async def build(self): # noqa: D102
args = self.context.args
logger.info(
"Building ROS package in '{args.path}' with build type 'cmake'".
format_map(locals()))
# reuse CMake build task with additional logic
extension = CmakeBuildTask_()
extension.set_context(context=self.context)
rc = await extension.build(skip_hook_creation=True,
environment_callback=add_app_to_cpp)
# if the build has failed getting targets might not be possible
try:
has_install_target = await has_target(args.build_base, 'install')
except Exception:
if not rc:
raise
has_install_target = False
additional_hooks = []
if has_install_target:
additional_hooks += create_pkg_config_path_environment_hooks(
Path(args.install_base), self.context.pkg.name)
create_environment_scripts(self.context.pkg,
args,
additional_hooks=additional_hooks)
return rc
async def build(self): # noqa: D102
args = self.context.args
logger.info(
"Building ROS package in '{args.path}' with build type 'catkin'".
format_map(locals()))
# reuse CMake build task with additional logic
extension = CmakeBuildTask()
extension.set_context(context=self.context)
# additional arguments
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
additional_hooks = create_environment_hook('ros_package_path',
Path(args.install_base),
self.context.pkg.name,
'ROS_PACKAGE_PATH',
'share',
mode='prepend')
# 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),
self.context.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_cmake'".format_map(locals()))
# reuse CMake build task with additional logic
extension = CmakeBuildTask()
extension.set_context(context=self.context)
# additional arguments
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
rc = await extension.build(skip_hook_creation=False,
environment_callback=add_app_to_cpp)
# if the build has failed getting targets might not be possible
try:
has_install_target = await has_target(args.build_base, 'install')
except Exception: # noqa: B902
if not rc:
raise
has_install_target = False
# add a hook for each available shell
# only if the package has an install target
additional_hooks = []
if has_install_target:
shell_extensions = get_shell_extensions()
file_extensions = []
for shell_extensions_same_prio in shell_extensions.values():
for shell_extension in shell_extensions_same_prio.values():
file_extensions += shell_extension.get_file_extensions()
for ext in sorted(file_extensions):
additional_hooks.append(
'share/{self.context.pkg.name}/local_setup.{ext}'.
format_map(locals()))
create_environment_scripts(self.context.pkg,
args,
additional_hooks=additional_hooks)
return rc
async def build(self): # noqa: D102
args = self.context.args
logger.info(
"Building ROS package in '{args.path}' with build type 'cmake'".
format_map(locals()))
# reuse CMake build task with additional logic
extension = CmakeBuildTask_()
extension.set_context(context=self.context)
extend_cpp_with_app(args)
return await extension.build()
async def build(self): # noqa: D102
args = self.context.args
logger.info("Building ROS package in '{args.path}' with build type "
"'ament_cmake'".format_map(locals()))
# reuse CMake build task with additional logic
extension = CmakeBuildTask()
extension.set_context(context=self.context)
# add a hook for each available shell
additional_hooks = create_environment_hook('ament_current_prefix',
Path(args.install_base),
self.context.pkg.name,
'AMENT_CURRENT_PREFIX',
'',
mode='prepend')
shell_extensions = get_shell_extensions()
file_extensions = []
for shell_extensions_same_prio in shell_extensions.values():
for shell_extension in shell_extensions_same_prio.values():
file_extensions += shell_extension.get_file_extensions()
for file_extension in sorted(file_extensions):
additional_hooks.append(
'share/{self.context.pkg.name}/local_setup.{file_extension}'.
format_map(locals()))
# additional arguments
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
return await extension.build(environment_callback=add_app_to_cpp,
additional_hooks=additional_hooks)
async def build(self): # noqa: D102
args = self.context.args
logger.info(
"Building ROS package in '{args.path}' with build type 'cmake'".
format_map(locals()))
# reuse CMake build task with additional logic
extension = CmakeBuildTask_()
extension.set_context(context=self.context)
rc = await extension.build(environment_callback=add_app_to_cpp)
additional_hooks = create_pkg_config_path_environment_hooks(
Path(args.install_base), self.context.pkg.name)
create_environment_scripts(self.context.pkg,
args,
additional_hooks=additional_hooks)
return rc
async def build(self): # noqa: D102
args = self.context.args
logger.info(
"Building ROS package in '{args.path}' with build type 'catkin'".
format_map(locals()))
# reuse CMake build task with additional logic
extension = CmakeBuildTask()
extension.set_context(context=self.context)
# additional arguments
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
# invoke the build
additional_targets = []
# if no specific target is specified consider building the 'tests'
# target and continue if such a target doesn't exist
if args.cmake_target is None:
if not args.catkin_skip_building_tests:
additional_targets.append('tests')
args.cmake_target_skip_unavailable = True
rc = await extension.build(skip_hook_creation=True,
additional_targets=additional_targets)
# for catkin packages add additional hooks after the package has
# been built and installed depending on the installed files
additional_hooks = create_environment_hook('ros_package_path',
Path(args.install_base),
self.context.pkg.name,
'ROS_PACKAGE_PATH',
'share',
mode='prepend')
additional_hooks += create_pythonpath_environment_hook(
Path(args.install_base), self.context.pkg.name)
additional_hooks += create_pkg_config_path_environment_hooks(
Path(args.install_base), self.context.pkg.name)
# register hooks created via catkin_add_env_hooks
shell_extensions = get_shell_extensions()
file_extensions = OrderedDict()
for shell_extensions_same_prio in shell_extensions.values():
for shell_extension in shell_extensions_same_prio.values():
for file_extension in shell_extension.get_file_extensions():
file_extensions[file_extension] = shell_extension
custom_hooks_path = Path(args.install_base) / \
'share' / self.context.pkg.name / 'catkin_env_hook'
for file_extension, shell_extension in file_extensions.items():
file_extension_hooks = sorted(
custom_hooks_path.glob('*.{file_extension}'.format_map(
locals())))
if file_extension_hooks:
try:
# try to set CATKIN_ENV_HOOK_WORKSPACE explicitly before
# sourcing these hooks
additional_hooks.append(
shell_extension.create_hook_set_value(
'catkin_env_hook_workspace',
Path(args.install_base), self.context.pkg.name,
'CATKIN_ENV_HOOK_WORKSPACE',
'$COLCON_CURRENT_PREFIX'))
except NotImplementedError:
# since not all shell extensions might implement this
pass
additional_hooks += file_extension_hooks
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
# 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