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
|
# Copyright 1999-2021 Gentoo Authors
# 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, single-python installation, live ebuilds (git only).
case "${EAPI:-0}" in
0|1|2|3|4|5|6)
die "EAPI='${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
# ROS only really works with one global python version and the target
# version depends on the release. Noetic targets 3.7 and 3.8.
# py3.9 or later are ok to add there as long as dev-ros/* have their deps satisfied.
PYTHON_COMPAT=( python3_{7,8,9} )
inherit ${SCM} python-single-r1 cmake flag-o-matic
REQUIRED_USE="${PYTHON_REQUIRED_USE}"
IUSE="test"
RESTRICT="!test? ( test )"
RDEPEND="${PYTHON_DEPS}"
DEPEND="${RDEPEND}
$(python_gen_cond_dep "dev-util/catkin[\${PYTHON_USEDEP}]")
$(python_gen_cond_dep "dev-python/empy[\${PYTHON_USEDEP}]")
"
# @ECLASS-VARIABLE: CATKIN_HAS_MESSAGES
# @PRE_INHERIT
# @DESCRIPTION:
# Set it to a non-empty value before inherit to tell the eclass the package has messages to build.
# Messages will be built based on ROS_MESSAGES USE_EXPANDed variable.
# @ECLASS-VARIABLE: CATKIN_MESSAGES_TRANSITIVE_DEPS
# @PRE_INHERIT
# @DESCRIPTION:
# Some messages have dependencies on other messages.
# In that case, CATKIN_MESSAGES_TRANSITIVE_DEPS should contain a space-separated list of atoms
# representing those dependencies. The eclass uses it to ensure proper dependencies on these packages.
if [ -n "${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:=[${PYTHON_SINGLE_USEDEP}] )
ros_messages_eus? ( dev-ros/geneus:=[${PYTHON_SINGLE_USEDEP}] )
ros_messages_python? ( dev-ros/genpy:=[${PYTHON_SINGLE_USEDEP}] )
ros_messages_lisp? ( dev-ros/genlisp:=[${PYTHON_SINGLE_USEDEP}] )
ros_messages_nodejs? ( dev-ros/gennodejs:=[${PYTHON_SINGLE_USEDEP}] )
dev-ros/message_runtime
"
DEPEND="${DEPEND} ${RDEPEND}
dev-ros/message_generation
dev-ros/genmsg[${PYTHON_SINGLE_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_SINGLE_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_SINGLE_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} ${ROS_REPO_URI}"
# @FUNCTION: ros-catkin_src_prepare
# @DESCRIPTION:
# Calls cmake_src_prepare (so that PATCHES array is handled there) and initialises the workspace
# by installing a recursive CMakeLists.txt to handle bundles.
ros-catkin_src_prepare() {
# If no multibuild, just use cmake IN_SOURCE support
[ -n "${CATKIN_IN_SOURCE_BUILD}" ] && export CMAKE_IN_SOURCE_BUILD=yes
cmake_src_prepare
if [ ! -f "${S}/CMakeLists.txt" ] ; then
catkin_init_workspace || die
fi
# Most packages require C++11 these days. Do it here, in src_prepare so that
# ebuilds can override it in src_configure.
append-cxxflags '-std=c++14'
}
# @VARIABLE: mycatkincmakeargs
# @DEFAULT_UNSET
# @DESCRIPTION:
# Optional cmake defines as a bash array. Should be defined before calling
# src_configure.
# @FUNCTION: ros-catkin_src_configure
# @DESCRIPTION:
# Configures a catkin-based package.
ros-catkin_src_configure() {
export CATKIN_PREFIX_PATH="${EPREFIX}/usr"
export ROS_ROOT="${EPREFIX}/usr/share/ros"
export ROS_PYTHON_VERSION="${EPYTHON#python}"
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=(
"-DCATKIN_ENABLE_TESTING=$(usex test)"
"-DCATKIN_BUILD_BINARY_PACKAGE=ON"
"-DCATKIN_PREFIX_PATH=${SYSROOT:-${EPREFIX}}/usr"
"${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_src_configure "${@}"
}
# @FUNCTION: ros-catkin_src_compile
# @DESCRIPTION:
# Builds a catkin-based package.
ros-catkin_src_compile() {
cmake_src_compile "${@}"
}
# @FUNCTION: ros-catkin_src_test
# @DESCRIPTION:
# Run the tests of a catkin-based package.
ros-catkin_src_test() {
cd "${BUILD_DIR}" || die
# 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"
${PYTHON:-python} catkin_generated/generate_cached_setup.py || die
fi
nonfatal cmake_build tests
cmake_src_test "${@}"
}
# @FUNCTION: ros-catkin_src_install
# @DESCRIPTION:
# Installs a catkin-based package.
ros-catkin_src_install() {
if [ -n "${CATKIN_IN_SOURCE_BUILD}" ] ; then
export CMAKE_USE_DIR="${BUILD_DIR}"
fi
cmake_src_install "${@}"
python_optimize
}
EXPORT_FUNCTIONS src_prepare src_configure src_compile src_test src_install
|
GitWeb