Split dev packages

.github/workflows/build.yaml

@@ -11,15 +11,15 @@ jobs:
   build:
     runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       matrix:
         env:
           - ALPINE_VERSION=3.17 ROS_DISTRO=noetic ROS_DISTRIBUTION_TYPE=ros1
           - ALPINE_VERSION=3.17 ROS_DISTRO=humble ROS_DISTRIBUTION_TYPE=ros2
-          - ALPINE_VERSION=3.20 ROS_DISTRO=noetic ROS_DISTRIBUTION_TYPE=ros1
+          - ALPINE_VERSION=3.20 ROS_DISTRO=noetic ROS_DISTRIBUTION_TYPE=ros1 SPLIT_DEV=true
     steps:
       - name: Checkout
         uses: actions/checkout@v4
-
       - name: Build image
         run: |
           eval ${{ matrix.env }}
@@ -29,10 +29,11 @@ jobs:
             --build-arg ALPINE_VERSION=${ALPINE_VERSION} \
             --build-arg ROS_DISTRO=${ROS_DISTRO} \
             .
-      - name: Test
+
+      - name: Prepare test data
+        id: test-data
         run: |
           eval ${{ matrix.env }}
-          image="ros-abuild:${ALPINE_VERSION}-${ROS_DISTRO}"
 
           if [[ ${ROS_DISTRIBUTION_TYPE} == "ros1" ]]; then
             pkg_name="rospack"
@@ -44,22 +45,32 @@ jobs:
             mv /tmp/ament_index/${pkg_name} /tmp/${pkg_name}
             rm -rf /tmp/ament_index
           fi
-
+          echo "image=ros-abuild:${ALPINE_VERSION}-${ROS_DISTRO}" | tee -a ${GITHUB_OUTPUT}
+          echo "split-dev=${SPLIT_DEV}" | tee -a ${GITHUB_OUTPUT}
+          echo "pkg-name=${pkg_name}" | tee -a ${GITHUB_OUTPUT}
+          echo "apk-pkg-name=ros-${ROS_DISTRO}-${pkg_name//_/-}" | tee -a ${GITHUB_OUTPUT}
+      - name: Build sample package
+        run: |
           mkdir -p /tmp/apks
           chmod a+w /tmp/apks
           docker run --rm \
-            -v /tmp/${pkg_name}:/src/${pkg_name}:ro \
+            -v /tmp/${{ steps.test-data.outputs.pkg-name }}:/src/${{ steps.test-data.outputs.pkg-name }}:ro \
             -v /tmp/apks:/packages \
-            ${image}
-
-          pkg_name=${pkg_name//_/-}
+            ${{ steps.test-data.outputs.image }}
+      - name: Test
+        run: |
           ls -l /tmp/apks/*/*
           echo "Checking -dbg subpackage"
-          ls -l /tmp/apks/*/* | grep -e "ros-${ROS_DISTRO}-${pkg_name}-dbg-[[:alnum:]\._git]\+-r0.apk"
+          ls -l /tmp/apks/*/* | grep -e "${{ steps.test-data.outputs.apk-pkg-name }}-dbg-[[:alnum:]\._git]\+-r0.apk"
           echo "Checking -doc subpackage"
-          ls -l /tmp/apks/*/* | grep -e "ros-${ROS_DISTRO}-${pkg_name}-doc-[[:alnum:]\._git]\+-r0.apk"
+          ls -l /tmp/apks/*/* | grep -e "${{ steps.test-data.outputs.apk-pkg-name }}-doc-[[:alnum:]\._git]\+-r0.apk"
           echo "Checking main package"
-          ls -l /tmp/apks/*/* | grep -e "ros-${ROS_DISTRO}-${pkg_name}-[[:alnum:]\._git]\+-r0.apk"
+          ls -l /tmp/apks/*/* | grep -e "${{ steps.test-data.outputs.apk-pkg-name }}-[[:alnum:]\._git]\+-r0.apk"
+      - name: Test split-dev
+        if: steps.test-data.outputs.split-dev
+        run: |
+          echo "Checking dev package"
+          ls -l /tmp/apks/*/* | grep -e "${{ steps.test-data.outputs.apk-pkg-name }}-dev-[[:alnum:]\._git]\+-r0.apk"
 
       - name: Login to GitHub Container Registry
         if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}

Dockerfile

@@ -5,7 +5,8 @@ FROM alpine:${ALPINE_VERSION}
 ARG ALPINE_VERSION=3.17
 ARG ROS_DISTRO=noetic
 
-ENV ROS_DISTRO=${ROS_DISTRO}
+ENV ROS_DISTRO=${ROS_DISTRO} \
+  ALPINE_VERSION=${ALPINE_VERSION}
 
 RUN apk add --no-cache alpine-sdk lua-aports sudo \
   && adduser -G abuild -D builder \

build-repo.sh

@@ -78,6 +78,16 @@ case "${SKIP_ROSDEP_UPDATE}" in
     ;;
 esac
 
+generate_opts=
+case "${ALPINE_VERSION}" in
+  3.20)
+    generate_opts="${generate_opts} --split-dev"
+    ;;
+  *)
+    ;;
+esac
+
+echo "generate_opts: ${generate_opts}"
 
