build_binaries.py

#!/usr/bin/env python3

"""
script to build the latest binaries for each vehicle type, ready to upload
Peter Barker, August 2017
based on build_binaries.sh by Andrew Tridgell, March 2013

AP_FLAKE8_CLEAN
"""

from __future__ import print_function

import datetime
import optparse
import os
import re
import shutil
import time
import string
import subprocess
import sys
import traceback

# local imports
import generate_manifest
import gen_stable
import build_binaries_history

import board_list
from board_list import AP_PERIPH_BOARDS

if sys.version_info[0] < 3:
    running_python3 = False
else:
    running_python3 = True


def topdir():
    '''return path to ardupilot checkout directory.  This is to cope with
    running on developer's machines (where autotest is typically
    invoked from the root directory), and on the autotest server where
    it is invoked in the checkout's parent directory.
    '''
    for path in [
            os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", ".."),
            "",
            ]:
        if os.path.exists(os.path.join(path, "libraries", "AP_HAL_ChibiOS")):
            return path
    raise Exception("Unable to find ardupilot checkout dir")


def is_chibios_build(board):
    '''see if a board is using HAL_ChibiOS'''
    # cope with both running from Tools/scripts or running from cwd
    hwdef_dir = os.path.join(topdir(), "libraries", "AP_HAL_ChibiOS", "hwdef")

    return os.path.exists(os.path.join(hwdef_dir, board, "hwdef.dat"))


def get_required_compiler(vehicle, tag, board):
    '''return required compiler for a build tag.
       return format is the version string that waf configure will detect.
       You should setup a link from this name in $HOME/arm-gcc directory pointing at the
       appropriate compiler
    '''
    if not is_chibios_build(board):
        # only override compiler for ChibiOS builds
        return None
    # use 10.2.1 compiler for all other builds
    return "g++-10.2.1"


class build_binaries(object):
    def __init__(self, tags):
        self.tags = tags
        self.dirty = False
        self.board_list = board_list.BoardList()

    def progress(self, string):
        '''pretty-print progress'''
        print("BB: %s" % string)

    def run_git(self, args):
        '''run git with args git_args; returns git's output'''
        cmd_list = ["git"]
        cmd_list.extend(args)
        return self.run_program("BB-GIT", cmd_list)

    def board_branch_bit(self, board):
        '''return a fragment which might modify the branch name.
        this was previously used to have a master-AVR branch etc
        if the board type was apm1 or apm2'''
        return None

    def board_options(self, board):
        '''return board-specific options'''
        if board in ["bebop", "disco"]:
            return ["--static"]
        return []

    def run_waf(self, args, compiler=None):
        if os.path.exists("waf"):
            waf = "./waf"
        else:
            waf = os.path.join(".", "modules", "waf", "waf-light")
        cmd_list = ["python3", waf]
        cmd_list.extend(args)
        env = None
        if compiler is not None:
            # default to $HOME/arm-gcc, but allow for any path with AP_GCC_HOME environment variable
            gcc_home = os.environ.get("AP_GCC_HOME", os.path.join(os.environ["HOME"], "arm-gcc"))
            gcc_path = os.path.join(gcc_home, compiler, "bin")
            if os.path.exists(gcc_path):
                # setup PATH to point at the right compiler, and setup to use ccache
                env = os.environ.copy()
                env["PATH"] = gcc_path + ":" + env["PATH"]
                env["CC"] = "ccache arm-none-eabi-gcc"
                env["CXX"] = "ccache arm-none-eabi-g++"
            else:
                raise Exception("BB-WAF: Missing compiler %s" % gcc_path)
        self.run_program("BB-WAF", cmd_list, env=env)

    def run_program(self, prefix, cmd_list, show_output=True, env=None, force_success=False):
        if show_output:
            self.progress("Running (%s)" % " ".join(cmd_list))
        p = subprocess.Popen(cmd_list, stdin=None,
                             stdout=subprocess.PIPE, close_fds=True,
                             stderr=subprocess.STDOUT, env=env)
        output = ""
        while True:
            x = p.stdout.readline()
            if len(x) == 0:
                returncode = os.waitpid(p.pid, 0)
                if returncode:
                    break
                    # select not available on Windows... probably...
                time.sleep(0.1)
                continue
            if running_python3:
                x = bytearray(x)
                x = filter(lambda x : chr(x) in string.printable, x)
                x = "".join([chr(c) for c in x])
            output += x
            x = x.rstrip()
            if show_output:
                print("%s: %s" % (prefix, x))
        (_, status) = returncode
        if status != 0 and not force_success:
            self.progress("Process failed (%s)" %
                          str(returncode))
            raise subprocess.CalledProcessError(
                returncode, cmd_list)
        return output

