fix: bagtrans options bugs (AimRT#49)

* CI: change build worlflow image tag from v20240927 to latest * fix: fix bagtrans tool support - Add AIMRT_BUILD_BAGTRANS option in CMakeLists.txt - Update build.bat, build.sh, test.bat and test.sh scripts to include bagtrans build option - Modify CMakeLists.txt in bagtrans directory to simplify build logic - Remove autopep8 dependency from bagtrans/requirements.txt * format : format the code * fix: Turn off the bagtrans compilation option on Windows * feat(tools): Update bagtrans tool build method - Change the build method of bagtrans tool from PyInstaller to using the build module to generate wheel files - Update CMakeLists.txt and setup.py files to adapt to the new build method - Update release notes, adding new information about the bagtrans tool * fix: format --------- Co-authored-by: yuguanlin <yuguanlin@agibot.com>
whjgwf · Oct 24, 2024 · 42ba5be · 42ba5be
1 parent 25c8b2e
commit 42ba5be
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Showing 11 changed files with 41 additions and 20 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -14,6 +14,7 @@ option(AIMRT_BUILD_EXAMPLES "AimRT build examples." OFF)
 option(AIMRT_BUILD_DOCUMENT "AimRT build document." OFF)
 option(AIMRT_BUILD_RUNTIME "AimRT build runtime." ON)
 option(AIMRT_BUILD_CLI_TOOLS "AimRT build aimrt command line tools." OFF)
+option(AIMRT_BUILD_BAGTRANS "AimRT build bagtrans tool." OFF)
 
 option(AIMRT_BUILD_PYTHON_RUNTIME "AimRT build python runtime." OFF)
 
@@ -206,6 +207,21 @@ if(AIMRT_BUILD_RUNTIME)
     endif()
   endif()
 
+  if(AIMRT_BUILD_BAGTRANS)
+    include(CheckPythonPackage)
+    check_python_package(build BUILD_FOUND)
+    check_python_package(wheel WHEEL_FOUND)
+    check_python_package(setuptools SETUPTOOLS_FOUND)
+
+    if(NOT BUILD_FOUND
+       OR NOT WHEEL_FOUND
+       OR NOT SETUPTOOLS_FOUND)
+      set(AIMRT_BUILD_BAGTRANS OFF)
+      message(WARNING "Can not find build, wheel or setuptools in your python environment, will not compile bagtrans tool!")
+      message(WARNING "try to install build, wheel and setuptools by `pip3 install build wheel setuptools --upgrade`")
+    endif()
+  endif()
+
   if(AIMRT_BUILD_NET_PLUGIN)
     include(GetBoost)
   endif()
@@ -287,7 +303,11 @@ if(AIMRT_INSTALL
   install(CODE "execute_process(COMMAND \"${CMAKE_COMMAND}\" --build \"${CMAKE_BINARY_DIR}\" --config ${CMAKE_BUILD_TYPE} --target create_python_pkg)")
 endif()
 
-if(AIMRT_BUILD_ROS2_PLUGIN AND AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN)
+if(AIMRT_INSTALL
+   AND AIMRT_BUILD_WITH_ROS2
+   AND AIMRT_BUILD_ROS2_PLUGIN
+   AND AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN
+   AND AIMRT_BUILD_BAGTRANS)
   install(CODE "execute_process(COMMAND \"${CMAKE_COMMAND}\" --build \"${CMAKE_BINARY_DIR}\" --config ${CMAKE_BUILD_TYPE} --target bagtrans)")
 endif()
 

diff --git a/build.bat b/build.bat
@@ -10,6 +10,7 @@ cmake -B build ^
     -DAIMRT_BUILD_DOCUMENT=ON ^
     -DAIMRT_BUILD_RUNTIME=ON ^
     -DAIMRT_BUILD_CLI_TOOLS=ON ^
+    -DAIMRT_BUILD_BAGTRANS=OFF ^
     -DAIMRT_BUILD_PYTHON_RUNTIME=ON ^
     -DAIMRT_USE_FMT_LIB=ON ^
     -DAIMRT_BUILD_WITH_PROTOBUF=ON ^

