mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-19 23:28:32 -04:00
cff8a98aa5
We have not supported APM for years. However, we retained the ability to build the APM firmware as part of the autotest process. This commit removes that ability. Past this point the autotest server will not build any firmware for the apm1 or apm2 boards. There is no intention to remove the existing firmware blobs. Work is planned on build_binaries.py, thus this removal.
635 lines
24 KiB
Python
Executable File
635 lines
24 KiB
Python
Executable File
#!/usr/bin/env python
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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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"""
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from __future__ import print_function
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import datetime
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import distutils.dir_util
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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 subprocess
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import sys
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import zlib
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# local imports
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import generate_manifest
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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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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 == "bebop":
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return ["--static"]
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return []
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def run_waf(self, args):
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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 = [waf]
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cmd_list.extend(args)
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self.run_program("BB-WAF", cmd_list)
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def run_program(self, prefix, cmd_list):
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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)
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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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output += x
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x = x.rstrip()
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print("%s: %s" % (prefix, x))
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(_, status) = returncode
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if status != 0:
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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):
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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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vtag = "%s-%s" % (vehicle, 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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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 as e:
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self.progress("Checkout branch %s failed" % branch)
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pass
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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 don't support the
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board in this release
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'''
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try:
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if self.string_in_filepath(board,
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os.path.join(self.basedir,
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'Tools',
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'ardupilotwaf',
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'boards.py')):
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return False
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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"]:
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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 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 = os.path.join(src, "version.h")
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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 = os.path.join(src, "version.h")
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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 = ".*define +FIRMWARE_VERSION[ ]+(?P<major>\d+)[ ]*,[ ]*" \
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"(?P<minor>\d+)[ ]*,[ ]*(?P<point>\d+)[ ]*,[ ]*" \
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"(?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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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 copyit(self, afile, adir, tag, src):
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'''copies afile into various places, adding metadata'''
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bname = os.path.basename(adir)
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tdir = os.path.join(os.path.dirname(os.path.dirname(
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os.path.dirname(adir))), tag, bname)
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if tag == "latest":
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# we keep a permanent archive of all "latest" builds,
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# their path including a build timestamp:
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distutils.dir_util.mkpath(adir)
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self.progress("Copying %s to %s" % (afile, adir,))
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shutil.copy(afile, adir)
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self.addfwversion(adir, src)
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# the most recent build of every tag is kept around:
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self.progress("Copying %s to %s" % (afile, tdir))
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distutils.dir_util.mkpath(tdir)
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self.addfwversion(tdir, src)
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shutil.copy(afile, tdir)
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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, px4_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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# if not self.checkout(vehicle, tag):
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# self.progress("Failed to check out (%s)" % tag)
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# return
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# # begin pointless checkout
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# if not self.checkout(vehicle, "latest"):
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# self.progress("Failed to check out (%s)" % "latest")
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# return
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# # end pointless checkout
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for board in boards:
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self.progress("Building board: %s" % board)
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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):
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self.progress("Failed checkout of %s %s %s %s" %
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(vehicle, board, tag, frame))
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self.error_count += 1
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continue
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if self.skip_board_waf(board):
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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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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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waf_opts.extend(self.board_options(board))
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self.run_waf(waf_opts)
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except subprocess.CalledProcessError as e:
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self.progress("waf configure failed")
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continue
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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])
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except subprocess.CalledProcessError as e:
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self.progress("Failed build of %s %s%s %s" %
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(vehicle, board, framesuffix, tag))
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self.error_count += 1
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continue
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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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px4_path = "".join([bare_path, ".px4"])
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if os.path.exists(px4_path):
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path = px4_path
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else:
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path = bare_path
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try:
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self.copyit(path, ddir, tag, vehicle)
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except Exception as e:
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self.progress("Failed to copy %s to %s: %s" % (path, ddir, str(e)))
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# why is touching this important? -pb20170816
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self.touch_filepath(os.path.join(self.binaries,
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vehicle_binaries_subdir, tag))
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# PX4-building
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board = "px4"
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for frame in frames:
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self.progress("Building frame %s for board %s" % (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, "PX4", frame):
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self.progress("Failed checkout of %s %s %s %s" %
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(vehicle, "PX4", tag, frame))
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self.error_count += 1
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self.checkout(vehicle, "latest")
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continue
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try:
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deadwood = "../Build.%s" % vehicle
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if os.path.exists(deadwood):
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shutil.rmtree(os.path.join(deadwood))
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except Exception as e:
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self.progress("FIXME: narrow exception (%s)" % repr(e))
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self.progress("Building %s %s PX4%s binaries" %
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(vehicle, tag, framesuffix))
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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(["PX4", framesuffix]))
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if self.skip_build(tag, ddir):
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continue
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for v in ["v1", "v2", "v3", "v4", "v4pro"]:
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px4_v = "%s-%s" % (board, v)
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if self.skip_board_waf(px4_v):
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continue
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self.progress("Configuring for %s in %s" %
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(px4_v, self.buildroot))
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try:
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self.run_waf(["configure", "--board", px4_v,
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"--out", self.buildroot, "clean"])
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except subprocess.CalledProcessError as e:
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self.progress("waf configure failed")
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continue
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try:
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self.run_waf([
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"build",
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"--targets",
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os.path.join("bin",
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"".join([binaryname, framesuffix]))])
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except subprocess.CalledProcessError as e:
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self.progress("Failed build of %s %s%s %s for %s" %
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(vehicle, board, framesuffix, tag, v))
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self.error_count += 1
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continue
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oldfile = os.path.join(self.buildroot, px4_v, "bin",
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"%s%s.px4" % (binaryname, framesuffix))
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newfile = "%s-%s.px4" % (px4_binaryname, v)
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self.progress("Copying (%s) to (%s)" % (oldfile, newfile,))
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try:
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shutil.copyfile(oldfile, newfile)
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except Exception as e:
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self.progress("FIXME: narrow exception (%s)" % repr(e))
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self.progress("Failed build copy of %s PX4%s %s for %s" %
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(vehicle, framesuffix, tag, v))
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self.error_count += 1
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continue
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# FIXME: why the two stage copy?!