    def run_make(self, args):
        cmd_list = ["make"]
        cmd_list.extend(args)
        self.run_program("BB-MAKE", cmd_list)

    def run_git_update_submodules(self):
        '''if submodules are present initialise and update them'''
        if os.path.exists(os.path.join(self.basedir, ".gitmodules")):
            self.run_git(["submodule",
                          "update",
                          "--init",
                          "--recursive",
                          "-f"])

    def checkout(self, vehicle, ctag, cboard=None, cframe=None, submodule_update=True):
        '''attempt to check out a git tree.  Various permutations are
attempted based on ctag - for examplle, if the board is avr and ctag
is bob we will attempt to checkout bob-AVR'''
        if self.dirty:
            self.progress("Skipping checkout for dirty build")
            return True

        self.progress("Trying checkout %s %s %s %s" %
                      (vehicle, ctag, cboard, cframe))
        self.run_git(['stash'])
        if ctag == "latest":
            vtag = "master"
        else:
            tagvehicle = vehicle
            if tagvehicle == "Rover":
                # FIXME: Rover tags in git still named APMrover2 :-(
                tagvehicle = "APMrover2"
            vtag = "%s-%s" % (tagvehicle, ctag)

        branches = []
        if cframe is not None:
            # try frame specific tag
            branches.append("%s-%s" % (vtag, cframe))
        if cboard is not None:
            bbb = self.board_branch_bit(cboard)
            if bbb is not None:
                # try board type specific branch extension
                branches.append("".join([vtag, bbb]))
        branches.append(vtag)

        for branch in branches:
            try:
                self.progress("Trying branch %s" % branch)
                self.run_git(["checkout", "-f", branch])
                if submodule_update:
                    self.run_git_update_submodules()
                self.run_git(["log", "-1"])
                return True
            except subprocess.CalledProcessError:
                self.progress("Checkout branch %s failed" % branch)

        self.progress("Failed to find tag for %s %s %s %s" %
                      (vehicle, ctag, cboard, cframe))
        return False

    def skip_board_waf(self, board):
        '''check if we should skip this build because we do not support the
        board in this release
        '''

        try:
            out = self.run_program(
                'waf',
                ["python3", './waf', 'configure', '--board=BOARDTEST'],
                show_output=False,
                force_success=True
            )
            lines = out.split('\n')
            needles = ["BOARDTEST' (choose from", "BOARDTEST': choices are"]
            for line in lines:
                for needle in needles:
                    idx = line.find(needle)
                    if idx != -1:
                        break
                if idx != -1:
                    line = line[idx+len(needle):-1]
                    line = line.replace("'", "")
                    line = line.replace(" ", "")
                    boards = line.split(",")
                    ret = board not in boards
                    if ret:
                        self.progress("Skipping board (%s) - not in board list" % board)
                    return ret
        except IOError as e:
            if e.errno != 2:
                raise

        self.progress("Skipping unsupported board %s" % (board,))
        return True

    def skip_frame(self, board, frame):
        '''returns true if this board/frame combination should not be built'''
        if frame == "heli":
            if board in ["bebop", "aerofc-v1", "skyviper-v2450", "CubeSolo", "CubeGreen-solo", 'skyviper-journey']:
                self.progress("Skipping heli build for %s" % board)
                return True
        return False

    def first_line_of_filepath(self, filepath):
        '''returns the first (text) line from filepath'''
        with open(filepath) as fh:
            line = fh.readline()
        return line

    def skip_build(self, buildtag, builddir):
        '''check if we should skip this build because we have already built
        this version
        '''

        if os.getenv("FORCE_BUILD", False):
            return False

        if not os.path.exists(os.path.join(self.basedir, '.gitmodules')):
            self.progress("Skipping build without submodules")
            return True

        bname = os.path.basename(builddir)
        ldir = os.path.join(os.path.dirname(os.path.dirname(
            os.path.dirname(builddir))), buildtag, bname)  # FIXME: WTF

        oldversion_filepath = os.path.join(ldir, "git-version.txt")
        if not os.path.exists(oldversion_filepath):
            self.progress("%s doesn't exist - building" % oldversion_filepath)
            return False

