feat: change --manifest-path to --path (#94)

nichmor · remimimimimi · web-flow · commit 8d27d97fa737 · 2025-11-21T17:30:59.000+02:00
Co-authored-by: remimimimimi &lt;remimimimimi@protonmail.com&gt;
diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
@@ -23,7 +23,7 @@ env:
 
 jobs:
   test-linux-x86_64:
-    timeout-minutes: 10
+    timeout-minutes: 15
     name: Build test Linux x86_64
     runs-on: 8core_ubuntu_latest_runner
     steps:
@@ -44,7 +44,7 @@ jobs:
         run: pixi run --locked test-slow
 
   test-windows-x86_64:
-    timeout-minutes: 10
+    timeout-minutes: 15
     name: Build test Windows x86_64
     runs-on: windows-latest
     steps:
@@ -74,7 +74,7 @@ jobs:
         working-directory: ${{ env.PIXI_WORKSPACE }}
 
   test-macos-aarch64:
-    timeout-minutes: 10
+    timeout-minutes: 15
     name: Build test macOS aarch64
     runs-on: macos-14
     steps:
diff --git a/tests/data/pixi_build/rattler-build-backend/source-dependency/c/recipe.yaml b/tests/data/pixi_build/rattler-build-backend/source-dependency/c/recipe.yaml
@@ -0,0 +1,3 @@
+package:
+  name: c
+  version: 0.1.0
diff --git a/tests/data/pixi_build/ros-workspace/src/navigator_implicit/CMakeLists.txt b/tests/data/pixi_build/ros-workspace/src/navigator_implicit/CMakeLists.txt
@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.8)
+project(navigator)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(turtlesim REQUIRED)
+
+add_executable(navigator src/navigator.cpp)
+target_include_directories(navigator PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_features(navigator PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+ament_target_dependencies(
+  navigator
+  "rclcpp"
+  "geometry_msgs"
+  "turtlesim"
+)
+
+install(TARGETS navigator
+  DESTINATION lib/${PROJECT_NAME})
+
+# if(BUILD_TESTING)
+#   find_package(ament_lint_auto REQUIRED)
+#   # the following line skips the linter which checks for copyrights
+#   # comment the line when a copyright and license is added to all source files
+#   set(ament_cmake_copyright_FOUND TRUE)
+#   # the following line skips cpplint (only works in a git repo)
+#   # comment the line when this package is in a git repo and when
+#   # a copyright and license is added to all source files
+#   set(ament_cmake_cpplint_FOUND TRUE)
+#   ament_lint_auto_find_test_dependencies()
+# endif()
+
+ament_package()
diff --git a/tests/data/pixi_build/ros-workspace/src/navigator_implicit/package.xml b/tests/data/pixi_build/ros-workspace/src/navigator_implicit/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>navigator</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ruben.arts@hotmail.com">rarts</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>geometry_msgs</depend>
+  <depend>turtlesim</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/tests/data/pixi_build/ros-workspace/src/navigator_implicit/src/navigator.cpp b/tests/data/pixi_build/ros-workspace/src/navigator_implicit/src/navigator.cpp
@@ -0,0 +1,94 @@
+#define _USE_MATH_DEFINES
+
+#include <cmath>
+
+#include "rclcpp/rclcpp.hpp"
+#include "geometry_msgs/msg/point.hpp"
+#include "geometry_msgs/msg/twist.hpp"
+#include "turtlesim/msg/pose.hpp"
+
+class TurtleNavigator : public rclcpp::Node
+{
+public:
+    TurtleNavigator()
+        : Node("turtle_navigator"), x_goal_(4.0), y_goal_(5.0), kp_(1.0), ki_(0.0), kd_(0.05), prev_error_(0.0), integral_(0.0)
+    {
+        subscription_ = this->create_subscription<geometry_msgs::msg::Point>(
+            "coordinates", 10, std::bind(&TurtleNavigator::goal_callback, this, std::placeholders::_1));
+        pose_subscription_ = this->create_subscription<turtlesim::msg::Pose>(
+            "turtle1/pose", 10, std::bind(&TurtleNavigator::pose_callback, this, std::placeholders::_1));
+        publisher_ = this->create_publisher<geometry_msgs::msg::Twist>("turtle1/cmd_vel", 10);
+
+        timer_ = this->create_wall_timer(
+            std::chrono::milliseconds(100), std::bind(&TurtleNavigator::control_loop, this));
+
+        RCLCPP_INFO(this->get_logger(), "Turtle Navigator has been started!");
+        RCLCPP_INFO(this->get_logger(), "Initial goal: x=%f, y=%f", x_goal_, y_goal_);
+    }
+
+private:
+    void goal_callback(const geometry_msgs::msg::Point::SharedPtr msg)
+    {
+        x_goal_ = msg->x;
+        y_goal_ = msg->y;
+        RCLCPP_INFO(this->get_logger(), "Received goal: x=%f, y=%f", x_goal_, y_goal_);
+    }
+
+    void pose_callback(const turtlesim::msg::Pose::SharedPtr msg)
+    {
+        x_current_ = msg->x;
+        y_current_ = msg->y;
+        theta_current_ = msg->theta;
+    }
+
+    void control_loop()
+    {
+//        RCLCPP_INFO(this->get_logger(), "Hello Ruben!");
+        double error_x = x_goal_ - x_current_;
+        double error_y = y_goal_ - y_current_;
+        double distance_error = std::sqrt(error_x * error_x + error_y * error_y);
+
+        double angle_to_goal = std::atan2(error_y, error_x);
+        double angle_error = angle_to_goal - theta_current_;
+
+        // Normalize angle error to the range [-pi, pi]
+        while (angle_error > M_PI) angle_error -= 2 * M_PI;
+        while (angle_error < -M_PI) angle_error += 2 * M_PI;
+
+        // PID control
+        double control_signal = kp_ * distance_error + ki_ * integral_ + kd_ * (distance_error - prev_error_);
+        integral_ += distance_error;
+        prev_error_ = distance_error;
+
+        // Limit control signal
+        double max_linear_speed = 2.0; // Max linear speed
+        double max_angular_speed = 2.0; // Max angular speed
+        control_signal = std::clamp(control_signal, -max_linear_speed, max_linear_speed);
+
+        // Publish velocity commands
+        auto msg = geometry_msgs::msg::Twist();
+        msg.linear.x = control_signal;
+        msg.angular.z = 4.0 * angle_error; // simple P controller for angle
+        msg.angular.z = std::clamp(msg.angular.z, -max_angular_speed, max_angular_speed);
+
+        publisher_->publish(msg);
+    }
+
+    rclcpp::Subscription<geometry_msgs::msg::Point>::SharedPtr subscription_;
+    rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr pose_subscription_;
+    rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_;
+    rclcpp::TimerBase::SharedPtr timer_;
+
+    double x_goal_, y_goal_;
+    double x_current_, y_current_, theta_current_;
+    double kp_, ki_, kd_;
+    double prev_error_, integral_;
+};
+
+int main(int argc, char *argv[])
+{
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<TurtleNavigator>());
+    rclcpp::shutdown();
+    return 0;
+}
diff --git a/tests/integration_python/test_build.py b/tests/integration_python/test_build.py
@@ -26,7 +26,7 @@ def test_build_conda_package(
         [
             pixi,
             "build",
-            "--manifest-path",
+            "--path",
             simple_workspace.package_dir,
             "--output-dir",
             simple_workspace.workspace_dir,
@@ -245,7 +245,7 @@ def test_build_using_rattler_build_backend(
 
