Add a new-implementation install script, refactor Provider to be a class rather than function.

Author: mikepurvis

scripts/create_files

@@ -30,7 +30,7 @@ majority of the installation process occurs as the unprivileged user.
 
 import os, pickle, sys
 
-if len(sys.argv) != 1:
+if len(sys.argv) != 2:
     print "This script is not intended to be called manually."
     exit(1)
 

scripts/install

@@ -0,0 +1,98 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD) 
+#
+# @author    Mike Purvis <[email protected]>
+# @copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without modification, are permitted provided that
+# the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+#   following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
+#   following disclaimer in the documentation and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or
+#   promote products derived from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED
+# WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+# PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+# TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+# HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+# NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""
+The is the main CLI interface to the robot_upstart package.
+"""
+
+import argparse
+import os
+
+import robot_upstart
+from catkin.find_in_workspaces import find_in_workspaces
+
+
+def get_argument_parser():
+    p = argparse.ArgumentParser(description=
+        """Use this tool to quickly and easily create system startup jobs
+        which run one or more ROS launch files as a daemonized background
+        process on your computer. More advanced users will prefer to access
+        the Python API from their own setup scripts, but this exists as a
+        simple helper, an example, and a compatibility shim for previous
+        versions of robot_upstart which were bash-based.""")
+
+    p.add_argument("pkgpath", type=str, nargs=1, metavar=("pkg/path",),
+            help="Package and path to install job launch files from.")
+    p.add_argument("--job", type=str,
+            help="Specify job name. If unspecified, will be constructed from package name.")
+    p.add_argument("--interface", type=str, metavar="ethN",
+            help="Specify network interface name to associate job with.")
+    p.add_argument("--user", type=str, metavar="NAME",
+            help="Specify user to launch job as.")
+    p.add_argument("--setup", type=str, metavar="path/to/setup.bash",
+            help="Specify workspace setup file for the job launch context.")
+    p.add_argument("--rosdistro", type=str, metavar="DISTRO",
+            help="Specify ROS distro this is for.")
+    p.add_argument("--master", type=str, metavar="http://MASTER:11311",
+            help="Specify an alternative ROS_MASTER_URI for the job launch context.")
+    p.add_argument("--logdir", type=str, metavar="path/to/logs",
+            help="Specify an a value for ROS_LOG_DIR in the job launch context.")
+    p.add_argument("--augment",
+            help="Bypass creating the job, and only copy user files. Assumes the job was previously created.")
+    return p
+
+
+def main():
+    args = get_argument_parser().parse_args()
+
+    pkg, pkgpath = args.pkgpath[0].split('/', 1)
+    job_name = args.job or pkg.split('_', 1)[0]
+    
+    # Any unspecified arguments are on the args object as None. These are filled
+    # in by the Job constructor when passed as Nones.
+    j = robot_upstart.Job(name=job_name, interface=args.interface, user=args.user,
+            workspace_setup=args.setup, rosdistro=args.rosdistro,
+            master_uri=args.master, log_path=args.logdir)
+
+    found_path = find_in_workspaces(project=pkg, path=pkgpath, first_match_only=True)
+    if not found_path:
+        print "Unable to located path %s in package %s. Installation aborted." % (pkgpath, pkg)
+
+    if os.path.isfile(found_path[0]):
+        # Single file, install just that.
+        j.add(package=pkg, filename=pkgpath)
+    else:
+        # Directory found, install everything within.
+        j.add(package=pkg, glob=os.path.join(pkgpath, "*"))
+
+    if args.augment:
+        j.generate_system_files = False
+
+    j.install()
+
+    return 0;
+
+
+if __name__ == "__main__":
+    exit(main())

src/robot_upstart/job.py

@@ -40,7 +40,7 @@ class Job(object):
     """ Represents a ROS configuration to launch on machine startup. """
 
     def __init__(self, name="ros", interface=None, user=None, workspace_setup=None,
-                 rosdistro=None, master_uri="http://127.0.0.1:11311", log_path="/tmp"):
+                 rosdistro=None, master_uri=None, log_path=None):
         """Construct a new Job definition.
 
