Документ взят из кэша поисковой машины. Адрес оригинального документа : http://mirror.msu.net/pub/gentoo-portage/eclass/ros-catkin.eclass Дата изменения: Sun Oct 11 18:43:26 2015 Дата индексирования: Sun Apr 10 06:19:44 2016 Кодировка:

# Copyright 1999-2015 Gentoo Foundation
# Distributed under the terms of the GNU General Public License v2
# $Id$

# @ECLASS: ros-catkin.eclass
# @MAINTAINER:
# ros@gentoo.org
# @AUTHOR:
# Alexis Ballier
# @BLURB: Template eclass for catkin based ROS packages.
# @DESCRIPTION:
# Provides function for building ROS packages on Gentoo.
# It supports selectively building messages, multi-python installation, live ebuilds (git only).

case "${EAPI:-0}" in
0|1|2|3|4)
die "EAPI='${EAPI}' is not supported"
;;
*)
;;
esac

# @ECLASS-VARIABLE: ROS_REPO_URI
# @DESCRIPTION:
# URL of the upstream repository. Usually on github.
# Serves for fetching tarballs, live ebuilds and inferring the meta-package name.
EGIT_REPO_URI="${ROS_REPO_URI}"

# @ECLASS-VARIABLE: ROS_SUBDIR
# @DEFAULT_UNSET
# @DESCRIPTION:
# Subdir in which current packages is located.
# Usually, a repository contains several packages, hence a typical value is:
# ROS_SUBDIR=${PN}

SCM=""
if [ "${PV#9999}" != "${PV}" ] ; then
SCM="git-r3"
fi

# @ECLASS-VARIABLE: PYTHON_COMPAT
# @DESCRIPTION:
# Tells the eclass the package has python code and forwards it to python-r1.eclass.
PYTHON_ECLASS=""
CATKIN_PYTHON_USEDEP=""
if [ -n "${PYTHON_COMPAT}" ] ; then
PYTHON_ECLASS="python-r1 python-utils-r1"
fi

inherit ${SCM} ${PYTHON_ECLASS} cmake-utils

CATKIN_DO_PYTHON_MULTIBUILD=""
if [ -n "${PYTHON_COMPAT}" ] ; then
CATKIN_PYTHON_USEDEP="[${PYTHON_USEDEP}]"
CATKIN_DO_PYTHON_MULTIBUILD="yes"
fi

IUSE="test"
RDEPEND="
dev-util/catkin${CATKIN_PYTHON_USEDEP}
dev-python/empy${CATKIN_PYTHON_USEDEP}
"
DEPEND="${RDEPEND}"

if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
RDEPEND="${RDEPEND} dev-lang/python-exec:2 ${PYTHON_DEPS}"
DEPEND="${DEPEND} ${PYTHON_DEPS}"
fi

# @ECLASS-VARIABLE: CATKIN_HAS_MESSAGES
# @DESCRIPTION:
# Set it to a non-empty value before inherit to tell the eclass the package has messages to build.
# Messages will be built based on ROS_MESSAGES USE_EXPANDed variable.

# @ECLASS-VARIABLE: CATKIN_MESSAGES_TRANSITIVE_DEPS
# @DESCRIPTION:
# Some messages have dependencies on other messages.
# In that case, CATKIN_MESSAGES_TRANSITIVE_DEPS should contain a space-separated list of atoms
# representing those dependencies. The eclass uses it to ensure proper dependencies on these packages.
if [ -n "${CATKIN_HAS_MESSAGES}" ] ; then
IUSE="${IUSE} +ros_messages_python +ros_messages_cxx ros_messages_eus ros_messages_lisp"
RDEPEND="${RDEPEND}
ros_messages_cxx? ( dev-ros/gencpp:=${CATKIN_PYTHON_USEDEP} )
ros_messages_eus? ( dev-ros/geneus:=${CATKIN_PYTHON_USEDEP} )
ros_messages_python? ( dev-ros/genpy:=${CATKIN_PYTHON_USEDEP} )
ros_messages_lisp? ( dev-ros/genlisp:=${CATKIN_PYTHON_USEDEP} )
dev-ros/message_runtime
"
DEPEND="${DEPEND} ${RDEPEND}
dev-ros/message_generation
dev-ros/genmsg${CATKIN_PYTHON_USEDEP}
"
if [ -n "${CATKIN_MESSAGES_TRANSITIVE_DEPS}" ] ; then
for i in ${CATKIN_MESSAGES_TRANSITIVE_DEPS} ; do
ds="${i}[ros_messages_python(-)?,ros_messages_cxx(-)?,ros_messages_lisp(-)?,ros_messages_eus(-)?] ros_messages_python? ( ${i}[${PYTHON_USEDEP}] )"
RDEPEND="${RDEPEND} ${ds}"
DEPEND="${DEPEND} ${ds}"
done
fi
fi

# @ECLASS-VARIABLE: CATKIN_MESSAGES_CXX_USEDEP
# @DESCRIPTION:
# Use it as cat/pkg[${CATKIN_MESSAGES_CXX_USEDEP}] to indicate a dependency on the C++ messages of cat/pkg.
CATKIN_MESSAGES_CXX_USEDEP="ros_messages_cxx(-)"

# @ECLASS-VARIABLE: CATKIN_MESSAGES_PYTHON_USEDEP
# @DESCRIPTION:
# Use it as cat/pkg[${CATKIN_MESSAGES_PYTHON_USEDEP}] to indicate a dependency on the Python messages of cat/pkg.
CATKIN_MESSAGES_PYTHON_USEDEP="ros_messages_python(-),${PYTHON_USEDEP}"

