#! /usr/bin/env python

# Copyright (c) 2009, Willow Garage, Inc.
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# 
# 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.
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#       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
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# Author Tully Foote/tfoote@willowgarage.com

from __future__ import with_statement

import os
import re
import distutils.version
import sys, string
import subprocess
import time
import getopt
import roslib
import roslib.rospack
import roslib.rosenv
import roslib.stacks
import threading


def num_cpus():
  """
  Detects the number of CPUs on a system. Cribbed from pp.
  """
  # Linux, Unix and MacOS:
  if hasattr(os, "sysconf"):
    if os.sysconf_names.has_key("SC_NPROCESSORS_ONLN"):
      # Linux & Unix:
      ncpus = os.sysconf("SC_NPROCESSORS_ONLN")
      if isinstance(ncpus, int) and ncpus > 0:
        return ncpus
    else: # OSX:
      return int(os.popen2("sysctl -n hw.ncpu")[1].read())
  # Windows:
  if os.environ.has_key("NUMBER_OF_PROCESSORS"):
    ncpus = int(os.environ["NUMBER_OF_PROCESSORS"]);
    if ncpus > 0:
      return ncpus
  return 1 # Default



class DependencyTracker:
  """ Track dependencies between packages.  This is basically a
  caching way to call roslib. It also will allow you to specifiy a
  range of packages over which to track dependencies.  This is useful
  if you are only building a subset of the tree. For example with the
  --specified-only option. """
  def __init__(self, valid_packages = roslib.rospack.rospackexec(["list-names"]).split()):
    self.valid_packages = valid_packages
    self.deps_1 = {}
    self.deps = {}

  def get_deps_1(self, package):
    if not package in self.deps_1:
      self.deps_1[package] = []
      potential_dependencies = roslib.rospack.rospack_depends_1(package) 
      for p in potential_dependencies:
        if p in self.valid_packages:
          self.deps_1[package].append(p)
      
    return self.deps_1[package]

  def get_deps(self, package):
    if not package in self.deps:
      self.deps[package] = []
      potential_dependencies = roslib.rospack.rospack_depends(package) 
      for p in potential_dependencies:
        if p in self.valid_packages:
          self.deps[package].append(p)
    return self.deps[package]

  def load_fake_deps(self, deps, deps1):
    self.deps = deps
    self.deps_1 = deps1
    return


class CompileThread(threading.Thread):
  """ This is the class which is used as the thread for parallel
  builds.  This class will query the build queue object for new
  commands and block on its calls until the build queue says that
  building is done. """
  def __init__(self, name, build_queue, rosmakeall, argument = None):
    threading.Thread.__init__(self)
    self.build_queue = build_queue
    self.rosmakeall = rosmakeall
    self.argument = argument
    self.name = name
    self.logging_enabled = True

  def run(self):
    while not self.build_queue.is_done():
      pkg = self.build_queue.get_valid_package()
      if not pkg:
        if self.build_queue.succeeded():
          self.rosmakeall.printer.print_verbose("[ Build Completed Thread Exiting ]", thread_name=self.name);
        else:
          self.rosmakeall.printer.print_verbose("[ Build Terminated Thread Exiting ]", thread_name=self.name)
        break # no more packages must be done

      # update status after accepting build
      self.rosmakeall.update_status(self.argument ,
                                    self.build_queue.get_started_threads(),
                                    self.build_queue.progress_str())

