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Add tests for ament_python_install_package
Signed-off-by: R Kent James <[email protected]>
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‎.gitignore‎

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build/
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install/
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log/
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__pycache__/
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*.py[codz]

‎ament_cmake_python_test/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.12)
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project(ament_cmake_python_test)
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find_package(ament_cmake_core REQUIRED)
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# Uncomment to debug CMake variables
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#
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#get_cmake_property(_variableNames VARIABLES)
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#list (SORT _variableNames)
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#foreach (_variableName ${_variableNames})
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# message(STATUS "${_variableName}=${${_variableName}}")
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#endforeach()
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if(BUILD_TESTING)
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find_package(ament_cmake_pytest REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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find_package(ament_cmake REQUIRED)
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ament_get_python_install_dir(PYTHON_INSTALL_DIR)
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set(_pytest_tests
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test/build_with_colcon.py
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# Add other test files here
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)
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foreach(_test_path ${_pytest_tests})
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get_filename_component(_test_name ${_test_path} NAME_WE)
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ament_add_pytest_test(${_test_name} ${_test_path}
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APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
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ENV SOURCE_DIR=${CMAKE_CURRENT_SOURCE_DIR} PYTHON_INSTALL_DIR=${PYTHON_INSTALL_DIR} PYEGG_VERSION=py${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}
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TIMEOUT 360
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WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
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)
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endforeach()
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endif()
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ament_package()

‎ament_cmake_python_test/README.md‎

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# ament_cmake_python_test
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This package exists solely to test the ament_cmake_python package.
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It runs `colcon build` on some test packages, with the working directory `build/ament_cmake_package_test` (when run locally).
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That means that the normal `build` and `install` directories are subdirectories of `build/ament_cmake_package_test` named `build_test` and `install_test` respectively.

‎ament_cmake_python_test/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>ament_cmake_python_test</name>
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<version>0.0.1</version>
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<description>Test package for ament_cmake_python.</description>
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<maintainer email="[email protected]">Kent James</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake_core</buildtool_depend>
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<build_depend>ament_cmake_pytest</build_depend>
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<build_depend>ament_cmake_python</build_depend>
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<build_depend>ament_cmake</build_depend>
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<test_depend>python3-jinja2</test_depend>
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<test_depend>rosidl_default_generators</test_depend>
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<test_depend>ament_cmake_pytest</test_depend>
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<test_depend>ament_cmake_python</test_depend>
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<test_depend>ament_cmake</test_depend>
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<buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎ament_cmake_python_test/test/build_with_colcon.py‎

