Merge pull request #14 from RoboStack/ros2

Author: wolfv

vinca/__init__.py

@@ -1 +1 @@
-__version__ = "0.0.1"
+__version__ = "0.0.1-ros2"

vinca/distro.py

@@ -37,7 +37,7 @@ def name(self):
     def add_packages(self, packages):
         self.build_packages = set(packages)
 
-    def get_depends(self, pkg):
+    def get_depends(self, pkg, ignore_pkgs=None):
         dependencies = set()
         dependencies |= self._walker.get_recursive_depends(
             pkg,
@@ -51,6 +51,7 @@ def get_depends(self, pkg):
                 "exec",
             ],
             ros_packages_only=True,
+            ignore_pkgs=ignore_pkgs
         )
         return dependencies
 

vinca/generate_azure.py

@@ -367,7 +367,7 @@ def main():
     print(stages)
 
     # Build Linux pipeline
-    azure_template = {"pool": {"vmImage": "ubuntu-16.04"}}
+    azure_template = {"pool": {"vmImage": "ubuntu-latest"}}
 
     azure_stages = []
 
@@ -381,7 +381,7 @@ def main():
             pkg_jobname = '_'.join([normalize_name(pkg) for pkg in batch])
             stage["jobs"].append(
                 {
-                    "job": pkg_jobname,
+                    "job": f"stage_{i}_job_{len(stage['jobs'])}",
                     "steps": [
                         {
                             "script": azure_linux_script,
@@ -424,7 +424,7 @@ def main():
             pkg_jobname = '_'.join([normalize_name(pkg) for pkg in batch])
             stage["jobs"].append(
                 {
-                    "job": pkg_jobname,
+                    "job": f"stage_{i}_job_{len(stage['jobs'])}",
                     "steps": [
                         {
                             "script": azure_osx_script,
@@ -466,7 +466,7 @@ def main():
             pkg_jobname = '_'.join([normalize_name(pkg) for pkg in batch])
             stage["jobs"].append(
                 {
-                    "job": pkg_jobname,
+                    "job": f"stage_{i}_job_{len(stage['jobs'])}",
                     "steps": [
                         {
                             "script": azure_osx_arm64_script,
@@ -542,7 +542,7 @@ def main():
             fo.write(yaml.dump(azure_template, sort_keys=False))
 
     # windows
-    azure_template = {"pool": {"vmImage": "vs2017-win2016"}}
+    azure_template = {"pool": {"vmImage": "windows-2019"}}
 
     azure_stages = []
 
@@ -561,7 +561,7 @@ def main():
             pkg_jobname = '_'.join([normalize_name(pkg) for pkg in batch])
             stage["jobs"].append(
                 {
-                    "job": pkg_jobname,
+                    "job": f"stage_{i}_job_{len(stage['jobs'])}",
                     "variables": {"CONDA_BLD_PATH": "C:\\\\bld\\\\"},
                     "steps": [
                         {

vinca/main.py

@@ -145,7 +145,6 @@ def get_depmods(vinca_conf, pkg_name):
                     add_deps[dep_type].append(dict(el))
                 else:
                     add_deps[dep_type].append(el)
-
     return rm_deps, add_deps
 
 
@@ -174,13 +173,18 @@ def read_vinca_yaml(filepath):
             if splitted[1] in ("osx", "linux", "win"):
                 patches[splitted[0]][splitted[1]].append(x)
                 continue
+            if splitted[1] == "unix":
+                patches[splitted[0]]["linux"].append(x)
+                patches[splitted[0]]["osx"].append(x)
+                continue
+
         patches[splitted[0]]["any"].append(x)
 
     vinca_conf["_patches"] = patches
 
     if (patch_dir / "dependencies.yaml").exists():
         vinca_conf["depmods"] = yaml.load(open(patch_dir / "dependencies.yaml"))
-    else:
+    if not vinca_conf.get("depmods"):
         vinca_conf["depmods"] = {}
 
     config.ros_distro = vinca_conf["ros_distro"]
@@ -189,7 +193,7 @@ def read_vinca_yaml(filepath):
     return vinca_conf
 
 
-def generate_output(pkg_shortname, vinca_conf, distro, version):
+def generate_output(pkg_shortname, vinca_conf, distro, version, all_pkgs=[]):
     if pkg_shortname not in vinca_conf["_selected_pkgs"]:
         return None
 
@@ -211,6 +215,7 @@ def generate_output(pkg_shortname, vinca_conf, distro, version):
                 "{{ compiler('c') }}",
                 "ninja",
                 {"sel(unix)": "make"},
+                {"sel(osx)": "tapi"},
                 "cmake",
                 {"sel(build_platform != target_platform)": "python"},
                 {"sel(build_platform != target_platform)": "cross-python_{{ target_platform }}"},
@@ -258,15 +263,23 @@ def generate_output(pkg_shortname, vinca_conf, distro, version):
         output["requirements"]["host"].append(vinca_conf["mutex_package"])
         output["requirements"]["run"].append(vinca_conf["mutex_package"])
 
