Snorriheim Makefile

snorriheim-Makefile

################################################################################
# Environment
################################################################################
SHELL:=/bin/bash
PWD:=$(shell pwd)

################################################################################
# Variables
################################################################################
# use with e.g. 'make one PACKAGE=py_trees_ros'
PACKAGE?=py_trees_ros

# Inferencing what workspace this might be...otherwise preset VCI_INDEX
VCS_FAMILY:=$(shell basename $(shell dirname ${PWD}))
VCS_SUITE:=$(shell basename ${PWD})
VCI_INDEX?=${VCS_FAMILY}/${VCS_SUITE}

################################################################################
# Build Arguments
################################################################################
COLCON_ARGS=--symlink-install --event-handlers console_direct+
COLCON_QUIET_ARGS=--symlink-install --event-handlers
# OR make a single tarball or binary
# COLCON_ARGS=--merge-install --event-handlers console_direct+
# COLCON_QUIET_ARGS=--merge-install --event-handlers

CMAKE_ARGS:=--cmake-args
ifneq ("$(wildcard initial_cache.cmake)","")
  CMAKE_ARGS:=${CMAKE_ARGS} -C ${PWD}/initial_cache.cmake
endif
# CMAKE_ARGS:=${CMAKE_ARGS} -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_VERBOSE_MAKEFILE:=ON
# CMAKE_ARGS:=${CMAKE_ARGS} -C ${PWD}/config.cache
# CMAKE_ARGS:=${CMAKE_ARGS} --cmake-force-configure
# CMAKE_ARGS:=${CMAKE_ARGS} --cmake-force-configure
# CMAKE_ARGS:=${CMAKE_ARGS} -DCMAKE_PREFIX_PATH=/opt/ueye

################################################################################
# Distro & Underlay Setup
################################################################################
UBUNTU_DISTRO=$(shell lsb_release -cs)
ifeq ($(UBUNTU_DISTRO),bionic)
  DISTRO:=dashing
else ifeq ($(UBUNTU_DISTRO),focal)
  DISTRO:=foxy
endif
SETUP_ENV:=. /opt/ros/${DISTRO}/setup.bash

distro:
	@echo "**************************************************************************************"
	@echo "                             Distro Variables"
	@echo "**************************************************************************************"
	@echo "UBUNTU DISTRO: ${UBUNTU_DISTRO}"
	@echo "ROS DISTRO   : ${DISTRO}"

################################################################################
# Dependencies
################################################################################
SYSTEM_DEPS=build-essential curl git lsb-release wget python3-dev xdot
BUILD_DEPS=python3-colcon-core python3-colcon-common-extensions python3-rosdep python3-vci python3-vcstool

help:
	@echo ""
	@echo "Valid Targets:"
	@echo ""
	@echo "    workspace          : bootstrap/update the workspace"
	@echo "                         - installs/updates sources in ./src"
	@echo "                         - installs build and package dependencies"
	@echo ""
	@echo "    update_myself               : update this Makefile from gist"
	@echo "    update_sources              : import / pull sources only"
	@echo "    update_build_dependencies   : system build dependencies"
	@echo "    update_package_dependencies : ros dependencies from the ros apt repo"
	@echo ""
	@echo "    list               : print the topologically ordered build list"
	@echo "    info               : detailed information on each package"
	@echo ""
	@echo "    all                : build and install everything"
	@echo "    quiet              : build quietly"
	@echo "    one                : build only one package, e.g. 'make one PACKAGE=ecl_time'"
	@echo ""
	@echo "    tests              : run tests with verbosity on failure"
	@echo "    clean              : clean all cmake project build and install directories"
	@echo ""

ros_apt_source_file = /etc/apt/sources.list.d/ros2.list
$(ros_apt_source_file):
	@echo "**************************************************************************************"
	@echo "                         ROS2 Apt Repository"
	@echo "**************************************************************************************"
	curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
	sudo sh -c 'echo "deb [arch=`dpkg --print-architecture`] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2.list'
	sudo apt update

snorriheim_apt_source_file = /etc/apt/sources.list.d/d-stonier-ubuntu-snorriheim-${UBUNTU_DISTRO}.list
$(snorriheim_apt_source_file):
	@echo "**************************************************************************************"
	@echo "                         Snorriheim Apt Repository"
	@echo "**************************************************************************************"
	sudo add-apt-repository ppa:d-stonier/snorriheim
	sudo apt-get update

