def _build_env(root, snap_name, confinement, arch_triplet,
core_dynamic_linker=None):
"""Set the environment variables required for building.
This is required for the current parts installdir due to stage-packages
and also to setup the stagedir.
"""
env = []
paths = common.get_include_paths(root, arch_triplet)
if paths:
for envvar in ['CPPFLAGS', 'CFLAGS', 'CXXFLAGS']:
env.append(formatting_utils.format_path_variable(
envvar, paths, prepend='-I', separator=' '))
if confinement == 'classic':
if not core_dynamic_linker:
raise EnvironmentError(
'classic confinement requires the core snap to be installed. '
'Install it by running `snap install core`.')
core_path = common.get_core_path()
core_rpaths = common.get_library_paths(core_path, arch_triplet,
existing_only=False)
snap_path = os.path.join('/snap', snap_name, 'current')
snap_rpaths = common.get_library_paths(snap_path, arch_triplet,
existing_only=False)
# snap_rpaths before core_rpaths to prefer libraries from the snap.
rpaths = formatting_utils.combine_paths(
snap_rpaths + core_rpaths, prepend='', separator=':')
env.append('LDFLAGS="$LDFLAGS '
# Building tools to continue the build becomes problematic
# with nodefaultlib.
# '-Wl,-z,nodefaultlib '
'-Wl,--dynamic-linker={0} '
'-Wl,-rpath,{1}"'.format(core_dynamic_linker, rpaths))
paths = common.get_library_paths(root, arch_triplet)
if paths:
env.append(formatting_utils.format_path_variable(
'LDFLAGS', paths, prepend='-L', separator=' '))
paths = common.get_pkg_config_paths(root, arch_triplet)
if paths:
env.append(formatting_utils.format_path_variable(
'PKG_CONFIG_PATH', paths, prepend='', separator=':'))
return env
def _runtime_env(root, arch_triplet):
"""Set the environment variables required for running binaries."""
env = []
env.append('PATH="' + ':'.join([
'{0}/usr/sbin',
'{0}/usr/bin',
'{0}/sbin',
'{0}/bin',
'$PATH'
]).format(root) + '"')
# Add the default LD_LIBRARY_PATH
paths = common.get_library_paths(root, arch_triplet)
if paths:
env.append(formatting_utils.format_path_variable(
'LD_LIBRARY_PATH', paths, prepend='', separator=':'))
# Add more specific LD_LIBRARY_PATH from staged packages if necessary
ld_library_paths = libraries.determine_ld_library_path(root)
if ld_library_paths:
env.append('LD_LIBRARY_PATH="' + ':'.join(ld_library_paths) +
':$LD_LIBRARY_PATH"')
return env
def build_env(root: str, snap_name: str, arch_triplet: str) -> List[str]:
"""Set the environment variables required for building.
This is required for the current parts installdir due to stage-packages
and also to setup the stagedir.
"""
env = []
paths = common.get_include_paths(root, arch_triplet)
if paths:
for envvar in ["CPPFLAGS", "CFLAGS", "CXXFLAGS"]:
env.append(
formatting_utils.format_path_variable(
envvar, paths, prepend="-I", separator=" "
)
)
paths = common.get_library_paths(root, arch_triplet)
if paths:
env.append(
formatting_utils.format_path_variable(
"LDFLAGS", paths, prepend="-L", separator=" "
)
)
paths = common.get_pkg_config_paths(root, arch_triplet)
if paths:
env.append(
formatting_utils.format_path_variable(
"PKG_CONFIG_PATH", paths, prepend="", separator=":"
)
)
return env
def runtime_env(root: str, arch_triplet: str) -> List[str]:
"""Set the environment variables required for running binaries."""