     # Running pixi build should build the recipe.yaml
     verify_cli_command(
-        [pixi, "build", "-v", "--manifest-path", manifest_path, "--output-dir", tmp_pixi_workspace],
+        [pixi, "build", "-v", "--path", manifest_path, "--output-dir", tmp_pixi_workspace],
     )
 
     # really make sure that conda package was built
@@ -256,7 +256,7 @@ def test_build_using_rattler_build_backend(
 
     # check that immediately repeating the build also works (prefix-dev/pixi-build-backends#287)
     verify_cli_command(
-        [pixi, "build", "-v", "--manifest-path", manifest_path, "--output-dir", tmp_pixi_workspace],
+        [pixi, "build", "-v", "--path", manifest_path, "--output-dir", tmp_pixi_workspace],
     )
 
 
@@ -276,14 +276,14 @@ def test_incremental_builds(
     manifest_path = tmp_pixi_workspace / "pixi.toml"
 
     verify_cli_command(
-        [pixi, "build", "-v", "--manifest-path", manifest_path, "--output-dir", tmp_pixi_workspace],
+        [pixi, "build", "-v", "--path", manifest_path, "--output-dir", tmp_pixi_workspace],
         stderr_contains=non_incremental_evidence,
         strip_ansi=True,
     )
 
     # immediately repeating the build should give evidence of incremental compilation
     verify_cli_command(
-        [pixi, "build", "-v", "--manifest-path", manifest_path, "--output-dir", tmp_pixi_workspace],
+        [pixi, "build", "-v", "--path", manifest_path, "--output-dir", tmp_pixi_workspace],
         stderr_excludes=non_incremental_evidence,
         strip_ansi=True,
     )
@@ -352,6 +352,93 @@ def test_rattler_build_source_dependency(
     )
 
