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refactor: modularize nix flake #57

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aafdb17
refactor: modularize nix flake
YuanYuYuan Dec 29, 2025
7895bbf
fix: ffi & clang dependence
YuanYuYuan Dec 29, 2025
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285 changes: 36 additions & 249 deletions flake.nix
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Original file line number Diff line number Diff line change
Expand Up @@ -21,12 +21,6 @@
nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (
system:
let
# List of supported ROS distros
distros = [
"jazzy" # default
"rolling"
];

pkgs = import nixpkgs {
inherit system;
overlays = [
Expand All @@ -35,246 +29,56 @@
];
};

rustToolchain = pkgs.rust-bin.stable."1.91.0".default.override {
extensions = [
"rust-src"
"rust-analyzer"
];
};

rustfmtNightly = pkgs.rust-bin.nightly.latest.rustfmt;

# Override rustfmt to use nightly
rustfmt-nightly-bin = pkgs.writeShellScriptBin "rustfmt" ''
exec ${rustfmtNightly}/bin/rustfmt "$@"
'';

# Factory to create environment for a specific ROS distro
mkRosEnv =
rosDistro:
let
rosDeps = {
rcl = with pkgs.rosPackages.${rosDistro}; [
rcl
rcl-interfaces
rclcpp
rcutils
demo-nodes-py
demo-nodes-cpp
action-tutorials-cpp
];

messages = with pkgs.rosPackages.${rosDistro}; [
std-msgs
geometry-msgs
sensor-msgs
example-interfaces
common-interfaces
rosidl-default-generators
rosidl-default-runtime
rosidl-adapter
rosidl-typesupport-fastrtps-c
rosidl-typesupport-fastrtps-cpp
];

# Test-only message packages
testMessages = with pkgs.rosPackages.${rosDistro}; [
test-msgs
];

devExtras = with pkgs.rosPackages.${rosDistro}; [
ament-cmake-core
ros-core
rclpy
rmw
rmw-implementation
rmw-zenoh-cpp
ament-cmake
ament-cmake-gtest
ament-lint-auto
ament-lint-common
launch
launch-testing
ros2cli
];
};
in
{
# Development environment with all dependencies including test messages
dev = pkgs.rosPackages.${rosDistro}.buildEnv {
paths = rosDeps.rcl ++ rosDeps.messages ++ rosDeps.testMessages ++ rosDeps.devExtras;
};

# Core RCL only (for minimal builds)
rcl = pkgs.rosPackages.${rosDistro}.buildEnv {
paths = rosDeps.rcl;
};

# Runtime messages only
msgs = pkgs.rosPackages.${rosDistro}.buildEnv {
paths = rosDeps.messages;
};

# Build environment with runtime messages but NO test messages
build = pkgs.rosPackages.${rosDistro}.buildEnv {
paths = rosDeps.rcl ++ rosDeps.messages;
};

# Test environment for core tests only (no test_msgs)
testCore = pkgs.rosPackages.${rosDistro}.buildEnv {
paths = rosDeps.rcl ++ rosDeps.messages;
};

# Test environment with test messages (for all tests)
testFull = pkgs.rosPackages.${rosDistro}.buildEnv {
paths = rosDeps.rcl ++ rosDeps.messages ++ rosDeps.testMessages;
};
};

# Common build tools
commonBuildInputs = with pkgs; [
rustToolchain
sccache
clang
llvmPackages.libclang
llvmPackages.bintools
pkg-config
nushell
protobuf
markdownlint-cli
];

# Development tools
devTools = with pkgs; [
cargo-edit
cargo-watch
clang-tools
rust-analyzer
nixfmt-rfc-style
gdb
];

# Documentation tools
docTools = with pkgs; [
mdbook
mdbook-admonish
mdbook-mermaid
];

# Test tools
testTools = with pkgs; [
cargo-nextest
];

# Environment variables for Rust/C++ interop
commonEnvVars = rec {
LIBCLANG_PATH = "${pkgs.llvmPackages.libclang.lib}/lib";
CLANG_PATH = "${pkgs.llvmPackages.clang}/bin/clang";
LD_LIBRARY_PATH = pkgs.lib.makeLibraryPath [
pkgs.stdenv.cc.cc.lib
# ROS libraries will be added by the ROS environment packages
];
RUST_BACKTRACE = "1";
RMW_IMPLEMENTATION = "rmw_zenoh_cpp";
RUSTC_WRAPPER = "${pkgs.sccache}/bin/sccache";
};

