conan2-ros2-video-to-rosbag/Taskfile.ros2.yml

# [https://taskfile.dev](https://taskfile.dev)

version: "3"

vars:
  BUILD_TYPE: '{{.BUILD_TYPE | default "Release"}}'
  VERSION: '{{.CONAN_BUILD_VERSION | default .ENV_CONAN_BUILD_VERSION | default "0.0.0-dev"}}'
  # Detect System Architecture (x86_64 or aarch64)
  SYSTEM_ARCH:
    sh: arch


tasks:
  # ============================================================================
  # Core Logic (Internal)
  # ============================================================================

  _validate_arch:
    internal: true
    silent: true
    desc: "Checks if the current system architecture supports the requested build"
    requires:
      vars: [EXPECTED_ARCH]
    cmds:
      - |
        if [ "{{.SYSTEM_ARCH}}" != "{{.EXPECTED_ARCH}}" ]; then
          echo "❌ ARCHITECTURE MISMATCH ERROR:"
          echo "   - System Arch:   {{.SYSTEM_ARCH}}"
          echo "   - Expected Arch: {{.EXPECTED_ARCH}}"
          echo "   - Task Type:     Native Build"
          echo ""
          echo "   You are trying to run a 'native' build for {{.EXPECTED_ARCH}} on a {{.SYSTEM_ARCH}} machine."
          echo "   Please use the 'cross-...' task instead."
          exit 1
        else
          echo "✅ Architecture match: System={{.SYSTEM_ARCH}} matches Target={{.EXPECTED_ARCH}}"
        fi

  _create:
    internal: true
    desc: "Core wrapper for conan create"
    requires:
      vars: [PROFILE_HOST, PROFILE_BUILD]
    cmds:
      - >-
        conan create .
        --profile:build {{.PROFILE_BUILD}}
        --profile:host {{.PROFILE_HOST}}
        --build=missing
        --version {{.VERSION}}
        -s build_type={{.BUILD_TYPE}}

  # ============================================================================
  # GCC 13 (Modern)
  # ============================================================================

  native-x64:gcc13:
    desc: "Build: Native x64 (GCC 13)"
    cmds:
      - task: _validate_arch
        vars: { EXPECTED_ARCH: "x86_64" }
      - task: _create
        vars:
          PROFILE_BUILD: x64_linux_gcc_13
          PROFILE_HOST: x64_linux_gcc_13

  native-armv8:gcc13:
    desc: "Build: Native ARMv8 (GCC 13)"
    cmds:
      - task: _validate_arch
        vars: { EXPECTED_ARCH: "aarch64" }
      - task: _create
        vars:
          PROFILE_BUILD: armv8_linux_gcc_13
          PROFILE_HOST: armv8_linux_gcc_13

  cross-armv8:gcc13:
    desc: "Build: Cross-Compile x64 -> ARMv8 (GCC 13)"
    cmds:
      - echo "⚠️ Cross-compiling for ARMv8 on {{.SYSTEM_ARCH}} (No arch check enforced)"
      - task: _create
        vars:
          PROFILE_BUILD: x64_linux_gcc_13
          PROFILE_HOST: armv8_linux_gcc_13_croco

  # ============================================================================
  # GCC 9 (Legacy)
  # ============================================================================

  native-x64:gcc9:
    desc: "Build: Native x64 (GCC 9)"
    cmds:
      - task: _validate_arch
        vars: { EXPECTED_ARCH: "x86_64" }
      - task: _create
        vars:
          PROFILE_BUILD: x64_linux_gcc_9
          PROFILE_HOST: x64_linux_gcc_9

  native-armv8:gcc9:
    desc: "Build: Native ARMv8 (GCC 9)"
    cmds:
      - task: _validate_arch
        vars: { EXPECTED_ARCH: "aarch64" }
      - task: _create
        vars:
          PROFILE_BUILD: armv8_linux_gcc_9
          PROFILE_HOST: armv8_linux_gcc_9

  cross-armv8:gcc9:
    desc: "Build: Cross-Compile x64 -> ARMv8 (GCC 9)"
    cmds:
      - echo "⚠️ Cross-compiling for ARMv8 on {{.SYSTEM_ARCH}} (No arch check enforced)"
      - task: _create
        vars:
          PROFILE_BUILD: x64_linux_gcc_9
          PROFILE_HOST: armv8_linux_gcc_9_croco

  # ============================================================================
  # Utility Tasks
  # ============================================================================

  clean:
    desc: "Clean build artifacts and conan cache for this package"
    cmds:
      - rm -rf build install colcon_build
      - conan remove video-to-rosbag/* -c

  test:
    desc: "Run the converter test with sample video"
    cmds:
      - >-
        conan install --requires=video-to-rosbag/{{.VERSION}} -g VirtualRunEnv
        --profile:host x64_linux_gcc_13 --profile:build x64_linux_gcc_13
        -s build_type={{.BUILD_TYPE}}
      - source conanrun.sh && ros2 run video_to_rosbag video_to_rosbag --ros-args -p input_video:=/tmp/test.mp4 -p output_bag:=/tmp/test_bag