env = []
env.append(
'PATH="'
+ ":".join(
["{0}/usr/sbin", "{0}/usr/bin", "{0}/sbin", "{0}/bin", "$PATH"]
).format(root)
+ '"'
)
# Add the default LD_LIBRARY_PATH
paths = common.get_library_paths(root, arch_triplet)
# Add more specific LD_LIBRARY_PATH from staged packages if necessary
paths += elf.determine_ld_library_path(root)
if paths:
env.append(
formatting_utils.format_path_variable(
"LD_LIBRARY_PATH", paths, prepend="", separator=":"
)
)
return env
def env_for_classic(base: str, arch_triplet: str) -> List[str]:
"""Set the required environment variables for a classic confined build."""
env = []
core_path = common.get_core_path(base)
paths = common.get_library_paths(core_path, arch_triplet, existing_only=False)
env.append(
formatting_utils.format_path_variable(
"LD_LIBRARY_PATH", paths, prepend="", separator=":"
)
)
return env
def _build_env(root, arch_triplet):
"""Set the environment variables required for building.
This is required for the current parts installdir due to stage-packages
and also to setup the stagedir.
"""
env = []
paths = common.get_include_paths(root, arch_triplet)
if paths:
for envvar in ['CPPFLAGS', 'CFLAGS', 'CXXFLAGS']:
env.append(common.format_path_variable(
envvar, paths, prepend='-I', separator=' '))
paths = common.get_library_paths(root, arch_triplet)
if paths:
env.append(common.format_path_variable(
'LDFLAGS', paths, prepend='-L', separator=' '))
return env
def _build_env(root,
snap_name,
confinement,
arch_triplet,
core_dynamic_linker=None):
"""Set the environment variables required for building.
This is required for the current parts installdir due to stage-packages
and also to setup the stagedir.
"""
env = []
paths = common.get_include_paths(root, arch_triplet)
if paths:
for envvar in ['CPPFLAGS', 'CFLAGS', 'CXXFLAGS']:
env.append(
formatting_utils.format_path_variable(envvar,
paths,
prepend='-I',
separator=' '))
if confinement == 'classic':
if not core_dynamic_linker:
raise EnvironmentError(
'classic confinement requires the core snap to be installed. '
'Install it by running `snap install core`.')
core_path = common.get_core_path()
core_rpaths = common.get_library_paths(core_path,
arch_triplet,
existing_only=False)
snap_path = os.path.join('/snap', snap_name, 'current')
snap_rpaths = common.get_library_paths(snap_path,
arch_triplet,
existing_only=False)
# snap_rpaths before core_rpaths to prefer libraries from the snap.
rpaths = formatting_utils.combine_paths(snap_rpaths + core_rpaths,
prepend='',
separator=':')
env.append(
'LDFLAGS="$LDFLAGS '
# Building tools to continue the build becomes problematic
# with nodefaultlib.
# '-Wl,-z,nodefaultlib '
'-Wl,--dynamic-linker={0} '
'-Wl,-rpath,{1}"'.format(core_dynamic_linker, rpaths))
paths = common.get_library_paths(root, arch_triplet)
if paths:
env.append(
formatting_utils.format_path_variable('LDFLAGS',
paths,
prepend='-L',
separator=' '))
paths = common.get_pkg_config_paths(root, arch_triplet)
if paths:
env.append(
formatting_utils.format_path_variable('PKG_CONFIG_PATH',
paths,
prepend='',
separator=':'))
return env
def _run(self, arguments) -> str:
with tempfile.NamedTemporaryFile(mode="w+") as f:
lines = [
'export PYTHONPATH="{}"'.format(
os.path.join(
self._rospack_install_path,
"usr",
"lib",
"python2.7",
"dist-packages",
)
)
]
ros_path = os.path.join(
self._rospack_install_path, "opt", "ros", self._ros_distro
)
bin_paths = (
os.path.join(ros_path, "bin"),
os.path.join(self._rospack_install_path, "usr", "bin"),
)
lines.append(
"export {}".format(
formatting_utils.format_path_variable(
"PATH", bin_paths, prepend="", separator=":"
)
)
)
lib_paths = common.get_library_paths(
self._rospack_install_path, self._project.arch_triplet
)
if lib_paths:
lines.append(
"export {}".format(
formatting_utils.format_path_variable(
"LD_LIBRARY_PATH", lib_paths, prepend="", separator=":"
)
)
)
# Source our own workspace so we have all of rospack's dependencies
lines.append(
"_CATKIN_SETUP_DIR={} source {}".format(
ros_path, os.path.join(ros_path, "setup.sh")
)
)
