Adding Python 2 support (#11)

Adding Python 2 support.

Dockerfile

@@ -1,6 +1,6 @@
 FROM quay.io/pypa/manylinux2014_x86_64
 
-RUN yum install npm git -y -q && npm install -g @bazel/bazelisk
+RUN yum install npm git python-devel python2-pip -y -q && npm install -g @bazel/bazelisk && pip install wheel && pip install --upgrade pip
 
 RUN mkdir -p /tmp/embag /tmp/pip_build /tmp/out
 COPY WORKSPACE /tmp/embag

WORKSPACE

@@ -44,8 +44,6 @@ load("@pybind11_bazel//:python_configure.bzl", "python_configure")
 
 python_configure(
     name = "local_config_python",
-    # Change this to "2" when compiling for Python 2.  I'm unclear if it's possible to have both targets at the same time...
-    python_version = "3",
 )
 
 # Experimental python rules

pip_package/build.sh

@@ -1,27 +1,36 @@
 #!/bin/bash -e
 
-# Build embag for various version of Python
-for version in cp35-cp35m \
-               cp36-cp36m \
-               cp37-cp37m \
-               cp38-cp38 \
-               cp39-cp39
-  do
-    # Link the correct version of python
-    ln -sf /opt/python/$version/bin/python /usr/bin/python3
-    # Build embag libs and echo test binary
-    (cd /tmp/embag && \
-     PYTHON_BIN_PATH=/opt/python/$version/bin/python bazel build //python:libembag.so //embag_echo:embag_echo && \
-     bazel test test:* --test_output=all)
+function build() {
+  PYTHON_PATH=$1
+  PYTHON_VERSION=$2
+
+  # Build embag libs and echo test binary
+  (cd /tmp/embag &&
+    PYTHON_BIN_PATH="$PYTHON_PATH/python" bazel build //python:libembag.so //embag_echo:embag_echo &&
+    PYTHON_BIN_PATH="$PYTHON_PATH/python" bazel test //test:embag_test "//test:embag_test_python$PYTHON_VERSION" --cache_test_results=no --test_output=all)
+
+  # Build wheel
+  cp /tmp/embag/bazel-bin/python/libembag.so /tmp/pip_build/embag
+  (cd /tmp/pip_build && "$PYTHON_PATH/python" setup.py bdist_wheel &&
+    auditwheel repair /tmp/pip_build/dist/embag*.whl --plat manylinux2014_x86_64 &&
+    "$PYTHON_PATH/pip" install wheelhouse/embag*.whl &&
+    "$PYTHON_PATH/python" -c 'import embag; embag.View(); print("Successfully loaded embag!")' &&
+    cp wheelhouse/* /tmp/out &&
+    rm wheelhouse/* &&
+    rm -rf build dist)
+}
 
-    # Build wheel
-    cp /tmp/embag/bazel-bin/python/libembag.so /tmp/pip_build/embag
-    (cd /tmp/pip_build && /opt/python/$version/bin/python setup.py bdist_wheel && \
-     auditwheel repair /tmp/pip_build/dist/embag*.whl --plat manylinux2014_x86_64 && \
-     /opt/python/$version/bin/pip install wheelhouse/embag*.whl && \
-     /opt/python/$version/bin/python -c 'import embag; embag.View(); print("Successfully loaded embag!")' &&\
-     cp wheelhouse/* /tmp/out && \
-     rm wheelhouse/* && \
-     rm -rf build dist)
-  done
+# Build embag for Python 2 (soon to be deprecated)
+build "/usr/bin" 2
+
+# Build embag for various version of Python 3
+for version in cp35-cp35m \
+  cp36-cp36m \
+  cp37-cp37m \
+  cp38-cp38 \
+  cp39-cp39; do
+  # Link the correct version of python
+  ln -sf /opt/python/$version/bin/python /usr/bin/python3
 
+  build "/opt/python/$version/bin" 3
+done

pip_package/macos_build.sh

@@ -6,7 +6,7 @@ cp -r pip_package/* README.md LICENSE /tmp/pip_build
 
 # Build embag libs and echo test binary
 bazel build //python:libembag.so //embag_echo:embag_echo && \
-bazel test test:* --test_output=all
+bazel test //test:embag_test //test:embag_test_python3 --test_output=all
 
 # Build wheel
 cp bazel-bin/python/libembag.so /tmp/pip_build/embag

pip_package/setup.py

@@ -59,6 +59,8 @@ def finalize_options(self):
         'License :: OSI Approved :: MIT License',
         'Operating System :: POSIX',
         'Operating System :: MacOS',
+        'Programming Language :: Python :: 2',
+        'Programming Language :: Python :: 2.7',
         'Programming Language :: Python :: 3',
         'Programming Language :: Python :: 3.5',
         'Programming Language :: Python :: 3.6',

pip_package/test.py

@@ -0,0 +1,24 @@
+#import embag as rosbag
+import embag
+
+
+#bag = rosbag.Bag('_2019-05-29-18-10-41_190.bag')
+#bag = rosbag.Bag('truck-201_run-15955_2020-03-12-00-06-09_slim_107.bag')
+#bag = rosbag.Bag('truck-201_run-15955_2020-03-12-00-06-09_luminar_107.bag')
+
+#for topic, msg, t in bag.read_messages(topics=['/luminar_pointcloud']):
+#for topic, msg, t in bag.read_messages(topics=['/perception/tracked_lanes']): 
+#for topic, msg, t in bag.read_messages(topics=['/applanix/nav']):
+#for topic, msg, t in bag.read_messages(topics=['/diagnostics']):
+#    print(topic)
+#    print(t)
+#    print(msg)
+
+#bag.close()
+
+view = embag.View().addBag('/home/jason/Downloads/truck-203_run-16938_2020-06-29-21-50-28_slim_6.bag')
+for msg in view.getMessages('/diagnostics'):
+#for msg in view.getMessages('/self_driving_state'):
+    print(msg.topic)
+    print(msg.timestamp.to_sec())
+    print(msg)

test/BUILD

@@ -11,10 +11,23 @@ cc_test(
 )
 
 py_test(
-    name = "embag_test_python",
+    name = "embag_test_python3",
+    main = "embag_test_python.py",
     srcs = ["embag_test_python.py"],
     data = [
         "test.bag",
         "//python:libembag.so",
     ],
+    python_version = "PY3",
+)
+
+py_test(
+    name = "embag_test_python2",
+    main = "embag_test_python.py",
+    srcs = ["embag_test_python.py"],
+    data = [
+        "test.bag",
+        "//python:libembag.so",
+    ],
+    python_version = "PY2",
 )