug "Target '$target' has not yet been resolved by rosdep, going to installation procedure"

# Empty the target's dependency file
tue-install-debug "Emptying $TUE_INSTALL_DEPENDENCIES_DIR/$target"
truncate -s 0 "$TUE_INSTALL_DEPENDENCIES_DIR"/"$target"
local target_processed=false

# Check if target can be resolved by rosdep
tue-install-debug "rosdep resolve $target"
local rosdep_res
local rosdep_return_code
rosdep_res=$(rosdep resolve "$target" 2>&1)
rosdep_return_code=$?

local IFS=$'\n'
mapfile -t rosdep_res <<< "$rosdep_res"
unset IFS

if [ $rosdep_return_code -eq 0 ]
then
tue-install-debug "rosdep correctly resolved to: ${rosdep_res[*]}"

case ${rosdep_res[0]} in
"#apt")
if [ "$now" == "true" ]
then
tue-install-system-now "${rosdep_res[1]}"
else
tue-install-system "${rosdep_res[1]}"
fi
;;
"#pip")
if [ "$now" == "true" ]
then
tue-install-pip-now "${rosdep_res[1]}"
else
tue-install-pip "${rosdep_res[1]}"
fi
;;
*) tue-install-debug "Unsupported rosdep output: ${rosdep_res[*]}";
TUE_INSTALL_CURRENT_TARGET=$parent_target;
TUE_INSTALL_CURRENT_TARGET_DIR=$TUE_INSTALL_TARGETS_DIR/$parent_target;
return 1
;;
esac

if [[ ${rosdep_res[1]} == "ros-"* ]]
then
# Also make sure ros is installed
tue-install-target ros || tue-install-error "Failed to install target 'ROS'"
fi

_set_dependencies "$parent_target" "$target"

if [ "$now" == "true" ]
then
touch "$state_file_now"
else
touch "$state_file"
fi

TUE_INSTALL_CURRENT_TARGET=$parent_target
TUE_INSTALL_CURRENT_TARGET_DIR=$TUE_INSTALL_TARGETS_DIR/$parent_target
return 0
else
tue-install-debug "Could not be resolved by rosdep. error: ${rosdep_res[*]}"
TUE_INSTALL_CURRENT_TARGET=$parent_target
TUE_INSTALL_CURRENT_TARGET_DIR=$TUE_INSTALL_TARGETS_DIR/$parent_target
return 1
fi
else
tue-install-debug "Target '$target' already resolved correctly by rosdep, skipping it this time."

_set_dependencies "$parent_target" "$target"

TUE_INSTALL_CURRENT_TARGET=$parent_target
TUE_INSTALL_CURRENT_TARGET_DIR=$TUE_INSTALL_TARGETS_DIR/$parent_target
return 0
fi
}

# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # #

function tue-install-target-now
{
tue-install-debug "tue-install-target-now $*"

local target
target=$1

tue-install-debug "calling: tue-install-target $target true"
tue-install-target "$target" "true"
return $?
}

# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # #

function tue-install-target
{
tue-install-debug "tue-install-target $*"
Expand All @@ -215,31 +377,34 @@ function tue-install-target
target=$1
now=$2

tue-install-debug "Installing target: $target"
tue-install-debug "Installing $target"

# Check if valid target received as input
if [ ! -d "$TUE_INSTALL_TARGETS_DIR"/"$target" ]
then
tue-install-debug "Target '$target' does not exist."
return 1
# Targets starting with 'ros-' will never be resolved by rosdep
if [[ "$target" != "ros-"* ]]
then
# Check if can be resolved by rosdep
if tue-install-rosdep "$target" "$now"
then
return 0
else
tue-install-debug "Target '$target' does not exist."
return 1
fi
else
tue-install-debug "Target '$target' does not exist."
return 1
fi
fi

local parent_target
parent_target=$TUE_INSTALL_CURRENT_TARGET
TUE_INSTALL_CURRENT_TARGET_DIR=$TUE_INSTALL_TARGETS_DIR/$target
TUE_INSTALL_CURRENT_TARGET=$target
TUE_INSTALL_CURRENT_TARGET_DIR=$TUE_INSTALL_TARGETS_DIR/$target

# If the target has a parent target, add target as a dependency to the parent target
if [ -n "$parent_target" ] && [ "$parent_target" != "main-loop" ]
then
if [ "$parent_target" != "$target" ]
then
echo "$target" >> "$TUE_INSTALL_DEPENDENCIES_DIR"/"$parent_target"
echo "$parent_target" >> "$TUE_INSTALL_DEPENDENCIES_ON_DIR"/"$target"
sort "$TUE_INSTALL_DEPENDENCIES_DIR"/"$parent_target" -u -o "$TUE_INSTALL_DEPENDENCIES_DIR"/"$parent_target"
sort "$TUE_INSTALL_DEPENDENCIES_ON_DIR"/"$target" -u -o "$TUE_INSTALL_DEPENDENCIES_ON_DIR"/"$target"
fi
fi
_set_dependencies "$parent_target" "$target"

local state_file state_file_now
state_file="$TUE_INSTALL_STATE_DIR"/"$target"
Expand Down Expand Up @@ -375,6 +540,8 @@ function tue-install-target
touch "$state_file"
fi

else
tue-install-debug "Target '$target' already installed, skipping it this time."
fi

TUE_INSTALL_CURRENT_TARGET=$parent_target
Expand Down