 # Setup environment variables
 
@@ -240,7 +250,8 @@ for manifest in ${manifests}; do
 
   if ! (set -o pipefail && generate-rospkg-apkbuild \
     ${repo} ${APORTSDIR}/${repo}/${pkgname}/package.xml --src \
-      --ver-suffix=${ver_suffix} \
+        --ver-suffix=${ver_suffix} \
+        ${generate_opts} \
       | tee ${APORTSDIR}/${repo}/${pkgname}/APKBUILD); then
     echo "## Package dependency failure" >> ${summary_file}
     error=true

generate_rospkg_apkbuild/APKBUILD.em.sh

@@ -12,8 +12,14 @@ options="!check"
 
 depends="@(' '.join(depends))"
 makedepends="@(' '.join(makedepends))"
+@[if split_dev]@
+depends_dev="@(' '.join(depends_dev))"
+
+subpackages="$pkgname-dbg $pkgname-doc $pkgname-dev"
+@[else]@
 
 subpackages="$pkgname-dbg $pkgname-doc"
+@[end if]@
 
 source=""
 builddir="$startdir/abuild"
@@ -385,6 +391,22 @@ doc() {
   default_doc
 }
 
+@[if split_dev]@
+dev() {
+  mkdir -p $subpkgdir
+  install_if="${subpkgname%-dev}=$pkgver-r$pkgrel ros-dev"
+
+  if ls $pkgdir/usr/ros/*/lib/pkgconfig >/dev/null 2>/dev/null; then
+    amove 'usr/ros/*/lib/pkgconfig'
+  fi
+  if ls $pkgdir/usr/ros/*/share/*/cmake >/dev/null 2>/dev/null; then
+    amove 'usr/ros/*/share/*/cmake'
+  fi
+
+  default_dev
+}
+
+@[end if]
 if [ -f ./apkbuild_hook.sh ]; then
   . ./apkbuild_hook.sh
   apkbuild_hook

generate_rospkg_apkbuild/genapkbuild.py

@@ -34,6 +34,7 @@
 import sys
 import yaml
 import re
+import json
 
 from catkin_pkg.package import Dependency, parse_package_string
 from rosdistro import get_cached_distribution, get_index, get_index_url
@@ -89,7 +90,7 @@ def load_lookup():
     return lookup
 
 
-def resolve(ros_distro, package_name, deps):
+def resolve(ros_distro, package_name, deps, add_ros_dev=False):
     lookup = load_lookup()
     installer_context = rosdep2.create_default_installer_context()
     os_name, os_version = installer_context.get_os_name_and_version()
@@ -107,21 +108,29 @@ def resolve(ros_distro, package_name, deps):
             d = view.lookup(dep.name)
         except KeyError as e:
             keys.append(ros_pkgname_to_pkgname(ros_distro, dep.name) + dep.version)
+            if add_ros_dev:
+                keys.append(ros_pkgname_to_pkgname(ros_distro, dep.name) + '-dev' + dep.version)
             continue
         try:
             rule_installer, rule = d.get_rule_for_platform(os_name, os_version, installer_keys, default_key)
         except rosdep2.lookup.ResolutionError as e:
             # ignoring ROS packages since Alpine ROS packages are not solvable at now
-            if '_is_ros' in e.rosdep_data:
-                if e.rosdep_data['_is_ros']:
-                    keys.append(ros_pkgname_to_pkgname(ros_distro, dep.name) + dep.version)
-                    continue
+            if '_is_ros' in e.rosdep_data and e.rosdep_data['_is_ros']:
+                keys.append(ros_pkgname_to_pkgname(ros_distro, dep.name) + dep.version)
+                if add_ros_dev:
+                    keys.append(ros_pkgname_to_pkgname(ros_distro, dep.name) + "-dev" + dep.version)
+                continue
             not_provided.append(dep.name)
             continue
         installer = installer_context.get_installer(rule_installer)
         resolved = installer.resolve(rule)
         for r in resolved:
             keys.append(r + dep.version)
+        if add_ros_dev:
+            if '_is_ros' in d.data and d.data['_is_ros']:
+                for r in resolved:
+                    keys.append(r + '-dev' + dep.version)
+
     if len(not_provided) > 0:
         print('Some packages are not provided by the native installer for ' + package_name +
               ': ' + ' '.join(not_provided), file=sys.stderr)
@@ -159,9 +168,17 @@ def revfn(ver):
     return revfn
 
