eclass/ros-catkin.eclass

   1 # Copyright 1999-2015 Gentoo Foundation
   2 # Distributed under the terms of the GNU General Public License v2
   3
   4 # @ECLASS: ros-catkin.eclass
   5 # @MAINTAINER:
   6 # ros@gentoo.org
   7 # @AUTHOR:
   8 # Alexis Ballier <aballier@gentoo.org>
   9 # @BLURB: Template eclass for catkin based ROS packages.
  10 # @DESCRIPTION:
  11 # Provides function for building ROS packages on Gentoo.
  12 # It supports selectively building messages, multi-python installation, live ebuilds (git only).
  13
  14 case "${EAPI:-0}" in
  15         0|1|2|3|4)
  16                 die "EAPI='${EAPI}' is not supported"
  17                 ;;
  18         *)
  19                 ;;
  20 esac
  21
  22 # @ECLASS-VARIABLE: ROS_REPO_URI
  23 # @DESCRIPTION:
  24 # URL of the upstream repository. Usually on github.
  25 # Serves for fetching tarballs, live ebuilds and inferring the meta-package name.
  26 EGIT_REPO_URI="${ROS_REPO_URI}"
  27
  28 # @ECLASS-VARIABLE: ROS_SUBDIR
  29 # @DEFAULT_UNSET
  30 # @DESCRIPTION:
  31 # Subdir in which current packages is located.
  32 # Usually, a repository contains several packages, hence a typical value is:
  33 # ROS_SUBDIR=${PN}
  34
  35 # @ECLASS-VARIABLE: CATKIN_IN_SOURCE_BUILD
  36 # @DEFAULT_UNSET
  37 # @DESCRIPTION:
  38 # Set to enable in-source build.
  39
  40 SCM=""
  41 if [ "${PV#9999}" != "${PV}" ] ; then
  42         SCM="git-r3"
  43 fi
  44
  45 # @ECLASS-VARIABLE: PYTHON_COMPAT
  46 # @DESCRIPTION:
  47 # Tells the eclass the package has python code and forwards it to python-r1.eclass.
  48 PYTHON_ECLASS=""
  49 CATKIN_PYTHON_USEDEP=""
  50 if [ -n "${PYTHON_COMPAT}" ] ; then
  51         PYTHON_ECLASS="python-r1 python-utils-r1"
  52 fi
  53
  54 inherit ${SCM} ${PYTHON_ECLASS} cmake-utils flag-o-matic
  55
  56 CATKIN_DO_PYTHON_MULTIBUILD=""
  57 if [ -n "${PYTHON_COMPAT}" ] ; then
  58         CATKIN_PYTHON_USEDEP="[${PYTHON_USEDEP}]"
  59         CATKIN_DO_PYTHON_MULTIBUILD="yes"
  60 fi
  61
  62 IUSE="test"
  63 RDEPEND="
  64         dev-util/catkin${CATKIN_PYTHON_USEDEP}
  65         dev-python/empy${CATKIN_PYTHON_USEDEP}
  66 "
  67 DEPEND="${RDEPEND}"
  68
  69 if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
  70         RDEPEND="${RDEPEND} dev-lang/python-exec:2 ${PYTHON_DEPS}"
  71         DEPEND="${DEPEND} ${PYTHON_DEPS}"
  72 fi
  73
  74 # @ECLASS-VARIABLE: CATKIN_HAS_MESSAGES
  75 # @DESCRIPTION:
  76 # Set it to a non-empty value before inherit to tell the eclass the package has messages to build.
  77 # Messages will be built based on ROS_MESSAGES USE_EXPANDed variable.
  78
  79 # @ECLASS-VARIABLE: CATKIN_MESSAGES_TRANSITIVE_DEPS
  80 # @DESCRIPTION:
  81 # Some messages have dependencies on other messages.
  82 # In that case, CATKIN_MESSAGES_TRANSITIVE_DEPS should contain a space-separated list of atoms
  83 # representing those dependencies. The eclass uses it to ensure proper dependencies on these packages.
