Add build files 2025-02-12-0821

RoboStack · Feb 12, 2025 · 63c28de · 63c28de
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diff --git a/.github/workflows/win.yml b/.github/workflows/win.yml
@@ -0,0 +1,179 @@
+jobs:
+  stage_0_job_0:
+    name: rosbridge-test-msgs rosapi-msgs rosbridge-msgs ament-cmake-mypy
+    runs-on: windows-2019
+    strategy:
+      fail-fast: false
+    needs: []
+    env:
+      CONDA_BLD_PATH: C:\\bld\\
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Setup pixi
+      uses: prefix-dev/setup-pixi@v0.8.1
+      with:
+        pixi-version: v0.40.3
+        cache: 'true'
+    - uses: egor-tensin/cleanup-path@v4
+      with:
+        dirs: C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program
+          Files\Git\mingw64\bin
+    - shell: cmd
+      run: |
+        set "CI=true"
+
+        :: 4 cores available on GHA: https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners/about-github-hosted-runners
+        :: CPU_COUNT is passed through conda build: https://github.com/conda/conda-build/pull/1149
+        set CPU_COUNT=4
+
+        set PYTHONUNBUFFERED=1
+
+        call setup_x64
+
+        :: Set the conda-build working directory to a smaller path
+        if "%CONDA_BLD_PATH%" == "" (
+            set "CONDA_BLD_PATH=C:\\bld\\"
+        )
+
+        :: On azure, there are libcrypto*.dll & libssl*.dll under
+        :: C:\\Windows\\System32, which should not be there (no vendor dlls in windows folder).
+        :: They would be found before the openssl libs of the conda environment, so we delete them.
+        if defined CI (
+            DEL C:\\Windows\\System32\\libcrypto-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libcrypto-1_1-x64.dll)
+            DEL C:\\Windows\\System32\\libssl-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libssl-1_1-x64.dll)
+        )
+
+        :: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage
+        set "PATH=%PATH:ostedtoolcache=%"
+      name: conda-forge build setup
+    - shell: cmd
+      run: |
+        setlocal EnableExtensions EnableDelayedExpansion
+
+        set CONDA_BLD_PATH=C:\bld
+        echo "PATH is %PATH%"
+
+        rmdir /Q/S C:\Strawberry\
+        rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\"
+
+        set "FEEDSTOCK_ROOT=%cd%"
+
+        mkdir %CONDA_BLD_PATH%
+
+        :: Enable long path names on Windows
+        reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t REG_DWORD /d 1 /f
+
+        for %%X in (%CURRENT_RECIPES%) do (
+            echo "BUILDING RECIPE %%X"
+            cd %FEEDSTOCK_ROOT%\recipes\%%X\
+            pixi run -v rattler-build build --recipe %FEEDSTOCK_ROOT%\recipes\%%X\ ^
+                -m %FEEDSTOCK_ROOT%\conda_build_config.yaml ^
+                -c robostack-jazzy -c conda-forge ^
+                --output-dir %CONDA_BLD_PATH%
+
+            if errorlevel 1 exit 1
+            rem -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml
+        )
+
+        pixi run upload "%CONDA_BLD_PATH%\win-64\*.conda" --force
+        if errorlevel 1 exit 1
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-jazzy-rosbridge-test-msgs ros-jazzy-rosapi-msgs ros-jazzy-rosbridge-msgs
+          ros-jazzy-ament-cmake-mypy
+        PYTHONUNBUFFERED: 1
+      name: Build ros-jazzy-rosbridge-test-msgs ros-jazzy-rosapi-msgs ros-jazzy-rosbridge-msgs
+        ros-jazzy-ament-cmake-mypy
+  stage_1_job_1:
+    name: rosbridge-library rosapi rosbridge-server rosbridge-suite
+    runs-on: windows-2019
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_0_job_0
+    env:
+      CONDA_BLD_PATH: C:\\bld\\
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Setup pixi
+      uses: prefix-dev/setup-pixi@v0.8.1
+      with:
+        pixi-version: v0.40.3
+        cache: 'true'
+    - uses: egor-tensin/cleanup-path@v4
+      with:
+        dirs: C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program
+          Files\Git\mingw64\bin
+    - shell: cmd
+      run: |
+        set "CI=true"
+
+        :: 4 cores available on GHA: https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners/about-github-hosted-runners
+        :: CPU_COUNT is passed through conda build: https://github.com/conda/conda-build/pull/1149
+        set CPU_COUNT=4
+
+        set PYTHONUNBUFFERED=1
+
+        call setup_x64
+
+        :: Set the conda-build working directory to a smaller path
+        if "%CONDA_BLD_PATH%" == "" (
+            set "CONDA_BLD_PATH=C:\\bld\\"
+        )
+
+        :: On azure, there are libcrypto*.dll & libssl*.dll under
+        :: C:\\Windows\\System32, which should not be there (no vendor dlls in windows folder).
