eclass/ros-catkin.eclass

   1 # Copyright 1999-2015 Gentoo Foundation
   2 # Distributed under the terms of the GNU General Public License v2
   3 # $Id$
   4
   5 # @ECLASS: ros-catkin.eclass
   6 # @MAINTAINER:
   7 # ros@gentoo.org
   8 # @AUTHOR:
   9 # Alexis Ballier <aballier@gentoo.org>
  10 # @BLURB: Template eclass for catkin based ROS packages.
  11 # @DESCRIPTION:
  12 # Provides function for building ROS packages on Gentoo.
  13 # It supports selectively building messages, multi-python installation, live ebuilds (git only).
  14
  15 case "${EAPI:-0}" in
  16         0|1|2|3|4)
  17                 die "EAPI='${EAPI}' is not supported"
  18                 ;;
  19         *)
  20                 ;;
  21 esac
  22
  23 # @ECLASS-VARIABLE: ROS_REPO_URI
  24 # @DESCRIPTION:
  25 # URL of the upstream repository. Usually on github.
  26 # Serves for fetching tarballs, live ebuilds and inferring the meta-package name.
  27 EGIT_REPO_URI="${ROS_REPO_URI}"
  28
  29 # @ECLASS-VARIABLE: ROS_SUBDIR
  30 # @DEFAULT_UNSET
  31 # @DESCRIPTION:
  32 # Subdir in which current packages is located.
  33 # Usually, a repository contains several packages, hence a typical value is:
  34 # ROS_SUBDIR=${PN}
  35
  36 SCM=""
  37 if [ "${PV#9999}" != "${PV}" ] ; then
  38         SCM="git-r3"
  39 fi
  40
  41 # @ECLASS-VARIABLE: PYTHON_COMPAT
  42 # @DESCRIPTION:
  43 # Tells the eclass the package has python code and forwards it to python-r1.eclass.
  44 PYTHON_ECLASS=""
  45 CATKIN_PYTHON_USEDEP=""
  46 if [ -n "${PYTHON_COMPAT}" ] ; then
  47         PYTHON_ECLASS="python-r1 python-utils-r1"
  48 fi
  49
  50 inherit ${SCM} ${PYTHON_ECLASS} cmake-utils
  51
  52 CATKIN_DO_PYTHON_MULTIBUILD=""
  53 if [ -n "${PYTHON_COMPAT}" ] ; then
  54         CATKIN_PYTHON_USEDEP="[${PYTHON_USEDEP}]"
  55         CATKIN_DO_PYTHON_MULTIBUILD="yes"
  56 fi
  57
  58 IUSE="test"
  59 RDEPEND="
  60         dev-util/catkin${CATKIN_PYTHON_USEDEP}
  61         dev-python/empy${CATKIN_PYTHON_USEDEP}
  62 "
  63 DEPEND="${RDEPEND}"
  64
  65 if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
  66         RDEPEND="${RDEPEND} dev-lang/python-exec:2 ${PYTHON_DEPS}"
  67         DEPEND="${DEPEND} ${PYTHON_DEPS}"
  68 fi
  69
  70 # @ECLASS-VARIABLE: CATKIN_HAS_MESSAGES
  71 # @DESCRIPTION:
  72 # Set it to a non-empty value before inherit to tell the eclass the package has messages to build.
  73 # Messages will be built based on ROS_MESSAGES USE_EXPANDed variable.
  74
  75 # @ECLASS-VARIABLE: CATKIN_MESSAGES_TRANSITIVE_DEPS
  76 # @DESCRIPTION:
  77 # Some messages have dependencies on other messages.
  78 # In that case, CATKIN_MESSAGES_TRANSITIVE_DEPS should contain a space-separated list of atoms
  79 # representing those dependencies. The eclass uses it to ensure proper dependencies on these packages.