+    if not distro.check_ros1() and pkg_shortname not in ['ament_cmake_core', 'ament_package', 'ros_workspace']:
+        output["requirements"]["run"].append(f"ros-{config.ros_distro}-ros-workspace")
 
     rm_deps, add_deps = get_depmods(vinca_conf, pkg.name)
+    gdeps = []
+    if pkg.group_depends:
+        for gdep in pkg.group_depends:
+            gdep.extract_group_members(all_pkgs)
+            gdeps += gdep.members
 
     build_deps = pkg.build_depends
     build_deps += pkg.buildtool_depends
     build_deps += pkg.build_export_depends
     build_deps += pkg.buildtool_export_depends
     build_deps += pkg.test_depends
     build_deps = [d.name for d in build_deps if d.evaluated_condition]
+    build_deps += gdeps
 
     for dep in build_deps:
         if dep in ["REQUIRE_OPENGL", "REQUIRE_GL"]:
@@ -284,6 +297,7 @@ def generate_output(pkg_shortname, vinca_conf, distro, version):
     run_deps += pkg.build_export_depends
     run_deps += pkg.buildtool_export_depends
     run_deps = [d.name for d in run_deps if d.evaluated_condition]
+    run_deps += gdeps
 
     for dep in run_deps:
         if dep in ["REQUIRE_OPENGL", "REQUIRE_GL"]:
@@ -303,8 +317,13 @@ def generate_output(pkg_shortname, vinca_conf, distro, version):
             while dep in output["requirements"][dep_type]:
                 output["requirements"][dep_type].remove(dep)
 
-    output["requirements"]["run"] = sorted(output["requirements"]["run"])
-    output["requirements"]["host"] = sorted(output["requirements"]["host"])
+    def sortkey(k):
+        if isinstance(k, dict):
+            return list(k.values())[0]
+        return k
+
+    output["requirements"]["run"] = sorted(output["requirements"]["run"], key=sortkey)
+    output["requirements"]["host"] = sorted(output["requirements"]["host"], key=sortkey)
 
     output["requirements"]["run"] += [
         {
@@ -401,9 +420,19 @@ def generate_output(pkg_shortname, vinca_conf, distro, version):
 
 def generate_outputs(distro, vinca_conf):
     outputs = []
+
+    def get_pkg(pkg_name):
+        pkg = catkin_pkg.package.parse_package_string(
+            distro.get_release_package_xml(pkg_name)
+        )
+        pkg.evaluate_conditions(os.environ)
+        return pkg
+
+    all_pkgs = [get_pkg(pkg) for pkg in distro.get_depends('ros_base')]
+
     for pkg_shortname in vinca_conf["_selected_pkgs"]:
         output = generate_output(
-            pkg_shortname, vinca_conf, distro, distro.get_version(pkg_shortname)
+            pkg_shortname, vinca_conf, distro, distro.get_version(pkg_shortname), all_pkgs
         )
         if output is not None:
             outputs.append(output)
@@ -523,87 +552,33 @@ def get_selected_packages(distro, vinca_conf):
     if vinca_conf.get("build_all", False):
         selected_packages = set(distro._distro.release_packages.keys())
     elif vinca_conf["packages_select_by_deps"]:
+
+        if (
+            "packages_skip_by_deps" in vinca_conf
+            and vinca_conf["packages_skip_by_deps"] is not None
+        ):
+            for i in vinca_conf["packages_skip_by_deps"]:
+                skipped_packages = skipped_packages.union([i, i.replace("-", "_")])
+        print("Skipped pkgs: ", skipped_packages)
         for i in vinca_conf["packages_select_by_deps"]:
             i = i.replace("-", "_")
             selected_packages = selected_packages.union([i])
             if "skip_all_deps" not in vinca_conf or not vinca_conf["skip_all_deps"]:
+                if i in skipped_packages:
+                    continue
                 try:
-                    pkgs = distro.get_depends(i)
+                    pkgs = distro.get_depends(i, ignore_pkgs=skipped_packages)
                 except KeyError:
                     # handle (rare) package names that use "-" as separator
                     pkgs = distro.get_depends(i.replace("_", "-"))
                     selected_packages.remove(i)
                     selected_packages.add(i.replace("_", "-"))
                 selected_packages = selected_packages.union(pkgs)
 
-    if (
-        "packages_skip_by_deps" in vinca_conf
-        and vinca_conf["packages_skip_by_deps"] is not None
-    ):
-        for i in vinca_conf["packages_skip_by_deps"]:
-            i = i.replace("-", "_")
-            skipped_packages = skipped_packages.union([i])
-            try:
-                pkgs = distro.get_depends(i)
-            except KeyError:
-                # handle (rare) package names that use "-" as separator
-                pkgs = distro.get_depends(i.replace("_", "-"))
-                selected_packages.remove(i)
-                selected_packages.add(i.replace("_", "-"))
-            skipped_packages = skipped_packages.union(pkgs)
-    result = selected_packages.difference(skipped_packages)
-    result = sorted(list(result))
+    result = sorted(list(selected_packages))
     return result
 