# Export environment variables as shell commands
exportEnvVars = pkgs.lib.concatStringsSep "\n" (
pkgs.lib.mapAttrsToList (name: value: "export ${name}=\"${value}\"") commonEnvVars
);

# Base shell configuration factory
mkDevShell =
{
name,
packages,
banner ? "",
extraShellHook ? "",
}:
pkgs.mkShell {
inherit name packages;
shellHook = ''
${exportEnvVars}
${extraShellHook}
${if banner != "" then banner else ""}
'';
hardeningDisable = [ "all" ];
};

# Helper to create shells for a specific ROS distro
mkRosShells =
rosDistro:
let
rosEnv = mkRosEnv rosDistro;
in
{
default = mkDevShell {
name = "ros-z-dev-${rosDistro}";
packages = [
rustfmt-nightly-bin
]
++ commonBuildInputs
++ devTools
++ docTools
++ testTools
++ [ rosEnv.dev ]
++ pre-commit-check.enabledPackages;
extraShellHook = ''
${pre-commit-check.shellHook}
mdbook-mermaid install book/ 2>/dev/null || true
mdbook-admonish install book/ 2>/dev/null || true
'';
banner = ''
echo "🦀 ros-z development environment (with ROS)"
echo "ROS 2 Distribution: ${rosDistro}"
echo "Rust: $(rustc --version)"
'';
};
rosEnv = import ./nix/ros-env.nix { inherit pkgs; };

ci = mkDevShell {
name = "ros-z-ci-${rosDistro}";
packages = commonBuildInputs ++ docTools ++ testTools ++ [ rosEnv.testFull ];
extraShellHook = ''
mdbook-mermaid install book/ 2>/dev/null || true
mdbook-admonish install book/ 2>/dev/null || true
'';
};
};

# Generate shells for all distros
allDistroShells = builtins.listToAttrs (
builtins.map (distro: {
name = distro;
value = mkRosShells distro;
}) distros
);
# Pre-commit hooks configuration
pre-commit-check = import ./nix/pre-commit.nix {
devshells = import ./nix/devshells.nix {
inherit
pkgs
git-hooks
pre-commit-check
rosEnv
system
rustfmtNightly
;
};

pre-commit-check = import ./nix/pre-commit.nix {
inherit pkgs git-hooks system;
rustfmtNightly = devshells.rustfmtNightly;
};

inherit (devshells)
commonBuildInputs
devTools
docTools
testTools
mkDevShell
rustfmtNightlyBin
mdbookInstallHook
allDistroShells
;

distros = rosEnv.distros;

makeDistroShells =
suffix:
builtins.listToAttrs (
builtins.map (distro: {
name = "ros-${distro}${suffix}";
value = allDistroShells.${distro}.${if suffix == "" then "default" else "ci"};
}) distros
);
in
{
# Pre-commit checks
checks = {
inherit pre-commit-check;
};

# Development shells
devShells = {
# Default: first distro in the list with ROS
default = allDistroShells.${builtins.head distros}.default;

# Without ROS
pureRust = mkDevShell {
name = "ros-z-pure-rust";
packages = [
rustfmt-nightly-bin
rustfmtNightlyBin
]
++ commonBuildInputs
++ devTools
Expand All @@ -283,39 +87,22 @@
++ pre-commit-check.enabledPackages;
extraShellHook = ''
${pre-commit-check.shellHook}
mdbook-mermaid install book/ 2>/dev/null || true
mdbook-admonish install book/ 2>/dev/null || true
${mdbookInstallHook}
'';
banner = ''
echo "🦀 ros-z development environment (pure Rust)"
echo "Rust: $(rustc --version)"
'';
};

# CI without ROS
pureRust-ci = mkDevShell {
name = "ros-z-ci-pure-rust";
packages = commonBuildInputs ++ docTools ++ testTools;
extraShellHook = ''
mdbook-mermaid install book/ 2>/dev/null || true
mdbook-admonish install book/ 2>/dev/null || true
'';
extraShellHook = mdbookInstallHook;
};
}
# Add per-distro dev shells (ros-jazzy, ros-rolling, ...)
// (builtins.listToAttrs (
builtins.map (distro: {
name = "ros-${distro}";
value = allDistroShells.${distro}.default;
}) distros
))
# Add per-distro CI shells (ros-jazzy-ci, ros-rolling-ci, ...)
// (builtins.listToAttrs (
builtins.map (distro: {
name = "ros-${distro}-ci";
value = allDistroShells.${distro}.ci;
}) distros
));
// (makeDistroShells "")
// (makeDistroShells "-ci");

formatter = pkgs.nixfmt-rfc-style;
}
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