  80 if [ -n "${CATKIN_HAS_MESSAGES}" ] ; then
  81         IUSE="${IUSE} +ros_messages_python +ros_messages_cxx ros_messages_eus ros_messages_lisp ros_messages_nodejs"
  82         RDEPEND="${RDEPEND}
  83                 ros_messages_cxx?    ( dev-ros/gencpp:=${CATKIN_PYTHON_USEDEP}    )
  84                 ros_messages_eus?    ( dev-ros/geneus:=${CATKIN_PYTHON_USEDEP}    )
  85                 ros_messages_python? ( dev-ros/genpy:=${CATKIN_PYTHON_USEDEP}     )
  86                 ros_messages_lisp?   ( dev-ros/genlisp:=${CATKIN_PYTHON_USEDEP}   )
  87                 ros_messages_nodejs? ( dev-ros/gennodejs:=${CATKIN_PYTHON_USEDEP} )
  88                 dev-ros/message_runtime
  89         "
  90         DEPEND="${DEPEND} ${RDEPEND}
  91                 dev-ros/message_generation
  92                 dev-ros/genmsg${CATKIN_PYTHON_USEDEP}
  93         "
  94         if [ -n "${CATKIN_MESSAGES_TRANSITIVE_DEPS}" ] ; then
  95                 for i in ${CATKIN_MESSAGES_TRANSITIVE_DEPS} ; do
  96                         ds="${i}[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( ${i}[${PYTHON_USEDEP}] )"
  97                         RDEPEND="${RDEPEND} ${ds}"
  98                         DEPEND="${DEPEND} ${ds}"
  99                 done
 100         fi
 101 fi
 102
 103 # @ECLASS-VARIABLE: CATKIN_MESSAGES_CXX_USEDEP
 104 # @DESCRIPTION:
 105 # Use it as cat/pkg[${CATKIN_MESSAGES_CXX_USEDEP}] to indicate a dependency on the C++ messages of cat/pkg.
 106 CATKIN_MESSAGES_CXX_USEDEP="ros_messages_cxx(-)"
 107
 108 # @ECLASS-VARIABLE: CATKIN_MESSAGES_PYTHON_USEDEP
 109 # @DESCRIPTION:
 110 # Use it as cat/pkg[${CATKIN_MESSAGES_PYTHON_USEDEP}] to indicate a dependency on the Python messages of cat/pkg.
 111 CATKIN_MESSAGES_PYTHON_USEDEP="ros_messages_python(-),${PYTHON_USEDEP}"
 112
 113 # @ECLASS-VARIABLE: CATKIN_MESSAGES_LISP_USEDEP
 114 # @DESCRIPTION:
 115 # Use it as cat/pkg[${CATKIN_MESSAGES_LISP_USEDEP}] to indicate a dependency on the Common-Lisp messages of cat/pkg.
 116 CATKIN_MESSAGES_LISP_USEDEP="ros_messages_lisp(-)"
 117
 118 # @ECLASS-VARIABLE: CATKIN_MESSAGES_EUS_USEDEP
 119 # @DESCRIPTION:
 120 # Use it as cat/pkg[${CATKIN_MESSAGES_EUS_USEDEP}] to indicate a dependency on the EusLisp messages of cat/pkg.
 121 CATKIN_MESSAGES_EUS_USEDEP="ros_messages_eus(-)"
 122
 123 # @ECLASS-VARIABLE: CATKIN_MESSAGES_NODEJS_USEDEP
 124 # @DESCRIPTION:
 125 # Use it as cat/pkg[${CATKIN_MESSAGES_NODEJS_USEDEP}] to indicate a dependency on the nodejs messages of cat/pkg.
 126 CATKIN_MESSAGES_NODEJS_USEDEP="ros_messages_nodejs(-)"
 127
 128 if [ "${PV#9999}" != "${PV}" ] ; then
 129         SRC_URI=""
 130         KEYWORDS=""
 131         S=${WORKDIR}/${P}/${ROS_SUBDIR}
 132 else
 133         SRC_URI="${ROS_REPO_URI}/archive/${VER_PREFIX}${PV%_*}${VER_SUFFIX}.tar.gz -> ${ROS_REPO_URI##*/}-${PV}.tar.gz"
 134         S=${WORKDIR}/${VER_PREFIX}${ROS_REPO_URI##*/}-${PV}${VER_SUFFIX}/${ROS_SUBDIR}
 135 fi
 136
 137 HOMEPAGE="http://wiki.ros.org/${PN}"
 138
 139 # @FUNCTION: ros-catkin_src_prepare
 140 # @DESCRIPTION:
 141 # Calls cmake-utils_src_prepare (so that PATCHES array is handled there) and initialises the workspace
 142 # by installing a recursive CMakeLists.txt to handle bundles.
 143 ros-catkin_src_prepare() {
 144         cmake-utils_src_prepare
 145
 146         if [ ! -f "${S}/CMakeLists.txt" ] ; then
 147                 catkin_init_workspace || die
 148         fi
 149 }
 150
 151 # @FUNCTION: ros-catkin_src_configure_internal
 152 # @DESCRIPTION:
 153 # Internal decoration of cmake-utils_src_configure to handle multiple python installs.
