def test_basic_sysroot_creation(platform_config, 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()
sysroot_dir, ros_workspace_dir = setup_mock_sysroot(tmpdir)
creator = SysrootCreator(str(tmpdir), 'ros_ws', platform_config)
creator.create_workspace_sysroot_image(mock_docker_client)
assert mock_docker_client.build_image.call_count == 1
def test_sysroot_creator_constructor(platform_config, docker_config, tmpdir):
"""Test the SysrootCreator constructor assuming valid path setup."""
# Create mock directories and files
sysroot_dir, ros_workspace_dir = setup_mock_sysroot(tmpdir)
sysroot_creator = SysrootCreator(str(tmpdir), 'ros_ws', platform_config,
docker_config)
assert isinstance(sysroot_creator.get_build_setup_script_path(), Path)
assert isinstance(sysroot_creator.get_system_setup_script_path(), Path)
def test_sysroot_creator_constructor_argument_validation(platform_config, tmpdir):
"""Make sure SysrootCreator constructor validates input types properly."""
sysroot_dir, ros_worspace_dir = setup_mock_sysroot(tmpdir)
root = str(tmpdir)
ws = 'ros_ws'
with pytest.raises(TypeError):
creator = SysrootCreator(tmpdir, ws, platform_config)
with pytest.raises(TypeError):
creator = SysrootCreator(root, Path(ws), platform_config)
with pytest.raises(TypeError):
creator = SysrootCreator(root, ws, 'not a Platform')
creator = SysrootCreator(root, ws, platform_config)
assert creator
def test_custom_data_dir(platform_config, tmpdir):
sysroot_dir, ros_workspace_dir = setup_mock_sysroot(tmpdir)
compiler = SysrootCreator(
str(tmpdir), 'ros_ws', platform_config,
custom_data_dir=os.path.join(THIS_SCRIPT_DIR, 'data'))
assert compiler
assert (sysroot_dir / 'user-custom-data' / 'arbitrary.txt').exists()
def test_custom_setup_script(platform_config, tmpdir):
sysroot_dir, ros_workspace_dir = setup_mock_sysroot(tmpdir)
compiler = SysrootCreator(
str(tmpdir), 'ros_ws', platform_config,
custom_setup_script_path=os.path.join(THIS_SCRIPT_DIR, 'custom-setup.sh'))
assert compiler
assert (sysroot_dir / 'user-custom-setup').exists()
def test_sysroot_creator_tree_additions(platform_config, tmpdir):
sysroot_dir, ros_workspace_dir = setup_mock_sysroot(tmpdir)
compiler = SysrootCreator(str(tmpdir), 'ros_ws', platform_config)
assert compiler
assert (sysroot_dir / ROS_DOCKERFILE_NAME).exists()
assert (sysroot_dir / 'mixins' / 'cross-compile.mixin').exists()
assert (sysroot_dir / 'mixins' / 'index.yaml').exists()
def main():
"""Start the cross-compilation workflow."""
# Configuration
args = parse_args(sys.argv[1:])
platform = Platform(args.arch, args.os, args.rosdistro,
args.sysroot_base_image)
sysroot_creator = SysrootCreator(
cc_root_dir=args.sysroot_path,
ros_workspace_dir=args.ros_workspace,
platform=platform,
docker_no_cache=args.sysroot_nocache,
custom_setup_script_path=args.custom_setup_script,
custom_data_dir=args.custom_data_dir)
sysroot_creator.create_workspace_sysroot_image()
ros_workspace_dir = os.path.join(args.sysroot_path, 'sysroot',
args.ros_workspace)
run_emulated_docker_build(platform.sysroot_image_tag, ros_workspace_dir)
def test_sysroot_creator_tree_validation(platform_config, docker_config,
tmpdir):
"""
Ensure that the SysrootCreator constructor validates the workspace.
Start with empty directory and add one piece at a time, expecting failures until
all parts are present.
"""
kwargs = {
'cc_root_dir': str(tmpdir),
'ros_workspace_dir': 'ros_ws',
'platform': platform_config,
'docker_config': docker_config,
'custom_setup_script_path': None,
}
# There's no 'sysroot' at all yet
with pytest.raises(FileNotFoundError):
compiler = SysrootCreator(**kwargs)
sysroot_dir = tmpdir / SYSROOT_DIR_NAME
sysroot_dir.mkdir()
# ROS2 ws and qemu dirs are missing
with pytest.raises(FileNotFoundError):
compiler = SysrootCreator(**kwargs)
ros_workspace_dir = sysroot_dir / 'ros_ws'
ros_workspace_dir.mkdir()
# qemu dirs are missing
with pytest.raises(FileNotFoundError):
compiler = SysrootCreator(**kwargs)
qemu_dir = sysroot_dir / QEMU_DIR_NAME
qemu_dir.mkdir()
# the qemu binary is still missing
with pytest.raises(FileNotFoundError):
compiler = SysrootCreator(**kwargs)
qemu_binary_mock = qemu_dir / 'qemu'
qemu_binary_mock.ensure()
# everything is present now
compiler = SysrootCreator(**kwargs)
assert compiler
def test_parse_docker_build_output(
platform_config, tmpdir):
"""Test the SysrootCreator constructor assuming valid path setup."""
# Create mock directories and files
sysroot_dir, ros_workspace_dir = setup_mock_sysroot(tmpdir)
sysroot_creator = SysrootCreator(
str(tmpdir), 'ros_ws', platform_config, False, None)
log_generator_without_errors = [
{'stream': ' ---\\u003e a9eb17255234\\n'},
{'stream': 'Step 1 : VOLUME /data\\n'},
{'stream': ' ---\\u003e Running in abdc1e6896c6\\n'},
{'stream': ' ---\\u003e 713bca62012e\\n'},
{'stream': 'Removing intermediate container abdc1e6896c6\\n'},
{'stream': 'Step 2 : CMD [\\"/bin/sh\\"]\\n'},
{'stream': ' ---\\u003e Running in dba30f2a1a7e\\n'},
{'stream': ' ---\\u003e 032b8b2855fc\\n'},
{'stream': 'Removing intermediate container dba30f2a1a7e\\n'},
{'stream': 'Successfully built 032b8b2855fc\\n'},
]
# Just expect it not to raise
sysroot_creator._parse_build_output(log_generator_without_errors)
log_generator_with_errors = [
{'stream': ' ---\\u003e a9eb17255234\\n'},
{'stream': 'Step 1 : VOLUME /data\\n'},
{'stream': ' ---\\u003e Running in abdc1e6896c6\\n'},
{'stream': ' ---\\u003e 713bca62012e\\n'},
{'stream': 'Removing intermediate container abdc1e6896c6\\n'},
{'stream': 'Step 2 : CMD [\\"/bin/sh\\"]\\n'},
{'error': ' ---\\COMMAND NOT FOUND\\n'},
]
with pytest.raises(docker.errors.BuildError):
sysroot_creator._parse_build_output(log_generator_with_errors)
