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util.sh
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util.sh
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# -*- indent-tabs-mode: nil -*-
#********************************************************************
# Software License Agreement (BSD License)
#
# Copyright (c) 2018, Bielefeld University
# 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 Bielefeld University 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 OWNER 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.
#********************************************************************/
# Author: Robert Haschke, Dave Coleman
# Desc: Utility functions to facilitate writing job scripts
# Strongly builds on corresponding bash utility functions of travis-ci:
# https://github.com/travis-ci/travis-build/blob/master/lib/travis/build/bash
# source default functions, copied from travis-ci project
#source $(dirname ${BASH_SOURCE:-$0})/travis_functions.sh
source ${ROS_CI_DIR}/travis_functions.sh
export ANSI_RED="\033[31m"
export ANSI_GREEN="\033[32m"
export ANSI_YELLOW="\033[33m"
export ANSI_BLUE="\033[34m"
export ANSI_THIN="\033[22m"
export ANSI_BOLD="\033[1m"
export ANSI_RESET="\033[0m"
export ANSI_CLEAR="\033[0K"
# set start time (if not yet done)
ROS_CI_START_TIME=${ROS_CI_START_TIME:-$(travis_nanoseconds)}
# Output the smaller one of the optional timeout parameter ($1) or the remaining time (in minutes)
# Return 0 if optional timeout parameter was consumed (looking like an integer), 1 if not
# This allows to compute the actual timeout in functions like this:
# timeout=$(travis_timeout "$1") && shift
travis_timeout() {
local timeout result remaining
if [[ "${timeout:=$1}" =~ ^[0-9]+$ ]] ; then
result=0 # $1 looks like integer that should be consumed as a parameter
else
result=1 # parameter shouldn't be consumed
timeout=20 # default timeout
fi
# remaining time in minutes (default timeout for open-source Travis jobs is 50min)
remaining=$(( ${ROS_CI_TRAVIS_TIMEOUT:-50} - ($(travis_nanoseconds) - $ROS_CI_START_TIME) / 60000000000 ))
# limit timeout to remaining time
if [ $remaining -le $timeout ] ; then timeout=$remaining; fi
echo "${timeout}"
return $result
}
# travis_fold (start|end) [name] [message]
travis_fold() {
# option -g declares those arrays globally!
if [[ "${TRAVIS_OS_NAME}" == osx ]]; then
:
else
declare -ag _TRAVIS_FOLD_NAME_STACK # "stack" array to hold name hierarchy
declare -Ag _TRAVIS_FOLD_COUNTERS # associated array to hold global counters
fi
local action="$1"
local name="${2:-ci_ros2}" # name defaults to ci_ros2
name="${name/ /.}" # replace spaces with dots in name
local message="$3"
test -n "$message" && message="$(colorize BLUE BOLD $3)\\n" # print message in bold blue by default
local length=${#_TRAVIS_FOLD_NAME_STACK[@]}
if [ "$action" == "start" ] ; then
# push name to stack
_TRAVIS_FOLD_NAME_STACK[$length]=$name
# increment (or initialize) matching counter
let "_TRAVIS_FOLD_COUNTERS[$name]=${_TRAVIS_FOLD_COUNTERS[$name]:=0} + 1"
else
action="end"
message="" # only start action may have a message
# pop name from stack
let "length -= 1"
test $length -lt 0 && \
echo -e "Missing travis_fold start before travis_fold end $name" && exit 1
test "${_TRAVIS_FOLD_NAME_STACK[$length]}" != "$name" && \
echo "'travis_fold end $name' not matching to previous travis_fold start ${_TRAVIS_FOLD_NAME_STACK[$length]}" && exit 1
unset '_TRAVIS_FOLD_NAME_STACK[$length]'
fi
# actually generate the fold tag for travis
echo -en "travis_fold:${action}:${name}.${_TRAVIS_FOLD_COUNTERS[$name]}\\r${ANSI_CLEAR}${message}"
}
# Run a command in Travis with nice folding display, timing, timeout etc.
# adapted from travis_cmd.bash
# Return values:
# - on success: 0
# - on failure: 2 if --assert option was given, otherwise return value of process
# - on timeout: 124 (return value of timeout command)
travis_run_impl() {
local assert hide title display timing timeout cmd result
while true; do
case "${1}" in
--assert) # terminate on failure?
assert=true
;;
--no-assert) # terminate on failure?
unset assert
;;
--hide) # hide cmd/display?
hide=true
;;
--show) # hide cmd/display?
unset hide
;;
--title) # use custom message as title, but keep command output
title="${2}\\n" # add newline, such that command output will go to next line
unset hide # implicitly enable output
shift
;;
--display) # use custom message instead of command output
display="${2}"
unset hide # implicitly enable output
shift
;;
--timing) # enable timing?
timing=true
;;
--no-timing) # enable timing?
