libs.autobuild

#800 IMPORTANT: new packages must be added at the top of this file
cmake_package 'knowledge_reasoning/moreorg' do |pkg|
    pkg.env_add_path 'OWLAPI_ONTOLOGIES_PATH', File.join(pkg.prefix, 'share','ontologies')
end
cmake_package 'control/joint_control_base'
cmake_package 'tools/qxcfg'
autotools_package 'tools/gecode' do |pkg|
    if !Autoproj.config.get('DISABLE_GUI',false)
        pkg.depends_on "qt4"
        pkg.configureflags << "--enable-qt"
        pkg.configureflags << "--enable-gist"
    end
end

cmake_package 'gui/vizkit3d_debug_drawings'
orogen_package 'gui/orogen/vizkit3d_debug_drawings'
orogen_package 'drivers/orogen/video_streamer_webrtc'
cmake_package 'knowledge_reasoning/factpp' do |pkg|
    pkg.parallel_build_level = 1
    pkg.depends_on 'base/cmake'
end
cmake_package 'knowledge_reasoning/owlapi' do |pkg|
    pkg.env_add_path 'OWLAPI_ONTOLOGIES_PATH', File.join(pkg.prefix, 'share','ontologies')
end
cmake_package 'tools/graph_analysis' do |pkg|
    bin,_,_ = Rock.activate_python_path(pkg)
    pkg.define 'PYTHON_EXECUTABLE', bin if bin
end
bundle_package 'bundles/rock_multiagent'
cmake_package 'planning/exploration'
cmake_package 'drivers/imu_an_spatial'
cmake_package 'drivers/gps_base'
cmake_package 'gui/vizkit3d_pcl'
cmake_package 'perception/apriltags'
cmake_package 'slam/threed_odometry'
cmake_package 'gui/pose3d_editor'
cmake_package 'control/visp'
cmake_package 'control/uwv_dynamic_model'
cmake_package 'slam/uwv_kalman_filters'
cmake_package 'perception/depth_map_preprocessing'
cmake_package 'drivers/imu_advanced_navigation_anpp'
cmake_package 'drivers/canopen_master'
cmake_package 'control/joint_tools'
cmake_package 'tools/seasocks' do |pkg|
    pkg.depends_on 'zlib'
end

cmake_package 'slam/gtsam' do |pkg| #Georgia Tech Smooth and Mapping
    pkg.define 'GTSAM_BUILD_UNSTABLE','OFF'
    pkg.define 'GTSAM_USE_SYSTEM_EIGEN','ON'
    pkg.define 'GTSAM_BUILD_TYPE_POSTFIXES','OFF'
end

ruby_package 'control/ruby_sdformat'
cmake_package "drivers/glfw" do |pkg|
    pkg.define "BUILD_SHARED_LIBS", "ON"
    pkg.depends_on 'xrandr'
    pkg.depends_on 'xinerama'
    pkg.depends_on 'xcursor'
    pkg.depends_on 'xi'
end
remove_from_default 'drivers/glfw'

import_package 'drivers/imu_myahrs_plus' do |pkg|

    def pkg.build
        in_dir (File.join(srcdir, "common_cpp")) do
            run("build", Autobuild.tool(:make))
        end
    end

    def pkg.install
        isolate_errors do
            build
            progress_done
        end
        super
        install_prefix = File.join(prefix, "include", name.split('/')[1])
        FileUtils.mkdir_p install_prefix
        FileUtils.install(File.join(srcdir, "common_cpp", "myahrs_plus.hpp"), File.join(install_prefix, "myahrs_plus.hpp"))
    end

end

import_package "drivers/glew" do |pkg|
    pkg.depends_on "drivers/glfw"
    pkg.depends_on "libturbojpeg"

    def pkg.buildstamp; "autobuild-stamp" end

    def pkg.prepare
        source_tree srcdir do |pkg2|
            File.open(File.join(srcdir,".gitignore")).each_line do |excl|
                pkg2.exclude << Regexp.new("^#{Regexp.quote(excl)}")
            end
        end

        super

        stamps = dependencies.map { |pkg2| Autobuild::Package[pkg2].installstamp }

        file buildstamp => stamps do
            isolate_errors do
                build
                progress_done
            end
        end
        task "#{name}-build" => buildstamp
        file installstamp => buildstamp
    end

    def pkg.update_environment
        env_set "GLEW_DEST", prefix
    end

    def pkg.build
        in_dir(srcdir) do
            run("build",Autobuild.tool(:make), 'extensions')
            run("build",Autobuild.tool(:make))
        end
    end
    def pkg.install
        Autoproj.env_set_path "GLEW_DEST", prefix
        in_dir(srcdir) do
            run("install", Autobuild.tool(:make), 'install.all')
        end
    end
end
remove_from_default 'drivers/glew'

cmake_package "drivers/freenect2" do |pkg|
    pkg.depends_on "drivers/glew"
    #It needs a patched version of libusb
    pkg.depends_on "drivers/libusb"
    pkg.importdir = pkg.name
    pkg.define "DEPENDS_DIR", "false"
end