 
+def is_dev(key):
+    return re.match(r'^\S*-dev([<>=]\S+)?$', key) is not None
+
+
+def is_not_dev(key):
+    return not is_dev(key)
+
+
 def package_to_apkbuild(ros_distro, package_name,
                         check=True, upstream=False, src=False, revfn=static_revfn(0),
-                        ver_suffix=None, commit_hash=None):
+                        ver_suffix=None, commit_hash=None, split_dev=False):
     pkg_xml = ''
     todo_upstream_clone = dict()
     ros_python_version = os.environ["ROS_PYTHON_VERSION"]
@@ -251,14 +268,14 @@ def package_to_apkbuild(ros_distro, package_name,
         ros2_ros_workspaces_dependencies = ["ament_cmake_core", "ament_package", "ros_workspace"]
         if pkg.name not in ros2_ros_workspaces_dependencies:
             depends.append(NameAndVersion("ros_workspace", ""))
-    depends_keys = resolve(ros_distro, package_name, depends)
+    depends_keys = resolve(ros_distro, package_name, depends, add_ros_dev=split_dev)
 
     depends_export = []
     for dep in pkg.buildtool_export_depends:
         depends_export.append(ros_dependency_to_name_ver(dep))
     for dep in pkg.build_export_depends:
         depends_export.append(ros_dependency_to_name_ver(dep))
-    depends_export_keys = resolve(ros_distro, package_name, depends_export)
+    depends_export_keys = resolve(ros_distro, package_name, depends_export, add_ros_dev=split_dev)
 
     catkin = False
     cmake = False
@@ -296,7 +313,7 @@ def package_to_apkbuild(ros_distro, package_name,
         makedepends.append(ros_dependency_to_name_ver(dep))
     for dep in pkg.test_depends:
         makedepends.append(ros_dependency_to_name_ver(dep))
-    makedepends_keys = resolve(ros_distro, package_name, makedepends)
+    makedepends_keys = resolve(ros_distro, package_name, makedepends, add_ros_dev=split_dev)
 
     if depends_keys is None or depends_export_keys is None or makedepends_keys is None:
         sys.exit(1)
@@ -319,6 +336,19 @@ def package_to_apkbuild(ros_distro, package_name,
         makedepends_keys = force_py3_keys(makedepends_keys)
         makedepends_implicit = force_py3_keys(makedepends_implicit)
 
+    if split_dev:
+        apk_depends = list(filter(is_not_dev, depends_keys))
+        apk_makedepends = makedepends_implicit + makedepends_keys + list(filter(is_dev, depends_keys))
+        apk_depends_dev = depends_export_keys + list(filter(is_dev, depends_keys))
+        # Remove duplicated dependency keys
+        apk_depends = sorted(list(set(apk_depends)))
+        apk_makedepends = sorted(list(set(apk_makedepends)))
+        apk_depends_dev = sorted(list(set(apk_depends_dev)))
+    else:
+        apk_depends = depends_keys + depends_export_keys
+        apk_makedepends = makedepends_implicit + makedepends_keys
+        apk_depends_dev = []
+
     if ver_suffix is None:
         ver_suffix = ''
 
@@ -340,8 +370,9 @@ def package_to_apkbuild(ros_distro, package_name,
         'url': url,
         'license': pkg.licenses[0],
         'check': check,
-        'depends': depends_keys + depends_export_keys,
-        'makedepends': makedepends_implicit + makedepends_keys,
+        'depends': apk_depends,
+        'makedepends': apk_makedepends,
+        'depends_dev': apk_depends_dev,
         'ros_python_version': os.environ["ROS_PYTHON_VERSION"],
         'rosinstall': None if src else yaml.dump(rosinstall),
         'vcstool_opt': '' if upstream and commit_hash is not None else '--shallow',
@@ -351,6 +382,7 @@ def package_to_apkbuild(ros_distro, package_name,
         'use_ament_cmake': ament_cmake,
         'use_ament_python': ament_python,
         'is_ros2': is_ros2,
+        'split_dev': split_dev,
     }
     template_path = os.path.join(os.path.dirname(__file__), 'APKBUILD.em.sh')
     apkbuild = StringIO()
@@ -394,13 +426,17 @@ def main():
     parser.add_argument('--upstream', action='store_const',
                         const=True, default=False,
                         help='use upstream repository (default: False)')
+    parser.add_argument('--split-dev', action='store_const',
+                        const=True, default=False,
+                        help='split -dev packages (default: False)')
     args = parser.parse_args()
 
     print(package_to_apkbuild(args.ros_distro[0], args.package[0],
                               check=args.check, upstream=args.upstream,
                               src=args.src, revfn=static_revfn(args.rev),
                               ver_suffix=args.vsuffix,
-                              commit_hash=args.commit))
+                              commit_hash=args.commit,
+                              split_dev=args.split_dev))
 
 
 def main_multi():
@@ -425,6 +461,9 @@ def main_multi():
     parser.add_argument('--upstream', action='store_const',
                         const=True, default=False,
                         help='use upstream repository (default: False)')
+    parser.add_argument('--split-dev', action='store_const',
+                        const=True, default=False,
+                        help='split -dev packages (default: False)')
     args = parser.parse_args()
 
     pkglist = None
@@ -483,7 +522,8 @@ def revfn(ver):
             args.ros_distro[0], pkgname,
             upstream=(args.upstream or pkg_force_upstream),
             revfn=revfn,
-            commit_hash=pkg_upstream_ref)
+            commit_hash=pkg_upstream_ref,
+            split_dev=args.split_dev)
 
         directory = os.path.dirname(filepath)
         if not os.path.exists(directory):