220 lines
8.8 KiB
Python
220 lines
8.8 KiB
Python
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import os
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import subprocess
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import shutil
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from conan import ConanFile
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from conan.tools.cmake import CMakeToolchain, CMakeDeps, cmake_layout
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from conan.tools.files import copy, rmdir, patch
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from conan.tools.scm import Git
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from conan.errors import ConanInvalidConfiguration, ConanException
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class HesaiLidarDriver(ConanFile):
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name = "hesai-lidar-ros2-jazzy-driver"
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description = "ROS2 (Jazzy) Driver for Hesai LiDAR sensor"
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license = "BSD-3-Clause"
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url = "https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0"
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author = "thommyho1988@gmail.com"
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topics = ("ros2", "lidar", "hesai", "driver")
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settings = "os", "compiler", "build_type", "arch"
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options = {
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"with_cuda": [True, False],
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}
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default_options = {
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"with_cuda": False,
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}
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def export_sources(self):
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copy(self, "patches/**", self.recipe_folder, self.export_sources_folder)
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copy(self, "LICENSE", self.recipe_folder, self.export_sources_folder)
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copy(self, "README.md", self.recipe_folder, self.export_sources_folder)
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def layout(self):
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cmake_layout(self)
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def build_requirements(self):
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self.tool_requires("make/4.4.1")
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self.tool_requires("cmake/3.31.9")
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self.tool_requires("ros2-jazzy-toolchain/latest")
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def requirements(self):
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self.requires("ros2-jazzy-python/latest")
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self.requires("ros2-jazzy-toolchain/latest")
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self.requires("openssl/1.1.1w")
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self.requires("yaml-cpp/0.8.0")
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self.requires("tinyxml2/7.1.0")
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self.requires("boost/1.74.0", options={
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"without_thread": False,
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"without_system": False,
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"without_chrono": False,
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})
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def validate(self):
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if self.options.with_cuda and self.settings.arch not in ["x86_64", "armv8"]:
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raise ConanInvalidConfiguration("CUDA is only supported on x86_64 and armv8")
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def source(self):
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if self.version not in self.conan_data.get("sources", {}):
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raise ConanInvalidConfiguration(f"Version '{self.version}' not found in conandata.yml")
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data = self.conan_data["sources"][self.version]
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tmp_src = "src_tmp"
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try:
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self.output.info(f"Cloning {data['url']} into temporary directory...")
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git = Git(self)
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git.clone(url=data["url"], target=tmp_src, args=["--recursive"])
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if "revision" in data:
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self.output.info(f"Checking out revision {data['revision']}")
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git_tmp = Git(self, folder=tmp_src)
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git_tmp.checkout(commit=data["revision"])
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git_tmp.run("submodule update --init --recursive")
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self.output.info("Moving sources to recipe root...")
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copy(self, "*", src=tmp_src, dst=".")
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except Exception as e:
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raise ConanException(f"Source retrieval failed: {e}")
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finally:
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if os.path.exists(tmp_src):
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rmdir(self, tmp_src)
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patch_dir = os.path.join(self.source_folder, "patches", self.version)
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if os.path.exists(patch_dir):
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patches = sorted([p for p in os.listdir(patch_dir) if p.endswith(".patch")])
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for p in patches:
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self.output.info(f"Applying patch: {p}")
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patch(self, patch_file=os.path.join(patch_dir, p))
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def _get_numpy_include(self, python_exe):
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try:
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cmd = [python_exe, "-c", "import numpy; print(numpy.get_include())"]
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return subprocess.check_output(cmd, text=True).strip()
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except (subprocess.CalledProcessError, FileNotFoundError, OSError) as e:
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self.output.warning(f"Failed to determine NumPy include path: {e}")
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return ""
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def generate(self):
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deps = CMakeDeps(self)
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deps.generate()
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tc = CMakeToolchain(self)
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python_dep = self.dependencies["ros2-jazzy-python"]
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python_exe = python_dep.conf_info.get("user.ros2:python_interpreter", check_type=str)
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if python_exe:
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numpy_include = self._get_numpy_include(python_exe)
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tc.variables["Python3_EXECUTABLE"] = python_exe
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tc.variables["Python_EXECUTABLE"] = python_exe
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if numpy_include:
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tc.variables["Python3_NumPy_INCLUDE_DIR"] = numpy_include
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self._configure_special_flags(tc, python_dep)
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tc.generate()
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def _configure_special_flags(self, tc, python_dep):
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cross_blob = False
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if "cross_blob" in python_dep.options:
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cross_blob = bool(python_dep.options.cross_blob)
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if self.options.with_cuda:
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if cross_blob:
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raise ConanInvalidConfiguration("CUDA not available as conan package due to NVIDIA license.")
