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Michal Sojka
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LICENSE
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202
LICENSE
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@ -0,0 +1,202 @@
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Apache License
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118
flake.lock
generated
Normal file
118
flake.lock
generated
Normal file
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|
@ -0,0 +1,118 @@
|
||||||
|
{
|
||||||
|
"nodes": {
|
||||||
|
"flake-utils": {
|
||||||
|
"inputs": {
|
||||||
|
"systems": "systems"
|
||||||
|
},
|
||||||
|
"locked": {
|
||||||
|
"lastModified": 1710146030,
|
||||||
|
"narHash": "sha256-SZ5L6eA7HJ/nmkzGG7/ISclqe6oZdOZTNoesiInkXPQ=",
|
||||||
|
"owner": "numtide",
|
||||||
|
"repo": "flake-utils",
|
||||||
|
"rev": "b1d9ab70662946ef0850d488da1c9019f3a9752a",
|
||||||
|
"type": "github"
|
||||||
|
},
|
||||||
|
"original": {
|
||||||
|
"owner": "numtide",
|
||||||
|
"repo": "flake-utils",
|
||||||
|
"type": "github"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"flake-utils_2": {
|
||||||
|
"inputs": {
|
||||||
|
"systems": "systems_2"
|
||||||
|
},
|
||||||
|
"locked": {
|
||||||
|
"lastModified": 1705309234,
|
||||||
|
"narHash": "sha256-uNRRNRKmJyCRC/8y1RqBkqWBLM034y4qN7EprSdmgyA=",
|
||||||
|
"owner": "numtide",
|
||||||
|
"repo": "flake-utils",
|
||||||
|
"rev": "1ef2e671c3b0c19053962c07dbda38332dcebf26",
|
||||||
|
"type": "github"
|
||||||
|
},
|
||||||
|
"original": {
|
||||||
|
"owner": "numtide",
|
||||||
|
"repo": "flake-utils",
|
||||||
|
"type": "github"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"nix-ros-overlay": {
|
||||||
|
"inputs": {
|
||||||
|
"flake-utils": "flake-utils_2",
|
||||||
|
"nixpkgs": "nixpkgs"
|
||||||
|
},
|
||||||
|
"locked": {
|
||||||
|
"lastModified": 1712797796,
|
||||||
|
"narHash": "sha256-SkCWsnJ6H+LbXt7PLroXCPlb0k52+EG7WKEXtWjuNbI=",
|
||||||
|
"owner": "lopsided98",
|
||||||
|
"repo": "nix-ros-overlay",
|
||||||
|
"rev": "e239e71fd2ce40ce1f7499328a4c92e9473fec88",
|
||||||
|
"type": "github"
|
||||||
|
},
|
||||||
|
"original": {
|
||||||
|
"owner": "lopsided98",
|
||||||
|
"ref": "master",
|
||||||
|
"repo": "nix-ros-overlay",
|
||||||
|
"type": "github"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"nixpkgs": {
|
||||||
|
"locked": {
|
||||||
|
"lastModified": 1707268954,
|
||||||
|
"narHash": "sha256-2en1kvde3cJVc3ZnTy8QeD2oKcseLFjYPLKhIGDanQ0=",
|
||||||
|
"owner": "lopsided98",
|
||||||
|
"repo": "nixpkgs",
|
||||||
|
"rev": "f8e2ebd66d097614d51a56a755450d4ae1632df1",
|
||||||
|
"type": "github"
|
||||||
|
},
|
||||||
|
"original": {
|
||||||
|
"owner": "lopsided98",
|
||||||
|
"ref": "nix-ros",
|
||||||
|
"repo": "nixpkgs",
|
||||||
|
"type": "github"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"root": {
|
||||||
|
"inputs": {
|
||||||
|
"flake-utils": "flake-utils",
|
||||||
|
"nix-ros-overlay": "nix-ros-overlay",
|
||||||
|
"nixpkgs": [
|
||||||
|
"nix-ros-overlay",
|
||||||
|
"nixpkgs"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"systems": {
|
||||||
|
"locked": {
|
||||||
|
"lastModified": 1681028828,
|
||||||
|
"narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
|
||||||
|
"owner": "nix-systems",
|
||||||
|
"repo": "default",
|
||||||
|
"rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
|
||||||
|
"type": "github"
|
||||||
|
},
|
||||||
|
"original": {
|
||||||
|
"owner": "nix-systems",
|
||||||
|
"repo": "default",
|
||||||
|
"type": "github"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"systems_2": {
|
||||||
|
"locked": {
|
||||||
|
"lastModified": 1681028828,
|
||||||
|
"narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