 
-# def parse_dep(dep, vinca_conf, distro):
-#     res = dep.name
-#     res = resolve_pkgname(res, vinca_conf, distro)
-
-#     if dep.version_eq :
-#         return res + " ==" + dep.version_eq
-
-#     if dep.version_gt :
-#         res = res + " >" + dep.version_gt
-
-#         if dep.version_lt :
-#             res = res + ", <" + dep.version_lt
-
-#         if dep.version_lte :
-#             res = res + ", <=" + dep.version_lte
-
-#         return res
-
-#     if dep.version_gte :
-#         res = res + " >=" + dep.version_gte
-
-#         if dep.version_lt :
-#             res = res + ", <" + dep.version_lt
-
-#         return res
-
-#     if dep.version_lt :
-#         res = res + " <" + dep.version_lt
-
-#         if dep.version_gt :
-#             res = res + ", >" + dep.version_gt
-
-#         if dep.version_gte :
-#             res = res + ", >=" + dep.version_gte
-
-#         return res
-
-#     if dep.version_lte :
-#         res = res + " <=" + dep.version_lte
-
-#         if dep.version_gt :
-#             res = res + ", >" + dep.version_gt
-
-#         return res
-
-#     return res
-
-
 def parse_package(pkg, distro, vinca_conf, path):
 
     name = pkg["name"].replace("_", "-")

vinca/resolve.py

@@ -45,27 +45,28 @@ def resolve_pkgname_from_indexes(pkg_shortname, conda_index):
     return None
 
 
+def should_skip_pkg(pkg_shortname, vinca_conf):
+    skip = vinca_conf.get("packages_remove_from_deps", [])
+    if not skip:
+        return False
+
+    if pkg_shortname in skip:
+        return True
+    if pkg_shortname.replace('_', '-') in skip:
+        return True
+
 def resolve_pkgname(pkg_shortname, vinca_conf, distro, is_rundep=False):
     pkg_names = resolve_pkgname_from_indexes(
         pkg_shortname, vinca_conf["_conda_indexes"]
     )
     if pkg_names is None:
-        if not distro.check_package(pkg_shortname):
+        if not distro.check_package(pkg_shortname) or should_skip_pkg(pkg_shortname, vinca_conf):
             return []
         else:
-            if (
-                "packages_remove_from_deps" in vinca_conf
-                and vinca_conf["packages_remove_from_deps"] is not None
-                and not (
-                    pkg_shortname.replace("_", "-") in vinca_conf["packages_remove_from_deps"] or
-                    pkg_shortname in vinca_conf["packages_remove_from_deps"])
-            ):
-                return [
-                    "ros-%s-%s"
-                    % (vinca_conf["ros_distro"], pkg_shortname.replace("_", "-"))
-                ]
-            else:
-                return []
+            return [
+                "ros-%s-%s"
+                % (vinca_conf["ros_distro"], pkg_shortname.replace("_", "-"))
+            ]
     else:
         if is_rundep:  # for run dependencies, remove the version
             pkg_names_pinned = []

vinca/template.py

@@ -85,7 +85,7 @@ def write_recipe(source, outputs, build_number=0, single_file=True):
 
             for key, script in meta['build']['script'].items():
                 shutil.copyfile(script, recipe_dir / script)
-            if "catkin" in o["package"]["name"]:
+            if "catkin" in o["package"]["name"] or "workspace" in o["package"]["name"]:
                 shutil.copyfile("activate.sh", recipe_dir / "activate.sh")
                 shutil.copyfile("activate.bat", recipe_dir / "activate.bat")
                 shutil.copyfile("deactivate.sh", recipe_dir / "deactivate.sh")

vinca/templates/activate.bat.in

@@ -10,4 +10,5 @@
 @@call "%CONDA_PREFIX%\Library\local_setup.bat"
 @@set PYTHONHOME=
 @@set "ROS_OS_OVERRIDE=robostack:win64"
-
+@@set "ROS_ETC_DIR=%CONDA_PREFIX%\Library\etc\ros"
+@@set "AMENT_PREFIX_PATH=%CONDA_PREFIX%\Library"

vinca/templates/activate.sh.in

@@ -1,4 +1,4 @@
-# Generated by vinca http://github.com/seanyen/vinca.
+# Generated by vinca http://github.com/RoboStack/vinca.
 # DO NOT EDIT!
 # if [ -z "${CONDA_PREFIX}" ]; then
 #     exit 0;
@@ -19,5 +19,8 @@ case "$OSTYPE" in
   linux*)   export ROS_OS_OVERRIDE="robostack:linux";;
 esac
 
+export ROS_ETC_DIR=$CONDA_PREFIX/etc/ros
+export AMENT_PREFIX_PATH=$CONDA_PREFIX
+
 # Looks unnecessary for UNIX
 # unset PYTHONHOME=