job_generation: generate_gazebo.py Source File

00001 #!/usr/bin/python
00002 
00003 
00004 HUDSON_SVN_ITEM = """
00005    <hudson.scm.SubversionSCM_-ModuleLocation> 
00006      <remote>STACKURI</remote> 
00007      <local>STACKNAME</local> 
00008    </hudson.scm.SubversionSCM_-ModuleLocation> 
00009 """
00010 
00011 HUDSON_SVN = """
00012   <scm class="hudson.scm.SubversionSCM"> 
00013     <locations> 
00014       HUDSON_SVN_ITEMS
00015     </locations> 
00016     <useUpdate>false</useUpdate> 
00017     <doRevert>false</doRevert> 
00018     <excludedRegions></excludedRegions> 
00019     <includedRegions></includedRegions> 
00020     <excludedUsers></excludedUsers> 
00021     <excludedRevprop></excludedRevprop> 
00022     <excludedCommitMessages></excludedCommitMessages> 
00023   </scm> 
00024 """
00025 
00026 # template to create gazebo hudson configuration file
00027 HUDSON_GAZEBO_CONFIG = """<?xml version='1.0' encoding='UTF-8'?>
00028 <project> 
00029   <description>Gazebo build of NAME for ROSDISTRO on UBUNTUDISTRO, ARCH</description> 
00030  <logRotator> 
00031     <daysToKeep>5</daysToKeep> 
00032     <numToKeep>-1</numToKeep> 
00033   </logRotator> 
00034   <keepDependencies>false</keepDependencies> 
00035   <properties> 
00036     <hudson.plugins.trac.TracProjectProperty> 
00037       <tracWebsite>http://code.ros.org/trac/ros/</tracWebsite> 
00038     </hudson.plugins.trac.TracProjectProperty> 
00039   </properties> 
00040   HUDSON_VCS
00041   <assignedNode>gazebo</assignedNode>
00042   <canRoam>false</canRoam> 
00043   <disabled>false</disabled> 
00044   <blockBuildWhenUpstreamBuilding>false</blockBuildWhenUpstreamBuilding> 
00045   <triggers class="vector"> 
00046     <hudson.triggers.SCMTrigger> 
00047       <spec>TIME_TRIGGER</spec> 
00048     </hudson.triggers.SCMTrigger> 
00049   </triggers> 
00050   <concurrentBuild>false</concurrentBuild> 
00051   <builders> 
00052     <hudson.tasks.Shell> 
00053       <command>cat &gt; $WORKSPACE/script.sh &lt;&lt;DELIM
00054 #!/usr/bin/env bash
00055 set -o errexit
00056 echo "_________________________________BEGIN SCRIPT______________________________________"
00057 BOOTSTRAP_SCRIPT
00058 rosrun job_generation run_auto_stack_gazebo.py --rosdistro ROSDISTRO
00059 echo "_________________________________END SCRIPT_______________________________________"
00060 DELIM
00061 
00062 set -o errexit
00063 
00064 rm -rf $WORKSPACE/test_results
00065 rm -rf $WORKSPACE/test_output
00066 
00067 wget  --no-check-certificate https://code.ros.org/svn/ros/stacks/ros_release/trunk/hudson/scripts/run_chroot.py -O $WORKSPACE/run_chroot.py
00068 chmod +x $WORKSPACE/run_chroot.py
00069 cd $WORKSPACE &amp;&amp; $WORKSPACE/run_chroot.py --distro=UBUNTUDISTRO --arch=ARCH  --ramdisk --script=$WORKSPACE/script.sh
00070      </command> 
00071     </hudson.tasks.Shell> 
00072   </builders> 
00073   <publishers> 
00074     <hudson.tasks.BuildTrigger> 
00075       <childProjects>JOB_CHILDREN</childProjects> 
00076       <threshold> 
00077         <name>SUCCESS</name> 
00078         <ordinal>0</ordinal> 
00079         <color>BLUE</color> 
00080       </threshold> 
00081     </hudson.tasks.BuildTrigger> 
00082     <hudson.tasks.junit.JUnitResultArchiver> 
00083       <testResults>test_results/_hudson/*.xml</testResults> 
00084     </hudson.tasks.junit.JUnitResultArchiver> 
00085     <hudson.plugins.emailext.ExtendedEmailPublisher> 
00086       <recipientList>EMAIL</recipientList> 
00087       <configuredTriggers> 
00088         <hudson.plugins.emailext.plugins.trigger.UnstableTrigger> 
00089           <email> 
00090             <recipientList></recipientList> 
00091             <subject>$PROJECT_DEFAULT_SUBJECT</subject> 
00092             <body>$PROJECT_DEFAULT_CONTENT</body> 
00093             <sendToDevelopers>true</sendToDevelopers> 
00094             <sendToRecipientList>true</sendToRecipientList> 
00095             <contentTypeHTML>false</contentTypeHTML> 
00096             <script>true</script> 
00097           </email> 
00098         </hudson.plugins.emailext.plugins.trigger.UnstableTrigger> 
00099         <hudson.plugins.emailext.plugins.trigger.FailureTrigger> 
00100           <email> 
00101             <recipientList></recipientList> 