  84 if [ -n "${CATKIN_HAS_MESSAGES}" ] ; then
  85         IUSE="${IUSE} +ros_messages_python +ros_messages_cxx ros_messages_eus ros_messages_lisp ros_messages_nodejs"
  86         RDEPEND="${RDEPEND}
  87                 ros_messages_cxx?    ( dev-ros/gencpp:=${CATKIN_PYTHON_USEDEP}    )
  88                 ros_messages_eus?    ( dev-ros/geneus:=${CATKIN_PYTHON_USEDEP}    )
  89                 ros_messages_python? ( dev-ros/genpy:=${CATKIN_PYTHON_USEDEP}     )
  90                 ros_messages_lisp?   ( dev-ros/genlisp:=${CATKIN_PYTHON_USEDEP}   )
  91                 ros_messages_nodejs? ( dev-ros/gennodejs:=${CATKIN_PYTHON_USEDEP} )
  92                 dev-ros/message_runtime
  93         "
  94         DEPEND="${DEPEND} ${RDEPEND}
  95                 dev-ros/message_generation
  96                 dev-ros/genmsg${CATKIN_PYTHON_USEDEP}
  97         "
  98         if [ -n "${CATKIN_MESSAGES_TRANSITIVE_DEPS}" ] ; then
  99                 for i in ${CATKIN_MESSAGES_TRANSITIVE_DEPS} ; do
 100                         ds="${i}[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?,ros_messages_nodejs(-)?] ros_messages_python? ( ${i}[${PYTHON_USEDEP}] )"
 101                         RDEPEND="${RDEPEND} ${ds}"
 102                         DEPEND="${DEPEND} ${ds}"
 103                 done
 104         fi
 105 fi
 106
 107 # @ECLASS-VARIABLE: CATKIN_MESSAGES_CXX_USEDEP
 108 # @DESCRIPTION:
 109 # Use it as cat/pkg[${CATKIN_MESSAGES_CXX_USEDEP}] to indicate a dependency on the C++ messages of cat/pkg.
 110 CATKIN_MESSAGES_CXX_USEDEP="ros_messages_cxx(-)"
 111
 112 # @ECLASS-VARIABLE: CATKIN_MESSAGES_PYTHON_USEDEP
 113 # @DESCRIPTION:
 114 # Use it as cat/pkg[${CATKIN_MESSAGES_PYTHON_USEDEP}] to indicate a dependency on the Python messages of cat/pkg.
 115 CATKIN_MESSAGES_PYTHON_USEDEP="ros_messages_python(-),${PYTHON_USEDEP}"
 116
 117 # @ECLASS-VARIABLE: CATKIN_MESSAGES_LISP_USEDEP
 118 # @DESCRIPTION:
 119 # Use it as cat/pkg[${CATKIN_MESSAGES_LISP_USEDEP}] to indicate a dependency on the Common-Lisp messages of cat/pkg.
 120 CATKIN_MESSAGES_LISP_USEDEP="ros_messages_lisp(-)"
 121
 122 # @ECLASS-VARIABLE: CATKIN_MESSAGES_EUS_USEDEP
 123 # @DESCRIPTION:
 124 # Use it as cat/pkg[${CATKIN_MESSAGES_EUS_USEDEP}] to indicate a dependency on the EusLisp messages of cat/pkg.
 125 CATKIN_MESSAGES_EUS_USEDEP="ros_messages_eus(-)"
 126
 127 # @ECLASS-VARIABLE: CATKIN_MESSAGES_NODEJS_USEDEP
 128 # @DESCRIPTION:
 129 # Use it as cat/pkg[${CATKIN_MESSAGES_NODEJS_USEDEP}] to indicate a dependency on the nodejs messages of cat/pkg.
