Readd arch-ros2.el

2025-02-20 20:10:04 -08:00 · 2025-02-20 20:10:04 -08:00 · 90fbbda854
commit 90fbbda854
parent a5e3bd4c11
1 changed files with 133 additions and 0 deletions
--- a/elisp/arch-ros2.el
+++ b/elisp/arch-ros2.el
@ -0,0 +1,133 @@
+;;; arch-ros2.el --- Activate and deactivate ROS2 dev environment on ArchLinux -*- lexical-binding: t -*-
+;;; Commentary:
+;;; Code:
+(require 'cl-lib)
+
+(defcustom arch-ros2-root "/opt/ros/humble/"
+  "Root directory of the ROS2 install."
+  :type 'directory
+  :group 'arch-ros2)
+
+(defcustom arch-ros2-distro "humble"
+  "Version name of ROS2."
+  :type 'string
+  :group 'arch-ros2)
+
+(defcustom arch-ros2-version 2
+  "Version number of ROS2 (probably 2)."
+  :type 'integer
+  :group 'arch-ros2)
+
+(defcustom arch-ros2-python-version "3.13"
+  "Python version of ROS2."
+  :type 'string
+  :group 'arch-ros2)
+
+(defvar arch-ros2-active nil
+  "Weather of not the ROS2 development environment is active.")
+
+(defconst arch-ros2-mode-line-format `(arch-ros2-active
+                                       ,(propertize "[ROS2]"
+                                                    'face 'mode-line-emphasis))
+  "Mode line element for ROS2.")
+
+(defvar arch-ros2--saved-env-vars (make-hash-table :test 'equal)
+  "Hash table of saved environment variables.
+The key of each entry is the variable name.  The value is a cons.  The car is
+either the symbol \\='value or \\='files.  If it is \\='value, the cons is a
+list of the old value and the value we installed.  If the cdr is \\='files, the
+value is a list of files to be removed from the variable.")
+
+(defun arch-ros2--set-env-var (var value)
+  "Set the environment variable VAR to VALUE, saving its old value."
+  (puthash var (list 'value (getenv var) value) arch-ros2--saved-env-vars)
+  (setenv var value))
+
+(defun arch-ros2--add-file-to-var (var &rest values)
+  "Add each of VALUES to the file list environment variable VAR.
+This will prepend the values to VAR."
+  (let* ((cur-val (split-string (or (getenv var) "") ":" t))
+         (to-set))
+    (dolist (value values)
+      (unless (cl-find value cur-val :test 'equal)
+        (push value to-set)))
+    (let ((cache (gethash var arch-ros2--saved-env-vars)))
+      (puthash var (cons 'files (seq-uniq (append to-set (cdr cache))))
+               arch-ros2--saved-env-vars))
+    (setenv var (string-join (append to-set cur-val) ":"))))
+
+(defun arch-ros2--add-to-path (&rest values)
+  "Add each of VALUES to the variable `exec-path'."
+  (let ((to-check (butlast exec-path))
+        (did-add nil))
+    (dolist (value values)
+      (unless (cl-find value to-check :test 'equal)
+        (push value exec-path)
+        (push value did-add)))
+    (puthash 'exec-path (append did-add
+                                (gethash 'exec-path arch-ros2--saved-env-vars))
+             arch-ros2--saved-env-vars)))
+
+(defun arch-ros2--restore-env-var (var)
+  "Restore the value of VAR set with `arch-ros2--set-env-var'."
+  (let ((entry (gethash var arch-ros2--saved-env-vars)))
+    (cl-case (car entry)
+      (value
+       (cl-destructuring-bind (&optional old-val our-val) (cdr entry)
+         ;; don't restore values that have been changed
+         (when (equal our-val (getenv var))
+           (setenv var old-val))))
+      (files
+       (when-let ((cur-val (getenv var))
+                  (parts (split-string cur-val ":" t)))
+         (setenv var (string-join (seq-difference parts (cdr entry)) ":")))))
+    (remhash var arch-ros2--saved-env-vars)))
+
+(defun arch-ros2-activate ()
+  "Activate a ROS2 development environment."
+  (interactive)
+  (setq arch-ros2-active t)
+  (add-to-list 'mode-line-misc-info arch-ros2-mode-line-format)
+  (arch-ros2--add-to-path "/opt/ros/humble/bin/")
+  (arch-ros2--set-env-var "AMENT_PREFIX_PATH" arch-ros2-root)
+  (arch-ros2--set-env-var "CMAKE_PREFIX_PATH" arch-ros2-root)
+  (arch-ros2--set-env-var "COLCON_PREFIX_PATH" arch-ros2-root)
+  (arch-ros2--set-env-var "ROS_DISTRO" arch-ros2-distro)
+  (arch-ros2--set-env-var "ROS_LOCALHOST_ONLY" "0")
+  (arch-ros2--set-env-var "ROS_PYTHON_VERSION"
+                          (car (split-string arch-ros2-python-version "\\.")))
+  (arch-ros2--set-env-var "ROS_VERSION"
+                          (number-to-string arch-ros2-version))
+  (arch-ros2--add-file-to-var
+   "LD_LIBRARY_PATH"
+   (expand-file-name "opt/rviz_ogre_vendor/lib"
+                     arch-ros2-root)
+   (expand-file-name "lib"
+                     arch-ros2-root))
+  (arch-ros2--add-file-to-var
+   "PKG_CONFIG_PATH" (expand-file-name "lib/pkgconfig" arch-ros2-root))
+  (let ((python-dir (expand-file-name
+                     (concat "lib/python" arch-ros2-python-version)
+                     arch-ros2-root)))
+    (arch-ros2--add-file-to-var "PYTHONPATH"
+                                (expand-file-name "dist-packages" python-dir)
+                                (expand-file-name "site-packages" python-dir))))
+
+(defun arch-ros2-deactivate ()
+  "Deactivate the ROS2 development environment."
+  (interactive)
+  (setq arch-ros2-active nil
+        mode-line-misc-info (cl-remove arch-ros2-mode-line-format
+                                       mode-line-misc-info
+                                       :test 'equal))
+  (maphash (lambda (k v)
+             (cond
+              ((stringp k)
+               (arch-ros2--restore-env-var k))
+              ((eq k 'exec-path)
+               (setq exec-path (seq-difference exec-path v))
+               (remhash 'exec-path arch-ros2--saved-env-vars))))
+           arch-ros2--saved-env-vars))
+
+(provide 'arch-ros2)
+;;; arch-ros2.el ends here