        oldversion = self.first_line_of_filepath(oldversion_filepath)
        newversion = self.run_git(["log", "-1"])
        newversion = newversion.splitlines()[0]
        oldversion = oldversion.rstrip()
        newversion = newversion.rstrip()
        self.progress("oldversion=%s newversion=%s" %
                      (oldversion, newversion,))
        if oldversion == newversion:
            self.progress("Skipping build - version match (%s)" %
                          (newversion,))
            return True

        self.progress("%s needs rebuild" % (ldir,))
        return False

    def write_string_to_filepath(self, string, filepath):
        '''writes the entirety of string to filepath'''
        with open(filepath, "w") as x:
            x.write(string)

    def version_h_path(self, src):
        '''return path to version.h'''
        if src == 'AP_Periph':
            return os.path.join('Tools', src, "version.h")
        return os.path.join(src, "version.h")

    def addfwversion_gitversion(self, destdir, src):
        # create git-version.txt:
        gitlog = self.run_git(["log", "-1"])
        gitversion_filepath = os.path.join(destdir, "git-version.txt")
        gitversion_content = gitlog
        versionfile = self.version_h_path(src)
        if os.path.exists(versionfile):
            content = self.read_string_from_filepath(versionfile)
            match = re.search('define.THISFIRMWARE "([^"]+)"', content)
            if match is None:
                self.progress("Failed to retrieve THISFIRMWARE from version.h")
                self.progress("Content: (%s)" % content)
            self.progress("Writing version info to %s" %
                          (gitversion_filepath,))
            gitversion_content += "\nAPMVERSION: %s\n" % (match.group(1))
        else:
            self.progress("%s does not exist" % versionfile)

        self.write_string_to_filepath(gitversion_content, gitversion_filepath)

    def addfwversion_firmwareversiontxt(self, destdir, src):
        # create firmware-version.txt
        versionfile = self.version_h_path(src)
        if not os.path.exists(versionfile):
            self.progress("%s does not exist" % (versionfile,))
            return
        ss = r".*define +FIRMWARE_VERSION[	 ]+(?P<major>\d+)[ ]*,[ 	]*" \
             r"(?P<minor>\d+)[ ]*,[	 ]*(?P<point>\d+)[ ]*,[	 ]*" \
             r"(?P<type>[A-Z_]+)[	 ]*"
        content = self.read_string_from_filepath(versionfile)
        match = re.search(ss, content)
        if match is None:
            self.progress("Failed to retrieve FIRMWARE_VERSION from version.h")
            self.progress("Content: (%s)" % content)
            return
        ver = "%d.%d.%d-%s\n" % (int(match.group("major")),
                                 int(match.group("minor")),
                                 int(match.group("point")),
                                 match.group("type"))
        firmware_version_filepath = "firmware-version.txt"
        self.progress("Writing version (%s) to %s" %
                      (ver, firmware_version_filepath,))
        self.write_string_to_filepath(
            ver, os.path.join(destdir, firmware_version_filepath))

    def addfwversion(self, destdir, src):
        '''write version information into destdir'''
        self.addfwversion_gitversion(destdir, src)
        self.addfwversion_firmwareversiontxt(destdir, src)

    def read_string_from_filepath(self, filepath):
        '''returns content of filepath as a string'''
        with open(filepath, 'rb') as fh:
            content = fh.read()

        if running_python3:
            return content.decode('ascii')

        return content

    def string_in_filepath(self, string, filepath):
        '''returns true if string exists in the contents of filepath'''
        return string in self.read_string_from_filepath(filepath)

    def mkpath(self, path):
        '''make directory path and all elements leading to it'''
        '''distutils.dir_util.mkpath was playing up'''
        try:
            os.makedirs(path)
        except OSError as e:
            if e.errno != 17:  # EEXIST
                raise e

    def touch_filepath(self, filepath):
        '''creates a file at filepath, or updates the timestamp on filepath'''
        if os.path.exists(filepath):
            os.utime(filepath, None)
        else:
            with open(filepath, "a"):
                pass

    def build_vehicle(self, tag, vehicle, boards, vehicle_binaries_subdir,
                      binaryname, frames=[None]):
        '''build vehicle binaries'''
        self.progress("Building %s %s binaries (cwd=%s)" %
                      (vehicle, tag, os.getcwd()))

