ros2nix/flake.nix

{
  description = "Tool to convert ROS package.xml to Nix expressions compatible with nix-ros-overlay";
  inputs.nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
  inputs.flake-utils.url = "github:numtide/flake-utils";
  inputs.nix-ros-overlay = { url = "github:lopsided98/nix-ros-overlay/develop"; inputs.nixpkgs.follows = "nixpkgs"; };
  inputs.rosdistro = { url = "github:ros/rosdistro"; flake = false; };
  inputs.flake-compat.url = "https://flakehub.com/f/edolstra/flake-compat/1.tar.gz";

  outputs =
    { self, nixpkgs, flake-utils, nix-ros-overlay, ... } @ inputs:
    flake-utils.lib.eachDefaultSystem (
      system:
      let
        pkgs = import nixpkgs {
          inherit system;
          overlays = [ nix-ros-overlay.overlays.default ];
        };
        rosdistro = pkgs.stdenv.mkDerivation {
          pname = "rosdistro";
          version = inputs.rosdistro.lastModifiedDate;
          src = inputs.rosdistro;
          postPatch = ''
            substituteInPlace rosdep/sources.list.d/20-default.list \
              --replace-fail https://raw.githubusercontent.com/ros/rosdistro/master/ file://${placeholder "out"}/
          '';
          postInstall = ''
            mkdir -p $out
            cp -r * $out
          '';
        };
        rosdep-unwrapped = pkgs.python3Packages.rosdep.overrideAttrs ({ postPatch ? "", ...}: {
          postPatch = postPatch + ''
            substituteInPlace src/rosdep2/rep3.py \
              --replace-fail https://raw.githubusercontent.com/ros/rosdistro/master/ file://${rosdistro}/
          '';
        });
        rosdep-cache = pkgs.stdenv.mkDerivation {
          pname = "rosdep-cache";
          version = inputs.rosdistro.lastModifiedDate;
          nativeBuildInputs = [
            rosdep-unwrapped
          ];
          ROSDEP_SOURCE_PATH = "${rosdistro}/rosdep/sources.list.d";
          ROSDISTRO_INDEX_URL = "file://${rosdistro}/index-v4.yaml";
          ROS_HOME = placeholder "out";
          buildCommand = ''
            mkdir -p $out
            rosdep update
          '';
        };
        # rosdep with offline database
        rosdep = pkgs.python3Packages.rosdep.overrideAttrs ({ postFixup ? "", ...}: {
          postFixup = postFixup + ''
            wrapProgram $out/bin/rosdep --set-default ROS_HOME ${rosdep-cache}
          '';
        });
        ros2nix = pkgs.python3Packages.buildPythonApplication {
          pname = "ros2nix";
          version = let lmd = self.lastModifiedDate; in with builtins;
            "${substring 0 8 lmd}-${substring 8 6 lmd}";
          src = pkgs.lib.cleanSource ./.;
          pyproject = true;

          build-system = with pkgs.python3Packages; [
            setuptools
          ];
          nativeBuildInputs = with pkgs; [
            installShellFiles
            python3Packages.argcomplete
          ];
          propagatedBuildInputs = with pkgs; [
            git
            nix-prefetch-git
            nixfmt-rfc-style
            superflore
            python3Packages.argcomplete
          ];
          makeWrapperArgs = [
            "--set ROS_HOME ${rosdep-cache}"
            "--set ROSDEP_SOURCE_PATH ${rosdistro}/rosdep/sources.list.d"
            "--set ROSDISTRO_INDEX_URL file://${rosdistro}/index-v4.yaml"
            "--set ROS_OS_OVERRIDE nixos"
          ];
          postInstall = ''
            installShellCompletion --cmd ros2nix \
              --bash <(register-python-argcomplete ros2nix) \
              --fish <(register-python-argcomplete ros2nix -s fish) \
              --zsh <(register-python-argcomplete ros2nix -s zsh)
          '';

        };
      in
      {
        devShells.default = pkgs.mkShell {
          inputsFrom = [
            ros2nix
          ];
          packages = [
            pkgs.bashInteractive
            (pkgs.bats.withLibraries (p: [
                p.bats-support
                p.bats-assert
                p.bats-file
            ]))
            pkgs.python3Packages.flake8
            pkgs.python3Packages.flake8-bugbear
            pkgs.python3Packages.isort
            pkgs.python3Packages.distutils # needed for running ros2nix via python -m
          ];
          ROSDEP_SOURCE_PATH = "${rosdistro}/rosdep/sources.list.d";
          ROSDISTRO_INDEX_URL = "file://${rosdistro}/index-v4.yaml";
        };
        packages = {
          default = ros2nix;
          inherit rosdistro rosdep-cache rosdep ros2nix;
          inherit (pkgs) mdsh;
        };
        checks = {
          mdsh-check-readme = pkgs.runCommandNoCC "mdsh"
            { nativeBuildInputs = [ ros2nix ]; } ''
             mkdir $out; cd ${self};
             if ! ${pkgs.mdsh}/bin/mdsh --frozen; then
               echo 'Update README with `nix run .#mdsh`.'
             fi'';
        };
      }
    );
}