55 lines
4.0 KiB
TOML
55 lines
4.0 KiB
TOML
[workspace]
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name = "blockly-ros2-controller"
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version = "0.1.0"
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channels = ["conda-forge", "robostack-jazzy"]
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platforms = ["linux-64", "linux-aarch64"]
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# Shared conda dependencies — available on both x86_64 and aarch64
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[dependencies]
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python = ">=3.11"
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ros-jazzy-rclpy = "*"
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ros-jazzy-rosidl-default-runtime = "*"
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ros-jazzy-rosidl-default-generators = "*"
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ros-jazzy-action-msgs = "*"
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colcon-common-extensions = "*"
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pytest = "*"
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# Desktop-only conda dependencies (not available / not needed on aarch64)
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# pyqtwebengine provides the Qt backend that pywebview needs on Linux.
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[target.linux-64.dependencies]
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ros-jazzy-desktop = "*"
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nodejs = ">=18"
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pyqtwebengine = "*"
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qtpy = "*"
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[target.linux-aarch64.dependencies]
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ros-jazzy-ros-base = "*"
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ros-jazzy-rclcpp = "*" # C++ ROS2 client library for gpio_node
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libgpiod = "*" # C/C++ libgpiod (gpiodcxx) for GPIO hardware access
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# pywebview is only on PyPI, not conda-forge.
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# Desktop-only — Raspberry Pi only runs Executor Node.
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[target.linux-64.pypi-dependencies]
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pywebview = "*"
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[tasks]
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build-interfaces = "colcon build --symlink-install --packages-select blockly_interfaces"
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[target.linux-64.tasks]
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build-executor = { cmd = "colcon build --symlink-install --packages-select blockly_executor", depends-on = ["build-interfaces"] }
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build-app = { cmd = "colcon build --symlink-install --packages-select blockly_app", depends-on = ["build-interfaces"] }
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build = { cmd = "colcon build --symlink-install", depends-on = ["build-interfaces"] }
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executor = { cmd = "bash -c 'source install/setup.bash && ros2 run blockly_executor executor_node'", depends-on = ["build-executor"] }
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executor-hw = { cmd = "bash -c 'source install/setup.bash && ros2 run blockly_executor executor_node --ros-args -p use_real_hardware:=true'", depends-on = ["build-executor"] }
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app = { cmd = "bash -c 'source install/setup.bash && python -m blockly_app.app'", depends-on = ["build-app"] }
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test = { cmd = "bash -c 'source install/setup.bash && PYTHONPATH=$PYTHONPATH:src/blockly_executor pytest src/blockly_executor/test/ -v'", depends-on = ["build-interfaces"] }
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setup-ui = "npm install blockly gridstack && mkdir -p src/blockly_app/blockly_app/ui/vendor && cp node_modules/blockly/blockly.min.js src/blockly_app/blockly_app/ui/vendor/ && cp node_modules/blockly/javascript_compressed.js src/blockly_app/blockly_app/ui/vendor/ && cp node_modules/blockly/blocks_compressed.js src/blockly_app/blockly_app/ui/vendor/ && cp node_modules/blockly/msg/en.js src/blockly_app/blockly_app/ui/vendor/ && cp node_modules/gridstack/dist/gridstack-all.js src/blockly_app/blockly_app/ui/vendor/ && cp node_modules/gridstack/dist/gridstack.min.css src/blockly_app/blockly_app/ui/vendor/"
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[target.linux-aarch64.tasks]
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setup-dep = { cmd = "sudo apt update && sudo apt install -y liblttng-ust-dev lttng-tools libgpiod-dev gpiod i2c-tools"}
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build-gpio = { cmd = "colcon build --symlink-install --packages-select gpio_node", depends-on = ["setup-dep", "build-interfaces"] }
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gpio-node = { cmd = "bash -c 'source install/setup.bash && ros2 run gpio_node gpio_node'", depends-on = ["build-gpio"] }
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build-pca9685 = { cmd = "colcon build --symlink-install --packages-select pca9685_node", depends-on = ["setup-dep", "build-interfaces"] }
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pca9685-node = { cmd = "bash -c 'source install/setup.bash && ros2 run pca9685_node pca9685_node'", depends-on = ["build-pca9685"] }
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build-as5600 = { cmd = "colcon build --symlink-install --packages-select as5600_node", depends-on = ["setup-dep", "build-interfaces"] }
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as5600-node = { cmd = "bash -c 'source install/setup.bash && ros2 run as5600_node as5600_node'", depends-on = ["build-as5600"] } |