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Jarvis Build System

Jarvis is a build system optimized for MRover. It is designed to automate many tasks in assembling pieces of the rover software stack. It is implemented in Python 3 and uses a simple shell script to bootstrap itself.

Quickstart

From the root directory of this repository, run ./jarvis, which will create the Jarvis venv, populate it, and display the list of Jarvis tasks.

NOTE: It is recommended to add an alias to your ~/.bashrc or equivalent to assist in invoking Jarvis. This has the benefit of being able to invoke Jarvis from anywhere in the filesystem. This step is already done by our Vagrant box.

Example for bash:

# ~/.bashrc
alias jarvis='$HOME/mrover-workspace/jarvis'

Design

Jarvis creates two virtual environments, one for Jarvis's own dependencies (called the "Jarvis venv"), and one for products of the build, called the "product venv". The product venv is used as the target destination for all parts of build -- C/C++ output executables are installed into the product venv as well as Python executables.

Usage

  • jarvis dep :: Compile and install 3rd-party C/C++ dependencies (located in 3rdparty/) using instructions specified in the third_party.py file. After installing C/C++ dependencies, Jarvis will run pip-compile on the contents of external_requirements.in to produce external_requirements.txt, which will then be installed into the product venv.
  • jarvis exec <command> :: Runs a command in the product venv.
  • jarvis clean :: Wipes away the product venv, requiring a full re-build.
  • jarvis implode :: Wipes away the Jarvis venv, requiring a full re-bootstrap.
  • jarvis build rover_msgs :: Compiles the LCM descriptions in rover_msgs/ into both C++ and Python libraries and installs them into the product venv.
  • jarvis build <target> :: Lint, compile, test, then install <target> into the product venv using the procedure described below.

Targets

All other Jarvis projects (anything with a project.ini file) execute a lint, then a compile, then a test, then an install into the product venv.

In Python projects, the lint is carried out by flake8, in C++, clang-tidy is used.

Compiling Python is a no-op; compiling C++ will invoke the meson build system.

In Python, the testing system will run doctest on all files located in the src/ directory, and it will run pytest on the test cases located in the test/ directory. In C++, meson has its own mechanism for registering test cases, and that is used.

The products are then installed into the product venv. In Python, an executable is generated from the function main located in src/__main__.py, and in C++, executables generated from meson are installed into the appropriate locations.

Technical Documentation

Technical documentation for the Jarvis build system is a work in progress. The Python docstrings provided for the functions in buildsys/ ought to be moderately useful for anyone who wishes to work on Jarvis, but improvements are in the works.

Future goals

Quality of life improvements, and a smaller, more orthogonal codebase.