00102             <subject>$PROJECT_DEFAULT_SUBJECT</subject> 
00103             <body>$PROJECT_DEFAULT_CONTENT</body> 
00104             <sendToDevelopers>true</sendToDevelopers> 
00105             <sendToRecipientList>true</sendToRecipientList> 
00106             <contentTypeHTML>false</contentTypeHTML> 
00107             <script>true</script> 
00108           </email> 
00109         </hudson.plugins.emailext.plugins.trigger.FailureTrigger> 
00110         <hudson.plugins.emailext.plugins.trigger.StillFailingTrigger> 
00111           <email> 
00112             <recipientList></recipientList> 
00113             <subject>$PROJECT_DEFAULT_SUBJECT</subject> 
00114             <body>$PROJECT_DEFAULT_CONTENT</body> 
00115             <sendToDevelopers>true</sendToDevelopers> 
00116             <sendToRecipientList>true</sendToRecipientList> 
00117             <contentTypeHTML>false</contentTypeHTML> 
00118             <script>true</script> 
00119           </email> 
00120         </hudson.plugins.emailext.plugins.trigger.StillFailingTrigger> 
00121         <hudson.plugins.emailext.plugins.trigger.FixedTrigger> 
00122           <email> 
00123             <recipientList></recipientList> 
00124             <subject>$PROJECT_DEFAULT_SUBJECT</subject> 
00125             <body>$PROJECT_DEFAULT_CONTENT</body> 
00126             <sendToDevelopers>true</sendToDevelopers> 
00127             <sendToRecipientList>true</sendToRecipientList> 
00128             <contentTypeHTML>false</contentTypeHTML> 
00129             <script>true</script> 
00130 
00131           </email> 
00132         </hudson.plugins.emailext.plugins.trigger.FixedTrigger> 
00133         <hudson.plugins.emailext.plugins.trigger.StillUnstableTrigger> 
00134           <email> 
00135             <recipientList></recipientList> 
00136             <subject>$PROJECT_DEFAULT_SUBJECT</subject> 
00137             <body>$PROJECT_DEFAULT_CONTENT</body> 
00138             <sendToDevelopers>true</sendToDevelopers> 
00139             <sendToRecipientList>true</sendToRecipientList> 
00140             <contentTypeHTML>false</contentTypeHTML> 
00141             <script>true</script> 
00142           </email> 
00143         </hudson.plugins.emailext.plugins.trigger.StillUnstableTrigger> 
00144       </configuredTriggers> 
00145       <defaultSubject>$DEFAULT_SUBJECT</defaultSubject> 
00146       <defaultContent>$DEFAULT_CONTENT&#xd;
00147 &#xd;
00148 &lt;% &#xd;
00149 def ws = build.getParent().getWorkspace()&#xd;
00150 def computer = build.getExecutor().getOwner()&#xd;
00151 def build_failures = hudson.util.RemotingDiagnostics.executeGroovy(&quot;new File(\&quot;${ws}/build_output/buildfailures.txt\&quot;).text&quot;,computer.getChannel())&#xd;
00152 println &quot;${build_failures}&quot;&#xd;
00153 def test_failures = hudson.util.RemotingDiagnostics.executeGroovy(&quot;new File(\&quot;${ws}/test_output/testfailures.txt\&quot;).text&quot;,computer.getChannel())&#xd;
00154 println &quot;${test_failures}&quot;&#xd;
00155 def build_failures_context = hudson.util.RemotingDiagnostics.executeGroovy(&quot;new File(\&quot;${ws}/build_output/buildfailures-with-context.txt\&quot;).text&quot;,computer.getChannel())&#xd;
00156 println &quot;${build_failures_context}&quot;&#xd;
00157 %&gt;</defaultContent> 
00158       <defaultContentTypeHTML>false</defaultContentTypeHTML> 
00159       <defaultContentIsScript>true</defaultContentIsScript> 
00160     </hudson.plugins.emailext.ExtendedEmailPublisher> 
00161   </publishers> 
00162   <buildWrappers/> 
00163 </project>
00164 """
00165 
00166 import roslib; roslib.load_manifest("job_generation")
00167 from job_generation.jobs_common import *
00168 import hudson
00169 import urllib
00170 import optparse 
00171 import yaml
00172 
00173 
00174 def gazebo_job_name(rosdistro, rosinstall, ubuntudistro, arch):
00175     return "_".join(['gazebo', rosdistro, rosinstall.split('/')[-1].split('.')[0], ubuntudistro, arch])
00176 
00177 
00178 def rosinstall_to_vcs(rosinstall):
00179     with open(rosinstall) as f:
00180         rosinstall = yaml.load(f.read())
00181         items = ''
00182         for r in rosinstall:
00183             item = HUDSON_SVN_ITEM
00184             item = item.replace('STACKNAME', r['svn']['local-name'])
