summaryrefslogtreecommitdiff
path: root/eclass/ros-catkin.eclass
blob: 667ecd4583f79b858bdee6be11b315824df22bea (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
# Copyright 1999-2015 Gentoo Foundation
# Distributed under the terms of the GNU General Public License v2

# @ECLASS: ros-catkin.eclass
# @MAINTAINER:
# ros@gentoo.org
# @AUTHOR:
# Alexis Ballier <aballier@gentoo.org>
# @SUPPORTED_EAPIS: 5 6 7
# @BLURB: Template eclass for catkin based ROS packages.
# @DESCRIPTION:
# Provides function for building ROS packages on Gentoo.
# It supports selectively building messages, multi-python installation, live ebuilds (git only).

case "${EAPI:-0}" in
	0|1|2|3|4)
		die "EAPI='${EAPI}' is not supported"
		;;
	*)
		;;
esac

# @ECLASS-VARIABLE: ROS_REPO_URI
# @DESCRIPTION:
# URL of the upstream repository. Usually on github.
# Serves for fetching tarballs, live ebuilds and inferring the meta-package name.
EGIT_REPO_URI="${ROS_REPO_URI}"

# @ECLASS-VARIABLE: ROS_SUBDIR
# @DEFAULT_UNSET
# @DESCRIPTION:
# Subdir in which current packages is located.
# Usually, a repository contains several packages, hence a typical value is:
# ROS_SUBDIR=${PN}

# @ECLASS-VARIABLE: CATKIN_IN_SOURCE_BUILD
# @DEFAULT_UNSET
# @DESCRIPTION:
# Set to enable in-source build.

SCM=""
if [ "${PV#9999}" != "${PV}" ] ; then
	SCM="git-r3"
fi

# This should be temporary. ROS only really works with one global python
# version. The idea here is to have a ROS_COMPAT in the same vein as
# PYTHON_COMPAT where packages would define what distro they can work on, then
# we'd have ros_distro_gentoo_python_2_7 & co plus the OSRF ones (lunar, etc.).
# Note that this uncondtionally pulls python but in the ROS world there will
# most certainly be something pulling python anyway.
PYTHON_COMPAT=( python2_7 )

inherit ${SCM} python-r1 cmake-utils flag-o-matic

REQUIRED_USE="${PYTHON_REQUIRED_USE}"

IUSE="test"
RDEPEND="${PYTHON_DEPS}"
DEPEND="${RDEPEND}
	dev-util/catkin[${PYTHON_USEDEP}]
	dev-python/empy[${PYTHON_USEDEP}]
"

# @ECLASS-VARIABLE: CATKIN_HAS_MESSAGES
# @DESCRIPTION:
# Set it to a non-empty value before inherit to tell the eclass the package has messages to build.
# Messages will be built based on ROS_MESSAGES USE_EXPANDed variable.

# @ECLASS-VARIABLE: CATKIN_MESSAGES_TRANSITIVE_DEPS
# @DESCRIPTION:
# Some messages have dependencies on other messages.
# In that case, CATKIN_MESSAGES_TRANSITIVE_DEPS should contain a space-separated list of atoms
# representing those dependencies. The eclass uses it to ensure proper dependencies on these packages.
if [ -n "${CATKIN_HAS_MESSAGES}" ] ; then
	IUSE="${IUSE} +ros_messages_python +ros_messages_cxx ros_messages_eus ros_messages_lisp ros_messages_nodejs"
	RDEPEND="${RDEPEND}
		ros_messages_cxx?    ( dev-ros/gencpp:=    dev-ros/gencpp[${PYTHON_USEDEP}]    )
		ros_messages_eus?    ( dev-ros/geneus:=    dev-ros/geneus[${PYTHON_USEDEP}]    )
		ros_messages_python? ( dev-ros/genpy:=     dev-ros/genpy[${PYTHON_USEDEP}]     )
		ros_messages_lisp?   ( dev-ros/genlisp:=   dev-ros/genlisp[${PYTHON_USEDEP}]   )
		ros_messages_nodejs? ( dev-ros/gennodejs:= dev-ros/gennodejs[${PYTHON_USEDEP}] )
		dev-ros/message_runtime
	"
	DEPEND="${DEPEND} ${RDEPEND}
		dev-ros/message_generation
		dev-ros/genmsg[${PYTHON_USEDEP}]
	"
	if [ -n "${CATKIN_MESSAGES_TRANSITIVE_DEPS}" ] ; then
		for i in ${CATKIN_MESSAGES_TRANSITIVE_DEPS} ; do
			ds="${i}[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( ${i}[${PYTHON_USEDEP}] )"
			RDEPEND="${RDEPEND} ${ds}"
			DEPEND="${DEPEND} ${ds}"
		done
	fi
fi