 
+def test_rattler_build_point_to_recipe(
+    pixi: Path, build_data: Path, tmp_pixi_workspace: Path
+) -> None:
+    test_data = build_data.joinpath("rattler-build-backend")
+    # copy the whole smokey2 project to the tmp_pixi_workspace
+    copytree_with_local_backend(
+        test_data / "source-dependency", tmp_pixi_workspace / "source-dependency"
+    )
+    manifest_path = tmp_pixi_workspace / "source-dependency" / "c" / "recipe.yaml"
+
+    output_dir = tmp_pixi_workspace.joinpath("dist")
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    verify_cli_command(
+        [
+            pixi,
+            "build",
+            "-v",
+            "--path",
+            manifest_path,
+            "--output-dir",
+            output_dir,
+        ],
+        expected_exit_code=ExitCode.SUCCESS,
+    )
+
+    built_packages = list(output_dir.glob("*.conda"))
+    assert built_packages, "no package artifacts produced"
+
+
+def test_rattler_build_autodiscovery(
+    pixi: Path, build_data: Path, tmp_pixi_workspace: Path
+) -> None:
+    test_data = build_data.joinpath("rattler-build-backend")
+    # copy the whole smokey2 project to the tmp_pixi_workspace
+    copytree_with_local_backend(
+        test_data / "source-dependency", tmp_pixi_workspace / "source-dependency"
+    )
+    # don-t point to recipe.yaml, but to the directory containing it
+    manifest_path = tmp_pixi_workspace / "source-dependency" / "c"
+
+    output_dir = tmp_pixi_workspace.joinpath("dist")
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    verify_cli_command(
+        [
+            pixi,
+            "build",
+            "-v",
+            "--path",
+            manifest_path,
+            "--output-dir",
+            output_dir,
+        ],
+        expected_exit_code=ExitCode.SUCCESS,
+    )
+
+    built_packages = list(output_dir.glob("*.conda"))
+    assert built_packages, "no package artifacts produced"
+
+
+def test_suggest_what_manifest_file_should_be(
+    pixi: Path, build_data: Path, tmp_pixi_workspace: Path
+) -> None:
+    test_data = build_data.joinpath("rattler-build-backend")
+    # copy the whole smokey2 project to the tmp_pixi_workspace
+    copytree_with_local_backend(
+        test_data / "source-dependency", tmp_pixi_workspace / "source-dependency"
+    )
+    # don-t point to recipe.yaml, but to the directory containing it
+    manifest_path = tmp_pixi_workspace / "source-dependency" / "empty-dir"
+
+    manifest_path.mkdir(parents=True, exist_ok=True)
+
+    verify_cli_command(
+        [
+            pixi,
+            "build",
+            "-v",
+            "--path",
+            manifest_path,
+        ],
+        expected_exit_code=ExitCode.FAILURE,
+        stderr_contains="Ensure that the source directory contains a valid pixi.toml, pyproject.toml, recipe.yaml, package.xml or mojoproject.toml file.",
+    )
+
+
 @pytest.mark.slow
 def test_recursive_source_run_dependencies(
     pixi: Path, build_data: Path, tmp_pixi_workspace: Path
@@ -469,7 +556,7 @@ def test_source_path(pixi: Path, build_data: Path, tmp_pixi_workspace: Path) ->
         [
             pixi,
             "build",
-            "--manifest-path",
+            "--path",
             tmp_pixi_workspace,
             "--output-dir",
             tmp_pixi_workspace,
@@ -524,5 +611,5 @@ def test_target_specific_dependency(
     manifest_path.write_text(tomli_w.dumps(manifest))
 
     verify_cli_command(
-        [pixi, "build", "--manifest-path", manifest_path, "--output-dir", tmp_pixi_workspace],
+        [pixi, "build", "--path", manifest_path, "--output-dir", tmp_pixi_workspace],
     )
diff --git a/tests/integration_python/test_multi_output.py b/tests/integration_python/test_multi_output.py
@@ -14,7 +14,7 @@ def test_build(pixi: Path, build_data: Path, tmp_pixi_workspace: Path) -> None:
         [
             pixi,
             "build",
-            "--manifest-path",
+            "--path",
             package_manifest,
             "--output-dir",
             tmp_pixi_workspace,
diff --git a/tests/integration_python/test_ros.py b/tests/integration_python/test_ros.py
diff --git a/tests/integration_python/test_specified_build_source/test_git.py b/tests/integration_python/test_specified_build_source/test_git.py
diff --git a/tests/integration_python/test_variants.py b/tests/integration_python/test_variants.py

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,3 @@`
	`1`	`+package:`
	`2`	`+ name: c`
	`3`	`+ version: 0.1.0`
Original file line number	Diff line number	Diff line change
`@@ -14,7 +14,7 @@ def test_build(pixi: Path, build_data: Path, tmp_pixi_workspace: Path) -> None:`
`14`	`14`	`[`
`15`	`15`	`pixi,`
`16`	`16`	`"build",`
`17`		`- "--manifest-path",`
	`17`	`+ "--path",`
`18`	`18`	`package_manifest,`
`19`	`19`	`"--output-dir",`
`20`	`20`	`tmp_pixi_workspace,`