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self.output.info("Enabling CUDA Support")
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tc.variables["FIND_CUDA"] = "ON"
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if cross_blob:
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self.output.info("Enabling Cross-Blob workarounds (No LTO)")
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tc.variables["CMAKE_INTERPROCEDURAL_OPTIMIZATION"] = "OFF"
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tc.cache_variables["CMAKE_C_FLAGS"] = "-fno-lto"
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tc.cache_variables["CMAKE_CXX_FLAGS"] = "-fno-lto"
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def build(self):
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# 1. Resolve Setup Script
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build_dep = self.dependencies.get("ros2-jazzy-toolchain")
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setup_script = None
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if build_dep:
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env_vars = build_dep.buildenv_info.vars(self)
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raw_cmd = env_vars.get("CONAN_ROS2_SOURCE_CMD", "")
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if "source " in raw_cmd:
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setup_script = raw_cmd.split("source ")[1].strip().split(" ")[0]
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elif raw_cmd.strip().endswith((".sh", ".bash")):
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setup_script = raw_cmd.strip()
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# 2. Paths
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tc_file = os.path.join(self.generators_folder, "conan_toolchain.cmake")
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abs_build_base = os.path.join(self.build_folder, "colcon_build")
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abs_install_base = os.path.join(self.build_folder, "install")
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# 3. Colcon Command
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colcon_cmd = (
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f"colcon build --merge-install "
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f"--build-base '{abs_build_base}' "
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f"--install-base '{abs_install_base}' "
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f"--event-handlers console_direct+ "
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f"--cmake-args -DCMAKE_TOOLCHAIN_FILE='{tc_file}' "
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f"-DCMAKE_BUILD_TYPE={self.settings.build_type}"
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)
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# 4. Execute (Bash wrapper for 'source')
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if setup_script:
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full_cmd = f'/bin/bash -c "source {setup_script} && {colcon_cmd}"'
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else:
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full_cmd = colcon_cmd
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self.output.info(f"Building with: {full_cmd}")
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self.run(full_cmd, shell=True, cwd=self.source_folder)
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def package(self):
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install_dir = os.path.join(self.build_folder, "install")
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if not os.path.exists(install_dir):
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raise ConanException(f"Build failed to produce install directory: {install_dir}")
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# 1. Define Subdirectory
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ros_package_dir = os.path.join(self.package_folder, "hesai_ros_driver")
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# 2. Copy ROS Artifacts to Subdirectory
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copy(self, "*", src=install_dir, dst=ros_package_dir)
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# 3. Copy Metadata to Root
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copy(self, "LICENSE", src=self.source_folder, dst=self.package_folder)
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copy(self, "README.md", src=self.source_folder, dst=self.package_folder)
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# 4. Cleanup
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rmdir(self, os.path.join(ros_package_dir, "share", "doc"))
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rmdir(self, os.path.join(ros_package_dir, "colcon_build"))
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def package_info(self):
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# 1. Define the ROS Root inside the package
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ros_root = os.path.join(self.package_folder, "hesai_ros_driver")
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# 2. Cpp Info (Relative to package_folder)
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self.cpp_info.libs = ["hesai_ros_driver"]
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self.cpp_info.libdirs = [os.path.join("hesai_ros_driver", "lib")]
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self.cpp_info.includedirs = [os.path.join("hesai_ros_driver", "include")]
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self.cpp_info.bindirs = [os.path.join("hesai_ros_driver", "bin")]
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# 3. Environment Variables (Absolute Paths)
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# Critical: These ensure ROS 2 finds the package in the subdirectory
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self.runenv_info.prepend_path("AMENT_PREFIX_PATH", ros_root)
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self.buildenv_info.prepend_path("AMENT_PREFIX_PATH", ros_root)
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self.runenv_info.prepend_path("CMAKE_PREFIX_PATH", ros_root)
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self.buildenv_info.prepend_path("CMAKE_PREFIX_PATH", ros_root)
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self.runenv_info.prepend_path("PATH", os.path.join(ros_root, "bin"))
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self.runenv_info.prepend_path("LD_LIBRARY_PATH", os.path.join(ros_root, "lib"))
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# 4. Python Path Calculation
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lib_dir = os.path.join(ros_root, "lib")
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if os.path.exists(lib_dir):
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for item in os.listdir(lib_dir):
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if item.startswith("python"):
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site_packages = os.path.join(lib_dir, item, "site-packages")
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if os.path.exists(site_packages):
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self.runenv_info.prepend_path("PYTHONPATH", site_packages)
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self.buildenv_info.prepend_path("PYTHONPATH", site_packages)
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break
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