# By default, rospack saves its cache in $HOME/.ros, which we shouldn't
# access here, so we'll redirect it with this environment variable.
lines.append('export ROS_HOME="{}"'.format(self._rospack_cache_path))
lines.append('export ROS_PACKAGE_PATH="{}"'.format(self._ros_package_path))
lines.append('exec "$@"')
f.write("\n".join(lines))
f.flush()
return (
subprocess.check_output(
["/bin/bash", f.name, "rospack"] + arguments,
stderr=subprocess.STDOUT,
)
.decode("utf8")
.strip()
)
def env(self, root):
"""Runtime environment for ROS binaries and services."""
paths = common.get_library_paths(root, self.project.arch_triplet)
ld_library_path = formatting_utils.combine_paths(paths,
prepend="",
separator=":")
env = [
# This environment variable tells ROS nodes where to find ROS
# master. It does not affect ROS master, however-- this is just the
# URI.
"ROS_MASTER_URI={}".format(self.options.catkin_ros_master_uri),
# Various ROS tools (e.g. roscore) keep a cache or a log,
# and use $ROS_HOME to determine where to put them.
"ROS_HOME=${SNAP_USER_DATA:-/tmp}/ros",
# FIXME: LP: #1576411 breaks ROS snaps on the desktop, so we'll
# temporarily work around that bug by forcing the locale to
# C.UTF-8.
"LC_ALL=C.UTF-8",
# The Snapcraft Core will ensure that we get a good LD_LIBRARY_PATH
# overall, but it defines it after this function runs. Some ROS
# tools will cause binaries to be run when we source the setup.sh,
# below, so we need to have a sensible LD_LIBRARY_PATH before then.
"LD_LIBRARY_PATH=$LD_LIBRARY_PATH:{}".format(ld_library_path),
]
# There's a chicken and egg problem here, everything run gets an
# env built, even package installation, so the first runs for these
# will likely fail.
try:
# The ROS packaging system tools (e.g. rospkg, etc.) don't go
# into the ROS install path (/opt/ros/$distro), so we need the
# PYTHONPATH to include the dist-packages in /usr/lib as well.
#
# Note: Empty segments in PYTHONPATH are interpreted as `.`, thus
# adding the current working directory to the PYTHONPATH. That is
# not desired in this situation, so take proper precautions when
# expanding PYTHONPATH: only add it if it's not empty.
env.append("PYTHONPATH={}${{PYTHONPATH:+:$PYTHONPATH}}".format(
common.get_python2_path(root)))
except errors.SnapcraftEnvironmentError as e:
logger.debug(e)
# The setup.sh we source below requires the in-snap python. Here we
# make sure it's in the PATH before it's run.
env.append("PATH=$PATH:{}/usr/bin".format(root))
if self.options.underlay:
script = textwrap.dedent("""
if [ -f {snapcraft_setup} ]; then
. {snapcraft_setup}
fi
""").format(snapcraft_setup=os.path.join(self.rosdir,
"snapcraft-setup.sh"))
else:
script = self._source_setup_sh(root, None)
# Each of these lines is prepended with an `export` when the
# environment is actually generated. In order to inject real shell code
# we have to hack it in by appending it on the end of an item already
# in the environment. FIXME: There should be a better way to do this.
# LP: #1792034
env[-1] = env[-1] + "\n\n" + script
return env