unset timing
;;
--timeout) # abore commands after a timeout
timeout="${2}"
shift
;;
--timeout) # disable (a previously set) timeout
unset timeout
;;
*) break ;;
esac
shift
done
cmds="$*"
export TRAVIS_CMD="${cmds}"
if [ -n "${timing}" ]; then
travis_time_start
fi
if [ -z "${hide}" ]; then
echo -e "$(colorize BLUE THIN ${title}${display:-${cmds}})"
fi
# Actually run cmds
if [ -n "${timeout}" ]; then
(eval "${cmds}") & # run cmds in subshell in background
travis_wait $! $timeout "$cmds" # wait for the subshell process to finish
result="${?}"
if [ $result -eq 124 ] ; then
echo -e "The command \"${TRAVIS_CMD}\" reached the $(colorize YELLOW internal $(colorize BOLD timeout) of ${timeout} minutes. Aborting.)\\n"
exit 124
fi
else
eval "${cmds}"
result="${?}"
fi
if [ -n "${timing}" ]; then
travis_time_finish
fi
# When asserting success, but we got a failure (and not a timeout (124)), terminate
if [ -n "${assert}" -a $result -ne 0 -a $result -ne 124 ]; then
echo -e $(colorize RED "The command \"${TRAVIS_CMD}\" $(colorize BOLD failed with error code ${result}).\\n")
exit 2
# travis_terminate 2
fi
return "${result}"
}
# Run command(s) with timing, but without folding
travis_run_simple() {
travis_run_impl --timing --assert "$@"
}
# Run command(s) with folding and timing, ignoring failure
travis_run_true() {
travis_fold start
travis_run_simple --no-assert "$@"
local result=$?
travis_fold end
return $result
}
# Run command(s) with timing, folding, and terminate on failure
travis_run() {
# add option --assert to travis_run_true
travis_run_true --assert "$@"
}
# Run command(s) with a timeout (of 20min by default)
travis_run_wait() {
# parse first parameter as timeout and drop it if successful
local timeout
timeout=$(travis_timeout "$1") && shift
travis_run_true --assert --timeout "${timeout}" "$@"
}
# Wait for the passed process to finish
# Adapted from travis_wait.bash
travis_wait() {
local cmd_pid=$1 # we are waiting for this process to finish
local timeout=$2 # timeout in mins
travis_monitor $cmd_pid $timeout & # start monitoring process in background
local monitor_pid=$!
# Wait for main command to finish
wait $cmd_pid 2>/dev/null
local result=$? # result of the main process
if ! ps -p $monitor_pid &>/dev/null ; then
# If monitor process is not running anymore, we timed out
result=124
else
# kill monitor process
kill $monitor_pid 2> /dev/null && wait $! 2> /dev/null
# https://stackoverflow.com/questions/81520/how-to-suppress-terminated-message-after-killing-in-bash
fi
return $result # return result of main process
}
# adapted from travis_jigger.bash
travis_monitor() {
local cmd_pid=$1 # we are waiting for this process to finish
local timeout=$(($2 * 60)) # timeout in secs
local elapsed=0 # elapsed time in secs
while [ "${elapsed}" -lt "${timeout}" ]; do
for s in "/" "-" "\\" "|"; do
echo -ne "$s \\r"
let "elapsed += 1"
sleep 1 # wait 1s
done
done
kill -9 $cmd_pid # kill monitored process
}
# Check repository for changes, return success(0) if there are changes
travis_have_fixes() {
if ! git diff-index --quiet HEAD -- . ; then # check for changes in current dir
echo -e $(colorize RED "\\nThe following issues were detected:")
git --no-pager diff
git checkout . # undo changes in current dir
return 0
fi
return 1
}
# $(filter "PATTERN" "TEXT")
# Returns all words in TEXT that *do* match any of the PATTERN words,
# removing any words that *do not* match.
# words can be separated by space, comma, semicolon or newline
filter() {
local PATTERN="$1"; shift
# convert input lists into newline-separate lists: | tr ' ;,' '\n'
# perform filtering: grep -Fvxf
# and convert newlines back to spaces: | tr '\n' ' '
echo "$*" | tr ' ;,' '\n' | grep -Fxf <(echo "$PATTERN" | tr ' ;,' '\n') | tr '\n' ' '
}
# $(filter_out "PATTERN" "TEXT")
# Returns all words in TEXT that *do not* match any of the PATTERN words,
# removing the words that *do match* one or more.
# This is the exact opposite of the filter function.
# words can be separated by space, comma, semicolon or newline
filter_out() {
local PATTERN="$1"; shift
# convert input lists into newline-separate lists: | tr ' ;,' '\n'
# perform filtering: grep -Fvxf
# and convert newlines back to spaces: | tr '\n' ' '
echo "$*" | tr ' ;,' '\n' | grep -Fvxf <(echo "$PATTERN" | tr ' ;,' '\n') | tr '\n' ' '
}
# unify_list SEPARATORS LIST
# replace all separator chars given as first argument with spaces
unify_list() {
local separators=$1; shift
echo "$*" | tr "$separators" ' '
}
# usage: echo -e $(colorize RED Some ${fancy} text.)
function colorize() {
local color reset
while true ; do
case "$1" in
RED|GREEN|YELLOW|BLUE)
color="ANSI_$1"; eval "color=\$$color"; reset="${ANSI_RESET}" ;;
THIN)
color="${color}${ANSI_THIN}" ;;
BOLD)
color="${color}${ANSI_BOLD}"; reset="${reset:-${ANSI_THIN}}" ;;
*) break ;;
esac
shift
done
echo -e "${color}$@${reset}"
}