def cross_compile_pipeline(
args: argparse.Namespace,
data_collector: DataCollector,
):
platform = Platform(args.arch, args.os, args.rosdistro,
args.sysroot_base_image)
ros_workspace_dir = _resolve_ros_workspace(args.ros_workspace)
skip_rosdep_keys = args.skip_rosdep_keys
custom_data_dir = _path_if(args.custom_data_dir)
custom_rosdep_script = _path_if(args.custom_rosdep_script)
custom_setup_script = _path_if(args.custom_setup_script)
sysroot_build_context = prepare_docker_build_environment(
platform=platform,
ros_workspace=ros_workspace_dir,
custom_setup_script=custom_setup_script,
custom_data_dir=custom_data_dir)
docker_client = DockerClient(args.sysroot_nocache,
default_docker_dir=sysroot_build_context,
colcon_defaults_file=args.colcon_defaults)
stages = [DependenciesStage(), CreateSysrootStage(), DockerBuildStage()]
customizations = PipelineStageConfigOptions(args.skip_rosdep_collection,
skip_rosdep_keys,
custom_rosdep_script,
custom_data_dir,
custom_setup_script)
for stage in stages:
with data_collector.timer('cross_compile_{}'.format(stage.name)):
stage(platform, docker_client, ros_workspace_dir, customizations)
def test_basic_sysroot_creation(tmpdir):
"""Very simple smoke test to validate that syntax is correct."""
# Very simple smoke test to validate that all internal syntax is correct
mock_docker_client = Mock()
mock_data_collector = Mock()
platform = Platform('aarch64', 'ubuntu', 'eloquent')
stage = CreateSysrootStage()
stage(platform, mock_docker_client, Path('dummy_path'),
default_pipeline_options(), mock_data_collector)
assert mock_docker_client.build_image.call_count == 1
def test_basic_sysroot_creation(tmpdir):
"""Very simple smoke test to validate that syntax is correct."""
# Very simple smoke test to validate that all internal syntax is correct
mock_docker_client = Mock()
platform = Platform('aarch64', 'ubuntu', 'eloquent')
# a default set of customizations for the docker build stage
customizations = PipelineStageConfigOptions(False, [], None, None, None)
temp_stage = CreateSysrootStage()
temp_stage(platform, mock_docker_client, Path('dummy_path'), customizations)
assert mock_docker_client.build_image.call_count == 1
def buildable_env(request, tmpdir):
"""Set up a temporary directory with everything needed to run the EmulatedDockerBuildStage."""
platform = Platform('aarch64', 'ubuntu', 'foxy')
ros_workspace = Path(str(tmpdir)) / 'ros_ws'
_touch_anywhere(ros_workspace / rosdep_install_script(platform))
build_context = prepare_docker_build_environment(platform, ros_workspace)
docker = DockerClient(disable_cache=False,
default_docker_dir=build_context)
options = default_pipeline_options()
data_collector = DataCollector()
CreateSysrootStage()(platform, docker, ros_workspace, options,
data_collector)
return BuildableEnv(platform, docker, ros_workspace, options,
data_collector)
def test_custom_post_build_script(tmpdir):
created_filename = 'file-created-by-post-build'
platform = Platform('aarch64', 'ubuntu', 'foxy')
ros_workspace = Path(str(tmpdir)) / 'ros_ws'
_touch_anywhere(ros_workspace / rosdep_install_script(platform))
post_build_script = ros_workspace / 'post_build'
post_build_script.write_text("""
#!/bin/bash
echo "success" > {}
""".format(created_filename))
build_context = prepare_docker_build_environment(
platform, ros_workspace, custom_post_build_script=post_build_script)
docker = DockerClient(disable_cache=False,
default_docker_dir=build_context)
options = default_pipeline_options()
data_collector = DataCollector()
CreateSysrootStage()(platform, docker, ros_workspace, options,
data_collector)
EmulatedDockerBuildStage()(platform, docker, ros_workspace, options,
data_collector)
assert (ros_workspace / created_filename).is_file()
from ros_cross_compile.docker_client import DEFAULT_COLCON_DEFAULTS_FILE
from ros_cross_compile.docker_client import DockerClient
from ros_cross_compile.pipeline_stages import PipelineStageOptions
from ros_cross_compile.platform import Platform
from ros_cross_compile.platform import SUPPORTED_ARCHITECTURES
from ros_cross_compile.platform import SUPPORTED_ROS2_DISTROS
from ros_cross_compile.platform import SUPPORTED_ROS_DISTROS
from ros_cross_compile.sysroot_creator import CreateSysrootStage
from ros_cross_compile.sysroot_creator import prepare_docker_build_environment
logging.basicConfig(level=logging.INFO)
logger = logging.getLogger(__name__)
_PIPELINE = [
CollectDependencyListStage(),
CreateSysrootStage(),
EmulatedDockerBuildStage(),
]
def _path_if(path: Optional[str] = None) -> Optional[Path]:
return Path(path) if path else None
def _resolve_ros_workspace(ros_workspace_input: str) -> Path:
"""Allow for relative paths to be passed in as a ros workspace dir."""
ros_workspace_dir = Path(ros_workspace_input).resolve()
if not (ros_workspace_dir / 'src').is_dir():
raise ValueError(
'specified workspace "{}" does not look like a colcon workspace '
'(there is no "src/" directory). cannot continue'.format(
def test_create_sysroot_stage_creation():
temp_stage = CreateSysrootStage()
assert temp_stage
def test_create_sysroot_stage_name():
temp_stage = CreateSysrootStage()
assert temp_stage._name == create_workspace_sysroot_image.__name__