Change handling of unmapped platform packages for OpenEmbedded (ros-i…

…nfrastructure#223)

- Use ${ROS_UNRESOLVED_PLATFORM_PKG_<PLATFORM_PKG>} as the mapped value
  when <PLATFORM_PKG> isn't resolved by entries in rosdep/*.yaml and add
  assignments of the form

    ROS_UNRESOLVED_PLATFORM_PKG_<PLATFORM_PKG> = "UNRESOLVED-<PLATFORM_PKG>"

  to conf/ros-distro/include/<ROS_DISTRO>/generated-ros-distro.inc .
  These assignments are then manually overridden in
  conf/ros-distro/include/<ROS_DISTRO>/ros-distro.inc as the mappings
  are determined. This make possible rapid iteration because superflore
  need not be rerun until rosdep/*.yaml are updated with all of the new
  mappings.

- Drop using the OpenEmbedded Layer Index to guess the mapping of an
  unresolved platform package. It would often guess wrong, requiring a
  rerun of superflore. This change means that yoctoRecipe.rosdep_cache
  is now only used to generate rosdep-resolved.yaml .

- Also rename generate_rosdistro_conf() -> generate_ros_distro_inc()

requirements.txt

@@ -13,5 +13,4 @@ docker
 pyyaml
 pygithub
 catkin_pkg
-bs4
 rospkg

setup.py

@@ -19,7 +19,6 @@
     'pyyaml',
     'pygithub',
     'catkin_pkg >= 0.4.0',
-    'bs4',
     'rospkg >= 1.1.8',
 ]
 

superflore/generators/bitbake/run.py

@@ -140,7 +140,7 @@ def main():
                     except KeyError:
                         err("No package to satisfy key '%s'" % pkg)
                         sys.exit(1)
-                yoctoRecipe.generate_rosdistro_conf(
+                yoctoRecipe.generate_ros_distro_inc(
                     _repo, args.ros_distro, overlay.get_file_revision_logs(
                         'files/{0}/cache.yaml'.format(args.ros_distro)),
                     distro.release_platforms, skip_keys)
@@ -188,7 +188,7 @@ def main():
                     )
                 total_changes[adistro] = distro_changes
                 total_installers[adistro] = distro_installers
-                yoctoRecipe.generate_rosdistro_conf(
+                yoctoRecipe.generate_ros_distro_inc(
                     _repo, args.ros_distro, overlay.get_file_revision_logs(
                         'files/{0}/cache.yaml'.format(args.ros_distro)),
                     distro.release_platforms, skip_keys)

superflore/generators/bitbake/yocto_recipe.py

@@ -49,8 +49,12 @@
 from superflore.utils import warn
 import yaml
 
+UNRESOLVED_PLATFORM_PKG_PREFIX = 'ROS_UNRESOLVED_PLATFORM_PKG_'
+UNRESOLVED_PLATFORM_PKG_REFERENCE_PREFIX = '${' + UNRESOLVED_PLATFORM_PKG_PREFIX
 
 class yoctoRecipe(object):
+    # This is used to generate rosdep-resolved.yaml => don't call
+    # convert_to_oe_name() on what's added.
     rosdep_cache = defaultdict(set)
     generated_recipes = dict()
     generated_components = set()
@@ -148,9 +152,9 @@ def get_license_line(self):
 
     def downloadArchive(self):
         if os.path.exists(self.getArchiveName()):
-            info("using cached archive for package '%s'..." % self.name)
+            info("Using cached archive for package '%s'..." % self.name)
         else:
-            info("downloading archive version for package '%s' from %s..." %
+            info("Downloading archive version for package '%s' from %s..." %
                  (self.name, self.src_uri))
             urlretrieve(self.src_uri, self.getArchiveName())
 
@@ -245,8 +249,13 @@ def translate_license(self, l):
         return self.trim_hyphens(l.translate(conversion_table))
 
     @staticmethod
-    def get_native_suffix(is_native=False):
-        return '-native' if is_native else ''
+    def modify_name_if_native(dep, is_native):
+        # If the name is for an unresolved platform package, move the "-native"
+        # inside the "}" so that it's part of the variable name.
+        if dep.startswith(UNRESOLVED_PLATFORM_PKG_REFERENCE_PREFIX):
+            return dep[0:-len('}')] + ('-native}' if is_native else '}')
+        else:
+            return dep + ('-native' if is_native else '')
 
     @staticmethod
     def get_spacing_prefix():
@@ -286,12 +295,14 @@ def convert_to_oe_name(cls, dep, is_native=False):
             dep = dep[:-len('_dev')] + '-rosdev'
         elif dep in ('ros1', 'ros2'):
             dep += '--distro-renamed'
-        return cls.convert_dep_except_oe_vars(dep) \
-            + cls.get_native_suffix(is_native)
+        return cls.modify_name_if_native(cls.convert_dep_except_oe_vars(dep),
+                                            is_native)
 