 130 CATKIN_MESSAGES_NODEJS_USEDEP="ros_messages_nodejs(-)"
 131
 132 if [ "${PV#9999}" != "${PV}" ] ; then
 133         SRC_URI=""
 134         KEYWORDS=""
 135         S=${WORKDIR}/${P}/${ROS_SUBDIR}
 136 else
 137         SRC_URI="${ROS_REPO_URI}/archive/${VER_PREFIX}${PV%_*}${VER_SUFFIX}.tar.gz -> ${ROS_REPO_URI##*/}-${PV}.tar.gz"
 138         S=${WORKDIR}/${VER_PREFIX}${ROS_REPO_URI##*/}-${PV}${VER_SUFFIX}/${ROS_SUBDIR}
 139 fi
 140
 141 HOMEPAGE="http://wiki.ros.org/${PN}"
 142
 143 # @FUNCTION: ros-catkin_src_prepare
 144 # @DESCRIPTION:
 145 # Calls cmake-utils_src_prepare (so that PATCHES array is handled there) and initialises the workspace
 146 # by installing a recursive CMakeLists.txt to handle bundles.
 147 ros-catkin_src_prepare() {
 148         # If no multibuild, just use cmake IN_SOURCE support
 149         [ -n "${CATKIN_IN_SOURCE_BUILD}" ] && [ -z "${CATKIN_DO_PYTHON_MULTIBUILD}" ] && export CMAKE_IN_SOURCE_BUILD=yes
 150
 151         cmake-utils_src_prepare
 152
 153         if [ ! -f "${S}/CMakeLists.txt" ] ; then
 154                 catkin_init_workspace || die
 155         fi
 156
 157         # If python multibuild, copy the sources
 158         [ -n "${CATKIN_IN_SOURCE_BUILD}" ] && [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] && python_copy_sources
 159
 160         # Most packages require C++11 these days. Do it here, in src_prepare so that
 161         # ebuilds can override it in src_configure.
 162         append-cxxflags '-std=c++11'
 163 }
 164
 165 # @FUNCTION: ros-catkin_src_configure_internal
 166 # @DESCRIPTION:
 167 # Internal decoration of cmake-utils_src_configure to handle multiple python installs.
 168 ros-catkin_src_configure_internal() {
 169         if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
 170                 local sitedir="$(python_get_sitedir)"
 171                 local mycmakeargs=(
 172                         "${mycmakeargs[@]}"
 173                         -DPYTHON_EXECUTABLE="${PYTHON}"
 174                         -DPYTHON_INSTALL_DIR="${sitedir#${EPREFIX}/usr/}"
 175                 )
 176                 python_export PYTHON_SCRIPTDIR
 177                 if [ -n "${CATKIN_IN_SOURCE_BUILD}" ] ; then
 178                         export CMAKE_USE_DIR="${BUILD_DIR}"
 179                 fi
 180         fi
 181         cmake-utils_src_configure "${@}"
 182 }
 183
 184 # @VARIABLE: mycatkincmakeargs
 185 # @DEFAULT_UNSET
 186 # @DESCRIPTION:
 187 # Optional cmake defines as a bash array. Should be defined before calling
 188 # src_configure.
 189
 190 # @FUNCTION: ros-catkin_src_configure
 191 # @DESCRIPTION:
 192 # Configures a catkin-based package.
 193 ros-catkin_src_configure() {
 194         export CATKIN_PREFIX_PATH="${EPREFIX}/usr"
 195         export ROS_ROOT="${EPREFIX}/usr/share/ros"
 196         if [ -n "${CATKIN_HAS_MESSAGES}" ] ; then
 197                 ROS_LANG_DISABLE=""
 198                 use ros_messages_cxx    || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:gencpp"
 199                 use ros_messages_eus    || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:geneus"
 200                 use ros_messages_lisp   || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:genlisp"
 201                 use ros_messages_python || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:genpy"
 202                 use ros_messages_nodejs || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:gennodejs"
 203                 export ROS_LANG_DISABLE
 204         fi
 205         local mycmakeargs=(
 206                 "$(cmake-utils_use test CATKIN_ENABLE_TESTING)"
 207                 "-DCATKIN_BUILD_BINARY_PACKAGE=ON"
 208                 "-DCATKIN_PREFIX_PATH=${SYSROOT:-${EROOT}}/usr"
 209                 "${mycatkincmakeargs[@]}"
 210         )
 211         if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
 212                 python_foreach_impl ros-catkin_src_configure_internal "${@}"
 213         else
 214                 ros-catkin_src_configure_internal "${@}"
 215         fi
 216 }
 217
 218 # @FUNCTION: ros-catkin_src_compile
 219 # @DESCRIPTION:
 220 # Builds a catkin-based package.