# @ECLASS-VARIABLE: CATKIN_MESSAGES_CXX_USEDEP
# @DESCRIPTION:
# Use it as cat/pkg[${CATKIN_MESSAGES_CXX_USEDEP}] to indicate a dependency on the C++ messages of cat/pkg.
CATKIN_MESSAGES_CXX_USEDEP="ros_messages_cxx(-)"

# @ECLASS-VARIABLE: CATKIN_MESSAGES_PYTHON_USEDEP
# @DESCRIPTION:
# Use it as cat/pkg[${CATKIN_MESSAGES_PYTHON_USEDEP}] to indicate a dependency on the Python messages of cat/pkg.
CATKIN_MESSAGES_PYTHON_USEDEP="ros_messages_python(-),${PYTHON_USEDEP}"

# @ECLASS-VARIABLE: CATKIN_MESSAGES_LISP_USEDEP
# @DESCRIPTION:
# Use it as cat/pkg[${CATKIN_MESSAGES_LISP_USEDEP}] to indicate a dependency on the Common-Lisp messages of cat/pkg.
CATKIN_MESSAGES_LISP_USEDEP="ros_messages_lisp(-)"

# @ECLASS-VARIABLE: CATKIN_MESSAGES_EUS_USEDEP
# @DESCRIPTION:
# Use it as cat/pkg[${CATKIN_MESSAGES_EUS_USEDEP}] to indicate a dependency on the EusLisp messages of cat/pkg.
CATKIN_MESSAGES_EUS_USEDEP="ros_messages_eus(-)"

# @ECLASS-VARIABLE: CATKIN_MESSAGES_NODEJS_USEDEP
# @DESCRIPTION:
# Use it as cat/pkg[${CATKIN_MESSAGES_NODEJS_USEDEP}] to indicate a dependency on the nodejs messages of cat/pkg.
CATKIN_MESSAGES_NODEJS_USEDEP="ros_messages_nodejs(-)"

if [ "${PV#9999}" != "${PV}" ] ; then
	SRC_URI=""
	KEYWORDS=""
	S=${WORKDIR}/${P}/${ROS_SUBDIR}
else
	SRC_URI="${ROS_REPO_URI}/archive/${VER_PREFIX}${PV%_*}${VER_SUFFIX}.tar.gz -> ${ROS_REPO_URI##*/}-${PV}.tar.gz"
	S=${WORKDIR}/${VER_PREFIX}${ROS_REPO_URI##*/}-${PV}${VER_SUFFIX}/${ROS_SUBDIR}
fi

HOMEPAGE="https://wiki.ros.org/${PN} ${ROS_REPO_URI}"

# @FUNCTION: ros-catkin_src_prepare
# @DESCRIPTION:
# Calls cmake-utils_src_prepare (so that PATCHES array is handled there) and initialises the workspace
# by installing a recursive CMakeLists.txt to handle bundles.
ros-catkin_src_prepare() {
	# If no multibuild, just use cmake IN_SOURCE support
	[ -n "${CATKIN_IN_SOURCE_BUILD}" ] && export CMAKE_IN_SOURCE_BUILD=yes

	cmake-utils_src_prepare

	if [ ! -f "${S}/CMakeLists.txt" ] ; then
		catkin_init_workspace || die
	fi

	# Most packages require C++11 these days. Do it here, in src_prepare so that
	# ebuilds can override it in src_configure.
	append-cxxflags '-std=c++11'
}

