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Jenkins CI: PX4 ROS2: deploy required tools

This commit is contained in:
TSC21 2019-01-28 15:28:40 +00:00 committed by Nuno Marques
parent 7a1c8ea8cb
commit 14d7adc519
2 changed files with 192 additions and 1 deletions
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35
Jenkinsfile vendored
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@ -484,7 +484,40 @@ pipeline {
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git -b ${BRANCH_NAME}")
sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
sh('cd px4_msgs; git push origin master || true')
sh('cd px4_msgs; git push origin ${BRANCH_NAME} || true')
sh('rm -rf px4_msgs')
}
}
when {
anyOf {
branch 'master'
branch 'pr-jenkins' // for testing
}
}
options {
skipDefaultCheckout()
}
}
stage('PX4 ROS2 bridge') {
agent {
docker { image 'px4io/px4-dev-base:2019-01-01' }
}
steps {
checkout(scm)
sh('export')
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
// deploy uORB RTPS ID map
sh('python msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
// deploy uORB RTPS required tools
sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
sh('rm -rf px4_msgs')
}
}

158
msg/tools/uorb_to_ros_rtps_ids.py Normal file
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@ -0,0 +1,158 @@
#!/usr/bin/env python
"""
Script to read an yaml file containing the RTPS message IDs and update the naming convention to PascalCase
"""
import os
import yaml
import sys
import argparse
__author__ = 'PX4 Development Team'
__copyright__ = \
'''
'
' Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
'
' Redistribution and use in source and binary forms, or without
' modification, permitted provided that the following conditions
' are met:
'
' 1. Redistributions of source code must retain the above copyright
' notice, list of conditions and the following disclaimer.
' 2. Redistributions in binary form must reproduce the above copyright
' notice, list of conditions and the following disclaimer in
' the documentation and/or other materials provided with the
' distribution.
' 3. Neither the name PX4 nor the names of its contributors may be
' used to endorse or promote products derived from self software
' without specific prior written permission.
'
' THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
' "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, NOT
' LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
' FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
' COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
' INCIDENTAL, SPECIAL, EXEMPLARY, CONSEQUENTIAL DAMAGES (INCLUDING,
' BUT NOT LIMITED TO, OF SUBSTITUTE GOODS OR SERVICES; LOSS
' OF USE, DATA, PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
' AND ON ANY THEORY OF LIABILITY, IN CONTRACT, STRICT
' LIABILITY, TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
' ANY WAY OUT OF THE USE OF THIS SOFTWARE, IF ADVISED OF THE
' POSSIBILITY OF SUCH DAMAGE.
'
'''
__credits__ = ['Nuno Marques <nuno.marques@dronesolution.io>']
__license__ = 'BSD-3-Clause'
__version__ = '0.1.0'
__maintainer__ = 'Nuno Marques'
__email__ = 'nuno.marques@dronesolution.io'
__status__ = 'Development'
list = []
in_file = ""
out_file = ""
verbose = True
class IndenterDumper(yaml.Dumper):
""" Custom dumper for yaml files that apply the correct indentation """
def increase_indent(self, flow=False, indentless=False):
return super(IndenterDumper, self).increase_indent(flow, False)
def load_yaml_file(file):
"""
Open yaml file and parse the data into a list of dict
:param file: the yaml file to load
:returns: the list of dictionaries that represent the message and respective RTPS IDs
:raises IOError: raises and error when the file is not found
"""
try:
with open(file, 'r') as f:
if verbose:
print("--\t[Step 1] %s yaml file loaded!" % file)
return yaml.load(f)
except OSError as e:
if e.errno == errno.ENOENT:
raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), file)
else:
raise
def update_dict(list):
"""
Update the message naming on the dictionary to fit the PascalCase convention
:param file: the list of dicts to be updated
"""
if verbose:
num_of_msgs = 0
for i, dictionary in enumerate(list["rtps"]):
# implementation depends on the Python version being used
if sys.version_info[0] < 3:
dict = {k: v.title().replace('_', '') if isinstance(
v, basestring) else v for k, v in dictionary.iteritems()}
else:
dict = {k: v.title().replace('_', '') if isinstance(
v, str) else v for k, v in dictionary.items()}
list["rtps"][i] = dict
if verbose:
num_of_msgs += 1
if verbose:
print("--\t[Step 2] List: %d msg names updated!" % num_of_msgs)
def update_yaml_file(list, file):
"""
Open the yaml file to dump the new list of dict toself.
.. note:: Since the the dump method automatically sorts the keys alphabetically,
the 'id' fields will appear first than the 'msg' fields.
:param list: the list of updated dicts
:param file: the yaml file to load and write the new data
:raises IOError: raises and error when the file is not found
"""
try:
with open(file, 'w') as f:
yaml.dump(list, f, Dumper=IndenterDumper, default_flow_style=False)
if verbose:
if in_file == out_file:
print("--\t[Step 3] %s updated!" % in_file)
else:
print("--\t[Step 3] %s created!" % out_file)
except OSError as e:
if e.errno == errno.ENOENT:
raise IOError(errno.ENOENT, os.strerror(errno.ENOENT), file)
else:
raise
if __name__ == "__main__":
parser = argparse.ArgumentParser(
description='Read an yaml file containing the RTPS message IDs and update the naming convention to PascalCase')
optional = parser._action_groups.pop()
required = parser.add_argument_group('Required')
required.add_argument("-i", "--input-file", dest="input_file",
help="Yaml file to read", metavar="INFILE")
optional.add_argument("-o", "--output-file", dest="output_file",
help="Yaml file to dump. If not set, it is the same as the input",
metavar="OUTFILE", default="")
optional.add_argument("-q", "--quiet", action="store_false", dest="verbose",
default=True, help="Don't print status messages to stdout")
args = parser.parse_args()
verbose = args.verbose
in_file = args.input_file
out_file = args.output_file if (args.output_file != in_file and args.output_file != "") else in_file
if verbose:
print("-- PX4 to ROS RTPS Ids --")
list = load_yaml_file(in_file)
update_dict(list)
update_yaml_file(list, out_file)