|
||||||
|
"owner": "nix-systems",
|
||||||
|
"repo": "default",
|
||||||
|
"rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
|
||||||
|
"type": "github"
|
||||||
|
},
|
||||||
|
"original": {
|
||||||
|
"owner": "nix-systems",
|
||||||
|
"repo": "default",
|
||||||
|
"type": "github"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"root": "root",
|
||||||
|
"version": 7
|
||||||
|
}
|
||||||
29
flake.nix
Normal file
29
flake.nix
Normal file
|
|
@ -0,0 +1,29 @@
|
||||||
|
{
|
||||||
|
description = "A basic flake with a shell";
|
||||||
|
inputs.flake-utils.url = "github:numtide/flake-utils";
|
||||||
|
inputs.nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/master";
|
||||||
|
inputs.nixpkgs.follows = "nix-ros-overlay/nixpkgs";
|
||||||
|
|
||||||
|
outputs =
|
||||||
|
{ nixpkgs, flake-utils, nix-ros-overlay, ... }:
|
||||||
|
flake-utils.lib.eachDefaultSystem (
|
||||||
|
system:
|
||||||
|
let
|
||||||
|
pkgs = import nixpkgs {
|
||||||
|
inherit system;
|
||||||
|
overlays = [ nix-ros-overlay.overlays.default ];
|
||||||
|
};
|
||||||
|
in
|
||||||
|
{
|
||||||
|
devShells.default = pkgs.mkShell {
|
||||||
|
inputsFrom = [
|
||||||
|
];
|
||||||
|
packages = [
|
||||||
|
pkgs.bashInteractive
|
||||||
|
pkgs.superflore
|
||||||
|
pkgs.python3Packages.rosdep
|
||||||
|
];
|
||||||
|
};
|
||||||
|
}
|
||||||
|
);
|
||||||
|
}
|
||||||
0
ros2nix/__init__.py
Normal file
0
ros2nix/__init__.py
Normal file
134
ros2nix/ros2nix.py
Executable file
134
ros2nix/ros2nix.py
Executable file
|
|
@ -0,0 +1,134 @@
|
||||||
|
#!/usr/bin/env python3
|
||||||
|
|
||||||
|
# Copyright 2019-2024 Ben Wolsieffer <benwolsieffer@gmail.com>
|
||||||
|
# Copyright 2024 Michal Sojka <michal.sojka@cvut.cz>
|
||||||
|
|
||||||
|
import argparse
|
||||||
|
import itertools
|
||||||
|
from catkin_pkg.package import parse_package_string
|
||||||
|
from rosinstall_generator.distro import get_distro
|
||||||
|
from superflore.PackageMetadata import PackageMetadata
|
||||||
|
from superflore.exceptions import UnresolvedDependency
|
||||||
|
from superflore.generators.nix.nix_package import NixPackage
|
||||||
|
from superflore.generators.nix.nix_expression import NixExpression, NixLicense
|
||||||
|
from superflore.utils import (download_file, get_distro_condition_context,
|
||||||
|
get_distros, get_pkg_version, info, resolve_dep,
|
||||||
|
retry_on_exception, warn)
|
||||||
|
from typing import Dict, Iterable, Set
|
||||||
|
from superflore.utils import err
|
||||||
|
from superflore.utils import ok
|
||||||
|
from superflore.utils import warn
|
||||||
|
|
||||||
|
org = "Open Source Robotics Foundation" # TODO change
|
||||||
|
org_license = "BSD" # TODO change
|
||||||
|
|
||||||
|
|
||||||
|
def resolve_dependencies(deps: Iterable[str]) -> Set[str]:
|
||||||
|
return set(itertools.chain.from_iterable(
|
||||||
|
map(resolve_dependency, deps)))
|
||||||
|
|
||||||
|
def resolve_dependency(d: str) -> Iterable[str]:
|
||||||
|
try:
|
||||||
|
# Try resolving as system dependency via rosdep
|
||||||
|
return resolve_dep(d, 'nix')[0]
|
||||||
|
except UnresolvedDependency:
|
||||||
|
# Assume ROS or 3rd-party package
|
||||||
|
return (NixPackage.normalize_name(d),)
|
||||||
|
|
||||||
|
# Adapted from rosdistro.dependency_walker.DependencyWalker._get_dependencies()
|
||||||
|
def get_dependencies_as_set(pkg, dep_type):
|
||||||
|
deps = {
|
||||||
|
'build': pkg.build_depends,
|
||||||
|
'buildtool': pkg.buildtool_depends,
|
||||||
|
'build_export': pkg.build_export_depends,
|
||||||
|
'buildtool_export': pkg.buildtool_export_depends,
|
||||||
|
'exec': pkg.exec_depends,
|
||||||
|
'run': pkg.run_depends,
|
||||||
|
'test': pkg.test_depends,
|
||||||
|
