mirror of https://github.com/ArduPilot/ardupilot
734 lines
28 KiB
Python
Executable File
734 lines
28 KiB
Python
Executable File
#!/usr/bin/env python3
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"""
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script to build the latest binaries for each vehicle type, ready to upload
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Peter Barker, August 2017
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based on build_binaries.sh by Andrew Tridgell, March 2013
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AP_FLAKE8_CLEAN
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"""
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from __future__ import print_function
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import datetime
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import optparse
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import os
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import re
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import shutil
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import time
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import string
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import subprocess
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import sys
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import traceback
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# local imports
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import generate_manifest
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import gen_stable
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import build_binaries_history
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import board_list
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from board_list import AP_PERIPH_BOARDS
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if sys.version_info[0] < 3:
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running_python3 = False
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else:
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running_python3 = True
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def is_chibios_build(board):
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'''see if a board is using HAL_ChibiOS'''
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# cope with both running from Tools/scripts or running from cwd
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hwdef_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", "..", "libraries", "AP_HAL_ChibiOS", "hwdef")
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if os.path.exists(os.path.join(hwdef_dir, board, "hwdef.dat")):
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return True
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hwdef_dir = os.path.join("libraries", "AP_HAL_ChibiOS", "hwdef")
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if os.path.exists(os.path.join(hwdef_dir, board, "hwdef.dat")):
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return True
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return False
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def get_required_compiler(vehicle, tag, board):
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'''return required compiler for a build tag.
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return format is the version string that waf configure will detect.
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You should setup a link from this name in $HOME/arm-gcc directory pointing at the
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appropriate compiler
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'''
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if not is_chibios_build(board):
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# only override compiler for ChibiOS builds
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return None
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# use 10.2.1 compiler for all other builds
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return "g++-10.2.1"
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class build_binaries(object):
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def __init__(self, tags):
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self.tags = tags
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self.dirty = False
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self.board_list = board_list.BoardList()
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def progress(self, string):
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'''pretty-print progress'''
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print("BB: %s" % string)
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def run_git(self, args):
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'''run git with args git_args; returns git's output'''
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cmd_list = ["git"]
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cmd_list.extend(args)
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return self.run_program("BB-GIT", cmd_list)
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def board_branch_bit(self, board):
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'''return a fragment which might modify the branch name.
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this was previously used to have a master-AVR branch etc
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if the board type was apm1 or apm2'''
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return None
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def board_options(self, board):
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'''return board-specific options'''
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if board in ["bebop", "disco"]:
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return ["--static"]
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return []
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def run_waf(self, args, compiler=None):
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if os.path.exists("waf"):
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waf = "./waf"
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else:
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waf = os.path.join(".", "modules", "waf", "waf-light")
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cmd_list = ["python3", waf]
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cmd_list.extend(args)
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env = None
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if compiler is not None:
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# default to $HOME/arm-gcc, but allow for any path with AP_GCC_HOME environment variable
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gcc_home = os.environ.get("AP_GCC_HOME", os.path.join(os.environ["HOME"], "arm-gcc"))
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gcc_path = os.path.join(gcc_home, compiler, "bin")
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if os.path.exists(gcc_path):
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# setup PATH to point at the right compiler, and setup to use ccache
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env = os.environ.copy()
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env["PATH"] = gcc_path + ":" + env["PATH"]
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env["CC"] = "ccache arm-none-eabi-gcc"
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env["CXX"] = "ccache arm-none-eabi-g++"
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else:
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raise Exception("BB-WAF: Missing compiler %s" % gcc_path)
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self.run_program("BB-WAF", cmd_list, env=env)
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def run_program(self, prefix, cmd_list, show_output=True, env=None, force_success=False):
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if show_output:
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self.progress("Running (%s)" % " ".join(cmd_list))
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p = subprocess.Popen(cmd_list, bufsize=1, stdin=None,
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stdout=subprocess.PIPE, close_fds=True,
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stderr=subprocess.STDOUT, env=env)
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output = ""
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while True:
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x = p.stdout.readline()
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if len(x) == 0:
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returncode = os.waitpid(p.pid, 0)
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if returncode:
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break
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# select not available on Windows... probably...