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"""
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Test building python packages with colcon
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"""
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import os
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from pathlib import Path
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import shutil
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import sys
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import subprocess
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from jinja2 import Template
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PWD = Path(os.environ.get('PWD'))
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SOURCE_DIR = Path(os.environ.get('SOURCE_DIR'))
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PYTHON_INSTALL_DIR = Path(os.environ.get('PYTHON_INSTALL_DIR'))
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PYEGG_VERSION = os.environ.get('PYEGG_VERSION')
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INSTALL_BASE = 'install_test'
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BUILD_BASE = 'build_test'
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DEFAULT_OPTIONS = {
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'name': 'SET_ME',
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'version': None,
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'description': 'SET_ME',
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'setup_cfg': None,
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'destination': None,
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'symlink_install': False,
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'package_subdir': None,
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'has_python': True,
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'has_python_before': False, # This will only make sense when both python and msg are in the same package
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'has_msg': False,
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'scripts_destination': None
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}
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TESTS_OPTIONS = [
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{
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'name': 'python_package',
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'description': 'Package with python code',
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},
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{
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'name': 'python_package_symlink',
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'description': 'Package with python code, installed with symlink in build',
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'symlink_install': True,
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},
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{
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'name': 'python_package_rename',
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'description': 'Package with python code, installed from alternate directory name',
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'package_subdir': 'renamed_dir',
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},
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{
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'name': 'python_package_version',
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'description': 'Package with python code, specifying version in ament_python_install_package',
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'version': '6.7.89',
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},
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{
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'name': 'python_package_setup',
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'description': 'Package with python code, using setup.cfg for metadata',
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'setup_cfg': Path('config') / Path('setup.cfg'),
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},
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{
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'name': 'python_package_destination',
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'description': 'Package with python code, installed to alternate destination',
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'destination': 'new_destination',
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},
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{
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'name': 'python_package_with_scripts',
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'description': 'Package with python code',
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'scripts_destination': 'lib/python_package_with_scripts',
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},
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{
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'name': 'msg_package',
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'description': 'Package with only msg files',
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'has_msg': True,
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'has_python': False,
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},
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]
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def test_from_template():
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print(f"PWD: {PWD}")
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# delete any existing package directory
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packages_dir = PWD / 'packages'
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shutil.rmtree(packages_dir, ignore_errors=True)
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# Create test packages from template
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template_dir = SOURCE_DIR / 'test' / 'pkg_template'
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for options in TESTS_OPTIONS:
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options = DEFAULT_OPTIONS | options
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print(f"Generating package {options['name']}")
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print(f" options: {options}")
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package_dir = packages_dir / options['name']
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shutil.rmtree(package_dir, ignore_errors=True)
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package_subdir = options['package_subdir'] or options['name']
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package_dir.mkdir(parents=True)
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install_options = ''
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if options['has_msg']:
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shutil.copytree(template_dir / 'msg', package_dir / 'msg')
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if options['has_python']:
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ignore_patterns = shutil.ignore_patterns('*.jinja')
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shutil.copytree(template_dir / 'package_directory', package_dir / package_subdir, ignore=ignore_patterns)
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template = Template(Path.read_text(template_dir / 'package_directory' / '__init__.py.jinja'))
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Path.write_text(package_dir / package_subdir / '__init__.py', template.render(options))
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if options['version']:
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install_options += f' VERSION {options["version"]}'
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if options['setup_cfg']:
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(package_dir / options['setup_cfg']).parent.mkdir(parents=True, exist_ok=True)
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shutil.copy(template_dir / options['setup_cfg'], package_dir / options['setup_cfg'].parent)
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install_options += f' SETUP_CFG {options["setup_cfg"]}'
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if options['scripts_destination']:
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scripts_dir = template_dir / 'python_scripts'
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shutil.copytree(scripts_dir, package_dir / package_subdir, dirs_exist_ok=True)
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template = Template(Path.read_text(template_dir / 'setup.cfg.jinja'))
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Path.write_text(package_dir / 'setup.cfg', template.render(options))
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install_options += f' SCRIPTS_DESTINATION {options["scripts_destination"]}'
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if options['destination']:
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install_options += f' DESTINATION {options["destination"]}'
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if options['package_subdir']:
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install_options += f' PACKAGE_DIR {options["package_subdir"]}'
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options['install_options'] = install_options
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template = Template(Path.read_text(template_dir / 'package.xml.jinja'))
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Path.write_text(package_dir / 'package.xml', template.render(options))
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template = Template(Path.read_text(template_dir / 'CMakeLists.txt.jinja'))
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Path.write_text(package_dir / 'CMakeLists.txt', template.render(options))
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do_build_package(options['name'], options, base_prefix=PWD)
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do_test_package(options['name'], options)
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def do_build_package(package_name, options=None, base_prefix=SOURCE_DIR / 'test'):
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if options and 'build' in options:
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build_options = options['build']
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elif options and 'symlink_install' in options and options['symlink_install']:
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build_options = '--symlink-install'
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else:
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build_options = None
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print(f"Building package {package_name} with colcon options: {build_options}")
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build_command = ['colcon', 'build',
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'--base-paths', base_prefix / 'packages' / package_name,
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'--build-base', BUILD_BASE,
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'--install-base', INSTALL_BASE]
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if build_options:
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build_command.append(build_options)
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result = subprocess.run(build_command, capture_output=True, text=True)
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print("\nCOLCON stdout:\n\n" + result.stdout + '\n---(end stdout)', file=sys.stdout)
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print("\nCOLCON stderr:\n\n" + result.stderr + '\n---(end stderr)', file=sys.stderr)
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def do_test_package(package_name, options):
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if options['destination']:
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install_path = PWD / INSTALL_BASE / package_name / options['destination'] / package_name
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else:
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install_path = PWD / INSTALL_BASE / package_name / PYTHON_INSTALL_DIR / package_name
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print(f"install_path for package {package_name}: {install_path}")
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assert install_path.exists(), f"install path does not exist for {package_name}: {install_path}"
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assert (install_path / '__init__.py').exists(), f"missing __init__.py in {install_path}"
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if options['has_python']:
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assert Path.read_text (install_path / '__init__.py').startswith(f"# This is {package_name}"), \
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f"__init__.py should be from {package_name} python package"
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if options['has_msg']:
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assert(install_path/ 'msg').is_dir(), f"There should be a msg directory in {install_path}"
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if options['symlink_install']:
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print(f"Testing symlink install in package {package_name}")
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assert (install_path / '__init__.py').is_symlink(), "__init__.py should be a symlink"
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if options['version']:
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print(f"Testing version: {options['version']} IN EGG-INFO in package {package_name}")
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version = options['version']
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egg_info_dir = PWD / INSTALL_BASE / package_name / PYTHON_INSTALL_DIR / f'{package_name}-{version}-{PYEGG_VERSION}.egg-info'
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assert egg_info_dir.exists(), f"egg-info dir does not exist for {package_name}: {egg_info_dir}"
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egg_info_file = egg_info_dir / 'PKG-INFO'
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assert Path.read_text(egg_info_file).find(f"Version: {version}") != -1, \
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f"egg-info file should contain 'Version: {version}'"
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if options['setup_cfg']:
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print(f"Testing setup.cfg metadata in package {package_name}")
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print(f" options: {options}")
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version = options['version'] or "0.0.0"
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egg_info_dir = PWD / INSTALL_BASE / package_name / PYTHON_INSTALL_DIR / f'{package_name}-{version}-{PYEGG_VERSION}.egg-info'
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assert egg_info_dir.exists(), f"egg-info dir does not exist for {package_name}: {egg_info_dir}"
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egg_info_file = egg_info_dir / 'PKG-INFO'
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assert Path.read_text(egg_info_file).find(f"Keywords: test_of_ament_cmake_python") != -1, \
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f"egg-info file should contain 'Keywords: test_of_ament_cmake_python' specified in setup.cfg"
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if options['scripts_destination']:
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print(f"Testing script installed in package {package_name}")
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script_path = PWD / INSTALL_BASE / package_name / options['scripts_destination'] / 'do_something'
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assert script_path.exists(), f"script do_something does not exist for {package_name}: {script_path}"

