cross_raspberry_pi: +PYTHON_SOABI; +cross_python_soabi target

README.md

@@ -335,11 +335,16 @@ Related software
   Raspberry Pi done in a different way.
 - <https://github.com/ros-tooling/action-ros-ci> -- `github` action that covers
   some of `CCWS` functionality.
+- <https://github.com/ros-infrastructure/ros_buildfarm>,
+  <http://wiki.ros.org/buildfarm> -- the core of ROS packaging infrastructure.
+  Complicated, specialized on handling of individual packages rather than
+  workspaces, not suitable for quick field redeployments.
 
 
 TODO
 ====
 
+- Investigate generation of debug and development packages.
 - Reproducible builds <https://reproducible-builds.org/>.
 - Replace `ccache` with <https://github.com/mbitsnbites/buildcache>.
 - Integrate <https://github.com/oclint/oclint>

ccws/make/cross.mk

@@ -107,3 +107,6 @@ cross_purge:
 	${MAKE} cross_umount
 	${MAKE} wswraptarget TARGET=private_bp_${BUILD_PROFILE}_purge
 
+cross_python_soabi: assert_CCWS_SYSROOT_must_be_mounted
+	printf "from sysconfig import get_config_var\nprint(get_config_var('SOABI'))\n" \
+		| bash -c "${SETUP_SCRIPT}; sudo chroot \"\$${CCWS_SYSROOT}\" python3"

ccws/profiles/build/cross_raspberry_pi/setup.bash

@@ -19,6 +19,12 @@ CCWS_TRIPLE_ABI=gnueabihf
 source "$(dirname "${BASH_SOURCE[0]}")/../${1:-"common"}/setup.bash" "${@:2}" ""
 
 
+# https://docs.ros.org/en/eloquent/Tutorials/Cross-compilation.html
+# https://github.com/ros2/python_cmake_module/blob/humble/cmake/Modules/FindPythonExtra.cmake
+# https://github.com/ros2/rosidl_python/issues/111
+PYTHON_SOABI=cpython-310-${CCWS_TRIPLE}
+export PYTHON_SOABI
+
 ROS_OS_OVERRIDE=debian:10:buster
 export ROS_OS_OVERRIDE
 

ccws/profiles/build/cross_raspberry_pi/toolchain_body.cmake

@@ -18,6 +18,7 @@ set(CMAKE_SYSTEM_NAME Linux CACHE STRING "" FORCE)
 set(CMAKE_SYSTEM_VERSION 1 CACHE STRING "" FORCE)
 set(CMAKE_SYSTEM_PROCESSOR "$ENV{CCWS_TRIPLE_ARCH}" CACHE STRING "" FORCE)
 set(CMAKE_LIBRARY_ARCHITECTURE "$ENV{CCWS_TRIPLE}" CACHE STRING "" FORCE)
+set(PYTHON_SOABI "$ENV{PYTHON_SOABI}" CACHE STRING "" FORCE)
 set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY CACHE STRING "" FORCE)
 set(CMAKE_TOOLCHAIN_FILE $ENV{CMAKE_TOOLCHAIN_FILE} CACHE STRING "" FORCE)
 

ccws/tests/test_cross.mk

@@ -13,6 +13,7 @@ test:
 	${MAKE} cross_purge
 	${MAKE} cross_unpack
 	${MAKE} cross_mount
+	${MAKE} cross_python_soabi
 	${MAKE} staticoma
 	${MAKE} wsclean
 	${MAKE} bp_install_build BUILD_PROFILE=deb