Created
November 8, 2015 09:25
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Test for concurrency problems in catkin tools
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| #!/usr/bin/env python | |
| import os | |
| import os.path | |
| import sys | |
| import subprocess | |
| import random | |
| def make_cmakelists(pkg_name): | |
| return '\n'.join([ | |
| 'cmake_minimum_required(VERSION 2.8.3)', | |
| 'project(%s)' % (pkg_name,), | |
| 'execute_process(COMMAND python -c "import time; import math; t=time.time(); time.sleep(math.ceil(t) - t)")', | |
| 'find_package(catkin REQUIRED)', | |
| 'catkin_package()']) | |
| def make_pkg_xml(pkg_name): | |
| return '\n'.join([ | |
| '<?xml version="1.0"?>', | |
| '<package>', | |
| '<name>%s</name>' % (pkg_name,), | |
| '<version>0.0.0</version>', | |
| '<description>The package</description>', | |
| '<maintainer email="jbinney@todo.todo">jbinney</maintainer>', | |
| '<license>TODO</license>', | |
| '<buildtool_depend>catkin</buildtool_depend>', | |
| '</package>']) | |
| def make_pkg(pkg_name, parent_dir): | |
| pkg_path = os.path.join(parent_dir, pkg_name) | |
| os.mkdir(pkg_path) | |
| pkg_xml_file = open(os.path.join(pkg_path, 'package.xml'), 'w+') | |
| pkg_xml_file.write(make_pkg_xml(pkg_name)) | |
| pkg_xml_file.close() | |
| cmakelists_file = open(os.path.join(pkg_path, 'CMakeLists.txt'), 'w+') | |
| cmakelists_file.write(make_cmakelists(pkg_name)) | |
| cmakelists_file.close() | |
| def get_packages_in_path(devel_dir): | |
| ''' Read the ROS package path for a devel directory ''' | |
| setup_path = os.path.join(devel_dir, 'setup.sh') | |
| rpp = subprocess.check_output( | |
| ['bash', '-c', '. %s; echo $ROS_PACKAGE_PATH' % setup_path]).strip() | |
| rpp_paths = rpp.split(':') | |
| pkgs = [] | |
| for p in rpp_paths: | |
| parent_dir, dirname = os.path.split(p) | |
| # Ignore stuff in the base ROS install | |
| if not parent_dir.startswith('/opt'): | |
| pkgs.append(dirname) | |
| return rpp, pkgs | |
| src_dir = 'src' | |
| devel_dir = 'devel' | |
| build_dir = 'build' | |
| num_pkgs = 20 | |
| num_trials = 100 | |
| expected_pkgs = ['pkg%d' % x for x in range(num_pkgs)] | |
| # Create a new workspace: | |
| try: | |
| os.mkdir(src_dir) | |
| except: | |
| print 'Remove src directory and run again' | |
| sys.exit(1) | |
| for pkg in expected_pkgs: | |
| make_pkg(pkg, src_dir) | |
| num_failures = 0 | |
| for trial_i in range(num_trials): | |
| # Get rid of build and devel spaces | |
| subprocess.call(['catkin', 'clean', '-a'], stdout=open(os.devnull, 'w')) | |
| # Build the workspace using catkin tools | |
| subprocess.call(['catkin', 'build'], stdout=open(os.devnull, 'w')) | |
| # Check the ROS_PACKAGE_PATH for the devel space | |
| rpp, pkgs = get_packages_in_path(devel_dir) | |
| # Check whether all packages were found in the path | |
| missing_pkgs = set.difference(set(expected_pkgs), set(pkgs)) | |
| extra_pkgs = set.difference(set(pkgs), set(expected_pkgs)) | |
| if len(missing_pkgs) > 0 or len(extra_pkgs) > 0: | |
| print 'Trial %d was bad:' % trial_i | |
| print ' Missing packages:', missing_pkgs | |
| print ' Extra packages:', extra_pkgs | |
| print ' ROS_PACKAGE_PATH:', rpp | |
| catkin_file = open(os.path.join(devel_dir, '.catkin')) | |
| print ' devel/.catkin contents:', catkin_file.read().strip() | |
| catkin_file.close() | |
| print '' | |
| num_failures += 1 | |
| else: | |
| print 'Trial %d/%d was good' % (trial_i, num_trials) | |
| print 'Found bad ROS_PACKAGE_PATH %d/%d times' % (num_failures, num_trials) |
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