        board_count = len(boards)
        count = 0
        for board in sorted(boards, key=str.lower):
            now = datetime.datetime.now()
            count += 1
            self.progress("[%u/%u] Building board: %s at %s" %
                          (count, board_count, board, str(now)))
            for frame in frames:
                if frame is not None:
                    self.progress("Considering frame %s for board %s" %
                                  (frame, board))
                if frame is None:
                    framesuffix = ""
                else:
                    framesuffix = "-%s" % frame
                if not self.checkout(vehicle, tag, board, frame, submodule_update=False):
                    msg = ("Failed checkout of %s %s %s %s" %
                           (vehicle, board, tag, frame,))
                    self.progress(msg)
                    self.error_strings.append(msg)
                    continue

                self.progress("Building %s %s %s binaries %s" %
                              (vehicle, tag, board, frame))
                ddir = os.path.join(self.binaries,
                                    vehicle_binaries_subdir,
                                    self.hdate_ym,
                                    self.hdate_ymdhm,
                                    "".join([board, framesuffix]))
                if self.skip_build(tag, ddir):
                    continue
                if self.skip_frame(board, frame):
                    continue

                # we do the submodule update after the skip_board_waf check to avoid doing it on
                # builds we will not be running
                self.run_git_update_submodules()

                if self.skip_board_waf(board):
                    continue

                if os.path.exists(self.buildroot):
                    shutil.rmtree(self.buildroot)

                self.remove_tmpdir()

                githash = self.run_git(["rev-parse", "HEAD"]).rstrip()

                t0 = time.time()

                self.progress("Configuring for %s in %s" %
                              (board, self.buildroot))
                try:
                    waf_opts = ["configure",
                                "--board", board,
                                "--out", self.buildroot,
                                "clean"]
                    gccstring = get_required_compiler(vehicle, tag, board)
                    if gccstring is not None and gccstring.find("g++-6.3") == -1:
                        # versions using the old compiler don't have the --assert-cc-version option
                        waf_opts += ["--assert-cc-version", gccstring]

                    waf_opts.extend(self.board_options(board))
                    self.run_waf(waf_opts, compiler=gccstring)
                except subprocess.CalledProcessError:
                    self.progress("waf configure failed")
                    continue

                time_taken_to_configure = time.time() - t0

                try:
                    target = os.path.join("bin",
                                          "".join([binaryname, framesuffix]))
                    self.run_waf(["build", "--targets", target], compiler=gccstring)
                except subprocess.CalledProcessError:
                    msg = ("Failed build of %s %s%s %s" %
                           (vehicle, board, framesuffix, tag))
                    self.progress(msg)
                    self.error_strings.append(msg)
                    # record some history about this build
                    t1 = time.time()
                    time_taken_to_build = t1-t0
                    self.history.record_build(githash, tag, vehicle, board, frame, None, t0, time_taken_to_build)
                    continue

                time_taken_to_build = (time.time()-t0) - time_taken_to_configure

                time_taken = time.time()-t0
                self.progress("Making %s %s %s %s took %u seconds (configure=%u build=%u)" %
                              (vehicle, tag, board, frame, time_taken, time_taken_to_configure, time_taken_to_build))

                bare_path = os.path.join(self.buildroot,
                                         board,
                                         "bin",
                                         "".join([binaryname, framesuffix]))
                files_to_copy = []
                extensions = [".apj", ".abin", "_with_bl.hex", ".hex"]
                if vehicle == 'AP_Periph' or board == "Here4FC":
                    # need bin file for uavcan-gui-tool and MissionPlanner
                    extensions.append('.bin')
                for extension in extensions:
                    filepath = "".join([bare_path, extension])
                    if os.path.exists(filepath):
                        files_to_copy.append((filepath, os.path.basename(filepath)))
                if not os.path.exists(bare_path):
                    raise Exception("No elf file?!")

                # attempt to run an extract_features.py to create features.txt:
                features_text = None
                ef_path = os.path.join(topdir(), "Tools", "scripts", "extract_features.py")
                if os.path.exists(ef_path):
                    try:
                        features_text = self.run_program("EF", [ef_path, bare_path], show_output=False)
                    except Exception as e:
                        self.print_exception_caught(e)
                        self.progress("Failed to extract features")
                        pass
                else:
                    self.progress("Not extracting features as (%s) does not exist" % (ef_path,))