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time.sleep(0.1)
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continue
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if running_python3:
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x = bytearray(x)
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x = filter(lambda x : chr(x) in string.printable, x)
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x = "".join([chr(c) for c in x])
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output += x
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x = x.rstrip()
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if show_output:
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print("%s: %s" % (prefix, x))
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(_, status) = returncode
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if status != 0 and not force_success:
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self.progress("Process failed (%s)" %
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str(returncode))
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raise subprocess.CalledProcessError(
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returncode, cmd_list)
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return output
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def run_make(self, args):
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cmd_list = ["make"]
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cmd_list.extend(args)
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self.run_program("BB-MAKE", cmd_list)
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def run_git_update_submodules(self):
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'''if submodules are present initialise and update them'''
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if os.path.exists(os.path.join(self.basedir, ".gitmodules")):
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self.run_git(["submodule",
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"update",
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"--init",
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"--recursive",
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"-f"])
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def checkout(self, vehicle, ctag, cboard=None, cframe=None, submodule_update=True):
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'''attempt to check out a git tree. Various permutations are
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attempted based on ctag - for examplle, if the board is avr and ctag
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is bob we will attempt to checkout bob-AVR'''
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if self.dirty:
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self.progress("Skipping checkout for dirty build")
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return True
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self.progress("Trying checkout %s %s %s %s" %
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(vehicle, ctag, cboard, cframe))
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self.run_git(['stash'])
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if ctag == "latest":
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vtag = "master"
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else:
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tagvehicle = vehicle
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if tagvehicle == "Rover":
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# FIXME: Rover tags in git still named APMrover2 :-(
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tagvehicle = "APMrover2"
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vtag = "%s-%s" % (tagvehicle, ctag)
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branches = []
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if cframe is not None:
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# try frame specific tag
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branches.append("%s-%s" % (vtag, cframe))
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if cboard is not None:
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bbb = self.board_branch_bit(cboard)
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if bbb is not None:
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# try board type specific branch extension
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branches.append("".join([vtag, bbb]))
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branches.append(vtag)
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for branch in branches:
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try:
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self.progress("Trying branch %s" % branch)
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self.run_git(["checkout", "-f", branch])
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if submodule_update:
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self.run_git_update_submodules()
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self.run_git(["log", "-1"])
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return True
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except subprocess.CalledProcessError:
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self.progress("Checkout branch %s failed" % branch)
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self.progress("Failed to find tag for %s %s %s %s" %
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(vehicle, ctag, cboard, cframe))
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return False
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def skip_board_waf(self, board):
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'''check if we should skip this build because we do not support the
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board in this release
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'''
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try:
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out = self.run_program(
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'waf',
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["python3", './waf', 'configure', '--board=BOARDTEST'],
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show_output=False,
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force_success=True
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)
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lines = out.split('\n')
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needles = ["BOARDTEST' (choose from", "BOARDTEST': choices are"]
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for line in lines:
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for needle in needles:
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idx = line.find(needle)
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if idx != -1:
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break
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if idx != -1:
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line = line[idx+len(needle):-1]
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line = line.replace("'", "")
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line = line.replace(" ", "")
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boards = line.split(",")
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ret = board not in boards
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if ret:
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self.progress("Skipping board (%s) - not in board list" % board)
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return ret
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except IOError as e:
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if e.errno != 2:
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raise
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self.progress("Skipping unsupported board %s" % (board,))
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return True
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def skip_frame(self, board, frame):
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'''returns true if this board/frame combination should not be built'''
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if frame == "heli":
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if board in ["bebop", "aerofc-v1", "skyviper-v2450", "CubeSolo", "CubeGreen-solo", 'skyviper-journey']:
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self.progress("Skipping heli build for %s" % board)
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return True
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return False
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def first_line_of_filepath(self, filepath):
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'''returns the first (text) line from filepath'''
