push.py

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"""
The push command pushes the local workspace to the
remote workspace, making it identical to the current workspace.

Copyright 2015 Fetch Robotics Inc.
Author: Alex Henning
"""

import os
import subprocess
import sys

from ..util import ssh, add_user, add_robot, add_workspace

name = "push"
help_text = "Push the workspace to the robot"


def main(args):
    print "Pushing %s/src to %s@%s:%s/src" % (
        args.workspace, args.user, args.robot, args.remote_workspace
    )

    # Synchronize the workspaces
    proc = subprocess.Popen(
        ["rsync",
         # Following line is a trick to magically create the directory
         # if it doesn't exist.
         "--rsync-path", "mkdir -p " + args.remote_workspace + " && rsync",
         "-phErtz",
         "--delete",
         args.workspace + "/src",
         args.user + "@" + args.robot + ":" + args.remote_workspace + "/"]
    )
    proc.wait()
    if proc.returncode != 0:
        print "ERROR: Syncing failed"
        sys.exit(-1)

    # Use rosdep to install all dependencies
    if args.install_deps:
        ssh(args.user, args.robot,
            "cd "+args.remote_workspace+" && "
            "source devel/setup.bash && "
            "rosdep update && "
            "rosdep install --from-paths src --ignore-src -y")

    # Run the build commands
    if args.build is not None:
        for build in args.build:
            build = build if build is not None else ""
            if args.build_type != "default":
                build += " -DCMAKE_BUILD_TYPE="+args.build_type
            command = "source /opt/ros/" + os.getenv("ROS_DISTRO") + \
                      "/setup.bash && cd " + args.remote_workspace + \
                      " && catkin_make " + build
            if ssh(args.user, args.robot, command) != 0:
                print "ERROR: Build failed"
                sys.exit(-1)


def add_arguments(parser):
    add_user(parser)
    add_robot(parser)
    add_workspace(parser)
    parser.add_argument("--install-deps", action="store_true",
                        help="Install dependencies using rosdep")
    parser.add_argument("--build", nargs="?", action="append",
                        help="Build after syncing")
    parser.add_argument("--build-type", action="store", default="default",
                        choices=["Debug", "Release", "RelWithDebInfo", "MinSizeRel", "default"],
                        help="Type of build to use `default`, `Debug`, `Release`, and `RelWithDebInfo`")