 154 ros-catkin_src_configure_internal() {
 155         if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
 156                 local mycmakeargs=("${mycmakeargs[@]}" -DPYTHON_EXECUTABLE="${PYTHON}")
 157                 python_export PYTHON_SCRIPTDIR
 158         fi
 159         cmake-utils_src_configure "${@}"
 160 }
 161
 162 # @VARIABLE: mycatkincmakeargs
 163 # @DEFAULT_UNSET
 164 # @DESCRIPTION:
 165 # Optional cmake defines as a bash array. Should be defined before calling
 166 # src_configure.
 167
 168 # @FUNCTION: ros-catkin_src_configure
 169 # @DESCRIPTION:
 170 # Configures a catkin-based package.
 171 ros-catkin_src_configure() {
 172         export CMAKE_PREFIX_PATH="${EPREFIX}/usr"
 173         export ROS_ROOT="${EPREFIX}/usr/share/ros"
 174         if [ -n "${CATKIN_HAS_MESSAGES}" ] ; then
 175                 ROS_LANG_DISABLE=""
 176                 use ros_messages_cxx    || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:gencpp"
 177                 use ros_messages_eus    || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:geneus"
 178                 use ros_messages_lisp   || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:genlisp"
 179                 use ros_messages_python || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:genpy"
 180                 use ros_messages_nodejs || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:gennodejs"
 181                 export ROS_LANG_DISABLE
 182         fi
 183         local mycmakeargs=(
 184                 "$(cmake-utils_use test CATKIN_ENABLE_TESTING)"
 185                 "-DCATKIN_BUILD_BINARY_PACKAGE=ON"
 186                 "-DCATKIN_PREFIX_PATH=${SYSROOT:-${EROOT}}/usr"
 187                 "${mycatkincmakeargs[@]}"
 188         )
 189         if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
 190                 python_foreach_impl ros-catkin_src_configure_internal "${@}"
 191         else
 192                 ros-catkin_src_configure_internal "${@}"
 193         fi
 194 }
 195
 196 # @FUNCTION: ros-catkin_src_compile
 197 # @DESCRIPTION:
 198 # Builds a catkin-based package.
 199 ros-catkin_src_compile() {
 200         if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
 201                 python_foreach_impl cmake-utils_src_compile "${@}"
 202         else
 203                 cmake-utils_src_compile "${@}"
 204         fi
 205 }
 206
 207 # @FUNCTION: ros-catkin_src_test_internal
 208 # @DESCRIPTION:
 209 # Decorator around cmake-utils_src_test to ensure tests are built before running them.
 210 ros-catkin_src_test_internal() {
 211         cd "${BUILD_DIR}" || die
 212         # Using cmake-utils_src_make with nonfatal does not work and breaks e.g.
 213         # dev-ros/rviz.
 214         if nonfatal emake tests -n &> /dev/null ; then
 215                 cmake-utils_src_make tests
 216         fi
 217         cmake-utils_src_test "${@}"
 218 }
 219
 220 # @FUNCTION: ros-catkin_src_test
 221 # @DESCRIPTION:
 222 # Run the tests of a catkin-based package.
 223 ros-catkin_src_test() {
 224         if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
 225                 python_foreach_impl ros-catkin_src_test_internal "${@}"
 226         else
 227                 ros-catkin_src_test_internal "${@}"
 228         fi
 229 }
 230
 231 # @FUNCTION: ros-catkin_src_install_with_python
 232 # @DESCRIPTION:
 233 # Decorator around cmake-utils_src_install to ensure python scripts are properly handled w.r.t. python-exec2.
 234 ros-catkin_src_install_with_python() {
 235         python_export PYTHON_SCRIPTDIR
 236         cmake-utils_src_install "${@}"
 237         if [ ! -f "${T}/.catkin_python_symlinks_generated" -a -d "${D}/${PYTHON_SCRIPTDIR}" ]; then
 238                 dodir /usr/bin
 239                 for i in "${D}/${PYTHON_SCRIPTDIR}"/* ; do
 240                         dosym ../lib/python-exec/python-exec2 "/usr/bin/${i##*/}"
 241                 done
 242                 touch "${T}/.catkin_python_symlinks_generated" || die
 243         fi
 244 }
 245
 246 # @FUNCTION: ros-catkin_src_install
 247 # @DESCRIPTION:
 248 # Installs a catkin-based package.
 249 ros-catkin_src_install() {
 250         if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
 251                 python_foreach_impl ros-catkin_src_install_with_python "${@}"
 252         else
 253                 cmake-utils_src_install "${@}"
 254         fi
 255 }
 256
 257 EXPORT_FUNCTIONS src_prepare src_configure src_compile src_test src_install