# @ECLASS-VARIABLE: CATKIN_MESSAGES_LISP_USEDEP
# @DESCRIPTION:
# Use it as cat/pkg[${CATKIN_MESSAGES_LISP_USEDEP}] to indicate a dependency on the Common-Lisp messages of cat/pkg.
CATKIN_MESSAGES_LISP_USEDEP="ros_messages_lisp(-)"

# @ECLASS-VARIABLE: CATKIN_MESSAGES_EUS_USEDEP
# @DESCRIPTION:
# Use it as cat/pkg[${CATKIN_MESSAGES_EUS_USEDEP}] to indicate a dependency on the EusLisp messages of cat/pkg.
CATKIN_MESSAGES_EUS_USEDEP="ros_messages_eus(-)"

if [ "${PV#9999}" != "${PV}" ] ; then
SRC_URI=""
KEYWORDS=""
S=${WORKDIR}/${P}/${ROS_SUBDIR}
else
SRC_URI="${ROS_REPO_URI}/archive/${VER_PREFIX}${PV%_*}${VER_SUFFIX}.tar.gz -> ${ROS_REPO_URI##*/}-${PV}.tar.gz"
S=${WORKDIR}/${VER_PREFIX}${ROS_REPO_URI##*/}-${PV}${VER_SUFFIX}/${ROS_SUBDIR}
fi

HOMEPAGE="http://wiki.ros.org/${PN}"

# @FUNCTION: ros-catkin_src_prepare
# @DESCRIPTION:
# Calls cmake-utils_src_prepare (so that PATCHES array is handled there) and initialises the workspace
# by installing a recursive CMakeLists.txt to handle bundles.
ros-catkin_src_prepare() {
cmake-utils_src_prepare

if [ ! -f "${S}/CMakeLists.txt" ] ; then
catkin_init_workspace || die
fi
}

# @FUNCTION: ros-catkin_src_configure_internal
# @DESCRIPTION:
# Internal decoration of cmake-utils_src_configure to handle multiple python installs.
ros-catkin_src_configure_internal() {
if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
local mycmakeargs=("${mycmakeargs[@]}" -DPYTHON_EXECUTABLE="${PYTHON}")
python_export PYTHON_SCRIPTDIR
fi
cmake-utils_src_configure "${@}"
}

# @VARIABLE: mycatkincmakeargs
# @DEFAULT_UNSET
# @DESCRIPTION:
# Optional cmake defines as a bash array. Should be defined before calling
# src_configure.

# @FUNCTION: ros-catkin_src_configure
# @DESCRIPTION:
# Configures a catkin-based package.
ros-catkin_src_configure() {
export CMAKE_PREFIX_PATH="${EPREFIX}/usr"
export ROS_ROOT="${EPREFIX}/usr/share/ros"
if [ -n "${CATKIN_HAS_MESSAGES}" ] ; then
ROS_LANG_DISABLE=""
use ros_messages_cxx || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:gencpp"
use ros_messages_eus || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:geneus"
use ros_messages_lisp || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:genlisp"
use ros_messages_python || ROS_LANG_DISABLE="${ROS_LANG_DISABLE}:genpy"
export ROS_LANG_DISABLE
fi
local mycmakeargs=(
"$(cmake-utils_use test CATKIN_ENABLE_TESTING)"
"-DCATKIN_BUILD_BINARY_PACKAGE=ON"
"-DCATKIN_PREFIX_PATH=${SYSROOT:-${EROOT}}/usr"
"${mycatkincmakeargs[@]}"
)
if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
python_foreach_impl ros-catkin_src_configure_internal "${@}"
else
ros-catkin_src_configure_internal "${@}"
fi
}

# @FUNCTION: ros-catkin_src_compile
# @DESCRIPTION:
# Builds a catkin-based package.
ros-catkin_src_compile() {
if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
python_foreach_impl cmake-utils_src_compile "${@}"
else
cmake-utils_src_compile "${@}"
fi
}

# @FUNCTION: ros-catkin_src_test_internal
# @DESCRIPTION:
# Decorator around cmake-utils_src_test to ensure tests are built before running them.
ros-catkin_src_test_internal() {
cd "${BUILD_DIR}" || die
if nonfatal cmake-utils_src_make tests -n &> /dev/null ; then
cmake-utils_src_make tests
fi
cmake-utils_src_test "${@}"
}

# @FUNCTION: ros-catkin_src_test
# @DESCRIPTION:
# Run the tests of a catkin-based package.
ros-catkin_src_test() {
if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
python_foreach_impl ros-catkin_src_test_internal "${@}"
else
ros-catkin_src_test_internal "${@}"
fi
}

# @FUNCTION: ros-catkin_src_install_with_python
# @DESCRIPTION:
# Decorator around cmake-utils_src_install to ensure python scripts are properly handled w.r.t. python-exec2.
ros-catkin_src_install_with_python() {
python_export PYTHON_SCRIPTDIR
cmake-utils_src_install "${@}"
if [ ! -f "${T}/.catkin_python_symlinks_generated" -a -d "${D}/${PYTHON_SCRIPTDIR}" ]; then
dodir /usr/bin
for i in "${D}/${PYTHON_SCRIPTDIR}"/* ; do
dosym ../lib/python-exec/python-exec2 "/usr/bin/${i##*/}"
done
touch "${T}/.catkin_python_symlinks_generated" || die
fi
}

# @FUNCTION: ros-catkin_src_install
# @DESCRIPTION:
# Installs a catkin-based package.
ros-catkin_src_install() {
if [ -n "${CATKIN_DO_PYTHON_MULTIBUILD}" ] ; then
python_foreach_impl ros-catkin_src_install_with_python "${@}"
else
cmake-utils_src_install "${@}"
fi
}

EXPORT_FUNCTIONS src_prepare src_configure src_compile src_test src_install