Add (ros-remove-source) 'install' type

tue-robotics · Apr 10, 2024 · c30bcbc · c30bcbc
1 parent 02d5afe
commit c30bcbc
Show file tree

Hide file tree

Showing 3 changed files with 151 additions and 9 deletions.
diff --git a/README.md b/README.md
@@ -232,6 +232,37 @@ Taking the above into account, the following combinations for `install.yaml` are
 
 Both ROS distro specific as default can be 'null'. Preferred usage is default for current and feature distributions and exceptions for old distributions.
 
+##### ROS package source removal
+
+When switching from a source installation to a system installation, the source installation must be removed.
+This can be done by adding a `ros-remove-source` target to the `install.yaml` file.
+It removes the package from the workspace, including uninstalling.
+It checks whether there are still references to the repository in the workspace,
+otherwise it will delete the repository as well.
+
+```yaml
+- type: ros-remove-source
+  remove:
+    type: git
+    url: <Repository URL>
+    eol: <End of life date>
+    path: <Directory of the cloned repository> (Optional field)
+```
+
+Again, this can be distro-specific.
+
+```yaml
+- type: ros-remove-source
+  default:
+    source:
+      type: git
+      url: <Repository URL>
+      eol: <End of life date>
+      path: <Directory of the cloned repository> (Optional field)
+  noetic:
+    remove: null
+```
+
 #### Catkin package install
 
 ```yaml

diff --git a/installer/parse_install_yaml.py b/installer/parse_install_yaml.py
@@ -162,7 +162,7 @@ def get_distro_item(item: Mapping, key: str, release_version: str, release_type:
             if install_type == "empty":
                 return {"system_packages": system_packages, "commands": commands}
 
-            elif install_type == "ros":
+            elif install_type == "ros" or install_type == "ros-remove-source":
                 ros_release = environ["TUE_ROS_DISTRO"]
                 try:
                     source = get_distro_item(install_item, "source", ros_release, "ROS")
@@ -173,14 +173,24 @@ def get_distro_item(item: Mapping, key: str, release_version: str, release_type:
                 if source is None:
                     continue
 
-                source_type = source["type"]
-                if source_type == "git":
-                    command = f"tue-install-ros {catkin_git(source)}"
-                elif source_type == "system":
-                    system_packages.append(f"ros-{ros_release}-{source['name']}")
-                    command = f"tue-install-ros system {source['name']}"
-                else:
-                    raise ValueError(f"Unknown ROS install type: '{source_type}'")
+                if install_type == "ros":
+                    source_type = source["type"]
+                    if source_type == "git":
+                        command = f"tue-install-ros {catkin_git(source)}"
+                    elif source_type == "system":
+                        system_packages.append(f"ros-{ros_release}-{source['name']}")
+                        command = f"tue-install-ros system {source['name']}"
+                    else:
+                        raise ValueError(f"Unknown ROS install type: '{source_type}'")
+                elif install_type == "ros-remove-source":
+                    command_list = ["tue-install-ros-remove-source"]
+                    command_list.append(type_git(source, ["eol"]))
+
+                    if "eol" not in source:
+                        raise KeyError("EOL is a mandatory key for install type 'ros-remove-source'")
+                    command_list.append(f"--eol={source['eol']}")
+
+                    command = " ".join(command_list)
 
             # Non ros targets that are packaged to be built with catkin
             elif install_type == "catkin":

diff --git a/installer/tue-install-impl.bash b/installer/tue-install-impl.bash
@@ -1515,6 +1515,107 @@ function tue-install-ros
 
 # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # #
 
+function tue-install-ros-remove-source
+{
+    tue-install-debug "tue-install-ros-remove-source $*"
+
+    local repo repo_pre
+    repo=$1
+    repo_pre="${repo}"
+
+    # Change url to https/ssh
+    repo=$(_git_https_or_ssh "${repo}")
+    if [[ -z "${repo}" ]]
+    then
+        # shellcheck disable=SC2140
+        tue-install-error "repo: '${repo}' is invalid. It is generated from: '${repo_pre}'\n"\
+"The problem will probably be solved by resourcing the setup"
+    fi
+
+    local repos_dir eol
+    repos_dir=$(_git_url_to_repos_dir "${repo_pre}")
+
+    # The shift here is to ensure that all options are explicitly checked as they can be at most 2
+    # and are optional
+    shift
+    if [[ $# -gt 2 ]]
+    then
+        tue-install-error "Invalid number of arguments"
+    fi
+
+    if [[ -n $1 ]]
+    then
+        for i in "$@"
+        do
+            case $i in
+                --target-dir=* )
+                    repos_dir="${i#*=}"
+                    repos_dir="${repos_dir/#\~/$HOME}"
+                    ;;
+                --eol=* )
+                    eol="${i#*=}" ;;
+                * )
+                    tue-install-error "Unknown input variable ${i}" ;;
+            esac
+        done
+    fi
+
+    if [[ -z "${repos_dir}" ]]
+    then
+        tue-install-error "Repo directory path cannot be empty"
+    fi
+
+    [[ -n "${TUE_ROS_VERSION}" ]] || tue-install-error "Environment variable 'TUE_ROS_VERSION' is not set."
+
+    local ros_pkg_name
+    ros_pkg_name=${TUE_INSTALL_CURRENT_TARGET#ros-}
+
+    local ros_pkg_dir
+    ros_pkg_dir="${ROS_PACKAGE_INSTALL_DIR}"/"${ros_pkg_name}"
+
+    if [[ -e "${ros_pkg_dir}" ]]
+    then
+        tue-install-debug "Source package found in the workspace, removing it, so the system installed version is used"
+        tue-install-pipe rm "${ros_pkg_dir}"
+
+        # Clean the package from the workspace
+        if [[ "${TUE_ROS_VERSION}" != "1" ]]
+        then
+            tue-install-pipe /usr/bin/python3 -m colcon clean packages --log-base "${TUE_WS_DIR}"/log --base-paths "${TUE_WS_DIR}"/src --build-base "${TUE_WS_DIR}"/build --install-base "${TUE_WS_DIR}"/install --packages-select "${ros_pkg_name}" -y
+        else
+            tue-install-pipe catkin clean --workspace "${TUE_WS_DIR}" --orphans
+        fi
+    else
+        tue-install-debug "Source package was already removed"
+    fi
+
+    if [[ -n ${repos_dir} ]] && [[ -d ${repos_dir} ]]
+    then
+        links=$(find "${TUE_WS_DIR}"/src -lname "${repos_dir}*")
+        if [[ -n ${repos_dir} ]] && [[ -z ${links} ]]
+        then
+            tue-install-debug "No symlinks left to the repo or a sub-folder of it, deleting it"
+            tue-install-pipe rm -rf ${repos_dir}
+        else
+            tue-install-debug "Keeping the repo as there still exist symlinks to it in the workspace"
+        fi
+    else
+        tue-install-debug "Repo already removed"
+    fi
+
+    # Warn about the eol of removing the source
+    local today_date eol_date
+    today_date=$(date +%s)
+    eol_date=$(date -d ${eol} +%s)
+
+    if [[ ${today_date} -ge ${eol_date} ]]
+    then
+        tue-install-warning "The remove instruction of the source of the package '${ros_pkg_name}' has reached its end-of-life (${eol}). You should remove it from the target."
+    fi
+}
+
+# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # #
+
 function _missing_targets_check
 {
     tue-install-debug "_missing_targets_check $*"