diff --git a/build.sh b/build.sh
@@ -12,6 +12,7 @@ cmake -B build \
     -DAIMRT_BUILD_DOCUMENT=ON \
     -DAIMRT_BUILD_RUNTIME=ON \
     -DAIMRT_BUILD_CLI_TOOLS=ON \
+    -DAIMRT_BUILD_BAGTRANS=ON \
     -DAIMRT_BUILD_PYTHON_RUNTIME=ON \
     -DAIMRT_USE_FMT_LIB=ON \
     -DAIMRT_BUILD_WITH_PROTOBUF=ON \

diff --git a/document/sphinx-cn/release_notes/v0_9_0.md b/document/sphinx-cn/release_notes/v0_9_0.md
@@ -10,6 +10,7 @@
 - 新增了第三方库 asio，runtime::core 不再引用 boost，改为引用独立的 asio 库，以减轻依赖；
 - 修复 aimrt_py 多线程 rpc 调用 server 端概率性崩溃的问题；
 - 为 aimrt_py 的 channel 功能提供了 Context 支持；
+- 新增 bagtrans 命令行工具，用于将 使用 aimrt record_playback 插件录制的 bag 文件转换为 ros2 的 bag 文件；
 
 **次要修改**：
 - 缩短了一些 examples 的文件路径长度；

diff --git a/document/sphinx-cn/tutorials/cli_tool/bagtrans_tool.md b/document/sphinx-cn/tutorials/cli_tool/bagtrans_tool.md
@@ -2,26 +2,28 @@
 
 ## 简介
 
-**bagtrans** 是一个 AimRT 官方提供的命令行工具，用于将 AimRT 的 bag 文件转换为 ROS2 的 bag 文件，其中ros2 原生消息会直接转换，pb 消息会转换为 aimrt 提供的 ros2_plugin_proto 中的 RosMsgWrapper 消息类型。
+**bagtrans** 是一个 AimRT 官方提供的命令行工具，目前可以将 AimRT **recordplayback** 插件记录的 bag 文件转换为 ROS2 的 bag 文件，其中ros2 原生消息会直接转换，pb 消息会转换为 aimrt 提供的 ros2_plugin_proto 中的 RosMsgWrapper 消息类型。
 
 ## 安装
 
-**bagtrans** 工具是一个基于 Python 开发的小程序，并且依赖于 aimrt 提供的 ros2_plugin_protobuf 消息类型，通过以下步骤安装：
+**bagtrans** 工具是一个基于 Python 开发的小工具，并且依赖于 aimrt 提供的 ros2_plugin_protobuf 消息类型，需要按照以下步骤安装：
 
-1. 编译 aimrt 生成 ros2_plugin_proto
-
- 执行您 aimrt 源码库中的`build.sh`文件进行编译，可以在`build.sh`文件中关闭其他您不需要的 CMake 选项以加快编译，但是需要确保`AIMRT_BUILD_ROS2_PLUGIN` 和 `AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN` 选项为`ON`。
+1. 需要您的 python 环境中安装了 build、wheel 和 setuptools 包，如果未安装，可以使用以下命令安装：
 
+```bash
+pip3 install build wheel setuptools --upgrade
+```
 
-2. 在终端中执行以下命令:
+2. 需要编译生成 aimrt 源码库中的 ros2_plugin_proto 消息类型，并且在 build.sh 文件中确保`AIMRT_BUILD_ROS2_PLUGIN` 、 `AIMRT_BUILD_RECORD_PLAYBACK_PLUGIN` 和 `AIMRT_BUILD_BAGTRANS` 选项为`ON`，执行您 aimrt 源码库中的`build.sh`文件进行编译，编译完成后，在  `<path_to_your_aimrt_src_code>/src/tools/bagtrans/build/dist` 文件夹下可找到编译生成的`whl`文件。
 
+3. 在终端中执行以下命令:
 ```
-cd <path_to_your_aimrt_src_code>/src/tools/bagtrans
-python setup.py install
+cd <path_to_your_aimrt_src_code>/src/tools/bagtrans/build/dist
+pip3 install bagtrans-<version>-py3-none-any.whl
 ```
-
 **bagtrans**工具将会自动安装到您的 python 环境中。使用 `pip list | grep bagtrans`可查看是否安装成功。可使用 `pip uninstall bagtrans`进行卸载。
 