 221 ros-catkin_src_compile() {
 222         if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
 223                 if [ -n "${CATKIN_IN_SOURCE_BUILD}" ] ; then
 224                         export CMAKE_USE_DIR="${BUILD_DIR}"
 225                 fi
 226                 python_foreach_impl cmake-utils_src_compile "${@}"
 227         else
 228                 cmake-utils_src_compile "${@}"
 229         fi
 230 }
 231
 232 # @FUNCTION: ros-catkin_src_test_internal
 233 # @DESCRIPTION:
 234 # Decorator around cmake-utils_src_test to ensure tests are built before running them.
 235 ros-catkin_src_test_internal() {
 236         cd "${BUILD_DIR}" || die
 237         # Regenerate env for tests, PYTHONPATH is not set properly otherwise...
 238         if [ -f catkin_generated/generate_cached_setup.py ] ; then
 239                 einfo "Regenerating setup_cached.sh for tests"
 240                 ${PYTHON:-python} catkin_generated/generate_cached_setup.py || die
 241         fi
 242         # Using cmake-utils_src_make with nonfatal does not work and breaks e.g.
 243         # dev-ros/rviz.
 244         if nonfatal emake tests -n &> /dev/null ; then
 245                 cmake-utils_src_make tests
 246         fi
 247         cmake-utils_src_test "${@}"
 248 }
 249
 250 # @FUNCTION: ros-catkin_src_test
 251 # @DESCRIPTION:
 252 # Run the tests of a catkin-based package.
 253 ros-catkin_src_test() {
 254         if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
 255                 python_foreach_impl ros-catkin_src_test_internal "${@}"
 256         else
 257                 ros-catkin_src_test_internal "${@}"
 258         fi
 259 }
 260
 261 # @FUNCTION: ros-catkin_src_install_with_python
 262 # @DESCRIPTION:
 263 # Decorator around cmake-utils_src_install to ensure python scripts are properly handled w.r.t. python-exec2.
 264 ros-catkin_src_install_with_python() {
 265         python_export PYTHON_SCRIPTDIR
 266         if [ -n "${CATKIN_IN_SOURCE_BUILD}" ] ; then
 267                 export CMAKE_USE_DIR="${BUILD_DIR}"
 268         fi
 269         cmake-utils_src_install "${@}"
 270         if [ ! -f "${T}/.catkin_python_symlinks_generated" -a -d "${D}/${PYTHON_SCRIPTDIR}" ]; then
 271                 dodir /usr/bin
 272                 for i in "${D}/${PYTHON_SCRIPTDIR}"/* ; do
 273                         dosym ../lib/python-exec/python-exec2 "/usr/bin/${i##*/}"
 274                 done
 275                 touch "${T}/.catkin_python_symlinks_generated" || die
 276         fi
 277 }
 278
 279 # @FUNCTION: ros-catkin_src_install
 280 # @DESCRIPTION:
 281 # Installs a catkin-based package.
 282 ros-catkin_src_install() {
 283         if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
 284                 python_foreach_impl ros-catkin_src_install_with_python "${@}"
 285         else
 286                 cmake-utils_src_install "${@}"
 287         fi
 288 }
 289
 290 EXPORT_FUNCTIONS src_prepare src_configure src_compile src_test src_install