                # only rename the elf if we have have other files to
                # copy.  So linux gets "arducopter" and stm32 gets
                # "arducopter.elf"
                target_elf_filename = os.path.basename(bare_path)
                if len(files_to_copy) > 0:
                    target_elf_filename += ".elf"
                files_to_copy.append((bare_path, target_elf_filename))

                for (path, target_filename) in files_to_copy:
                    try:
                        '''copy path into various places, adding metadata'''
                        bname = os.path.basename(ddir)
                        tdir = os.path.join(os.path.dirname(os.path.dirname(
                            os.path.dirname(ddir))), tag, bname)
                        if tag == "latest":
                            # we keep a permanent archive of all
                            # "latest" builds, their path including a
                            # build timestamp:
                            if not os.path.exists(ddir):
                                self.mkpath(ddir)
                            self.addfwversion(ddir, vehicle)
                            features_filepath = os.path.join(ddir, "features.txt",)
                            if features_text is not None:
                                self.progress("Writing (%s)" % features_filepath)
                                self.write_string_to_filepath(features_text, features_filepath)
                            self.progress("Copying %s to %s" % (path, ddir,))
                            shutil.copy(path, os.path.join(ddir, target_filename))
                        # the most recent build of every tag is kept around:
                        self.progress("Copying %s to %s" % (path, tdir))
                        if not os.path.exists(tdir):
                            self.mkpath(tdir)
                        # must addfwversion even if path already
                        # exists as we re-use the "beta" directories
                        self.addfwversion(tdir, vehicle)
                        features_filepath = os.path.join(tdir, "features.txt")
                        if features_text is not None:
                            self.progress("Writing (%s)" % features_filepath)
                            self.write_string_to_filepath(features_text, features_filepath)
                        shutil.copy(path, os.path.join(tdir, target_filename))
                    except Exception as e:
                        self.print_exception_caught(e)
                        self.progress("Failed to copy %s to %s: %s" % (path, tdir, str(e)))
                # why is touching this important? -pb20170816
                self.touch_filepath(os.path.join(self.binaries,
                                                 vehicle_binaries_subdir, tag))

                # record some history about this build
                self.history.record_build(githash, tag, vehicle, board, frame, bare_path, t0, time_taken_to_build)

        self.checkout(vehicle, "latest")

    def _get_exception_stacktrace(self, e):
        if sys.version_info[0] >= 3:
            ret = "%s\n" % e
            ret += ''.join(traceback.format_exception(type(e),
                                                      e,
                                                      tb=e.__traceback__))
            return ret

        # Python2:
        return traceback.format_exc(e)

    def get_exception_stacktrace(self, e):
        try:
            return self._get_exception_stacktrace(e)
        except Exception:
            return "FAILED TO GET EXCEPTION STACKTRACE"

    def print_exception_caught(self, e, send_statustext=True):
        self.progress("Exception caught: %s" %
                      self.get_exception_stacktrace(e))

    def AP_Periph_boards(self):
        return AP_PERIPH_BOARDS

    def build_arducopter(self, tag):
        '''build Copter binaries'''

        boards = []
        boards.extend(["aerofc-v1", "bebop"])
        boards.extend(self.board_list.find_autobuild_boards('Copter'))
        self.build_vehicle(tag,
                           "ArduCopter",
                           boards,
                           "Copter",
                           "arducopter",
                           frames=[None, "heli"])

    def build_arduplane(self, tag):
        '''build Plane binaries'''
        boards = self.board_list.find_autobuild_boards('Plane')[:]
        boards.append("disco")
        self.build_vehicle(tag,
                           "ArduPlane",
                           boards,
                           "Plane",
                           "arduplane")

    def build_antennatracker(self, tag):
        '''build Tracker binaries'''
        self.build_vehicle(tag,
                           "AntennaTracker",
                           self.board_list.find_autobuild_boards('Tracker')[:],
                           "AntennaTracker",
                           "antennatracker")

    def build_rover(self, tag):
        '''build Rover binaries'''
        self.build_vehicle(tag,
                           "Rover",
                           self.board_list.find_autobuild_boards('Rover')[:],
                           "Rover",
                           "ardurover")

    def build_ardusub(self, tag):
        '''build Sub binaries'''
        self.build_vehicle(tag,
                           "ArduSub",
                           self.board_list.find_autobuild_boards('Sub')[:],
                           "Sub",
                           "ardusub")

    def build_AP_Periph(self, tag):
        '''build AP_Periph binaries'''
        boards = self.AP_Periph_boards()
        self.build_vehicle(tag,
                           "AP_Periph",
                           boards,
                           "AP_Periph",
                           "AP_Periph")