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with open(filepath) as fh:
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line = fh.readline()
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return line
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def skip_build(self, buildtag, builddir):
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'''check if we should skip this build because we have already built
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this version
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'''
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if os.getenv("FORCE_BUILD", False):
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return False
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if not os.path.exists(os.path.join(self.basedir, '.gitmodules')):
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self.progress("Skipping build without submodules")
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return True
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bname = os.path.basename(builddir)
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ldir = os.path.join(os.path.dirname(os.path.dirname(
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os.path.dirname(builddir))), buildtag, bname) # FIXME: WTF
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oldversion_filepath = os.path.join(ldir, "git-version.txt")
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if not os.path.exists(oldversion_filepath):
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self.progress("%s doesn't exist - building" % oldversion_filepath)
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return False
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oldversion = self.first_line_of_filepath(oldversion_filepath)
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newversion = self.run_git(["log", "-1"])
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newversion = newversion.splitlines()[0]
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oldversion = oldversion.rstrip()
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newversion = newversion.rstrip()
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self.progress("oldversion=%s newversion=%s" %
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(oldversion, newversion,))
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if oldversion == newversion:
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self.progress("Skipping build - version match (%s)" %
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(newversion,))
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return True
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self.progress("%s needs rebuild" % (ldir,))
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return False
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def write_string_to_filepath(self, string, filepath):
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'''writes the entirety of string to filepath'''
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with open(filepath, "w") as x:
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x.write(string)
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def version_h_path(self, src):
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'''return path to version.h'''
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if src == 'AP_Periph':
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return os.path.join('Tools', src, "version.h")
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return os.path.join(src, "version.h")
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def addfwversion_gitversion(self, destdir, src):
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# create git-version.txt:
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gitlog = self.run_git(["log", "-1"])
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gitversion_filepath = os.path.join(destdir, "git-version.txt")
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gitversion_content = gitlog
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versionfile = self.version_h_path(src)
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if os.path.exists(versionfile):
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content = self.read_string_from_filepath(versionfile)
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match = re.search('define.THISFIRMWARE "([^"]+)"', content)
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if match is None:
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self.progress("Failed to retrieve THISFIRMWARE from version.h")
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self.progress("Content: (%s)" % content)
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self.progress("Writing version info to %s" %
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(gitversion_filepath,))
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gitversion_content += "\nAPMVERSION: %s\n" % (match.group(1))
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else:
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self.progress("%s does not exist" % versionfile)
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self.write_string_to_filepath(gitversion_content, gitversion_filepath)
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def addfwversion_firmwareversiontxt(self, destdir, src):
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# create firmware-version.txt
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versionfile = self.version_h_path(src)
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if not os.path.exists(versionfile):
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self.progress("%s does not exist" % (versionfile,))
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return
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ss = r".*define +FIRMWARE_VERSION[ ]+(?P<major>\d+)[ ]*,[ ]*" \
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r"(?P<minor>\d+)[ ]*,[ ]*(?P<point>\d+)[ ]*,[ ]*" \
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r"(?P<type>[A-Z_]+)[ ]*"
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content = self.read_string_from_filepath(versionfile)
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match = re.search(ss, content)
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if match is None:
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self.progress("Failed to retrieve FIRMWARE_VERSION from version.h")
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self.progress("Content: (%s)" % content)
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return
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ver = "%d.%d.%d-%s\n" % (int(match.group("major")),
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int(match.group("minor")),
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int(match.group("point")),
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match.group("type"))
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firmware_version_filepath = "firmware-version.txt"
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self.progress("Writing version (%s) to %s" %
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(ver, firmware_version_filepath,))
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self.write_string_to_filepath(
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ver, os.path.join(destdir, firmware_version_filepath))
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def addfwversion(self, destdir, src):
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'''write version information into destdir'''
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self.addfwversion_gitversion(destdir, src)
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self.addfwversion_firmwareversiontxt(destdir, src)
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def read_string_from_filepath(self, filepath):
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'''returns content of filepath as a string'''
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with open(filepath, 'rb') as fh:
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content = fh.read()
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if running_python3:
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return content.decode('ascii')
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return content
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def string_in_filepath(self, string, filepath):
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'''returns true if string exists in the contents of filepath'''
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return string in self.read_string_from_filepath(filepath)
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def mkpath(self, path):
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'''make directory path and all elements leading to it'''
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'''distutils.dir_util.mkpath was playing up'''