     @classmethod
     def generate_multiline_variable(cls, var, container, sort=True, key=None):
         if sort:
+            # TODO: Have default <key> drop trailing '}' so that
+            # "${..._foo-native}" sorts after "${..._foo}".
             container = sorted(container, key=key)
         assignment = '{0} = "'.format(var)
         expression = '"\n'
@@ -326,40 +337,16 @@ def get_dependencies(
                     yoctoRecipe.rosdep_cache[dep].add(res)
                     info('External dependency add: ' + recipe)
             except UnresolvedDependency:
-                info('Unresolved dependency: ' + dep)
-                if dep in yoctoRecipe.rosdep_cache:
-                    cached_deps = yoctoRecipe.rosdep_cache[dep]
-                    if cached_deps == set(['null']):
-                        system_dependencies.add(dep)
-                        recipe = dep + self.get_native_suffix(is_native)
-                        dependencies.add(recipe)
-                        msg = 'Failed to resolve (cached):'
-                        warn('{0} {1}: {2}'.format(msg, dep, recipe))
-                    elif cached_deps:
-                        system_dependencies |= cached_deps
-                        for d in cached_deps:
-                            recipe = self.convert_to_oe_name(d, is_native)
-                            dependencies.add(recipe)
-                            msg = 'Resolved in OpenEmbedded (cached):'
-                            info('{0} {1}: {2}'.format(msg, dep, recipe))
-                    continue
-                oe_query = OpenEmbeddedLayersDB()
-                oe_query.query_recipe(self.convert_to_oe_name(dep))
-                if oe_query.exists():
-                    recipe = self.convert_to_oe_name(oe_query.name, is_native)
-                    dependencies.add(recipe)
-                    oe_name = self.convert_to_oe_name(oe_query.name)
-                    system_dependencies.add(oe_name)
-                    yoctoRecipe.rosdep_cache[dep].add(oe_name)
-                    info('Resolved in OpenEmbedded: ' + dep + ' as ' +
-                         oe_query.name + ' in ' + oe_query.layer +
-                         ' as recipe ' + recipe)
-                else:
-                    recipe = dep + self.get_native_suffix(is_native)
-                    dependencies.add(recipe)
-                    system_dependencies.add(dep)
-                    yoctoRecipe.rosdep_cache[dep].add('null')
-                    warn('Failed to resolve fully: ' + dep)
+                unresolved_name = UNRESOLVED_PLATFORM_PKG_REFERENCE_PREFIX\
+                    + dep + '}'
+                recipe = self.convert_to_oe_name(unresolved_name, is_native)
+                dependencies.add(recipe)
+                system_dependencies.add(recipe)
+                # Never add -native.
+                rosdep_name = self.convert_to_oe_name(unresolved_name, False)
+                yoctoRecipe.rosdep_cache[dep].add(rosdep_name)
+                info('Unresolved external dependency add: ' + recipe)
+
         return dependencies, system_dependencies
 
     def get_recipe_text(self, distributor):
@@ -534,7 +521,7 @@ def generate_superflore_datetime_inc(basepath, dist, now):
             raise e
 
     @staticmethod
-    def generate_rosdistro_conf(
+    def generate_ros_distro_inc(
             basepath, distro, version, platforms, skip_keys=[]):
         conf_dir = '{}/conf/ros-distro/include/{}/'.format(basepath, distro)
         conf_file_name = 'generated-ros-distro.inc'
@@ -651,6 +638,21 @@ def generate_rosdistro_conf(
                     yoctoRecipe.generate_multiline_variable(
                         'ROS_SUPERFLORE_GENERATED_RECIPES_FOR_COMPONENTS',
                         yoctoRecipe.generated_components))
+                conf_file.write(
+                    '\n# Platform packages without a OE-RECIPE@OE-LAYER mapping'
+                    + ' in base.yaml, python.yaml, or ruby.yaml. Until they are'
+                    + ' added, override\n# the settings in ros-distro.inc .\n')
+                # Drop trailing "}" so that "..._foo-native" sorts after
+                # "..._foo".
+                unresolved = [p[0:-1] for p in yoctoRecipe.platform_deps\
+                    if p.startswith(UNRESOLVED_PLATFORM_PKG_REFERENCE_PREFIX)]
+                for p in sorted(unresolved):
+                    # PN is last underscore-separated field. NB the trailing '}'
+                    # has already been removed.
+                    pn = p.split('_')[-1]
+                    conf_file.write(UNRESOLVED_PLATFORM_PKG_PREFIX + pn +
+                        ' = "UNRESOLVED-' + pn + '"\n')
+
                 ok('Wrote {0}'.format(conf_path))
         except OSError as e:
             err('Failed to write conf {} to disk! {}'.format(conf_path, e))