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self.copyit(newfile, ddir, tag, vehicle)
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self.checkout(vehicle, "latest")
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def common_boards(self):
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'''returns list of boards common to all vehicles'''
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# note that while we do not use these for AntennaTracker!
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return ["erlebrain2", "navio", "navio2", "pxf", "pxfmini"]
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def build_arducopter(self, tag):
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'''build Copter binaries'''
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boards = self.common_boards()[:]
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boards.extend(["aerofc-v1", "bebop"])
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self.build_vehicle(tag,
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"ArduCopter",
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boards,
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"Copter",
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"arducopter",
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"ArduCopter",
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frames=[None, "heli"])
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def build_arduplane(self, tag):
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'''build Plane binaries'''
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boards = self.common_boards()[:]
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boards.append("disco")
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self.build_vehicle(tag,
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"ArduPlane",
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boards,
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"Plane",
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"arduplane",
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"ArduPlane")
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def build_antennatracker(self, tag):
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|
'''build Tracker binaries'''
|
|
boards = ['navio', 'navio2']
|
|
self.build_vehicle(tag,
|
|
"AntennaTracker",
|
|
boards,
|
|
"AntennaTracker",
|
|
"antennatracker",
|
|
"AntennaTracker",)
|
|
|
|
def build_rover(self, tag):
|
|
'''build Rover binaries'''
|
|
boards = self.common_boards()
|
|
self.build_vehicle(tag,
|
|
"APMrover2",
|
|
boards,
|
|
"Rover",
|
|
"ardurover",
|
|
"APMrover2")
|
|
|
|
def build_ardusub(self, tag):
|
|
'''build Sub binaries'''
|
|
self.build_vehicle(tag,
|
|
"ArduSub",
|
|
self.common_boards(),
|
|
"Sub",
|
|
"ardusub",
|
|
"ArduSub")
|
|
|
|
def generate_manifest(self):
|
|
'''generate manigest files for GCS to download'''
|
|
self.progress("Generating manifest")
|
|
base_url = 'http://firmware.ardupilot.org'
|
|
generator = generate_manifest.ManifestGenerator(self.binaries,
|
|
base_url)
|
|
content = generator.json()
|
|
new_json_filepath = os.path.join(self.binaries, "manifest.json.new")
|
|
self.write_string_to_filepath(content, new_json_filepath)
|
|
# provide a pre-compressed manifest. For reference, a 7M manifest
|
|
# "gzip -9"s to 300k in 1 second, "xz -e"s to 80k in 26 seconds
|
|
compressed = zlib.compress(content, 9)
|
|
new_json_filepath_gz = os.path.join(self.binaries,
|
|
"manifest.json.gz.new")
|
|
self.write_string_to_filepath(compressed, new_json_filepath_gz)
|
|
json_filepath = os.path.join(self.binaries, "manifest.json")
|
|
json_filepath_gz = os.path.join(self.binaries, "manifest.json.gz")
|
|
shutil.move(new_json_filepath, json_filepath)
|
|
shutil.move(new_json_filepath_gz, json_filepath_gz)
|
|
self.progress("Manifest generation successful")
|
|
|
|
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 pollute_env_from_file(self, filepath):
|
|
with open(filepath) as f:
|
|
for line in f:
|
|
try:
|
|
(name, value) = str.split(line, "=")
|
|
except ValueError as e:
|
|
self.progress("%s: split failed: %s" % (filepath, str(e)))
|
|
continue
|
|
value = value.rstrip()
|
|
self.progress("%s: %s=%s" % (filepath, name, value))
|
|
os.environ[name] = value
|
|
|
|
def run(self):
|
|
self.validate()
|
|
|
|
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"])
|
|
self.tmpdir = os.path.join(os.getcwd(), 'build.tmp.binaries')
|
|
os.environ["TMPDIR"] = self.tmpdir
|
|
|
|
print(self.tmpdir)
|
|
if os.path.exists(self.tmpdir):
|
|
self.progress("Removing (%s)" % (self.tmpdir,))
|
|
shutil.rmtree(self.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")
|
|
|
|
distutils.dir_util.mkpath(os.path.join("binaries", self.hdate_ym,
|
|
self.hdate_ymdhm))
|
|
self.binaries = os.path.join(os.getcwd(), "..", "buildlogs",
|
|
"binaries")
|
|
self.basedir = os.getcwd()
|
|
self.error_count = 0
|
|
|
|
if os.path.exists("config.mk"):
|
|
# FIXME: narrow exception
|
|
self.pollute_env_from_file("config.mk")
|
|
|
|
if not self.dirty:
|
|
self.run_git_update_submodules()
|
|
self.buildroot = os.path.join(os.environ.get("TMPDIR"),
|
|
"binaries.build")
|
|
if os.path.exists(self.buildroot):
|
|
shutil.rmtree(self.buildroot)
|
|
|
|
for tag in self.tags:
|
|
self.build_arducopter(tag)
|
|
self.build_arduplane(tag)
|
|
self.build_rover(tag)
|
|
self.build_antennatracker(tag)
|
|
self.build_ardusub(tag)
|
|
|
|
if os.path.exists(self.tmpdir):
|
|
shutil.rmtree(self.tmpdir)
|
|
|
|
self.generate_manifest()
|
|
|
|
sys.exit(self.error_count)
|
|
|
|
|
|
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()
|