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try:
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os.makedirs(path)
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except OSError as e:
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if e.errno != 17: # EEXIST
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raise e
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def touch_filepath(self, filepath):
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'''creates a file at filepath, or updates the timestamp on filepath'''
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if os.path.exists(filepath):
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os.utime(filepath, None)
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else:
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with open(filepath, "a"):
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pass
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def build_vehicle(self, tag, vehicle, boards, vehicle_binaries_subdir,
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binaryname, frames=[None]):
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'''build vehicle binaries'''
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self.progress("Building %s %s binaries (cwd=%s)" %
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(vehicle, tag, os.getcwd()))
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board_count = len(boards)
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count = 0
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for board in sorted(boards, key=str.lower):
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now = datetime.datetime.now()
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count += 1
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self.progress("[%u/%u] Building board: %s at %s" %
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(count, board_count, board, str(now)))
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for frame in frames:
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if frame is not None:
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self.progress("Considering frame %s for board %s" %
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(frame, board))
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if frame is None:
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framesuffix = ""
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else:
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framesuffix = "-%s" % frame
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if not self.checkout(vehicle, tag, board, frame, submodule_update=False):
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msg = ("Failed checkout of %s %s %s %s" %
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(vehicle, board, tag, frame,))
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self.progress(msg)
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self.error_strings.append(msg)
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continue
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self.progress("Building %s %s %s binaries %s" %
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(vehicle, tag, board, frame))
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ddir = os.path.join(self.binaries,
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vehicle_binaries_subdir,
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self.hdate_ym,
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self.hdate_ymdhm,
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"".join([board, framesuffix]))
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if self.skip_build(tag, ddir):
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continue
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if self.skip_frame(board, frame):
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continue
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# we do the submodule update after the skip_board_waf check to avoid doing it on
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# builds we will not be running
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self.run_git_update_submodules()
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if self.skip_board_waf(board):
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continue
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if os.path.exists(self.buildroot):
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shutil.rmtree(self.buildroot)
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self.remove_tmpdir()
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githash = self.run_git(["rev-parse", "HEAD"]).rstrip()
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t0 = time.time()
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self.progress("Configuring for %s in %s" %
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(board, self.buildroot))
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try:
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waf_opts = ["configure",
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"--board", board,
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"--out", self.buildroot,
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"clean"]
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gccstring = get_required_compiler(vehicle, tag, board)
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if gccstring is not None and gccstring.find("g++-6.3") == -1:
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# versions using the old compiler don't have the --assert-cc-version option
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waf_opts += ["--assert-cc-version", gccstring]
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waf_opts.extend(self.board_options(board))
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self.run_waf(waf_opts, compiler=gccstring)
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except subprocess.CalledProcessError:
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self.progress("waf configure failed")
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continue
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time_taken_to_configure = time.time() - t0
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try:
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target = os.path.join("bin",
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"".join([binaryname, framesuffix]))
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self.run_waf(["build", "--targets", target], compiler=gccstring)
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except subprocess.CalledProcessError:
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msg = ("Failed build of %s %s%s %s" %
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(vehicle, board, framesuffix, tag))
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self.progress(msg)
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self.error_strings.append(msg)
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# record some history about this build
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t1 = time.time()
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time_taken_to_build = t1-t0
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self.history.record_build(githash, tag, vehicle, board, frame, None, t0, time_taken_to_build)
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continue
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time_taken_to_build = (time.time()-t0) - time_taken_to_configure
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time_taken = time.time()-t0
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self.progress("Making %s %s %s %s took %u seconds (configure=%u build=%u)" %
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(vehicle, tag, board, frame, time_taken, time_taken_to_configure, time_taken_to_build))
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bare_path = os.path.join(self.buildroot,
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board,
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"bin",
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"".join([binaryname, framesuffix]))
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files_to_copy = []
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extensions = [".apj", ".abin", "_with_bl.hex", ".hex"]
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if vehicle == 'AP_Periph':
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# need bin file for uavcan-gui-tool and MissionPlanner
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extensions.append('.bin')
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for extension in extensions:
|
|
filepath = "".join([bare_path, extension])
|
|
if os.path.exists(filepath):
|
|
files_to_copy.append((filepath, os.path.basename(filepath)))
|
|
if not os.path.exists(bare_path):
|
|
raise Exception("No elf file?!")