+        :: They would be found before the openssl libs of the conda environment, so we delete them.
+        if defined CI (
+            DEL C:\\Windows\\System32\\libcrypto-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libcrypto-1_1-x64.dll)
+            DEL C:\\Windows\\System32\\libssl-1_1-x64.dll || (Echo Ignoring failure to delete C:\\Windows\\System32\\libssl-1_1-x64.dll)
+        )
+
+        :: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage
+        set "PATH=%PATH:ostedtoolcache=%"
+      name: conda-forge build setup
+    - shell: cmd
+      run: |
+        setlocal EnableExtensions EnableDelayedExpansion
+
+        set CONDA_BLD_PATH=C:\bld
+        echo "PATH is %PATH%"
+
+        rmdir /Q/S C:\Strawberry\
+        rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\"
+
+        set "FEEDSTOCK_ROOT=%cd%"
+
+        mkdir %CONDA_BLD_PATH%
+
+        :: Enable long path names on Windows
+        reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t REG_DWORD /d 1 /f
+
+        for %%X in (%CURRENT_RECIPES%) do (
+            echo "BUILDING RECIPE %%X"
+            cd %FEEDSTOCK_ROOT%\recipes\%%X\
+            pixi run -v rattler-build build --recipe %FEEDSTOCK_ROOT%\recipes\%%X\ ^
+                -m %FEEDSTOCK_ROOT%\conda_build_config.yaml ^
+                -c robostack-jazzy -c conda-forge ^
+                --output-dir %CONDA_BLD_PATH%
+
+            if errorlevel 1 exit 1
+            rem -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml
+        )
+
+        pixi run upload "%CONDA_BLD_PATH%\win-64\*.conda" --force
+        if errorlevel 1 exit 1
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-jazzy-rosbridge-library ros-jazzy-rosapi ros-jazzy-rosbridge-server
+          ros-jazzy-rosbridge-suite
+        PYTHONUNBUFFERED: 1
+      name: Build ros-jazzy-rosbridge-library ros-jazzy-rosapi ros-jazzy-rosbridge-server
+        ros-jazzy-rosbridge-suite
+name: build_win
+on:
+  push:
+    branches:
+    - buildbranch_win
diff --git a/activate.bat b/activate.bat
@@ -0,0 +1,15 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+@if not defined CONDA_PREFIX goto:eof
+
+@REM Don't do anything when we are in conda build.
+@if defined SYS_PREFIX exit /b 0
+
+@set "QT_PLUGIN_PATH=%CONDA_PREFIX%\Library\plugins"
+
+@call "%CONDA_PREFIX%\Library\local_setup.bat"
+@set PYTHONHOME=
+@set "ROS_OS_OVERRIDE=conda:win64"
+@set "ROS_ETC_DIR=%CONDA_PREFIX%\Library\etc\ros"
+@set "AMENT_PREFIX_PATH=%CONDA_PREFIX%\Library"
+@set "AMENT_PYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe"
diff --git a/activate.ps1 b/activate.ps1
@@ -0,0 +1,16 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+if ($null -eq ${env:CONDA_PREFIX}) { Exit }
+
+# Don't do anything when we are in conda build.
