download_data.py

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from __future__ import print_function

import hashlib
import os
import os.path as osp
import re
import shlex
import subprocess
import shutil
import stat
import sys
import tarfile
import zipfile

import rosbag.rosbag_main
import rospkg


def is_file_writable(path):
    if not os.path.exists(path):
        return True  # if file does not exist, any file is writable there
    st = os.stat(path)
    return (bool(st.st_mode & stat.S_IWUSR) and
            bool(st.st_mode & stat.S_IWGRP) and
            bool(st.st_mode & stat.S_IWOTH))


def extract_file(path, to_directory='.', chmod=True):
    print('[%s] Extracting to %s' % (path, to_directory))
    if path.endswith('.zip'):
        opener, mode, getnames = zipfile.ZipFile, 'r', lambda f: f.namelist()
    elif path.endswith('.tar.gz') or path.endswith('.tgz'):
        opener, mode, getnames = tarfile.open, 'r:gz', lambda f: f.getnames()
    elif path.endswith('.tar.bz2') or path.endswith('.tbz'):
        opener, mode, getnames = tarfile.open, 'r:bz2', lambda f: f.getnames()
    else:
        raise ValueError("Could not extract '%s' as no appropriate "
                         "extractor is found" % path)

    cwd = os.getcwd()
    os.chdir(to_directory)
    root_files = []
    try:
        file = opener(path, mode)
        try:
            file.extractall()
            root_files = list(set(name.split('/')[0]
                                  for name in getnames(file)))
        finally:
            file.close()
    finally:
        if chmod:
            for fname in root_files:
                if not is_file_writable(fname):
                    os.chmod(os.path.abspath(fname), 0777)
        os.chdir(cwd)
    print('[%s] Finished extracting to %s' % (path, to_directory))
    return root_files


def decompress_rosbag(path, quiet=False, chmod=True):
    print('[%s] Decompressing the rosbag' % path)
    argv = [path]
    if quiet:
        argv.append('--quiet')
    try:
        rosbag.rosbag_main.decompress_cmd(argv)
    finally:
        if chmod:
            if not is_file_writable(path):
                os.chmod(path, 0777)
            orig_path = osp.splitext(path)[0] + '.orig.bag'
            if not is_file_writable(orig_path):
                os.chmod(orig_path, 0777)
    print('[%s] Finished decompressing the rosbag' % path)


def download(client, url, output, quiet=False, chmod=True):
    print('[%s] Downloading from %s' % (output, url))
    cmd = '{client} {url} -O {output}'.format(client=client, url=url,
                                              output=output)
    if quiet:
        cmd += ' --quiet'
    try:
        subprocess.call(shlex.split(cmd))
    finally:
        if chmod:
            if not is_file_writable(output):
                os.chmod(output, 0766)
    print('[%s] Finished downloading' % output)


def check_md5sum(path, md5):
    # validate md5 string length if it is specified
    if md5 and len(md5) != 32:
        raise ValueError('md5 must be 32 charactors\n'
                         'actual: {} ({} charactors)'.format(md5, len(md5)))
    print('[%s] Checking md5sum (%s)' % (path, md5))
    is_same = hashlib.md5(open(path, 'rb').read()).hexdigest() == md5
    print('[%s] Finished checking md5sum' % path)
    return is_same


def is_google_drive_url(url):
    m = re.match('^https?://drive.google.com/uc\?id=.*$', url)
    return m is not None


def download_data(pkg_name, path, url, md5, download_client=None,
                  extract=False, compressed_bags=None, quiet=True, chmod=True):
    """Install test data checking md5 and rosbag decompress if needed.
       The downloaded data are located in cache_dir, and then linked to specified path.
       cache_dir is set by environment variable `JSK_DATA_CACHE_DIR` if defined, set by ROS_HOME/data otherwise."""
    if download_client is None:
        if is_google_drive_url(url):
            download_client = 'gdown'
        else:
            download_client = 'wget'
    if compressed_bags is None:
        compressed_bags = []
    if not osp.isabs(path):
        # get package path
        rp = rospkg.RosPack()
        try:
            pkg_path = rp.get_path(pkg_name)
        except rospkg.ResourceNotFound:
            print('\033[31m{name} is not found in {path}\033[0m'
                  .format(name=pkg_name, path=rp.list()))
            return
        pkg_path = rp.get_path(pkg_name)
        path = osp.join(pkg_path, path)
        if not osp.exists(osp.dirname(path)):
            try:
                os.makedirs(osp.dirname(path))
            except OSError as e:
                # can fail on running with multiprocess
                if not osp.isdir(path):
                    raise
    # prepare cache dir
    if "JSK_DATA_CACHE_DIR" in os.environ:
        cache_root_dir = os.getenv("JSK_DATA_CACHE_DIR")
    else:
        cache_root_dir = osp.join(os.getenv('ROS_HOME', osp.expanduser('~/.ros')), "data")
    cache_dir = osp.join(cache_root_dir, pkg_name)
    if not osp.exists(cache_dir):
        try:
            os.makedirs(cache_dir)
        except OSError as e:
            # can fail on running with multiprocess
            if not osp.isdir(path):
                raise
        finally:
            if chmod:
                if not is_file_writable(cache_dir):
                    os.chmod(cache_dir, 0777)
    cache_file = osp.join(cache_dir, osp.basename(path))
    # check if cache exists, and update if necessary
    if not (osp.exists(cache_file) and check_md5sum(cache_file, md5)):
        if osp.exists(cache_file):
            os.remove(cache_file)
        download(download_client, url, cache_file, quiet=quiet, chmod=chmod)
    if osp.islink(path):
        # overwrite the link
        os.remove(path)
        os.symlink(cache_file, path)
    elif not osp.exists(path):
        os.symlink(cache_file, path)  # create link
    else:
        # not link and exists so skipping
        print('[%s] File exists, so skipping creating symlink.' % path,
              file=sys.stderr)
        return
    if extract:
        # extract files in cache dir and create symlink for them
        extracted_files = extract_file(cache_file, to_directory=cache_dir, chmod=True)
        for file_ in extracted_files:
            file_ = osp.join(cache_dir, file_)
            dst_path = osp.join(osp.split(path)[0], osp.basename(file_))
            if osp.islink(dst_path):
                os.remove(dst_path)
            elif osp.exists(dst_path) and not osp.isdir(dst_path):
                os.remove(dst_path)
            elif osp.exists(dst_path) and osp.isdir(dst_path):
                shutil.rmtree(dst_path)
            os.symlink(file_, dst_path)
    for compressed_bag in compressed_bags:
        if not osp.isabs(compressed_bag):
            rp = rospkg.RosPack()
            pkg_path = rp.get_path(pkg_name)
            compressed_bag = osp.join(pkg_path, compressed_bag)
        decompress_rosbag(compressed_bag, quiet=quiet, chmod=chmod)