+
 ## 使用说明
 
 **bagtrans** 工具的使用方法如下：

diff --git a/document/sphinx-cn/tutorials/cli_tool/cli_tool.md b/document/sphinx-cn/tutorials/cli_tool/cli_tool.md
@@ -12,7 +12,7 @@
 
 
 ## 安装
-**aimrt_cli**工具是一个基于 Python 开发的小程序，有以下三种安装方式，请选择任意一种您喜欢的进行安装。
+**aimrt_cli**工具是一个基于 Python 开发的小工具，有以下三种安装方式，请选择任意一种您喜欢的进行安装。
 
 
 ### 源码安装到 python 环境中

diff --git a/src/tools/bagtrans/CMakeLists.txt b/src/tools/bagtrans/CMakeLists.txt
@@ -8,9 +8,9 @@ set(BAGTRANS_BUILD_DIR ${CMAKE_CURRENT_SOURCE_DIR}/build)
 
 add_custom_target(
   bagtrans
-  COMMAND ${PYTHON_EXECUTABLE} -m PyInstaller ${CMAKE_CURRENT_SOURCE_DIR}/bagtrans/bagtrans.spec
+  COMMAND ${Python3_EXECUTABLE} -m build --wheel --no-isolation -v
   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-  COMMENT "${PYTHON_EXECUTABLE} -m PyInstaller ${CMAKE_CURRENT_SOURCE_DIR}/bagtrans/bagtrans.spec"
+  COMMENT "${PYTHON_EXECUTABLE} -m build --wheel --no-isolation -v"
   DEPENDS ${BAGTRANS_SRC_FILES})
 
 add_custom_target(
@@ -24,9 +24,7 @@ add_custom_target(
   COMMENT "Copying ROS2 files"
   DEPENDS aimrt::plugins::ros2_plugin)
 
-if(AIMRT_BUILD_WITH_ROS2 AND AIMRT_BUILD_ROS2_PLUGIN)
-  add_dependencies(bagtrans copy_ros2_plugin_proto_files_bagtrans)
-endif()
+add_dependencies(bagtrans copy_ros2_plugin_proto_files_bagtrans)
 
 if(AIMRT_INSTALL)
   install(

diff --git a/src/tools/bagtrans/bagtrans/requirements.txt b/src/tools/bagtrans/bagtrans/requirements.txt
@@ -2,4 +2,3 @@
 # All rights reserved.
 
 setuptools>=59.6.0
-autopep8>=1.6.0
diff --git a/src/tools/bagtrans/setup.py b/src/tools/bagtrans/setup.py
@@ -10,9 +10,6 @@
     app='bagtrans',
     version='0.0.1',
     packages=find_packages(exclude=['test']),
-    install_requires=[
-        'pyinstaller>=6.1.0',
-    ],
     author='Yu Guanlin',
     author_email='yuguanlin@agibot.com',
     description='transfer aimrt bag file to ros2 bag file',

diff --git a/test.bat b/test.bat
@@ -10,6 +10,7 @@ cmake -B build ^
     -DAIMRT_BUILD_DOCUMENT=ON ^
     -DAIMRT_BUILD_RUNTIME=ON ^
     -DAIMRT_BUILD_CLI_TOOLS=ON ^
+    -DAIMRT_BUILD_BAGTRANS=OFF ^
     -DAIMRT_BUILD_PYTHON_RUNTIME=ON ^
     -DAIMRT_USE_FMT_LIB=ON ^
     -DAIMRT_BUILD_WITH_PROTOBUF=ON ^

diff --git a/test.sh b/test.sh
@@ -12,6 +12,7 @@ cmake -B build \
     -DAIMRT_BUILD_DOCUMENT=ON \
     -DAIMRT_BUILD_RUNTIME=ON \
     -DAIMRT_BUILD_CLI_TOOLS=ON \
+    -DAIMRT_BUILD_BAGTRANS=ON \
     -DAIMRT_BUILD_PYTHON_RUNTIME=ON \
     -DAIMRT_USE_FMT_LIB=ON \
     -DAIMRT_BUILD_WITH_PROTOBUF=ON \
Original file line number	Diff line number	Diff line change
Expand Up		@@ -2,4 +2,3 @@
		# All rights reserved.

		setuptools>=59.6.0
		autopep8>=1.6.0