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| from conan.tools.ros.rosenv import ROSEnv |
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| import os | ||
| from conan.api.output import Color | ||
| from conan.tools.env import VirtualBuildEnv, Environment | ||
| from conan.tools.env.environment import create_env_script | ||
| from conan.tools.files import save | ||
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| class ROSEnv: | ||
| """ | ||
| Generator to serve as integration for Robot Operating System 2 development workspaces. | ||
| It generates a conanrosenv.sh file that when sources sets variables so the Conan | ||
| dependencies are found by CMake and the run environment is also set. | ||
| IMPORTANT: This generator should be used together with CMakeDeps and CMakeToolchain generators. | ||
| """ | ||
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| def __init__(self, conanfile): | ||
| self._conanfile = conanfile | ||
| self.variables = {} | ||
| self._build_script_file = "conanrosenv-build.sh" | ||
| self._wrapper_script_file = "conanrosenv.sh" | ||
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| def generate(self): | ||
| cmake_toolchain_path = os.path.join(self._conanfile.generators_folder, | ||
| "conan_toolchain.cmake") | ||
| self.variables["CMAKE_TOOLCHAIN_FILE"] = f"\"{cmake_toolchain_path}\"" | ||
| build_type = self._conanfile.settings.get_safe("build_type") | ||
| if build_type: | ||
| self.variables["CMAKE_BUILD_TYPE"] = build_type | ||
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| # Add ROS required variables to VirtualBuildEnv | ||
| rosbuildenv = Environment() | ||
| for k, v in self.variables.items(): | ||
| rosbuildenv.define(k, v) | ||
| rosbuildenv.vars(self._conanfile, "build").save_script(self._build_script_file) | ||
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| # Generate conanrosenv.sh script wrapper that calls conanbuild.sh and conanrun.sh | ||
| # TODO: Windows .bat/.ps1 files still not supported for the wrapper | ||
| conanbuild_path = os.path.join(self._conanfile.generators_folder, "conanbuild.sh") | ||
| conanrun_path = os.path.join(self._conanfile.generators_folder, "conanrun.sh") | ||
| rosenv_wrapper_content = [f". \"{conanbuild_path}\"", f". \"{conanrun_path}\""] | ||
| create_env_script(self._conanfile, "\n".join(rosenv_wrapper_content), | ||
| self._wrapper_script_file, None) | ||
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| conanrosenv_path = os.path.join(self._conanfile.generators_folder, self._wrapper_script_file) | ||
| msg = f"Generated ROSEnv Conan file: {self._wrapper_script_file}\n" + \ | ||
| f"Use 'source {conanrosenv_path}' to set the ROSEnv Conan before 'colcon build'" | ||
| self._conanfile.output.info(msg, fg=Color.CYAN) |
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| CHECKSUM_DEPLOY = "checksum_deploy" # Only when v2 | ||
| REVISIONS = "revisions" # Only when enabled in config, not by default look at server_launcher.py | ||
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| __version__ = '2.9.0-dev' | ||
| __version__ = '2.10.0-dev' |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,77 @@ | ||
| import os | ||
| import textwrap | ||
| import platform | ||
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| import pytest | ||
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| from conan.test.assets.genconanfile import GenConanfile | ||
| from conan.test.utils.tools import TestClient | ||
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| @pytest.mark.skipif(platform.system() == "Windows", reason="Uses UNIX commands") | ||
| def test_rosenv(): | ||
| """ | ||
| Test that the ROSEnv generator generates the environment files and that the environment variables are correctly set | ||
| """ | ||
| client = TestClient() | ||
| conanfile3 = textwrap.dedent(''' | ||
| [requires] | ||
| [generators] | ||
| CMakeDeps | ||
| CMakeToolchain | ||
| ROSEnv | ||
| ''') | ||
| client.save({ | ||
| "conanfile3.txt": conanfile3 | ||
| }) | ||
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| client.run("install conanfile3.txt --output-folder install/conan") | ||
| assert "Generated ROSEnv Conan file: conanrosenv.sh" in client.out | ||
| install_folder = os.path.join(client.current_folder, "install", "conan") | ||
| conanrosenv_path = os.path.join(install_folder, "conanrosenv.sh") | ||
| assert os.path.exists(conanrosenv_path) | ||
| conanrosenvbuild_path = os.path.join(install_folder, "conanrosenv-build.sh") | ||
| assert os.path.exists(conanrosenvbuild_path) | ||
| client.run_command(f". \"{conanrosenv_path}\" && env") | ||
| toolchain_path = os.path.join(client.current_folder, "install", "conan", "conan_toolchain.cmake") | ||
| assert f"CMAKE_TOOLCHAIN_FILE=\"{toolchain_path}\"" in client.out | ||
| assert "CMAKE_BUILD_TYPE=Release" in client.out | ||
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| @pytest.mark.skipif(platform.system() == "Windows", reason="Uses UNIX commands") | ||
| def test_rosenv_shared_libraries(): | ||
| """ | ||
| Test that the library paths env vars are set up correctly so that the executables built with | ||
| colcon can found the shared libraries of conan packages | ||
| """ | ||
| client = TestClient() | ||
| c1 = GenConanfile("lib1", "1.0").with_shared_option(False).with_package_file("lib/lib1", "lib-content") | ||
| c2 = GenConanfile("lib2", "1.0").with_shared_option(False).with_requirement("lib1/1.0").with_package_file("lib/lib2", "lib-content") | ||
| c3 = textwrap.dedent(''' | ||
| [requires] | ||
| lib2/1.0 | ||
| [generators] | ||
| CMakeDeps | ||
| CMakeToolchain | ||
| ROSEnv | ||
| ''') | ||
| client.save({ | ||
| "conanfile1.py": c1, | ||
| "conanfile2.py": c2, | ||
| "conanfile3.txt": c3 | ||
| }) | ||
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| client.run("create conanfile1.py -o *:shared=True") | ||
| client.run("create conanfile2.py -o *:shared=True") | ||
| client.run("install conanfile3.txt -o *:shared=True --output-folder install/conan") | ||
| conanrosenv_path = os.path.join(client.current_folder, "install", "conan", "conanrosenv.sh") | ||
| client.run_command(f". \"{conanrosenv_path}\" && env") | ||
| environment_content = client.out | ||
| client.run( | ||
| "cache path lib1/1.0#58723f478a96866dcbd9456d8eefd7c4:1744785cb24e3bdca70e27041dc5abd20476f947") | ||
| lib1_lib_path = os.path.join(client.out.strip(), "lib") | ||
| assert lib1_lib_path in environment_content | ||
| client.run( | ||
| "cache path lib2/1.0#4b7a6063ba107d770458ce10385beb52:5c3c2e56259489f7ffbc8e494921eda4b747ef21") | ||
| lib2_lib_path = os.path.join(client.out.strip(), "lib") | ||
| assert lib2_lib_path in environment_content |