From 9f6f30d174ebbe668e077ff4162066d6c67d3eb2 Mon Sep 17 00:00:00 2001
From: Dominique Hunziker <dominique.hunziker@gmail.com>
Date: Sat, 3 Jun 2017 08:17:33 +0200
Subject: [PATCH] catkin: add support for SDK

---
 recipes-devtools/python/python-catkin-pkg.inc    |  2 +-
 recipes-devtools/python/python-empy.inc          |  2 +-
 recipes-ros/catkin/catkin-runtime_0.6.19.bb      | 16 +++++++++++++++-
 recipes-ros/catkin/catkin_0.6.19.bb              | 12 +++++++++++-
 recipes-ros/catkin/files/environment.d-catkin.sh | 10 ++++++++++
 5 files changed, 38 insertions(+), 4 deletions(-)
 create mode 100644 recipes-ros/catkin/files/environment.d-catkin.sh

diff --git a/recipes-devtools/python/python-catkin-pkg.inc b/recipes-devtools/python/python-catkin-pkg.inc
index 72260e6..206185d 100644
--- a/recipes-devtools/python/python-catkin-pkg.inc
+++ b/recipes-devtools/python/python-catkin-pkg.inc
@@ -12,4 +12,4 @@ inherit pypi
 RDEPENDS_${PN} = "${PYTHON_PN}-unixadmin"
 RDEPENDS_${PN}_class-native = ""
 
-BBCLASSEXTEND = "native"
+BBCLASSEXTEND = "native nativesdk"
diff --git a/recipes-devtools/python/python-empy.inc b/recipes-devtools/python/python-empy.inc
index 3a94a95..97bb8e1 100644
--- a/recipes-devtools/python/python-empy.inc
+++ b/recipes-devtools/python/python-empy.inc
@@ -10,4 +10,4 @@ SRC_URI[sha256sum] = "99f016af2770c48ab57a65df7aae251360dc69a1514c15851458a71d4d
 
 S = "${WORKDIR}/${SRCNAME}-${PV}"
 
-BBCLASSEXTEND = "native"
+BBCLASSEXTEND = "native nativesdk"
diff --git a/recipes-ros/catkin/catkin-runtime_0.6.19.bb b/recipes-ros/catkin/catkin-runtime_0.6.19.bb
index 634a203..28815f6 100644
--- a/recipes-ros/catkin/catkin-runtime_0.6.19.bb
+++ b/recipes-ros/catkin/catkin-runtime_0.6.19.bb
@@ -32,8 +32,22 @@ do_install_append() {
     touch ${D}${ros_prefix}/.catkin
 }
 
+# Append environment hook for SDK
+do_install_append_class-nativesdk() {
+    mkdir -p ${D}${SDKPATHNATIVE}/environment-setup.d
+
+    script=${D}${SDKPATHNATIVE}/environment-setup.d/catkin-runtime.sh
+    echo "export ROSDISTRO=${ROSDISTRO}" >> $script
+    echo "export PATH=\$PATH:\${OECORE_NATIVE_SYSROOT}/opt/ros/\${ROSDISTRO}/bin" >> $script
+    echo "export PYTHONPATH=\${OECORE_NATIVE_SYSROOT}/opt/ros/\${ROSDISTRO}/lib/python2.7/site-packages" >> $script
+    echo "export ROS_ROOT=\${OECORE_TARGET_SYSROOT}/opt/ros/\${ROSDISTRO}/share/ros" >> $script
+    echo "export CMAKE_PREFIX_PATH=\${OECORE_TARGET_SYSROOT}/opt/ros/\${ROSDISTRO}:\${OECORE_NATIVE_SYSROOT}/opt/ros/${ROSDISTRO}" >> $script
+}
+
+FILES_${PN}_append_class-nativesdk = " ${SDKPATHNATIVE}"
+
 catkin_sysroot_preprocess_append() {
     install -m 644 -t ${SYSROOT_DESTDIR}${ros_prefix} ${D}${ros_prefix}/.catkin
 }
 
-BBCLASSEXTEND += "native"
+BBCLASSEXTEND += "native nativesdk"
diff --git a/recipes-ros/catkin/catkin_0.6.19.bb b/recipes-ros/catkin/catkin_0.6.19.bb
index ecb5785..e4a4ba2 100644
--- a/recipes-ros/catkin/catkin_0.6.19.bb
+++ b/recipes-ros/catkin/catkin_0.6.19.bb
@@ -1,5 +1,7 @@
 require catkin.inc
 
+SRC_URI += "file://environment.d-catkin.sh"
+
 DEPENDS_class-native += "catkin-runtime"
 
 # The files in ${PYTHON_SITEPACKAGES_DIR} and catkin_find are
@@ -27,4 +29,12 @@ do_install_append() {
     rmdir ${D}${ros_libdir}/${PYTHON_DIR}
 }
 
-BBCLASSEXTEND += "native"
+# Append environment hook for SDK
+do_install_append_class-nativesdk() {
+    mkdir -p ${D}${SDKPATHNATIVE}/environment-setup.d
+    install -m 644 ${WORKDIR}/environment.d-catkin.sh ${D}${SDKPATHNATIVE}/environment-setup.d/catkin.sh
+}
+
+FILES_${PN}_append_class-nativesdk = " ${SDKPATHNATIVE}"
+
+BBCLASSEXTEND += "native nativesdk"
diff --git a/recipes-ros/catkin/files/environment.d-catkin.sh b/recipes-ros/catkin/files/environment.d-catkin.sh
new file mode 100644
index 0000000..5c31049
--- /dev/null
+++ b/recipes-ros/catkin/files/environment.d-catkin.sh
@@ -0,0 +1,10 @@
+alias catkin_make=" \
+    catkin_make \
+    -DCMAKE_TOOLCHAIN_FILE=$OECORE_NATIVE_SYSROOT/usr/share/cmake/OEToolchainConfig.cmake \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+"
+alias catkin_make_isolated=" \
+    catkin_make_isolated \
+    -DCMAKE_TOOLCHAIN_FILE=$OECORE_NATIVE_SYSROOT/usr/share/cmake/OEToolchainConfig.cmake \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+"