‎ament_cmake_python_test/test/pkg_template/CMakeLists.txt.jinja‎

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cmake_minimum_required(VERSION 3.20)
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project({{name}})
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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{% if has_python_before %}
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find_package(ament_cmake_python REQUIRED)
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ament_python_install_package(${PROJECT_NAME})
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{% endif -%}
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{% if has_msg %}
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find_package(rosidl_default_generators REQUIRED)
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/Dummy.msg"
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)
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{% endif -%}
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{% if has_python %}
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find_package(ament_cmake_python REQUIRED)
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ament_python_install_package(${PROJECT_NAME} {{install_options}})
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{%- endif %}
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ament_package()

‎ament_cmake_python_test/test/pkg_template/config/setup.cfg‎

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[metadata]
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keywords = test_of_ament_cmake_python
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license = Apache-2.0

‎ament_cmake_python_test/test/pkg_template/msg/Dummy.msg‎

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uint8[] data

‎ament_cmake_python_test/test/pkg_template/package.xml.jinja‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>{{name}}</name>
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<version>{% if version %}{{version}}{% else %}0.0.0{% endif %}</version>
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<description>{{description}}</description>
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<maintainer email="[email protected]">No One</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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{% if has_python or has_python_before %} <build_depend>ament_cmake_python</build_depend>{% endif %}
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{% if has_msg %}
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<build_depend>rosidl_default_generators</build_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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{% endif -%}
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎ament_cmake_python_test/test/pkg_template/package_directory/__init__.py.jinja‎

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# This is {{name}}/__init__.py

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