# @FUNCTION: ros-catkin_python_setup
# @DESCRIPTION:
# Sets up python environment for ROS packages.
ros-catkin_python_setup() {
	# Todo: Need to match this with ros distro.
	local pyimpl="${PYTHON_COMPAT[0]}"
	python_export "${pyimpl}" EPYTHON PYTHON
	python_wrapper_setup
	python_export PYTHON_SCRIPTDIR
}

# @VARIABLE: mycatkincmakeargs
# @DEFAULT_UNSET
# @DESCRIPTION:
# Optional cmake defines as a bash array. Should be defined before calling
# src_configure.

# @FUNCTION: ros-catkin_src_configure
# @DESCRIPTION:
# Configures a catkin-based package.
ros-catkin_src_configure() {
	ros-catkin_python_setup

	export CATKIN_PREFIX_PATH="${EPREFIX}/usr"
	export ROS_ROOT="${EPREFIX}/usr/share/ros"
	if [ -n "${CATKIN_HAS_MESSAGES}" ] ; then
		ROS_LANG_DISABLE=""
		use ros_messages_cxx    || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:gencpp"
		use ros_messages_eus    || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:geneus"
		use ros_messages_lisp   || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:genlisp"
		use ros_messages_python || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:genpy"
		use ros_messages_nodejs || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:gennodejs"
		export ROS_LANG_DISABLE
	fi

	local mycmakeargs=(
		"$(cmake-utils_use test CATKIN_ENABLE_TESTING)"
		"-DCATKIN_BUILD_BINARY_PACKAGE=ON"
		"-DCATKIN_PREFIX_PATH=${SYSROOT:-${EROOT}}/usr"
		"${mycatkincmakeargs[@]}"
	)

	local sitedir="$(python_get_sitedir)"
	mycmakeargs+=(
		-DPYTHON_EXECUTABLE="${PYTHON}"
		-DPYTHON_INSTALL_DIR="${sitedir#${EPREFIX}/usr/}"
	)
	if [ -n "${CATKIN_IN_SOURCE_BUILD}" ] ; then
		export CMAKE_USE_DIR="${BUILD_DIR}"
	fi

	cmake-utils_src_configure "${@}"
}

# @FUNCTION: ros-catkin_src_compile
# @DESCRIPTION:
# Builds a catkin-based package.
ros-catkin_src_compile() {
	ros-catkin_python_setup
	cmake-utils_src_compile "${@}"
}

# @FUNCTION: ros-catkin_src_test
# @DESCRIPTION:
# Run the tests of a catkin-based package.
ros-catkin_src_test() {
	cd "${BUILD_DIR}" || die

	ros-catkin_python_setup

	# Regenerate env for tests, PYTHONPATH is not set properly otherwise...
	if [ -f catkin_generated/generate_cached_setup.py ] ; then
		einfo "Regenerating setup_cached.sh for tests"
		${PYTHON:-python} catkin_generated/generate_cached_setup.py || die
	fi
	nonfatal cmake-utils_src_make tests
	cmake-utils_src_test "${@}"
}

# @FUNCTION: ros-catkin_src_install
# @DESCRIPTION:
# Installs a catkin-based package.
ros-catkin_src_install() {
	ros-catkin_python_setup

	if [ -n "${CATKIN_IN_SOURCE_BUILD}" ] ; then
		export CMAKE_USE_DIR="${BUILD_DIR}"
	fi

	cmake-utils_src_install "${@}"
	if [ ! -f "${T}/.catkin_python_symlinks_generated" -a -d "${D}/${PYTHON_SCRIPTDIR}" ]; then
		dodir /usr/bin
		for i in "${D}/${PYTHON_SCRIPTDIR}"/* ; do
			dosym ../lib/python-exec/python-exec2 "/usr/bin/${i##*/}"
		done
		touch "${T}/.catkin_python_symlinks_generated" || die
	fi
}

EXPORT_FUNCTIONS src_prepare src_configure src_compile src_test src_install