Add bazel genrule test

Signed-off-by: Michael Carroll <[email protected]>

BUILD.bazel

@@ -16,7 +16,6 @@ license(
     license_text = "LICENSE",
 )
 
-
 write_file(
     name = "write_xacro_main",
     # This is the same as scripts/xacro from upstream, except that we lose the
@@ -35,6 +34,7 @@ py_library(
   visibility = ["//visibility:public"],
   deps = [
     "@pypi//pyyaml:pkg",
+    "@rules_python//python/runfiles",
   ]
 )
 

bazel/BUILD.bazel

@@ -9,8 +9,8 @@ compile_pip_requirements(
 )
 
 bzl_library(
-  name = "build_defs_bzl",
-  srcs = ["build_defs.bzl"],
+  name = "defs",
+  srcs = ["defs.bzl"],
   visibility = ["//visibility:public"],
 )
 

bazel/README.md

@@ -0,0 +1,52 @@
+# Bazel
+
+This directory contains support files and tests for the bazel build system.
+
+In addition to supporting building xacro with bazel, this also introduces two rules for build-time generation of xacro files.
+
+## xacro_file
+
+Allows you to transform a single xacro file into a generated output
+
+A simple example:
+
+```
+load("@xacro//bazel:defs.bzl", "xacro_file")
+
+# By default, will transform input filename with .xacro removed
+xacro_file(
+  name = "sample1",
+  src = "sample1.xml.xacro",
+)
+```
+
+
+A more complex example:
+
+```
+load("@xacro//bazel:defs.bzl", "xacro_file")
+
+# By default, will transform input filename with .xacro removed
+xacro_file(
+  name = "complex_example",
+  src = "complex.xml.xacro",
+  # Override the default output file name
+  out = "my_complex_model.xml",
+  # Depend on the XML file that we generated in the previous step
+  deps = [":sample1"],
+  # Set extra substitution args via the command line 
+  extra_args = ["special_argument:=foo"]
+)
+```
+
+Note in the case of the more complex example, you can use bazel-specified filenames if they are specified in the `deps` field:
+
+```
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- include a file from a bazel path -->
+  <xacro:include filename="//sample1.xml"/>
+</root>
+```
+
+## xacro_filegroup

bazel/bazel_support.py

@@ -0,0 +1,52 @@
+"""Support methods for xacro.
+
+Since xacro needs to access the file system for its include functionality, we
+need to provide an implementation for dealing with files in bazel.
+"""
+
+import os
+import errno
+
+def open_bazel(path, *args, **kwargs):
+  """Open a file.
+
+  If path starts with '//', assume it's a bazel path and look for it in
+  the list of input files (in os.environ['XACRO_INPUTS']).
+
+  Args:
+    path: Path of the file to open. If this starts with '//', assume it's a
+          bazel path
+    *args: passed through to open()
+    **kwargs: passed through to open()
+
+  Raises:
+    IOError: If the requested path is not available either on the filesystem or
+             in bazel.
+  """
+
+  print("here, ", path)
+
+  if path.startswith('//'):
+    print("bazel open")
+    print(os.environ['XACRO_INPUTS'].split('\n'))
+    # Get path of file, without leading //
+    bazel_path = path[2:]
+    # Extract list of input files from environment variable
+    input_paths = os.environ['XACRO_INPUTS'].split('\n')
+    best_match = None
+    # Find the match that is shortest overall – this avoids selecting
+    # not/my/package/file.xacro when we really want my/package/file.xacro.
+    for input_path in input_paths:
+      if input_path.endswith(bazel_path):
+        if best_match is None or len(best_match) > len(input_path):
+          best_match = input_path
+
+    if best_match is None:
+      raise IOError(
+          errno.ENOENT,
+          'Unable to find bazel file. Is it or the rule that produces it an input?',
+          path)
+
+    path = best_match
+
+  return open(path, *args, **kwargs)

bazel/defs.bzl

@@ -0,0 +1,97 @@
+"""Provider and rules for generating xacro output at build time."""
+
+XacroInfo = provider(
+  "Provider holding the result of a xacro generation step.",
+  fields = ["result", "data"],
+)
+
+def _xacro_impl(ctx):
+  if ctx.outputs.out:
+    out = ctx.outputs.out
+  else:
+    src = ctx.file.src.basename
+    if not src.endswith(".xacro"):
+      fail("xacro_file src should be named *.xacro not {}".format(src))
+    out = ctx.actions.declare_file(src[:-6])
+
+
+  # The list of arguments we pass to the script.
+  args = [ctx.file.src.path, "-o", out.path] + ctx.attr.extra_args
+
+  # Action to call the script.
+  all_inputs = [ctx.file.src] + ctx.files.data + [dep[XacroInfo].result for dep in ctx.attr.deps]
+  ctx.actions.run(
+      inputs = all_inputs,
+      outputs = [out],
+      arguments = args,
+      env = {"XACRO_INPUTS": "\n".join([file.path for file in all_inputs])},
+      progress_message = "Running xacro: %s -> %s" % (ctx.file.src.short_path, out.short_path),
+      executable = ctx.executable._xacro,
+  )
+
+  xacro_data = depset(
+      direct = [out] + ctx.files.data + [d[XacroInfo].result for d in ctx.attr.deps],
+      transitive = [d[XacroInfo].data for d in ctx.attr.deps],
+  )
+
+  runfiles = ctx.runfiles(files = xacro_data.to_list())
+
+  return [
+    XacroInfo(result = out, data = xacro_data),
+    DefaultInfo(
+      files = depset([out]),
+      data_runfiles = ctx.runfiles(files = [out]),
+    )
+  ]
+
+_xacro_rule = rule(
+  attrs = {
+    "src": attr.label(
+      mandatory = True,
+      allow_single_file = True,
+    ),
+    "out": attr.output(),
+    "data": attr.label_list(
+      allow_files = True,
+    ),
+    "extra_args": attr.string_list(),
+    "deps": attr.label_list(providers = [XacroInfo]),
+    "_xacro": attr.label(
+      default = "@xacro//:xacro",
+      cfg = "host",
+      executable = True,
+    ),
+  },
+  implementation = _xacro_impl,
+)
+
+def xacro_file(
+  name,
+  src = None,
+  out = None,
+  data = [],
+  tags = [],
+  deps = [],
+  extra_args = [],
+  visibility = None):
+  """Runs xacro on a single input file, creating a single output file.
+
+  Xacro is the ROS XML macro tool; http://wiki.ros.org/xacro.
+
+  Args:
+    name: The xml output file of this rule.
+    src: The single xacro input file of this rule.
+    out: Optional output file name
+    data: Optional supplemental files required by the src file.
+    extra_args: Optional arguments to be interpreted by xacro
+  """
+  _xacro_rule(
+    name = name,
+    src = src,
+    out = out,
+    data = data,
+    tags = tags,
+    deps = deps,
+    extra_args = extra_args,
+    visibility = visibility,
+  )

