PKGBUILD


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# Maintainer: Jingbei Li <i@jingbei.li>
# Multi-package PKGBUILD for diagnostics - isolated staging per subpackage

pkgbase='ros2-humble-diagnostics'
pkgname=(
##  'ros2-humble-diagnostic-updater'  # Already exists in AUR
    'ros2-humble-diagnostic-aggregator'
    'ros2-humble-diagnostic-common-diagnostics'
    'ros2-humble-diagnostic-remote-logging'
    'ros2-humble-self-test'
    'ros2-humble-diagnostics'
)
pkgver=4.0.6
pkgrel=1
pkgdesc="Diagnostics packages for ROS 2"
arch=('x86_64')
url="https://github.com/ros/diagnostics"
license=('Apache-2.0')
depends=(
    'ros2-humble'
)
makedepends=(
    'ros2-humble'
    'cmake'
    'python'
)
source=("https://github.com/ros/diagnostics/archive/refs/tags/${pkgver}.tar.gz")
sha256sums=('0bfde33160893104729188f5781db00cadd182af96ff10febfd5d2de0dd70f1c')

build() {
    local _staging="$srcdir/_staging"
    rm -rf "$_staging"
    mkdir -p "$_staging"

    # Build in dependency order
    # 1. diagnostic_updater (needs diagnostic_msgs from ros2-humble)
    _build_install_isolated diagnostic_updater ""
    # 2. diagnostic_common_diagnostics (needs diagnostic_updater)
    _build_install_isolated diagnostic_common_diagnostics "$_staging/diagnostic_updater/opt/ros/humble"
    # 3. diagnostic_aggregator (needs diagnostic_msgs)
    _build_install_isolated diagnostic_aggregator ""
    #  ️ diagnostic_remote_logging (needs diagnostic_updater implicitly)
    _build_install_isolated diagnostic_remote_logging "$_staging/diagnostic_updater/opt/ros/humble"
    # 5. self_test (needs diagnostic_updater)
    _build_install_isolated self_test "$_staging/diagnostic_updater/opt/ros/humble"
    # 6. diagnostics (meta package, no install)
    :
}

# Helper: build and install one subdirectory to its own staging location
_build_install_isolated() {
    local _subdir="$1"
    local _extra_prefix="$2"
    msg2 "Building $1 ..."
    cd "$srcdir/diagnostics-$pkgver/$_subdir"
    source /opt/ros/humble/setup.bash
    export CXXFLAGS="${CXXFLAGS} -include cstdint"
    if [ -n "$_extra_prefix" ]; then
        export CMAKE_PREFIX_PATH="${_extra_prefix}:${CMAKE_PREFIX_PATH}"
    fi
    cmake -B "build-$_subdir" -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/opt/ros/humble -Wno-dev
    cmake --build "build-$_subdir"
    local _pkg_staging="$_staging/$_subdir"
    DESTDIR="$_pkg_staging" cmake --install "build-$_subdir"
}

package_ros2-humble-diagnostics() {
    pkgdesc="Meta-package for ROS 2 diagnostics suite"
    arch=('any')
    depends=(
        'ros2-humble-diagnostic-updater'
        'ros2-humble-diagnostic-aggregator'
        'ros2-humble-diagnostic-common-diagnostics'
        'ros2-humble-self-test'
    )
    :
}

package_ros2-humble-diagnostic-aggregator() {
    pkgdesc="diagnostic_aggregator aggregates diagnostic messages"
    arch=('x86_64')
    depends=('ros2-humble')
    local _staging_pkg="$srcdir/_staging/diagnostic_aggregator"
    mkdir -p "$pkgdir/opt/ros/humble"
    cp -r "$_staging_pkg/opt/ros/humble/." "$pkgdir/opt/ros/humble/"
}

package_ros2-humble-diagnostic-common-diagnostics() {
    pkgdesc="Predefined diagnostic nodes for monitoring Linux and ROS system"
    arch=('any')
    depends=(
        'ros2-humble'
        'ros2-humble-diagnostic-updater'
        'lm-sensors'
        'python-psutil'
        'python-ntplib'
    )
    local _staging_pkg="$srcdir/_staging/diagnostic_common_diagnostics"
    mkdir -p "$pkgdir/opt/ros/humble"
    cp -r "$_staging_pkg/opt/ros/humble/." "$pkgdir/opt/ros/humble/"
}

package_ros2-humble-diagnostic-remote-logging() {
    pkgdesc="Remote logging for diagnostics (InfluxDB)"
    arch=('x86_64')
    depends=('ros2-humble' 'curl')
    local _staging_pkg="$srcdir/_staging/diagnostic_remote_logging"
    mkdir -p "$pkgdir/opt/ros/humble"
    cp -r "$_staging_pkg/opt/ros/humble/." "$pkgdir/opt/ros/humble/"
}

package_ros2-humble-self-test() {
    pkgdesc="Self test tools for diagnostics"
    arch=('x86_64')
    depends=('ros2-humble' 'ros2-humble-diagnostic-updater')
    local _staging_pkg="$srcdir/_staging/self_test"
    mkdir -p "$pkgdir/opt/ros/humble"
    cp -r "$_staging_pkg/opt/ros/humble/." "$pkgdir/opt/ros/humble/"
}
package_ros2-humble-diagnostic-updater() {
    pkgdesc="diagnostic_updater contains tools for easily updating diagnostics"
    arch=('x86_64')
    depends=('ros2-humble')
    local _staging_pkg="$srcdir/_staging/diagnostic_updater"
    mkdir -p "$pkgdir/opt/ros/humble"
    cp -r "$_staging_pkg/opt/ros/humble/." "$pkgdir/opt/ros/humble/"
}