+if ($null -ne ${env:SYS_PREFIX}) { Exit 0 }
+
+$Env:QT_PLUGIN_PATH="${env:CONDA_PREFIX}\Library\plugins"
+
+& "${env:CONDA_PREFIX}\Library\local_setup.ps1"
+
+$Env:PYTHONHOME=''
+$Env:ROS_OS_OVERRIDE='conda:win64'
+$Env:ROS_ETC_DIR="${env:CONDA_PREFIX}\Library\etc\ros"
+$Env:AMENT_PREFIX_PATH="${env:CONDA_PREFIX}\Library"
+$Env:AMENT_PYTHON_EXECUTABLE="${env:CONDA_PREFIX}\python.exe"
diff --git a/activate.sh b/activate.sh
@@ -0,0 +1,26 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+# if [ -z "${CONDA_PREFIX}" ]; then
+#     exit 0;
+# fi
+
+# Not sure if this is necessary on UNIX?
+# export QT_PLUGIN_PATH=$CONDA_PREFIX\plugins
+
+if [ "$CONDA_BUILD" = "1" -a "$target_platform" != "$build_platform" ]; then
+    # ignore sourcing
+    echo "Not activating ROS when cross-compiling";
+else
+    source $CONDA_PREFIX/setup.sh
+fi
+
+case "$OSTYPE" in
+  darwin*)  export ROS_OS_OVERRIDE="conda:osx";;
+  linux*)   export ROS_OS_OVERRIDE="conda:linux";;
+esac
+
+export ROS_ETC_DIR=$CONDA_PREFIX/etc/ros
+export AMENT_PREFIX_PATH=$CONDA_PREFIX
+
+# Looks unnecessary for UNIX
+# unset PYTHONHOME=
diff --git a/bld_ament_cmake.bat b/bld_ament_cmake.bat
@@ -0,0 +1,52 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal EnableDelayedExpansion
+
+set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
+
+:: MSVC is preferred.
+set CC=cl.exe
+set CXX=cl.exe
+
+rd /s /q build
+mkdir build
+pushd build
+
+:: set "CMAKE_GENERATOR=Ninja"
+:: We use the Visual Studio generator as a workaround for
+:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467
+:: Once those are solved, we can switch back to use Ninja
+set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%"
+
+:: PYTHON_INSTALL_DIR should be a relative path, see
+:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md
+:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX,
+:: but it is not trivial to do this in Command Prompt scripting, so let's do it via
+:: python
+
+:: This line is scary, but it basically assigns the output of the command inside (` and `)
+:: to the variable specified after DO SET
+:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...`
+FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i
+
+cmake ^
+    -G "%CMAKE_GENERATOR%" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^
+    -DPYTHON_EXECUTABLE=%PYTHON% ^
+    -DPython_EXECUTABLE=%PYTHON% ^
+    -DPython3_EXECUTABLE=%PYTHON% ^
+    -DSETUPTOOLS_DEB_LAYOUT=OFF ^
+    -DBUILD_SHARED_LIBS=ON ^
+    -DBUILD_TESTING=OFF ^
+    -DCMAKE_OBJECT_PATH_MAX=255 ^
+    --compile-no-warning-as-error ^
+    -DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^
+    %SRC_DIR%\%PKG_NAME%\src\work
+if errorlevel 1 exit 1
+
+:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja,
+:: see the comment before setting the CMAKE_GENERATOR env variable
+cmake --build . --config Release --parallel %CPU_COUNT% --target install
+if errorlevel 1 exit 1
diff --git a/bld_ament_python.bat b/bld_ament_python.bat
@@ -0,0 +1,25 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal
+
+set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
+
+pushd %SRC_DIR%\%PKG_NAME%\src\work
+set "PKG_NAME_SHORT=%PKG_NAME:*ros-jazzy-=%"
+set "PKG_NAME_SHORT=%PKG_NAME_SHORT:-=_%"
+
+:: If there is a setup.cfg that contains install-scripts then use pip to install
+findstr install[-_]scripts setup.cfg
+if "%errorlevel%" == "0" (
+    %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^
+        --prefix=%LIBRARY_PREFIX% ^
+        --install-lib=%SP_DIR% ^
+         --install-scripts=%LIBRARY_PREFIX%\lib\%PKG_NAME_SHORT%
+) else (
+    %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^
+        --prefix=%LIBRARY_PREFIX% ^
+        --install-lib=%SP_DIR% ^
+        --install-scripts=%LIBRARY_PREFIX%\bin
+)
+
+if errorlevel 1 exit 1