From d8efe6e187afd4113a485ad26c5c1da55594f4a5 Mon Sep 17 00:00:00 2001
From: tomqext <tom.queen@extendrobotics.com>
Date: Thu, 5 Mar 2026 14:24:28 +0000
Subject: [PATCH] update colcon build helpers

---
 .helper_bash_functions | 79 ++++++++++++++++++++++++++++++++----------
 1 file changed, 61 insertions(+), 18 deletions(-)

diff --git a/.helper_bash_functions b/.helper_bash_functions
index d8a1a76..89768b2 100644
--- a/.helper_bash_functions
+++ b/.helper_bash_functions
@@ -8,36 +8,79 @@ Color_Off='\033[0m'       # Text Reset
 CATKIN_WS_PATH="/cortex/.catkin_ws"
 THIS_SCRIPT_BRANCH="main"
 THIS_SCRIPT_URL="https://raw.githubusercontent.com/Extend-Robotics/er_build_tools/refs/heads/${THIS_SCRIPT_BRANCH}/.helper_bash_functions"
-
 # ROS helpers
 export ROSCONSOLE_FORMAT='[${severity}](${node}): [${time}] ${message}'
-colcon_build() { START_DIR=$(pwd) && \
-                 COLCON_BUILD_COMMAND="colcon build --cmake-args  -DSETUPTOOLS_DEB_LAYOUT=OFF" && \
-                 if [ ! -z "$1" ];
-                   then COLCON_BUILD_COMMAND="${COLCON_BUILD_COMMAND} --packages-up-to $1"
-                 fi && \
-                 cd ${CATKIN_WS_PATH} && \
-                 source /opt/ros/noetic/setup.bash && \
-                 echo -e "${Yellow}Running build command:\n${Green}${COLCON_BUILD_COMMAND}${Color_Off}" && \
-                 ${COLCON_BUILD_COMMAND}; RET_VAL=$?;\
-                 source ${CATKIN_WS_PATH}/install/setup.bash; \
-                 cd ${START_DIR}; \
-                 return ${RET_VAL}
+colcon_build() {
+    local COLCON_BUILD_COMMAND="colcon build --cmake-args -DSETUPTOOLS_DEB_LAYOUT=OFF"
+    [ -n "$1" ] && COLCON_BUILD_COMMAND+=" --packages-up-to $1"
+    _colcon_build "$COLCON_BUILD_COMMAND"
+    return $?
+}
+colcon_build_no_deps() {
+    local COLCON_BUILD_COMMAND="colcon build --cmake-args -DSETUPTOOLS_DEB_LAYOUT=OFF"
+    [ -n "$1" ] && COLCON_BUILD_COMMAND+=" --packages-select $1"
+    _colcon_build "$COLCON_BUILD_COMMAND"
+    return $?
+}
+colcon_build_sym() {
+    local COLCON_BUILD_COMMAND="colcon build --packages-skip-cache-valid --symlink-install --cmake-args -DSETUPTOOLS_DEB_LAYOUT=OFF"
+    [ -n "$1" ] && COLCON_BUILD_COMMAND+=" --packages-up-to $1"
+    _colcon_build "$COLCON_BUILD_COMMAND"
+    return $?
+}
+_colcon_build() {
+    local START_DIR="$(pwd)"
+    local COLCON_BUILD_COMMAND="$1"
+    cd "$CATKIN_WS_PATH" || return 1
+    source /opt/ros/noetic/setup.bash
+    echo -e "${Yellow}Running build command:\n${Green}${COLCON_BUILD_COMMAND}${Color_Off}"
+    eval "$COLCON_BUILD_COMMAND"
+    local RET_VAL=$?
+    source "$CATKIN_WS_PATH/install/setup.bash"
+    cd "$START_DIR"
+    return $RET_VAL
 }
 colcon_build_this() { colcon_build "$(find_cmake_project_names_from_dir .)"; }
+colcon_build_er_interface() { colcon_build_no_deps "$(find_cmake_project_names_from_dir ${CATKIN_WS_PATH}/src/er_interface)"; }
+colcon_test_er_interface() { colcon_test_this_package "$(find_cmake_project_names_from_dir ${CATKIN_WS_PATH}/src/er_interface)"; }
 rosdep_install() { rosdep install --from-paths src --ignore-src -r -y ; }
-colcon_test_these_packages() { THIS_DIR=$(pwd)
+_show_test_failures() {
+    python3 - "$@" <<'PYEOF'
+import sys, xml.etree.ElementTree as ET
+from pathlib import Path
+for d in sys.argv[1:]:
+    for p in sorted(Path(d).rglob("*.xml")):
+        for tc in ET.parse(p).iter("testcase"):
+            for f in list(tc.iter("failure")) + list(tc.iter("error")):
+                tag = "FAIL" if f.tag == "failure" else "ERROR"
+                print(f"\n  {tag}: {tc.get('classname', '')}.{tc.get('name', '')}")
+                if f.text:
+                    lines = f.text.strip().splitlines()
+                    for l in lines[:20]:
+                        print(f"    {l}")
+                    if len(lines) > 20:
+                        print(f"    ... ({len(lines) - 20} more lines)")
+PYEOF
+}
+colcon_test_these_packages() { local THIS_DIR=$(pwd)
+                               local VERBOSE_FLAG=""
+                               if [[ "$1" == "-v" || "$1" == "--verbose" ]]; then
+                                   VERBOSE_FLAG="--event-handlers console_direct+"
+                                   shift
+                               fi
                                cd ${CATKIN_WS_PATH}
-                               colcon_build_no_deps $1
+                               colcon_build_no_deps "$1"
                                source install/setup.bash && \
-                               colcon test --packages-select $1
+                               colcon test --packages-select $1 ${VERBOSE_FLAG}
                                for pkg in $1; do
-                                   colcon test-result --verbose --test-result-base "build/$pkg"
+                                   if ! colcon test-result --test-result-base "build/$pkg/test_results"; then
+                                       _show_test_failures "build/$pkg/test_results"
+                                   fi
                                done
                                cd $THIS_DIR
 
 }
-colcon_test_this_package() { colcon_test_these_packages "$@"; }  # Alias for backwards compatability
+colcon_test_this_package() { colcon_test_these_packages "$@"; }
 find_cmake_project_names_from_dir() { if [[ -z $1 ]]; then DIR_TO_SEARCH="."; else DIR_TO_SEARCH=$1; fi; wget -qO- https://raw.githubusercontent.com/Extend-Robotics/er_build_tools/refs/heads/main/bin/find_cmake_project_names.py | python3 - $DIR_TO_SEARCH; }
 
 if [ -f /.dockerenv ]; then