Allow to skip pipeline steps by name

Signed-off-by: Emerson Knapp <[email protected]>

ros_cross_compile/dependencies.py

@@ -23,7 +23,7 @@
 from ros_cross_compile.pipeline_stages import PipelineStage
 from ros_cross_compile.pipeline_stages import PipelineStageConfigOptions
 from ros_cross_compile.platform import Platform
-from ros_cross_compile.sysroot_creator import build_internals_dir
+from ros_cross_compile.sysroot_creator import build_internals_dir, rosdep_install_script
 
 logging.basicConfig(level=logging.INFO)
 logger = logging.getLogger('Rosdep Gatherer')
@@ -34,9 +34,6 @@
 _IMG_NAME = 'ros_cross_compile:rosdep'
 
 
-def rosdep_install_script(platform: Platform) -> Path:
-    """Construct relative path of the script that installs rosdeps into the sysroot image."""
-    return build_internals_dir(platform) / 'install_rosdeps.sh'
 
 
 def gather_rosdeps(
@@ -88,18 +85,6 @@ def gather_rosdeps(
     )
 
 
-def assert_install_rosdep_script_exists(
-    ros_workspace_dir: Path,
-    platform: Platform
-) -> bool:
-    install_rosdep_script_path = ros_workspace_dir / rosdep_install_script(platform)
-    if not install_rosdep_script_path.is_file():
-        raise RuntimeError(
-            'Rosdep installation script has never been created, you need to run this without '
-            'skipping rosdep collection at least once.')
-    return True
-
-
 class CollectDependencies(PipelineStage):
     """
     This stage determines what external dependencies are needed for building.
@@ -124,15 +109,13 @@ def __call__(self, platform: Platform, docker_client: DockerClient, ros_workspac
         """
         # NOTE: Stage skipping will be handled more generically in the future;
         # for now we handle this specific case internally to maintain the original API.
-        if not pipeline_stage_config_options.skip_rosdep_collection:
-            gather_rosdeps(
-                docker_client=docker_client,
-                platform=platform,
-                workspace=ros_workspace_dir,
-                skip_rosdep_keys=pipeline_stage_config_options.skip_rosdep_keys,
-                custom_script=pipeline_stage_config_options.custom_script,
-                custom_data_dir=pipeline_stage_config_options.custom_data_dir)
-        assert_install_rosdep_script_exists(ros_workspace_dir, platform)
+        gather_rosdeps(
+            docker_client=docker_client,
+            platform=platform,
+            workspace=ros_workspace_dir,
+            skip_rosdep_keys=pipeline_stage_config_options.skip_rosdep_keys,
+            custom_script=pipeline_stage_config_options.custom_script,
+            custom_data_dir=pipeline_stage_config_options.custom_data_dir)
 
         img_size = docker_client.get_image_size(_IMG_NAME)
         data_collector.add_size(self.name, img_size)

ros_cross_compile/pipeline_stages.py

@@ -28,8 +28,7 @@
 argparse options in ros_cross_compile.py.
 """
 PipelineStageConfigOptions = NamedTuple('PipelineStageConfigOptions',
-                                        [('skip_rosdep_collection', bool),
-                                         ('skip_rosdep_keys', List[str]),
+                                        [('skip_rosdep_keys', List[str]),
                                          ('custom_script', Optional[Path]),
                                          ('custom_data_dir', Optional[Path]),
                                          ('custom_setup_script', Optional[Path])])

ros_cross_compile/ros_cross_compile.py

@@ -138,13 +138,6 @@ def parse_args(args: List[str]) -> argparse.Namespace:
         type=str,
         help='Relative path within the workspace to a file that provides colcon arguments. '
              'See "Package Selection and Build Customization" in README.md for more details.')
-    parser.add_argument(
-        '--skip-rosdep-collection',
-        action='store_true',
-        required=False,
-        help='Skip querying rosdep for dependencies. This is intended to save time when running '
-             'repeatedly during development, but has undefined behavior if the dependencies of '
-             'the workspace have changed since the last time they were collected.')
     parser.add_argument(
         '--skip-rosdep-keys',
         default=[],
@@ -162,6 +155,11 @@ def parse_args(args: List[str]) -> argparse.Namespace:
         action='store_true',
         required=False,
         help='All collected metrics will be printed to stdout via the logging framework.')
+    parser.add_argument(
+        '--skip-steps',
+        nargs='+',
+        choices=[stage.name for stage in stages],
+        help='Skip these steps')
     parser.add_argument(
         '--create-runtime-image',
         help='Create a Docker image with the specified name that contains all '
@@ -192,15 +190,15 @@ def cross_compile_pipeline(
         colcon_defaults_file=args.colcon_defaults)
 
     customizations = PipelineStageConfigOptions(
-        args.skip_rosdep_collection,
         skip_rosdep_keys,
         custom_rosdep_script,
         custom_data_dir,
         custom_setup_script)
 
     for stage in stages:
-        with data_collector.timer('{}'.format(stage.name)):
-            stage(platform, docker_client, ros_workspace_dir, customizations, data_collector)
+        if stage.name not in args.skip_steps:
+            with data_collector.timer('{}'.format(stage.name)):
+                stage(platform, docker_client, ros_workspace_dir, customizations, data_collector)
 
 
 def main():

ros_cross_compile/sysroot_creator.py

@@ -35,6 +35,11 @@ def build_internals_dir(platform: Platform) -> Path:
     return Path(INTERNALS_DIR) / str(platform)
 
 
+def rosdep_install_script(platform: Platform) -> Path:
+    """Construct relative path of the script that installs rosdeps into the sysroot image."""
+    return build_internals_dir(platform) / 'install_rosdeps.sh'
+
+
 def _copytree(src: Path, dest: Path) -> None:
     """Copy contents of directory 'src' into 'dest'."""
     copy_tree(str(src), str(dest))
@@ -45,6 +50,18 @@ def _copyfile(src: Path, dest: Path) -> None:
     shutil.copy(str(src), str(dest))
 
 
+def assert_install_rosdep_script_exists(
+    ros_workspace_dir: Path,
+    platform: Platform
+) -> bool:
+    install_rosdep_script_path = ros_workspace_dir / rosdep_install_script(platform)
+    if not install_rosdep_script_path.is_file():
+        raise RuntimeError(
+            'Rosdep installation script has never been created, you need to run this without '
+            'skipping rosdep collection at least once.')
+    return True
+
+
 def setup_emulator(arch: str, output_dir: Path) -> None:
     """Copy the appropriate emulator binary to the output location."""
     emulator_name = 'qemu-{}-static'.format(arch)
@@ -116,6 +133,7 @@ def create_workspace_sysroot(
     image_tag = platform.sysroot_image_tag
     sysroot_destination = (ros_workspace / build_internals_dir(platform)).parent / 'sysroot'
 
+    assert_install_rosdep_script_exists(ros_workspace, platform)
     logger.info('Building sysroot image: %s', image_tag)
     docker_client.build_image(
         dockerfile_name='sysroot.Dockerfile',
@@ -146,7 +164,7 @@ class CreateSysroot(PipelineStage):
     """
 
     def __init__(self):
-        super().__init__('create_workspace_sysroot_image')
+        super().__init__('create_sysroot')
 
     def __call__(self, platform: Platform, docker_client: DockerClient, ros_workspace_dir: Path,
                  pipeline_stage_config_options: PipelineStageConfigOptions,