|
|
# only rename the elf if we have have other files to
|
|
# copy. So linux gets "arducopter" and stm32 gets
|
|
# "arducopter.elf"
|
|
target_elf_filename = os.path.basename(bare_path)
|
|
if len(files_to_copy) > 0:
|
|
target_elf_filename += ".elf"
|
|
files_to_copy.append((bare_path, target_elf_filename))
|
|
|
|
for (path, target_filename) in files_to_copy:
|
|
try:
|
|
'''copy path into various places, adding metadata'''
|
|
bname = os.path.basename(ddir)
|
|
tdir = os.path.join(os.path.dirname(os.path.dirname(
|
|
os.path.dirname(ddir))), tag, bname)
|
|
if tag == "latest":
|
|
# we keep a permanent archive of all
|
|
# "latest" builds, their path including a
|
|
# build timestamp:
|
|
if not os.path.exists(ddir):
|
|
self.mkpath(ddir)
|
|
self.addfwversion(ddir, vehicle)
|
|
self.progress("Copying %s to %s" % (path, ddir,))
|
|
shutil.copy(path, os.path.join(ddir, target_filename))
|
|
# the most recent build of every tag is kept around:
|
|
self.progress("Copying %s to %s" % (path, tdir))
|
|
if not os.path.exists(tdir):
|
|
self.mkpath(tdir)
|
|
# must addfwversion even if path already
|
|
# exists as we re-use the "beta" directories
|
|
self.addfwversion(tdir, vehicle)
|
|
shutil.copy(path, os.path.join(tdir, target_filename))
|
|
except Exception as e:
|
|
self.print_exception_caught(e)
|
|
self.progress("Failed to copy %s to %s: %s" % (path, ddir, str(e)))
|
|
# why is touching this important? -pb20170816
|
|
self.touch_filepath(os.path.join(self.binaries,
|
|
vehicle_binaries_subdir, tag))
|
|
|
|
# record some history about this build
|
|
self.history.record_build(githash, tag, vehicle, board, frame, bare_path, t0, time_taken_to_build)
|
|
|
|
self.checkout(vehicle, "latest")
|
|
|
|
def get_exception_stacktrace(self, e):
|
|
if sys.version_info[0] >= 3:
|
|
ret = "%s\n" % e
|
|
ret += ''.join(traceback.format_exception(type(e),
|
|
e,
|
|
tb=e.__traceback__))
|
|
return ret
|
|
|
|
# Python2:
|
|
return traceback.format_exc(e)
|
|
|
|
def print_exception_caught(self, e, send_statustext=True):
|
|
self.progress("Exception caught: %s" %
|
|
self.get_exception_stacktrace(e))
|
|
|
|
def AP_Periph_boards(self):
|
|
return AP_PERIPH_BOARDS
|
|
|
|
def build_arducopter(self, tag):
|
|
'''build Copter binaries'''
|
|
|
|
boards = []
|
|
boards.extend(["aerofc-v1", "bebop"])
|
|
boards.extend(self.board_list.find_autobuild_boards('Copter'))
|
|
self.build_vehicle(tag,
|
|
"ArduCopter",
|
|
boards,
|
|
"Copter",
|
|
"arducopter",
|
|
frames=[None, "heli"])
|
|
|
|
def build_arduplane(self, tag):
|
|
'''build Plane binaries'''
|
|
boards = self.board_list.find_autobuild_boards('Plane')[:]
|
|
boards.append("disco")
|
|
self.build_vehicle(tag,
|
|
"ArduPlane",
|
|
boards,
|
|
"Plane",
|
|
"arduplane")
|
|
|
|
def build_antennatracker(self, tag):
|
|
'''build Tracker binaries'''
|
|
self.build_vehicle(tag,
|
|
"AntennaTracker",
|
|
self.board_list.find_autobuild_boards('Tracker')[:],
|
|
"AntennaTracker",
|
|
"antennatracker")
|
|
|
|
def build_rover(self, tag):
|
|
'''build Rover binaries'''
|
|
self.build_vehicle(tag,
|
|
"Rover",
|
|
self.board_list.find_autobuild_boards('Rover')[:],
|
|
"Rover",
|
|
"ardurover")
|
|
|
|
def build_ardusub(self, tag):
|
|
'''build Sub binaries'''
|
|
self.build_vehicle(tag,
|
|
"ArduSub",
|
|
self.board_list.find_autobuild_boards('Sub')[:],
|
|
"Sub",
|
|
"ardusub")
|
|
|
|
def build_AP_Periph(self, tag):
|
|
'''build AP_Periph binaries'''
|
|
boards = self.AP_Periph_boards()
|
|
self.build_vehicle(tag,
|
|
"AP_Periph",
|
|
boards,
|
|
"AP_Periph",
|
|
"AP_Periph")
|
|
|
|
def build_blimp(self, tag):
|
|
'''build Blimp binaries'''
|
|
self.build_vehicle(tag,
|
|
"Blimp",
|
|