00185             item = item.replace('STACKURI', r['svn']['uri'])
00186             items += item
00187         return HUDSON_SVN.replace('HUDSON_SVN_ITEMS', items)
00188 
00189 
00190 
00191 def create_gazebo_configs(rosdistro, rosinstall):
00192     # create gold distro
00193     gold_job = gazebo_job_name(rosdistro, rosinstall, UBUNTU_DISTRO_MAP[rosdistro][0], ARCHES[0])
00194     gold_children = [gazebo_job_name(rosdistro, rosinstall, u, a)
00195                      for a in ARCHES for u in UBUNTU_DISTRO_MAP[rosdistro]]
00196     gold_children.remove(gold_job)
00197 
00198     # create hudson config files for each ubuntu distro
00199     configs = {}
00200     for ubuntudistro in UBUNTU_DISTRO_MAP[rosdistro]:
00201         for arch in ARCHES:
00202             name = gazebo_job_name(rosdistro, rosinstall, ubuntudistro, arch)
00203 
00204             # check if this is the 'gold' job
00205             time_trigger = ''
00206             job_children = ''
00207             if name == gold_job:
00208                 time_trigger = '*/5 * * * *'
00209                 job_children = ', '.join(gold_children)
00210 
00211             hudson_config = HUDSON_GAZEBO_CONFIG
00212             hudson_config = hudson_config.replace('BOOTSTRAP_SCRIPT', BOOTSTRAP_SCRIPT)
00213             hudson_config = hudson_config.replace('UBUNTUDISTRO', ubuntudistro)
00214             hudson_config = hudson_config.replace('ARCH', arch)
00215             hudson_config = hudson_config.replace('ROSDISTRO', rosdistro)
00216             hudson_config = hudson_config.replace('HUDSON_VCS', rosinstall_to_vcs(rosinstall))
00217             hudson_config = hudson_config.replace('TIME_TRIGGER', time_trigger)
00218             hudson_config = hudson_config.replace('JOB_CHILDREN', job_children)
00219             hudson_config = hudson_config.replace('EMAIL', 'wim+gazebo@willowgarage.com')
00220             configs[name] = hudson_config
00221     return configs
00222     
00223     
00224 
00225 def main():
00226     parser = optparse.OptionParser()
00227     parser.add_option('--delete', dest = 'delete', default=False, action='store_true',
00228                       help='Delete jobs from Hudson')    
00229     parser.add_option('--rosinstall', dest = 'rosinstall', action='store',
00230                       help="Specify the rosinstall file that refers to gazebo code.")
00231     parser.add_option('--rosdistro', dest = 'rosdistro', action='store',
00232                       help="Specify the ros distro to operate on (defaults to cturtle)")
00233     (options, args) = parser.parse_args()
00234     if not options.rosdistro:
00235         print 'Please provide the ros distro you want to test: --rosdistro cturtle'
00236         return
00237     if not options.rosdistro in UBUNTU_DISTRO_MAP.keys():
00238         print 'You profided an invalid "--rosdistro %s" argument. Options are %s'%(options.rosdistro, UBUNTU_DISTRO_MAP.keys())
00239         return
00240     if not options.rosinstall:
00241         print 'Please provide the rosinstall of gazebo code to test: --rosinstall foo.rosinstall'
00242         return
00243         
00244 
00245     # hudson instance
00246     info = urllib.urlopen(CONFIG_PATH).read().split(',')
00247     hudson_instance = hudson.Hudson(SERVER, info[0], info[1])
00248 
00249     # send gazebo tests to Hudson
00250     print 'Creating gazebo Hudson jobs:'
00251     gazebo_configs = create_gazebo_configs(options.rosdistro, options.rosinstall)
00252 
00253     for job_name in gazebo_configs:
00254         exists = hudson_instance.job_exists(job_name)
00255 
00256         # delete job
00257         if options.delete and exists:
00258             print "Deleting job %s"%job_name
00259             hudson_instance.delete_job(job_name)
00260 
00261         # reconfigure job
00262         elif exists:
00263             print "  - %s"%job_name
00264             hudson_instance.reconfig_job(job_name, gazebo_configs[job_name])
00265 
00266         # create job
00267         elif not exists:
00268             print "  - %s"%job_name
00269             hudson_instance.create_job(job_name, gazebo_configs[job_name])
00270 
00271 
00272 
00273 if __name__ == '__main__':
00274     main()
00275 
00276 
00277 
00278