--- /dev/null
+# Copyright 1999-2015 Gentoo Foundation
+# Distributed under the terms of the GNU General Public License v2
+# $Id$
+
+# @ECLASS: ros-catkin.eclass
+# @MAINTAINER:
+# ros@gentoo.org
+# @AUTHOR:
+# Alexis Ballier <aballier@gentoo.org>
+# @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}
+
+SCM=""
+if [ "${PV#9999}" != "${PV}" ] ; then
+ SCM="git-r3"
+fi
+
+# @ECLASS-VARIABLE: PYTHON_COMPAT
+# @DESCRIPTION:
+# Tells the eclass the package has python code and forwards it to python-r1.eclass.
+PYTHON_ECLASS=""
+CATKIN_PYTHON_USEDEP=""
+if [ -n "${PYTHON_COMPAT}" ] ; then
+ PYTHON_ECLASS="python-r1 python-utils-r1"
+fi
+
+inherit ${SCM} ${PYTHON_ECLASS} cmake-utils
+
+CATKIN_DO_PYTHON_MULTIBUILD=""
+if [ -n "${PYTHON_COMPAT}" ] ; then
+ CATKIN_PYTHON_USEDEP="[${PYTHON_USEDEP}]"
+ CATKIN_DO_PYTHON_MULTIBUILD="yes"
+fi
+
+IUSE="test"
+RDEPEND="
+ dev-util/catkin${CATKIN_PYTHON_USEDEP}
+ dev-python/empy${CATKIN_PYTHON_USEDEP}
+"
+DEPEND="${RDEPEND}"
+
+if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
+ RDEPEND="${RDEPEND} dev-lang/python-exec:2"
+fi
+
+# @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"
+ RDEPEND="${RDEPEND}
+ ros_messages_cxx? ( dev-ros/gencpp:=${CATKIN_PYTHON_USEDEP} )
+ ros_messages_eus? ( dev-ros/geneus:=${CATKIN_PYTHON_USEDEP} )
+ ros_messages_python? ( dev-ros/genpy:=${CATKIN_PYTHON_USEDEP} )
+ ros_messages_lisp? ( dev-ros/genlisp:=${CATKIN_PYTHON_USEDEP} )
+ dev-ros/message_runtime
+ "
+ DEPEND="${DEPEND} ${RDEPEND}
+ dev-ros/message_generation
+ dev-ros/genmsg${CATKIN_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_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(-)"
+
+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}/${ROS_SUBDIR}
+fi
+
+HOMEPAGE="http://wiki.ros.org/${PN}"
+
+# @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() {
+ cmake-utils_src_prepare
+
+ if [ ! -f "${S}/CMakeLists.txt" ] ; then
+ catkin_init_workspace || die
+ fi
+}
+
+# @FUNCTION: ros-catkin_src_configure_internal
+# @DESCRIPTION:
+# Internal decoration of cmake-utils_src_configure to handle multiple python installs.
+ros-catkin_src_configure_internal() {
+ if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
+ local mycmakeargs=("${mycmakeargs[@]}" -DPYTHON_EXECUTABLE="${PYTHON}")
+ python_export PYTHON_SCRIPTDIR
+ fi
+ cmake-utils_src_configure "${@}"
+}
+
+# @VARIABLE: mycatkincmakeargs
+# @DEFAULT_UNSET
+# @DESCRIPTION:
+# Optional cmake defines as a bash array. Should be defined before calling
+# src_configure.
+
+# @FUNCTION: ros-catkin_src_configure
+# @DESCRIPTION:
+# Configures a catkin-based package.
+ros-catkin_src_configure() {
+ export CMAKE_PREFIX_PATH="${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"
+ 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[@]}"
+ )
+ if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
+ python_foreach_impl ros-catkin_src_configure_internal "${@}"
+ else
+ ros-catkin_src_configure_internal "${@}"
+ fi
+}
+
+# @FUNCTION: ros-catkin_src_compile
+# @DESCRIPTION:
+# Builds a catkin-based package.
+ros-catkin_src_compile() {
+ if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
+ python_foreach_impl cmake-utils_src_compile "${@}"
+ else
+ cmake-utils_src_compile "${@}"
+ fi
+}
+
+# @FUNCTION: ros-catkin_src_test_internal
+# @DESCRIPTION:
+# Decorator around cmake-utils_src_test to ensure tests are built before running them.
+ros-catkin_src_test_internal() {
+ cd "${BUILD_DIR}" || die
+ if nonfatal emake tests -n &> /dev/null ; then
+ emake VERBOSE=1 tests
+ fi
+ cmake-utils_src_test "${@}"
+}
+
+# @FUNCTION: ros-catkin_src_test
+# @DESCRIPTION:
+# Run the tests of a catkin-based package.
+ros-catkin_src_test() {
+ if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
+ python_foreach_impl ros-catkin_src_test_internal "${@}"
+ else
+ ros-catkin_src_test_internal "${@}"
+ fi
+}
+
+# @FUNCTION: ros-catkin_src_install_with_python
+# @DESCRIPTION:
+# Decorator around cmake-utils_src_install to ensure python scripts are properly handled w.r.t. python-exec2.
+ros-catkin_src_install_with_python() {
+ python_export PYTHON_SCRIPTDIR
+ cmake-utils_src_install "${@}"
+ 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 "${T}/.catkin_python_symlinks_generated" || die
+ fi
+}
+
+# @FUNCTION: ros-catkin_src_install
+# @DESCRIPTION:
+# Installs a catkin-based package.
+ros-catkin_src_install() {
+ if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
+ python_foreach_impl ros-catkin_src_install_with_python "${@}"
+ else
+ cmake-utils_src_install "${@}"
+ fi
+}
+
+EXPORT_FUNCTIONS src_prepare src_configure src_compile src_test src_install
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