From a25bb417e5dafc281779f4804e1707850fc84b6c Mon Sep 17 00:00:00 2001
From: Andre Rosa <andre.rosa@lge.com>
Date: Fri, 5 Apr 2019 19:15:04 -0700
Subject: [PATCH] DRAFT ament.bbclass: Fix PYTHON_SOABI

  * Make it conditional on the configured MACHINE. Otherwise needs to be
    reworked to avoid getting the SOABI from python3-native.

  * See:
    https://github.com/lgsvl/meta-ros2/commit/4b6bb786336695cd04144ff4eeb2e4d6b6b9ad3a
    https://github.com/ros2/rosidl_python/blob/master/python_cmake_module/cmake/Modules/FindPythonExtra.cmake
    https://discourse.ros.org/t/import-error-no-module-named-rclpy-rclpy-cross-compiling/2463/

  * With the patch ros2 cli works well for all listed MACHINE(s):

    root@qemuarm64:~# ros2 topic list
    /parameter_events
    /rosout

     root@qemuarm64:~# ros2 topic pub /chatter std_msgs/String "data: Hello world"
     publisher: beginning loop
     publishing #1: std_msgs.msg.String(data='Hello world')

     publishing #2: std_msgs.msg.String(data='Hello world')

     ...

     root@qemuarm64:~# ros2 topic echo /chatter
     data: Hello world

     data: Hello world

     ...
---
 classes/ament.bbclass | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/classes/ament.bbclass b/classes/ament.bbclass
index be9359a..cc42f79 100644
--- a/classes/ament.bbclass
+++ b/classes/ament.bbclass
@@ -1,5 +1,19 @@
 
-EXTRA_OECMAKE_append = " -DBUILD_TESTING=OFF -DPYTHON_SOABI=cpython-35m-${TUNE_ARCH}-${TARGET_OS}${ARMPKGSFX_EABI}"
+def ament__get_python_soabi(d):
+    machine = d.getVar('MACHINE', True)
+    pysoabi_prefix = 'cpython-' + d.getVar('PYTHON_BASEVERSION', True).replace('.', '') + d.getVar('PYTHON_ABI', True)
+    machine_pysoabi_map = {
+        'qemux86': (d.getVar('QB_SYSTEM_NAME_x86', True) or '').rsplit('-')[-1] + '-${TARGET_OS}-gnu',
+        'qemux86-64': (d.getVar('QB_SYSTEM_NAME_x86-64', True) or '').rsplit('-')[-1] + '-${TARGET_OS}-gnu',
+        'qemuarm64': '${TUNE_ARCH}-${TARGET_OS}${ARMPKGSFX_EABI}-gnu',
+        'raspberrypi3': '${TUNE_ARCH}-${TARGET_OS}${ARMPKGSFX_EABI}',
+    }
+    try:
+        return pysoabi_prefix + '-' + machine_pysoabi_map[machine]
+    except KeyError:
+        bb.fatal('Unknown MACHINE name: ' + machine + '; can not determine the PYTHON_SOABI value.')
+
+EXTRA_OECMAKE_append = " -DBUILD_TESTING=OFF -DPYTHON_SOABI=${@ament__get_python_soabi(d)}"
 # XXX Without STAGING_DIR_HOST path included, rmw-implementation:do_configure() fails with:
 #
 #    "Could not find ROS middleware implementation 'NOTFOUND'"