update_system_dependencies:
	@echo "**************************************************************************************"
	@echo "                         Update System Dependencies"
	@echo "**************************************************************************************"
	@dpkg -s ${SYSTEM_DEPS} > /dev/null || sudo apt install ${SYSTEM_DEPS}

update_build_dependencies: update_system_dependencies $(ros_apt_source_file) $(snorriheim_apt_source_file)
	@echo "**************************************************************************************"
	@echo "                         Update Build Dependencies"
	@echo "**************************************************************************************"
	@dpkg -s ${BUILD_DEPS} > /dev/null || sudo apt install ${BUILD_DEPS}

update_sources:
	@echo "**************************************************************************************"
	@echo "                              Updating Sources"
	@echo "**************************************************************************************"
	@mkdir -p src
	@cd src && vci find ${VCI_INDEX} | vcs import || exit 1
	@cd src && vcs pull || exit 1

update_package_dependencies: $(ros_apt_source_file)
	@echo "**************************************************************************************"
	@echo "                           Update ROS Dependencies"
	@echo "**************************************************************************************"
	test -f /etc/ros/rosdep/sources.list.d/20-default.list || { sudo rosdep init; rosdep update; }
	rosdep install --from-paths src --rosdistro ${DISTRO} --ignore-src -r -y

workspace: update_build_dependencies update_sources update_package_dependencies

update_myself:
	@echo "**************************************************************************************"
	@echo "                          Fetching Latest Makefile";
	@echo "**************************************************************************************"
	@mkdir -p gist
	@if [ -d "gist/makefile" ]; then \
	  cd gist/makefile && git pull; \
	else \
	  git clone git@gist.github.com:0a7ae007a9bd1ada3bb1c7604a11a573.git gist/makefile; \
	  rm -f ./Makefile; \
	  ln -s gist/makefile/snorriheim-Makefile ./Makefile; \
	fi
	@if [ -d "gist/setup" ]; then \
	  cd gist/setup && git pull; \
	else \
	  git clone git@gist.github.com:57901cd58fae9a235401f5bd2858e4e3.git gist/setup; \
	  rm -f ./setup.bash; \
	  ln -s gist/setup/setup.bash ./setup.bash; \
	fi
	@if [ -d "gist/eclipse" ]; then \
	  cd gist/eclipse && git pull; \
	else \
	  git clone git@gist.github.com:11737562d0053d85950c9fb67927b97c.git gist/eclipse; \
	  rm -f ./eclipse; \
	  ln -s gist/eclipse/eclipse ./eclipse; \
	fi

clean:
	rm -rf build install log

all:
	@echo "**************************************************************************************"
	@echo "                                Build All";
	@echo "**************************************************************************************"
	${SETUP_ENV} && VERBOSE=1 colcon build ${COLCON_ARGS} ${CMAKE_ARGS}

build: all

quiet:
	@echo "**************************************************************************************"
	@echo "                             Build Quietly";
	@echo "**************************************************************************************"
	${SETUP_ENV} && VERBOSE=1 colcon build ${COLCON_QUIET_ARGS} ${CMAKE_ARGS}

one:
	@echo "**************************************************************************************"
	@echo "                                Build One";
	@echo "**************************************************************************************"
	${SETUP_ENV} && VERBOSE=1 colcon build ${COLCON_ARGS} --packages-select ${PACKAGE} ${CMAKE_ARGS}

testone:
	@echo "**************************************************************************************"
	@echo "                                Tests";
	@echo "**************************************************************************************"
	# for python packages, this is just running python3 setup.py test
	${SETUP_ENV} && colcon test --packages-select ${PACKAGE} --abort-on-error
	${SETUP_ENV} && colcon test-result --test-result-base build/${PACKAGE} --all

tests:
	@echo "**************************************************************************************"
	@echo "                                Tests";
	@echo "**************************************************************************************"
	# for python packages, this is just running python3 setup.py test
	${SETUP_ENV} && colcon test
	${SETUP_ENV} && colcon test-result --all

info:
	@echo "**************************************************************************************"
	@echo "                            Package Information";
	@echo "**************************************************************************************"
	colcon info

list:
	@echo "**************************************************************************************"
	@echo "                              Package Build Order";
	@echo "**************************************************************************************"
	colcon list -t -n  # text list

graph:
	@echo "**************************************************************************************"
	@echo "                              Package Build Graph";
	@echo "**************************************************************************************"
	colcon graph --dot > /tmp/graph.dot && xdot /tmp/graph.dot

.PHONY: tests clean