         :param name: Name of job to create. Defaults to "ros", but you might
@@ -83,9 +83,13 @@ def __init__(self, name="ros", interface=None, user=None, workspace_setup=None,
         # Fall back on current distro if not otherwise specified.
         self.rosdistro = rosdistro or os.environ['ROS_DISTRO']
 
-        self.master_uri = master_uri
+        self.master_uri = master_uri or "http://127.0.0.1:11311"
 
-        self.log_path = log_path
+        self.log_path = log_path or "/tmp"
+
+        # Override this to false if you want to bypass generating the
+        # upstart conf file.
+        self.generate_system_files = True
 
         # Set of files to be installed for the job. This is only launchers
         # and other user-specified configs--- nothing related to the system
@@ -128,7 +132,7 @@ def add(self, package=None, filename=None, glob=None):
             for path in search_paths:
                 self.files.extend(glob_files(os.path.join(path, glob)))
 
-    def install(self, root="/", sudo="/usr/bin/sudo", provider=providers.upstart):
+    def install(self, root="/", sudo="/usr/bin/sudo", Provider=providers.Upstart):
         """ Install the job definition to the system.
 
         :param root: Override the root to install to, useful for testing.
@@ -143,7 +147,8 @@ def install(self, root="/", sudo="/usr/bin/sudo", provider=providers.upstart):
         # This is a recipe of files and their contents which is pickled up and
         # passed to a sudo process so that it can create the actual files,
         # without needing a ROS workspace or any other environmental setup.
-        installation_files = provider(root, self)
+        p = Provider(root, self)
+        installation_files = p.generate()
 
         create_files_exec = find_in_workspaces(project="robot_upstart",
                                                path="scripts/create_files",

src/robot_upstart/providers.py

@@ -22,7 +22,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 """
-These functions implement the translation from user-intended behaviours
+These classes implement the translation from user-intended behaviours
 as specified in the state of the Job class to the system-specific configuration
 files. At present, there is only an upstart configuration, but similar providers
 could be defined for systemd, supervisor, launchd, or other systems.
@@ -35,30 +35,43 @@
 from catkin.find_in_workspaces import find_in_workspaces
 
 
-def upstart(root, job):
-    job.job_path = os.path.join(root, "etc/ros", job.rosdistro, job.name + ".d")
+class Generic(object):
+    def __init__(self, root, job):
+        self.root = root
+        self.job = job
 
-    # Make up list of files to copy to system locations.
-    installation_files = {}
-    for filename in job.files:
-        with open(filename) as f:
-            dest_filename = os.path.join(job.job_path, os.path.basename(filename))
-            installation_files[dest_filename] = {"content": f.read()}
 
-    # Share a single instance of the empy interpreter. Because it is outputting
-    # to a StringIO, that object needs to be truncated between templates.
-    output = StringIO.StringIO()
-    interpreter = em.Interpreter(output=output, globals=job.__dict__.copy())
+class Upstart(Generic):
+    def generate(self):
+        self.job.job_path = os.path.join(self.root, "etc/ros",
+                self.job.rosdistro, self.job.name + ".d")
 
-    def do_template(template, output_file, chmod=644):
-        with open(find_in_workspaces(project="robot_upstart", path=template)[0]) as f:
-            interpreter.file(f)
-            installation_files[output_file] = {"content": output.getvalue(), "chmod": chmod}
-            output.truncate(0)
+        # Make up list of files to copy to system locations.
+        installation_files = {}
+        for filename in self.job.files:
+            with open(filename) as f:
+                dest_filename = os.path.join(self.job.job_path, os.path.basename(filename))
+                installation_files[dest_filename] = {"content": f.read()}
+
+        # This is optional to support the old --augment flag where a "job" only adds
+        # launch files to an existing configuration.
+        if (self.job.generate_system_files):
+            # Share a single instance of the empy interpreter.
+            self.interpreter = em.Interpreter(globals=self.job.__dict__.copy())
 
-    do_template("templates/job.conf.em", os.path.join(root, "etc/init", job.name + ".conf"), 755)
-    do_template("templates/job-start.em", os.path.join(root, "usr/sbin", job.name + "-start"), 755)
-    do_template("templates/job-stop.em", os.path.join(root, "usr/sbin", job.name + "-stop"))
-    interpreter.shutdown()
+            installation_files[os.path.join(self.root, "etc/init", self.job.name + ".conf")] = {
+                "content": self._fill_template("templates/job.conf.em"), "mode": 644}
+            installation_files[os.path.join(self.root, "usr/sbin", self.job.name + "-start")] = {
+                "content": self._fill_template("templates/job-start.em"), "mode": 755}
+            installation_files[os.path.join(self.root, "usr/sbin", self.job.name + "-stop")] = {
+                "content": self._fill_template("templates/job-stop.em"), "mode": 755}
+            self.interpreter.shutdown()
 
-    return installation_files
+        return installation_files
+
+    def _fill_template(self, template):
+        self.interpreter.output = StringIO.StringIO()
+        self.interpreter.reset()
+        with open(find_in_workspaces(project="robot_upstart", path=template)[0]) as f:
+            self.interpreter.file(f)
+            return self.interpreter.output.getvalue()