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="${IUSE} +ros_messages_python +ros_messages_cxx ros_messages_eus ros_messages_lisp"
  82         RDEPEND="${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                 dev-ros/message_runtime
  88         "
  89         DEPEND="${DEPEND} ${RDEPEND}
  90                 dev-ros/message_generation
  91                 dev-ros/genmsg${CATKIN_PYTHON_USEDEP}
  92         "
  93         if [ -n "${CATKIN_MESSAGES_TRANSITIVE_DEPS}" ] ; then
  94                 for i in ${CATKIN_MESSAGES_TRANSITIVE_DEPS} ; do
  95                         ds="${i}[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?] ros_messages_python? ( ${i}[${PYTHON_USEDEP}] )"
  96                         RDEPEND="${RDEPEND} ${ds}"
  97                         DEPEND="${DEPEND} ${ds}"
  98                 done
  99         fi
 100 fi
 101
 102 # @ECLASS-VARIABLE: CATKIN_MESSAGES_CXX_USEDEP
 103 # @DESCRIPTION:
 104 # Use it as cat/pkg[${CATKIN_MESSAGES_CXX_USEDEP}] to indicate a dependency on the C++ messages of cat/pkg.
 105 CATKIN_MESSAGES_CXX_USEDEP="ros_messages_cxx(-)"
 106
 107 # @ECLASS-VARIABLE: CATKIN_MESSAGES_PYTHON_USEDEP
 108 # @DESCRIPTION:
 109 # Use it as cat/pkg[${CATKIN_MESSAGES_PYTHON_USEDEP}] to indicate a dependency on the Python messages of cat/pkg.
 110 CATKIN_MESSAGES_PYTHON_USEDEP="ros_messages_python(-),${PYTHON_USEDEP}"
 111
 112 # @ECLASS-VARIABLE: CATKIN_MESSAGES_LISP_USEDEP
 113 # @DESCRIPTION:
 114 # Use it as cat/pkg[${CATKIN_MESSAGES_LISP_USEDEP}] to indicate a dependency on the Common-Lisp messages of cat/pkg.
 115 CATKIN_MESSAGES_LISP_USEDEP="ros_messages_lisp(-)"
 116
 117 # @ECLASS-VARIABLE: CATKIN_MESSAGES_EUS_USEDEP
 118 # @DESCRIPTION:
 119 # Use it as cat/pkg[${CATKIN_MESSAGES_EUS_USEDEP}] to indicate a dependency on the EusLisp messages of cat/pkg.
 120 CATKIN_MESSAGES_EUS_USEDEP="ros_messages_eus(-)"
 121
 122 if [ "${PV#9999}" != "${PV}" ] ; then
 123         SRC_URI=""
 124         KEYWORDS=""
 125         S=${WORKDIR}/${P}/${ROS_SUBDIR}
 126 else
 127         SRC_URI="${ROS_REPO_URI}/archive/${VER_PREFIX}${PV%_*}${VER_SUFFIX}.tar.gz -> ${ROS_REPO_URI##*/}-${PV}.tar.gz"
 128         S=${WORKDIR}/${VER_PREFIX}${ROS_REPO_URI##*/}-${PV}${VER_SUFFIX}/${ROS_SUBDIR}
 129 fi
 130
 131 HOMEPAGE="http://wiki.ros.org/${PN}"
 132
 133 # @FUNCTION: ros-catkin_src_prepare
 134 # @DESCRIPTION:
 135 # Calls cmake-utils_src_prepare (so that PATCHES array is handled there) and initialises the workspace
 136 # by installing a recursive CMakeLists.txt to handle bundles.
 137 ros-catkin_src_prepare() {
 138         cmake-utils_src_prepare
 139
 140         if [ ! -f "${S}/CMakeLists.txt" ] ; then
 141                 catkin_init_workspace || die
 142         fi
 143 }
 144
 145 # @FUNCTION: ros-catkin_src_configure_internal
 146 # @DESCRIPTION:
 147 # Internal decoration of cmake-utils_src_configure to handle multiple python installs.