'doc': pkg.doc_depends,
|
||||||
|
}
|
||||||
|
return set([d.name for d in deps[dep_type] if d.evaluated_condition is not False])
|
||||||
|
|
||||||
|
|
||||||
|
def main(args):
|
||||||
|
parser = argparse.ArgumentParser()
|
||||||
|
parser.add_argument("xml", help="Path to package.xml")
|
||||||
|
args = parser.parse_args()
|
||||||
|
|
||||||
|
try:
|
||||||
|
distro_name = "humble"
|
||||||
|
|
||||||
|
with open(args.xml, 'r') as f:
|
||||||
|
package_xml = f.read()
|
||||||
|
|
||||||
|
pkg = parse_package_string(package_xml)
|
||||||
|
pkg.evaluate_conditions(NixPackage._get_condition_context(distro_name))
|
||||||
|
|
||||||
|
buildtool_deps = get_dependencies_as_set(pkg, "buildtool")
|
||||||
|
buildtool_export_deps = get_dependencies_as_set(pkg, "buildtool_export")
|
||||||
|
build_deps = get_dependencies_as_set(pkg, "build")
|
||||||
|
build_export_deps = get_dependencies_as_set(pkg, "build_export")
|
||||||
|
exec_deps = get_dependencies_as_set(pkg, "exec")
|
||||||
|
test_deps = get_dependencies_as_set(pkg, "test")
|
||||||
|
|
||||||
|
# buildtool_depends are added to buildInputs and nativeBuildInputs.
|
||||||
|
# Some (such as CMake) have binaries that need to run at build time
|
||||||
|
# (and therefore need to be in nativeBuildInputs. Others (such as
|
||||||
|
# ament_cmake_*) need to be added to CMAKE_PREFIX_PATH and therefore
|
||||||
|
# need to be in buildInputs. There is no easy way to distinguish these
|
||||||
|
# two cases, so they are added to both, which generally works fine.
|
||||||
|
build_inputs = set(resolve_dependencies(
|
||||||
|
build_deps | buildtool_deps))
|
||||||
|
propagated_build_inputs = resolve_dependencies(
|
||||||
|
exec_deps | build_export_deps | buildtool_export_deps)
|
||||||
|
build_inputs -= propagated_build_inputs
|
||||||
|
|
||||||
|
check_inputs = resolve_dependencies(test_deps)
|
||||||
|
check_inputs -= build_inputs
|
||||||
|
|
||||||
|
native_build_inputs = resolve_dependencies(
|
||||||
|
buildtool_deps | buildtool_export_deps)
|
||||||
|
|
||||||
|
derivation = NixExpression(
|
||||||
|
name=NixPackage.normalize_name(pkg.name),
|
||||||
|
version=pkg.version,
|
||||||
|
src_url="src_uri", # TODO
|
||||||
|
src_sha256="src_sha256",
|
||||||
|
description=pkg.description,
|
||||||
|
licenses=map(NixLicense, pkg.licenses),
|
||||||
|
distro_name=distro_name,
|
||||||
|
build_type=pkg.get_build_type(),
|
||||||
|
build_inputs=build_inputs,
|
||||||
|
propagated_build_inputs=propagated_build_inputs,
|
||||||
|
check_inputs=check_inputs,
|
||||||
|
native_build_inputs=native_build_inputs)
|
||||||
|
|
||||||
|
except Exception as e:
|
||||||
|
err('Failed to generate derivation for package {}!'.format(pkg))
|
||||||
|
raise e
|
||||||
|
|
||||||
|
try:
|
||||||
|
derivation_text = derivation.get_text(org, org_license)
|
||||||
|
except UnresolvedDependency:
|
||||||
|
err("'Failed to resolve required dependencies for package {}!"
|
||||||
|
.format(pkg))
|
||||||
|
unresolved = unresolved_dependencies
|
||||||
|
for dep in unresolved:
|
||||||
|
err(" unresolved: \"{}\"".format(dep))
|
||||||
|
return None, unresolved, None
|
||||||
|
except Exception as e:
|
||||||
|
err('Failed to generate derivation for package {}!'.format(pkg))
|
||||||
|
raise e
|
||||||
|
|
||||||
|
ok(f"Successfully generated derivation for package '{pkg.name}'.")
|
||||||
|
try:
|
||||||
|
with open('package.nix', "w") as recipe_file:
|
||||||
|
recipe_file.write(derivation_text)
|
||||||
|
except Exception as e:
|
||||||
|
err("Failed to write derivation to disk!")
|
||||||
|
raise e
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
import sys
|
||||||
|
main(sys.argv[1:])
|
||||||
Loading…
Add table
Add a link
Reference in a new issue