bazel/integration_test/.bazelversion

@@ -0,0 +1 @@
+../../.bazelversion

bazel/integration_test/BUILD.bazel

@@ -0,0 +1,64 @@
+load("@xacro//bazel:defs.bzl", "xacro_file")
+load("@bazel_skylib//rules:diff_test.bzl", "diff_test")
+
+xacro_file(
+  name = "sample1",
+  src = "sample1.xml.xacro",
+)
+
+xacro_file(
+  name = "sample2",
+  src = "sample2.xml.xacro",
+  data = ["box.xml"]
+)
+
+xacro_file(
+  name = "complex_example",
+  src = "complex.xml.xacro",
+  out = "my_complex_model.xml",
+  deps = [":sample1"],
+  extra_args = ["special_argument:=foo"]
+)
+
+xacro_file(
+  name = "conditional_default",
+  src = "conditional.xml.xacro",
+  out = "conditional_default.xml"
+)
+
+xacro_file(
+  name = "conditional_false",
+  src = "conditional.xml.xacro",
+  out = "conditional_false.xml",
+  extra_args = ["myarg:=false"]
+)
+
+diff_test(
+  name = "sample1_test",
+  file1 = ":sample1",
+  file2 = "expected/sample1.xml"
+)
+
+diff_test(
+  name = "sample2_test",
+  file1 = ":sample2",
+  file2 = "expected/sample2.xml"
+)
+
+diff_test(
+  name = "complex_example_test",
+  file1 = ":complex_example",
+  file2 = "expected/my_complex_model.xml"
+)
+
+diff_test(
+  name = "conditional_default_test",
+  file1 = ":conditional_default",
+  file2 = "expected/conditional_default.xml"
+)
+
+diff_test(
+  name = "conditional_false_test",
+  file1 = ":conditional_false",
+  file2 = "expected/conditional_false.xml"
+)

bazel/integration_test/MODULE.bazel

@@ -0,0 +1,7 @@
+bazel_dep(name = "bazel_skylib", version = "1.7.1")
+
+bazel_dep(name = "xacro")
+local_path_override(
+  module_name = "xacro",
+  path = "../.."
+)

bazel/integration_test/box.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0"?>
+<root>
+  <box size="1.0 1.0 1.0"/>
+</root>

bazel/integration_test/complex.xml.xacro

@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- include a file from a bazel path -->
+  <xacro:include filename="//sample1.xml"/>
+
+  <!-- populate an argument from command line -->
+  <sphere name="$(arg special_argument)" radius="1"/>
+</root>

bazel/integration_test/conditional.xml.xacro

@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:arg name="myarg" default="true"/>
+  <xacro:if value="$(arg myarg)">
+    <sphere radius="1"/>
+  </xacro:if>
+</root>

bazel/integration_test/expected/conditional_default.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from conditional.xml.xacro          | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<root>
+  <sphere radius="1"/>
+</root>

bazel/integration_test/expected/conditional_false.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from conditional.xml.xacro          | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<root>
+</root>

bazel/integration_test/expected/my_complex_model.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from complex.xml.xacro              | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<root>
+  <sphere radius="1.0"/>
+  <!-- populate an argument from command line -->
+  <sphere name="foo" radius="1"/>
+</root>

bazel/integration_test/expected/sample1.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from sample1.xml.xacro              | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<root>
+  <sphere radius="1.0"/>
+</root>

bazel/integration_test/expected/sample2.xml

@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from sample2.xml.xacro              | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<root>
+  <sphere radius="1.0"/>
+  <box size="1.0 1.0 1.0"/>
+</root>

bazel/integration_test/sample1.xml.xacro

@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:property name="diameter" value="2.0"/>
+  <sphere radius="${diameter/2}"/>
+</root>

bazel/integration_test/sample2.xml.xacro

@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:property name="diameter" value="2.0"/>
+  <sphere radius="${diameter/2}"/>
+  <xacro:include filename="box.xml"/>
+</root>