initial version

2026-02-17 00:13:26 +01:00
parent fed1844282
commit 4f7227c0e9
13 changed files with 316 additions and 190 deletions
--- a/Taskfile.ros2.yml
+++ b/Taskfile.ros2.yml
@@ -0,0 +1,136 @@
+# [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