    def build_blimp(self, tag):
        '''build Blimp binaries'''
        self.build_vehicle(tag,
                           "Blimp",
                           self.board_list.find_autobuild_boards('Blimp')[:],
                           "Blimp",
                           "blimp")

    def generate_manifest(self):
        '''generate manigest files for GCS to download'''
        self.progress("Generating manifest")
        base_url = 'https://firmware.ardupilot.org'
        generator = generate_manifest.ManifestGenerator(self.binaries,
                                                        base_url)
        generator.run()

        generator.write_manifest_json(os.path.join(self.binaries, "manifest.json"))
        generator.write_features_json(os.path.join(self.binaries, "features.json"))
        self.progress("Manifest generation successful")

        self.progress("Generating stable releases")
        gen_stable.make_all_stable(self.binaries)
        self.progress("Generate stable releases done")

    def validate(self):
        '''run pre-run validation checks'''
        if "dirty" in self.tags:
            if len(self.tags) > 1:
                raise ValueError("dirty must be only tag if present (%s)" %
                                 (str(self.tags)))
            self.dirty = True

    def remove_tmpdir(self):
        if os.path.exists(self.tmpdir):
            self.progress("Removing (%s)" % (self.tmpdir,))
            shutil.rmtree(self.tmpdir)

    def buildlogs_dirpath(self):
        return os.getenv("BUILDLOGS",
                         os.path.join(os.getcwd(), "..", "buildlogs"))

    def run(self):
        self.validate()

        self.mkpath(self.buildlogs_dirpath())

        binaries_history_filepath = os.path.join(
            self.buildlogs_dirpath(), "build_binaries_history.sqlite")
        self.history = build_binaries_history.BuildBinariesHistory(binaries_history_filepath)

        prefix_bin_dirpath = os.path.join(os.environ.get('HOME'),
                                          "prefix", "bin")
        origin_env_path = os.environ.get("PATH")
        os.environ["PATH"] = ':'.join([prefix_bin_dirpath, origin_env_path,
                                       "/bin", "/usr/bin"])
        if 'BUILD_BINARIES_PATH' in os.environ:
            self.tmpdir = os.environ['BUILD_BINARIES_PATH']
        else:
            self.tmpdir = os.path.join(os.getcwd(), 'build.tmp.binaries')
        os.environ["TMPDIR"] = self.tmpdir

        print(self.tmpdir)
        self.remove_tmpdir()

        self.progress("Building in %s" % self.tmpdir)

        now = datetime.datetime.now()
        self.progress(now)

        if not self.dirty:
            self.run_git(["checkout", "-f", "master"])
        githash = self.run_git(["rev-parse", "HEAD"])
        githash = githash.rstrip()
        self.progress("git hash: %s" % str(githash))

        self.hdate_ym = now.strftime("%Y-%m")
        self.hdate_ymdhm = now.strftime("%Y-%m-%d-%H:%m")

        self.mkpath(os.path.join("binaries", self.hdate_ym,
                                 self.hdate_ymdhm))
        self.binaries = os.path.join(self.buildlogs_dirpath(), "binaries")
        self.basedir = os.getcwd()
        self.error_strings = []

        if not self.dirty:
            self.run_git_update_submodules()
        self.buildroot = os.path.join(os.environ.get("TMPDIR"),
                                      "binaries.build")

        for tag in self.tags:
            t0 = time.time()
            self.build_arducopter(tag)
            self.build_arduplane(tag)
            self.build_rover(tag)
            self.build_antennatracker(tag)
            self.build_ardusub(tag)
            self.build_AP_Periph(tag)
            self.build_blimp(tag)
            self.history.record_run(githash, tag, t0, time.time()-t0)

        if os.path.exists(self.tmpdir):
            shutil.rmtree(self.tmpdir)

        self.generate_manifest()

        for error_string in self.error_strings:
            self.progress("%s" % error_string)
        sys.exit(len(self.error_strings))


if __name__ == '__main__':
    parser = optparse.OptionParser("build_binaries.py")

    parser.add_option("", "--tags", action="append", type="string",
                      default=[], help="tags to build")
    cmd_opts, cmd_args = parser.parse_args()

    tags = cmd_opts.tags
    if len(tags) == 0:
        # FIXME: wedge this defaulting into parser somehow
        tags = ["stable", "beta-4.3", "beta", "latest"]

    bb = build_binaries(tags)
    bb.run()