async def build(self): # noqa: D102
args = self.context.args
logger.info("Building ROS package in '{args.path}' with build type "
"'ament_python'".format_map(locals()))
# reuse Python build task with additional logic
extension = PythonBuildTask()
extension.set_context(context=self.context)
# additional hooks
additional_hooks = create_environment_hook('ament_prefix_path',
Path(args.install_base),
self.context.pkg.name,
'AMENT_PREFIX_PATH',
'',
mode='prepend')
# create package marker in ament resource index
create_file(
args,
'share/ament_index/resource_index/packages/{self.context.pkg.name}'
.format_map(locals()))
# copy / symlink package manifest
install(
args, 'package.xml',
'share/{self.context.pkg.name}/package.xml'.format_map(locals()))
return await extension.build(additional_hooks=additional_hooks)
def test_create_file():
with TemporaryDirectory(prefix='test_colcon_') as base_path:
args = Mock()
args.install_base = base_path
create_file(args, 'file.txt')
path = Path(base_path) / 'file.txt'
assert path.is_file()
assert path.read_text() == ''
create_file(args, 'path/file.txt', content='content')
path = Path(base_path) / 'path' / 'file.txt'
assert path.is_file()
assert path.read_text() == 'content'
async def _install(self, dub: DubPackage) -> Optional[int]:
self.progress('install')
args = self.context.args # BuildPackageArguments
# We now install to <install_base>/lib/dub/<package>
src_dir = Path(dub.path)
# Ignore git files
files = [
f for f in os.listdir(src_dir)
if not f.startswith('.git')
and f != '.' and f != '..'
]
# install DUB
for f in files:
dst_f = Path(f).parts[-1]
_copy_path(
args, f,
'lib/dub/{self.context.pkg.name}/{dst_f}'.format_map(locals()))
# install builds
for c in dub.configurations:
if not c.is_executable():
continue
obj_path = c.object_path()
_copy_path(
args, obj_path,
'lib/{self.context.pkg.name}/{obj_path}'.format_map(locals()))
# install files
for dst, files in dub.install_files.items():
for f in files:
dst_f = Path(f).parts[-1]
_copy_path(
args, f,
'{dst}/{dst_f}'.format_map(locals()))
# create files
for dst, files in dub.create_files.items():
for f in files:
create_file(args, '{dst}/{f}'.format_map(locals()))
async def build(self): # noqa: D102
args = self.context.args
# get build type of package from manifest
pkg, build_type = get_package_with_build_type(args.path)
logger.info("Building ROS package in '{args.path}' with build type "
"'{build_type}'".format_map(locals()))
# choose the task extension and additional hooks and arguments
additional_hooks = []
if build_type == 'ament_cmake':
extension = CmakeBuildTask()
additional_hooks += [
'share/{pkg.name}/local_setup.bash'.format_map(locals()),
'share/{pkg.name}/local_setup.bat'.format_map(locals()),
'share/{pkg.name}/local_setup.ps1'.format_map(locals()),
'share/{pkg.name}/local_setup.sh'.format_map(locals()),
]
if args.test_result_base:
if args.cmake_args is None:
args.cmake_args = []
# ament_cmake appends the project name itself
args.cmake_args.append('-DAMENT_TEST_RESULTS_DIR=' +
os.path.dirname(args.test_result_base))
if args.symlink_install:
if args.cmake_args is None:
args.cmake_args = []
args.cmake_args.append('-DAMENT_CMAKE_SYMLINK_INSTALL=1')
if args.ament_cmake_args:
if args.cmake_args is None:
args.cmake_args = []
args.cmake_args += args.ament_cmake_args
# extend CMAKE_PREFIX_PATH with AMENT_PREFIX_PATH
ament_prefix_path = os.environ.get('AMENT_PREFIX_PATH')
if ament_prefix_path:
ament_prefix_path = ament_prefix_path.replace(os.pathsep, ';')
if args.cmake_args is None:
args.cmake_args = []
# check if the CMAKE_PREFIX_PATH is explicitly set
prefix = '-DCMAKE_PREFIX_PATH='
for i, value in reversed(list(enumerate(args.cmake_args))):
if not value.startswith(prefix):
continue
# extend the last existing entry
existing = value[len(prefix):]
if existing:
existing = ';' + existing
args.cmake_args[i] = \
'-DCMAKE_PREFIX_PATH={ament_prefix_path}{existing}' \
.format_map(locals())
break
else:
# otherwise extend the environment variable
existing = os.environ.get('CMAKE_PREFIX_PATH', '')
if existing:
existing = ';' + existing.replace(os.pathsep, ';')
args.cmake_args.append(
'-DCMAKE_PREFIX_PATH={ament_prefix_path}{existing}'.
format_map(locals()))
elif build_type == 'ament_python':
extension = PythonBuildTask()
additional_hooks += create_environment_hook('ament_prefix_path',
Path(
args.install_base),
pkg.name,
'AMENT_PREFIX_PATH',
'',
mode='prepend')
# create package marker in ament resource index
create_file(
args, 'share/ament_index/resource_index/packages/{pkg.name}'.