 148 ros-catkin_src_configure_internal() {
 149         if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
 150                 local mycmakeargs=("${mycmakeargs[@]}" -DPYTHON_EXECUTABLE="${PYTHON}")
 151                 python_export PYTHON_SCRIPTDIR
 152         fi
 153         cmake-utils_src_configure "${@}"
 154 }
 155
 156 # @VARIABLE: mycatkincmakeargs
 157 # @DEFAULT_UNSET
 158 # @DESCRIPTION:
 159 # Optional cmake defines as a bash array. Should be defined before calling
 160 # src_configure.
 161
 162 # @FUNCTION: ros-catkin_src_configure
 163 # @DESCRIPTION:
 164 # Configures a catkin-based package.
 165 ros-catkin_src_configure() {
 166         export CMAKE_PREFIX_PATH="${EPREFIX}/usr"
 167         export ROS_ROOT="${EPREFIX}/usr/share/ros"
 168         if [ -n "${CATKIN_HAS_MESSAGES}" ] ; then
 169                 ROS_LANG_DISABLE=""
 170                 use ros_messages_cxx    || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:gencpp"
 171                 use ros_messages_eus    || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:geneus"
 172                 use ros_messages_lisp   || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:genlisp"
 173                 use ros_messages_python || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:genpy"
 174                 export ROS_LANG_DISABLE
 175         fi
 176         local mycmakeargs=(
 177                 "$(cmake-utils_use test CATKIN_ENABLE_TESTING)"
 178                 "-DCATKIN_BUILD_BINARY_PACKAGE=ON"
 179                 "-DCATKIN_PREFIX_PATH=${SYSROOT:-${EROOT}}/usr"
 180                 "${mycatkincmakeargs[@]}"
 181         )
 182         if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
 183                 python_foreach_impl ros-catkin_src_configure_internal "${@}"
 184         else
 185                 ros-catkin_src_configure_internal "${@}"
 186         fi
 187 }
 188
 189 # @FUNCTION: ros-catkin_src_compile
 190 # @DESCRIPTION:
 191 # Builds a catkin-based package.
 192 ros-catkin_src_compile() {
 193         if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
 194                 python_foreach_impl cmake-utils_src_compile "${@}"
 195         else
 196                 cmake-utils_src_compile "${@}"
 197         fi
 198 }
 199
 200 # @FUNCTION: ros-catkin_src_test_internal
 201 # @DESCRIPTION:
 202 # Decorator around cmake-utils_src_test to ensure tests are built before running them.
 203 ros-catkin_src_test_internal() {
 204         cd "${BUILD_DIR}" || die
 205         if nonfatal cmake-utils_src_make tests -n &> /dev/null ; then
 206                 cmake-utils_src_make tests
 207         fi
 208         cmake-utils_src_test "${@}"
 209 }
 210
 211 # @FUNCTION: ros-catkin_src_test
 212 # @DESCRIPTION:
 213 # Run the tests of a catkin-based package.
 214 ros-catkin_src_test() {
 215         if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
 216                 python_foreach_impl ros-catkin_src_test_internal "${@}"
 217         else
 218                 ros-catkin_src_test_internal "${@}"
 219         fi
 220 }
 221
 222 # @FUNCTION: ros-catkin_src_install_with_python
 223 # @DESCRIPTION:
 224 # Decorator around cmake-utils_src_install to ensure python scripts are properly handled w.r.t. python-exec2.
 225 ros-catkin_src_install_with_python() {
 226         python_export PYTHON_SCRIPTDIR
 227         cmake-utils_src_install "${@}"
 228         if [ ! -f "${T}/.catkin_python_symlinks_generated" -a -d "${D}/${PYTHON_SCRIPTDIR}" ]; then
 229                 dodir /usr/bin
 230                 for i in "${D}/${PYTHON_SCRIPTDIR}"/* ; do
 231                         dosym ../lib/python-exec/python-exec2 "/usr/bin/${i##*/}"
 232                 done
 233                 touch "${T}/.catkin_python_symlinks_generated" || die
 234         fi
 235 }
 236
 237 # @FUNCTION: ros-catkin_src_install
 238 # @DESCRIPTION:
 239 # Installs a catkin-based package.
 240 ros-catkin_src_install() {
 241         if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
 242                 python_foreach_impl ros-catkin_src_install_with_python "${@}"
 243         else
 244                 cmake-utils_src_install "${@}"
 245         fi
 246 }
 247
 248 EXPORT_FUNCTIONS src_prepare src_configure src_compile src_test src_install