      if self.argument:
        self.rosmakeall.printer.print_all ("Starting >>> %s [ make %s ]"%(pkg, self.argument), thread_name=self.name)
      else:
        self.rosmakeall.printer.print_all ("Starting >>> %s [ make ] "%pkg,  thread_name=self.name)
      (result, result_string) = self.rosmakeall.build(pkg, self.argument, self.build_queue.robust_build) 
      self.rosmakeall.printer.print_all("Finished <<< %s %s"%(pkg, result_string), thread_name= self.name)
      #print "Finished2"
      self.build_queue.return_built(pkg, result)
      #print "returned"
      if result or self.build_queue.robust_build:
        pass#print "result", result, "robust", self.build_queue.robust_build
      else:
        if result_string.find("[Interrupted]") != -1:
          self.rosmakeall.printer.print_all("Caught Interruption", thread_name=self.name)
          self.build_queue.stop() #todo move this logic into BuildQueue itself
          break # unnecessary since build_queue is done now while will quit
        self.rosmakeall.printer.print_all("Halting due to failure in package %s. \n[ rosmake ] Waiting for other threads to complete."%pkg)
        self.build_queue.stop()
        break # unnecessary since build_queue is done now, while will quit
      # update status after at end of build
      #print "updating status"
      self.rosmakeall.update_status(self.argument ,
                                    self.build_queue.get_started_threads(),
                                    self.build_queue.progress_str())
      #print "done built", len(self.build_queue.built), self.build_queue.built
      #print "failed", len(self.build_queue.failed), self.build_queue.failed
      #print "to_build", len(self.build_queue.to_build), self.build_queue.to_build
      #print "in progress", len(self.build_queue._started), self.build_queue._started

    #print "last update"
    # update status before ending thread
    self.rosmakeall.update_status(self.argument ,
                                  self.build_queue.get_started_threads(),
                                  self.build_queue.progress_str())
    #print "thread finished"

class BuildQueue:
  """ This class provides a thread safe build queue.  Which will do
  the sequencing for many CompileThreads. """
  def __init__(self, package_list, dependency_tracker, robust_build = False):
    self._total_pkgs = len(package_list)
    self.dependency_tracker = dependency_tracker
    self.to_build = package_list[:] # do a copy not a reference
    self.built = []
    self.failed = []
    self.condition = threading.Condition()
    self._done = False
    self.robust_build = robust_build
    self._started = {}
    self._hack_end_counter = 0

  def progress_str(self):
    return "[ %d Active %d/%d Complete ]"%(len(self._started), len(self.built), self._total_pkgs)

  def get_started_threads(self): #TODO sort this other than hash order
    return self._started.copy()

  def is_completed(self):
    """Return if the build queue has been completed """
    return len(self.built)+ len(self.failed) == self._total_pkgs

  def is_done(self):
    """Return if the build queue has been completed """
    return self.is_completed() or self._done # finished or halted

  def succeeded(self):
    """ Return whether the build queue has completed all packages successfully. """
    return len(self.built) == self._total_pkgs  #flag that we're finished

  def stop(self): 
    """ Stop the build queue, including waking all blocking
    threads. It will not stop in flight builds."""
    self._done = True
    with self.condition:
      self.condition.notifyAll() # wake any blocking threads
      
  def return_built(self, package, successful=True): # mark that a package is built
    """ The thread which completes a package marks it as done with
    this method."""
    with self.condition:
      if successful:
        self.built.append(package)
      else:
        self.failed.append(package)
      if package in self._started.keys():
        self._started.pop(package)
      else:
        pass #used early on print "\n\n\nERROR THIS SHOULDN't RETURN %s\n\n\n"%package
      if self.is_completed():
        self._done = True
      self.condition.notifyAll() #wake up any waiting threads

  def get_valid_package(self): # blocking call to get a package to build returns none if done
    """ This is a blocking call which will return a package which has
    all dependencies met.  If interrupted or done it will return
    None"""
    with self.condition:
      while (not self.is_done() and len(self.to_build) > 0):
        for p in self.to_build:
          dependencies_met = True
          for d in self.dependency_tracker.get_deps(p):
            if d not in self.built and not (self.robust_build and d in self.failed):
              dependencies_met = False
              #print "Dependency %s not met for %s"%(d, p)
              break
          if dependencies_met:  # all dependencies met
            self.to_build.remove(p)
            self._started[p] = time.time()
            self._hack_end_counter = 0 #reset end counter if success
            return p # break out and return package if found
          elif len(self._started) == 0 and self._hack_end_counter > 2:
            # we're hung with broken dependencies
            return None
        #print "TTGTTTTHTHT Waiting on condition"
        self.condition.wait(1.0)  # failed to find a package wait for a notify before looping
        
        self._hack_end_counter += 1 # if we're here too often we will quit 
        if self.is_done():
          break

    return None


  def register_prebuilt(self, package_list):
    for p in package_list:
      if p in self.to_build:
        self.to_build.remove(p)
        self.return_built(p)