format_map(locals()))
# copy / symlink package manifest
install(args, 'package.xml',
'share/{pkg.name}/package.xml'.format_map(locals()))
elif build_type == 'catkin':
extension = CmakeBuildTask()
if args.cmake_args is None:
args.cmake_args = []
args.cmake_args += ['-DCATKIN_INSTALL_INTO_PREFIX_ROOT=0']
if args.test_result_base:
# catkin appends the project name itself
args.cmake_args.append('-DCATKIN_TEST_RESULTS_DIR=' +
os.path.dirname(args.test_result_base))
if args.catkin_cmake_args:
args.cmake_args += args.catkin_cmake_args
additional_hooks += create_environment_hook('ros_package_path',
Path(
args.install_base),
pkg.name,
'ROS_PACKAGE_PATH',
'share',
mode='prepend')
elif build_type == 'cmake':
extension = CmakeBuildTask()
elif build_type == 'cargo':
extension = CargoBuildTask()
additional_hooks += create_environment_hook('ament_prefix_path',
Path(
args.install_base),
pkg.name,
'AMENT_PREFIX_PATH',
'',
mode='prepend')
# create package marker in ament resource index
create_file(
args, 'share/ament_index/resource_index/packages/{pkg.name}'.
format_map(locals()))
# copy / symlink package manifest
install(args, 'package.xml',
'share/{pkg.name}/package.xml'.format_map(locals()))
else:
assert False, 'Unknown build type: ' + build_type
extension.set_context(context=self.context)
if build_type != 'catkin':
return await extension.build(additional_hooks=additional_hooks)
else:
# for catkin packages add additional hooks after the package has
# been built and installed depending on the installed files
rc = await extension.build(skip_hook_creation=True)
# add Python 2 specific path to PYTHONPATH if it exists
if os.environ.get('ROS_PYTHON_VERSION', '2') == '2':
for subdirectory in ('dist-packages', 'site-packages'):
python_path = Path(args.install_base) / \
'lib' / 'python2.7' / subdirectory
logger.log(1, "checking '%s'" % python_path)
if python_path.exists():
rel_python_path = python_path.relative_to(
args.install_base)
additional_hooks += create_environment_hook(
'python2path',
Path(args.install_base),
pkg.name,
'PYTHONPATH',
str(rel_python_path),
mode='prepend')
create_environment_scripts(self.context.pkg,
args,
additional_hooks=additional_hooks)
# ensure that the install base has the marker file
# identifying it as a catkin workspace
marker = Path(args.install_base) / '.catkin'
marker.touch(exist_ok=True)
return rc
async def build(self): # noqa: D102
args = self.context.args
logger.info(
"Building ROS package in '{args.path}' with build type "
"'ament_python'".format_map(locals()))
# reuse Python build task with additional logic
extension = PythonBuildTask()
extension.set_context(context=self.context)
# additional hooks
additional_hooks = create_environment_hook(
'ament_prefix_path', Path(args.install_base),
self.context.pkg.name, 'AMENT_PREFIX_PATH', '', mode='prepend')
# get options from the Python manifest
try:
env = await get_command_environment(
'setup_py', args.build_base, self.context.dependencies)
except RuntimeError as e:
logger.error(str(e))
return 1
setup_py_data = get_setup_data(self.context.pkg, env)
# check if the package index and manifest are being installed
data_files = get_data_files_mapping(
setup_py_data.get('data_files', []))
installs_package_index = False
installs_package_manifest = False
# check if package index and manifest are being installed
for source, destination in data_files.items():
if sys.platform == 'win32':
destination = Path(destination).as_posix()
# work around data files incorrectly defined as not relative
if os.path.isabs(source):
source = os.path.relpath(source, args.path)
if (
destination == 'share/ament_index/resource_index/packages/' +
self.context.pkg.name
):
installs_package_index = True
elif (
source == 'package.xml' and
destination == 'share/{self.context.pkg.name}/package.xml'
.format_map(locals())
):
installs_package_manifest = True
# warn about missing explicit installation
# for now implicitly install the marker and the manifest
if not installs_package_index:
# TODO remove magic helper in the future
logger.warn(
"Package '{self.context.pkg.name}' doesn't explicitly install "
'a marker in the package index (colcon-ros currently does it '
'implicitly but that fallback will be removed in the future)'
.format_map(locals()))
# create package marker in ament resource index
create_file(
args,
'share/ament_index/resource_index/packages/'
'{self.context.pkg.name}'.format_map(locals()))
if not installs_package_manifest:
# TODO remove magic helper in the future
logger.warn(
"Package '{self.context.pkg.name}' doesn't explicitly install "
"the 'package.xml' file (colcon-ros currently does it "
'implicitly but that fallback will be removed in the future)'
.format_map(locals()))
# copy / symlink package manifest
install(
args, 'package.xml',
'share/{self.context.pkg.name}/package.xml'
.format_map(locals()))
return await extension.build(additional_hooks=additional_hooks)