Refactor LAMBKIN

.ansible/README.md

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+# LAMBKIN Collection for Ansible
+
+An Ansible collection to provision a platform for `lambkin` development and usage.
+
+## Contributing to this collection
+
+## Tested with Ansible
+
+Ansible 7.4.0 (ansible-core 2.14.4)
+
+## External requirements
+
+This collection assumes that `python3` and `pip3` are available in the remote host.
+
+Currently, only POSIX OSes are supported. It is assumed that `sudo` is available for privilege escalation.
+
+## Included content
+
+### Playbooks
+
+#### [ekumenlabs.lambkin.local_runner](playbooks/local_runner.yml)
+
+This playbook provisions the local host to run LAMBKIN-powered benchmarks.
+
+### Roles
+
+#### [ekumenlabs.lambkin.runner](roles/runner)
+
+This role provisions the remote host to run LAMBKIN-powered benchmarks.
+
+By default, all available components are installed. These components may be explicitly included
+and excluded via `include_components` and `exclude_components` (list) variables, respectively.
+
+## Using this collection
+
+### Installing from source
+
+```sh
+git clone https://github.com/ekumenlabs/lambkin
+cd lambkin && ansible-galaxy collection install .ansible
+```
+
+### Provisioning local host
+
+```sh
+ansible-playbook ekumenlabs.lambkin.local_runner
+```
+
+## More information
+
+- [Ansible Collection overview](https://github.com/ansible-collections/overview)
+- [Ansible User guide](https://docs.ansible.com/ansible/devel/user_guide/index.html)
+- [Ansible Developer guide](https://docs.ansible.com/ansible/devel/dev_guide/index.html)
+- [Ansible Community code of conduct](https://docs.ansible.com/ansible/devel/community/code_of_conduct.html)
+- [News for Maintainers](https://github.com/ansible-collections/news-for-maintainers)
+
+## Licensing
+
+Copyright 2023 Ekumen, Inc.
+
+Apache License 2.0
+
+See [LICENSE](../LICENSE) to see full text.

.ansible/galaxy.yml

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+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+---
+namespace: ekumenlabs
+
+name: lambkin
+
+version: 0.1.0
+
+readme: README.md
+
+authors:
+- Michel Hidalgo <[email protected]>
+
+description: Ansible collection for lambkin
+
+license:
+- Apache-2.0
+
+tags:
+  - lambkin
+  - benchmark
+
+dependencies: {}
+
+repository: https://github.com/ekumenlabs/lambkin
+documentation: https://github.com/ekumenlabs/lambkin
+homepage: https://github.com/ekumenlabs/lambkin
+issues: https://github.com/ekumenlabs/lambkin/issues
+
+build_ignore: []

.ansible/meta/runtime.yml

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+---
+requires_ansible: '>= 2.14.0'

.ansible/playbooks/local_runner.yml

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+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+---
+- name: Setup a lambkin runner locally
+  hosts: localhost
+  connection: local
+  become: yes
+  become_method: sudo
+  become_flags: -i
+
+  roles:
+    - ekumenlabs.lambkin.runner

.ansible/roles/common/defaults/main.yml

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+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+---
+repository_uri: "https://github.com/ekumenlabs/lambkin.git"

.ansible/roles/common/tasks/main.yml

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+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+---
+- name: Bring LAMBKIN repository
+  ansible.builtin.import_tasks: repo.yml

.ansible/roles/common/tasks/repo.yml

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+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+---
+- name: Use local LAMBKIN repository
+  ansible.builtin.set_fact:
+    repository_path: "{{ repository_uri | urlsplit('path') }}"
+  when: repository_uri is ansible.builtin.uri(['file'])
+
+- name: Use remote LAMBKIN repository
+  block:
+    - name: Setup repository location
+      ansible.builtin.set_fact:
+        repository_path: /tmp/repository
+    - name: Clone remote repository
+      ansible.builtin.git:
+        repo: "{{ repository_uri }}"
+        dest: "{{ repository_path }}"
+        depth: 1
+  when: repository_uri is not ansible.builtin.uri(['file'])

.ansible/roles/runner/defaults/main.yml

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+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+---
+include_components:
+  - lambkin
+  - latex
+  - ros-noetic
+  - timemory
+
+exclude_components: []

.ansible/roles/runner/handlers/main.yml

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+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+---
+- name: Clear Spack caches
+  ansible.builtin.shell:
+    cmd: spack gc -y

.ansible/roles/runner/meta/main.yml

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+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+---
+dependencies:
+  - role: common

.ansible/roles/runner/tasks/lambkin.yml

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+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+---
+- name: Install lambkin package in full
+  ansible.builtin.pip:
+    name: "{{ repository_path }}/src/core/lambkin[full]"
+    state: latest
+    executable: pip3

.ansible/roles/runner/tasks/latex.yml

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+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+---
+- name: Install TeXLive
+  ansible.builtin.package:
+    name:
+      - latexmk
+      - tex-gyre
+      - texlive-latex-extra
+      - texlive-latex-recommended
+      - texlive-fonts-recommended

.ansible/roles/runner/tasks/main.yml

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+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+---
+- name: Install runner components
+  ansible.builtin.include_tasks: "{{item}}.yml"
+  loop: "{{ include_components | difference(exclude_components) }}"

.ansible/roles/runner/tasks/ros-noetic.yml

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+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+---
+- name: Add packages.ros.org apt repository
+  ansible.builtin.apt_repository:
+    repo: "deb http://packages.ros.org/ros/ubuntu {{ ansible_distribution_release }} main"
+    filename: ros1-latest.list
+    state: present
+
+- name: Add packages.ros.org apt keys
+  ansible.builtin.apt_key:
+    url: https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
+    state: present
+
+- name: Install ROS Noetic desktop
+  ansible.builtin.apt:
+    name:
+      - ros-noetic-desktop
+      - ros-noetic-map-server
+    state: present
+    update_cache: yes
+
+- name: Setup ROS Noetic shell support
+  ansible.builtin.copy:
+    content: |
+      {{ "#" }} Auto-generated with Ansible {{ ansible_version.full }}
+      {{ "#" }} to {{ ansible_play_name | lower }}
+      . /opt/ros/noetic/setup.sh
+    dest: /etc/profile.d/ros.sh
+
+## See https://github.com/ros/ros_comm/issues/2310
+- name: Find roslaunch.nodeprocess module file
+  ansible.builtin.shell:
+    cmd: python3 -c 'import roslaunch.nodeprocess as m; print(m.__file__)'
+  register: module_lookup
+- name: Patch roslaunch for stderr logging
+  ansible.builtin.replace:
+    path: "{{ module_lookup.stdout }}"
+    regexp: "if is_child_mode\\(\\):"
+    replace: "if True:"