self.board_list.find_autobuild_boards('Blimp')[:],
|
|
"Blimp",
|
|
"blimp")
|
|
|
|
def generate_manifest(self):
|
|
'''generate manigest files for GCS to download'''
|
|
self.progress("Generating manifest")
|
|
base_url = 'https://firmware.ardupilot.org'
|
|
generator = generate_manifest.ManifestGenerator(self.binaries,
|
|
base_url)
|
|
generator.run()
|
|
|
|
generator.write_manifest_json(os.path.join(self.binaries, "manifest.json"))
|
|
self.progress("Manifest generation successful")
|
|
|
|
self.progress("Generating stable releases")
|
|
gen_stable.make_all_stable(self.binaries)
|
|
self.progress("Generate stable releases done")
|
|
|
|
def validate(self):
|
|
'''run pre-run validation checks'''
|
|
if "dirty" in self.tags:
|
|
if len(self.tags) > 1:
|
|
raise ValueError("dirty must be only tag if present (%s)" %
|
|
(str(self.tags)))
|
|
self.dirty = True
|
|
|
|
def remove_tmpdir(self):
|
|
if os.path.exists(self.tmpdir):
|
|
self.progress("Removing (%s)" % (self.tmpdir,))
|
|
shutil.rmtree(self.tmpdir)
|
|
|
|
def buildlogs_dirpath(self):
|
|
return os.getenv("BUILDLOGS",
|
|
os.path.join(os.getcwd(), "..", "buildlogs"))
|
|
|
|
def run(self):
|
|
self.validate()
|
|
|
|
self.mkpath(self.buildlogs_dirpath())
|
|
|
|
binaries_history_filepath = os.path.join(
|
|
self.buildlogs_dirpath(), "build_binaries_history.sqlite")
|
|
self.history = build_binaries_history.BuildBinariesHistory(binaries_history_filepath)
|
|
|
|
prefix_bin_dirpath = os.path.join(os.environ.get('HOME'),
|
|
"prefix", "bin")
|
|
origin_env_path = os.environ.get("PATH")
|
|
os.environ["PATH"] = ':'.join([prefix_bin_dirpath, origin_env_path,
|
|
"/bin", "/usr/bin"])
|
|
if 'BUILD_BINARIES_PATH' in os.environ:
|
|
self.tmpdir = os.environ['BUILD_BINARIES_PATH']
|
|
else:
|
|
self.tmpdir = os.path.join(os.getcwd(), 'build.tmp.binaries')
|
|
os.environ["TMPDIR"] = self.tmpdir
|
|
|
|
print(self.tmpdir)
|
|
self.remove_tmpdir()
|
|
|
|
self.progress("Building in %s" % self.tmpdir)
|
|
|
|
now = datetime.datetime.now()
|
|
self.progress(now)
|
|
|
|
if not self.dirty:
|
|
self.run_git(["checkout", "-f", "master"])
|
|
githash = self.run_git(["rev-parse", "HEAD"])
|
|
githash = githash.rstrip()
|
|
self.progress("git hash: %s" % str(githash))
|
|
|
|
self.hdate_ym = now.strftime("%Y-%m")
|
|
self.hdate_ymdhm = now.strftime("%Y-%m-%d-%H:%m")
|
|
|
|
self.mkpath(os.path.join("binaries", self.hdate_ym,
|
|
self.hdate_ymdhm))
|
|
self.binaries = os.path.join(self.buildlogs_dirpath(), "binaries")
|
|
self.basedir = os.getcwd()
|
|
self.error_strings = []
|
|
|
|
if not self.dirty:
|
|
self.run_git_update_submodules()
|
|
self.buildroot = os.path.join(os.environ.get("TMPDIR"),
|
|
"binaries.build")
|
|
|
|
for tag in self.tags:
|
|
t0 = time.time()
|
|
self.build_arducopter(tag)
|
|
self.build_arduplane(tag)
|
|
self.build_rover(tag)
|
|
self.build_antennatracker(tag)
|
|
self.build_ardusub(tag)
|
|
self.build_AP_Periph(tag)
|
|
self.build_blimp(tag)
|
|
self.history.record_run(githash, tag, t0, time.time()-t0)
|
|
|
|
if os.path.exists(self.tmpdir):
|
|
shutil.rmtree(self.tmpdir)
|
|
|
|
self.generate_manifest()
|
|
|
|
for error_string in self.error_strings:
|
|
self.progress("%s" % error_string)
|
|
sys.exit(len(self.error_strings))
|
|
|
|
|
|
if __name__ == '__main__':
|
|
parser = optparse.OptionParser("build_binaries.py")
|
|
|
|
parser.add_option("", "--tags", action="append", type="string",
|
|
default=[], help="tags to build")
|
|
cmd_opts, cmd_args = parser.parse_args()
|
|
|
|
tags = cmd_opts.tags
|
|
if len(tags) == 0:
|
|
# FIXME: wedge this defaulting into parser somehow
|
|
tags = ["stable", "beta", "latest"]
|
|
|
|
bb = build_binaries(tags)
|
|
bb.run()
|