async def test(self): # noqa: D102
args = self.context.args
logger.info(
"Testing ROS package in '{args.path}' with build type 'catkin'".
format_map(locals()))
# for catkin packages it is expected that the devel space
# and not the install space is in the environment for testing
self.context.dependencies[self.context.pkg.name] = \
os.path.join(self.context.args.build_base, 'devel')
# additional hooks
additional_hooks = create_environment_hook('ros_package_path',
Path(args.build_base) /
'devel',
self.context.pkg.name,
'ROS_PACKAGE_PATH',
args.path,
mode='prepend')
additional_hooks += create_pythonpath_environment_hook(
Path(args.build_base) / 'devel', self.context.pkg.name)
# generate the necessary setup files for the devel space
create_environment_scripts_only(Path(args.build_base) / 'devel',
self.context.pkg,
additional_hooks=additional_hooks)
# reuse CMake test task
extension = CmakeTestTask()
extension.set_context(context=self.context)
return await extension.test()
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