#Needed for kinect, the os packages does not (yet) work 06.15 (see patch in this package set)
autotools_package 'drivers/libusb' do |pkg|
    pkg.using[:autogen] = 'bootstrap.sh'
    pkg.configureflags << '--enable-maintainer-mode'
    pkg.parallel_build_level = 1
    pkg.depends_on "libudev"
end

cmake_package 'gui/collada_dom' do |pkg|
    pkg.define 'OPT_COLLADA15', 'off'
    pkg.depends_on 'boost'
end

require 'utilrb/pkgconfig'
cmake_package 'gui/collada_osg' do |pkg|
    pkg.depends_on "gui/collada_dom"
    pkg.depends_on "osg"
    def pkg.update_environment
        super
        osg = Utilrb::PkgConfig.new 'openscenegraph-osg'
        plugin_dir = "osgPlugins-#{osg.version.map(&:to_s).join(".")}"
        env_add_path "OSG_LIBRARY_PATH", File.join(prefix, 'lib', plugin_dir)
    rescue Utilrb::PkgConfig::NotFound
    end
end

#################################################################################"
#################################################################################"
##
## Do not add anything below this line unless you know what you are doing
## New packages MUST be added at the top of the file
##
#################################################################################"
#################################################################################"

in_flavor 'master' do
    cmake_package 'multiagent/fipa_services'
    cmake_package 'slam/ceres_solver' do |pkg|
        pkg.define("BUILD_TESTING","OFF")
        pkg.define("BUILD_EXAMPLES","OFF")
        pkg.define("BUILD_SHARED_LIBS","ON")
    end

    bundle_package 'bundles/rock_auv'
    ruby_package 'tools/rbind' do |pkg|
        pkg.depends_on 'gem-hooks'
        pkg.depends_on 'clang-dev'
    end
    cmake_package 'perception/projection'
    metapackage 'image_processing/projection', 'perception/projection'

    cmake_package 'gui/point_cloud'
    cmake_package 'gui/qcam_calib'

    cmake_package 'perception/viso2' do |pkg|
        pkg.disable_doc
        pkg.depends_on 'base/cmake'

        # Seamlessly migrate from the SVN to the archive. We must delete the svn
        # directory !
        if pkg.importer.kind_of?(Autobuild::ArchiveImporter) && File.directory?(File.join(pkg.srcdir, ".git"))
            Autoproj.configuration_option "UPDATE_VISO2_FROM_GIT", "boolean",
                :doc => ["delete perception/viso2 to update to a release tarball ?",
                    "Rock was previously checking out from a Git repository but just switched to",
                    "using the release tarball. Updating requires the deletion of the",
                    "currently checked out perception/viso2 directory.",
                    "Should I do it ? This is required to continue building"],
                :default => 'yes'

            if Autoproj.config.get("UPDATE_VISO2_FROM_GIT")
                Autoproj.warn "deleting Viso2 source directory to migrate from the Git checkout to the release tarball"
                FileUtils.rm_rf pkg.srcdir
            else
                raise ConfigError, "user refused to delete perception/viso2, aborting the build"
            end
        end
    end
    metapackage 'image_processing/viso2', 'perception/viso2'

    cmake_package 'planning/randward' do |pkg|
        #build is already a file in the repro, re have to rename the buildfolder
        pkg.builddir = "build-rock"
    end

    cmake_package 'planning/arvand_herd'
    cmake_package 'planning/fd_cedalion'
    cmake_package 'planning/fd_uniform'
    cmake_package 'planning/bfsf'
    cmake_package 'planning/fast_downward' do |pkg|
        bin,_,_ = Rock.activate_python_path(pkg)
        pkg.define 'PYTHON_EXECUTABLE', bin if bin
    end
    cmake_package 'planning/lama'
    cmake_package 'planning/pddl_planner'
    cmake_package 'planning/simple_path_planner'

    cmake_package 'control/hysteresis_model'

    cmake_package 'slam/pose_estimation'
    cmake_package 'slam/terrain_estimator'
    cmake_package 'slam/eslam'
    cmake_package 'slam/gmapping' do |pkg|
        pkg.define "BUILD_SHARED_LIBS", "ON"
    end

    cmake_package 'slam/polygonnet'
    remove_from_default 'slam/polygonnet'

    cmake_package 'gui/map2d'

    cmake_package 'drivers/tofcamera_mesasr'

    cmake_package 'drivers/imu_stim300'
    metapackage 'drivers/stim300', 'drivers/imu_stim300'
    cmake_package 'drivers/imu_imar'
    metapackage 'drivers/imar', 'drivers/imu_imar'
    cmake_package 'drivers/alt_imagenex'
    cmake_package 'drivers/ctd_seabird'
    cmake_package 'drivers/mbeam_imagenex'
    cmake_package 'drivers/pressure_paroscientific'
    cmake_package 'drivers/ucm_schilling'
    cmake_package 'drivers/act_schilling'
    cmake_package 'drivers/phins_ixsea'
    cmake_package 'drivers/camera_aravis'
end

in_flavor 'master', 'stable' do
    cmake_package 'gui/vizkit_3d_plugins'
    cmake_package 'drivers/dps_desertstar_ssp1'

    autotools_package 'drivers/aravis' do |pkg|
        pkg.depends_on 'gobject-introspection'
        pkg.depends_on 'gstreamer'
        pkg.depends_on 'gtk+-2.0'
        pkg.depends_on 'gtk-doc-tools'
    end
    cmake_package 'slam/mtk'
    cmake_package 'planning/sbpl'
    metapackage 'external/sbpl', 'planning/sbpl'
    cmake_package 'planning/ompl' do |pkg|
        # this will prevent the ompl-CMakeLists from spawning a browser to
        # register...
        pkg.define("OMPL_REGISTRATION","Off")
    end
    metapackage 'external/ompl', 'planning/ompl'
    cmake_package 'external/aruco' do |pkg|
        pkg.depends_on 'opencv'
    end
    cmake_package 'external/lemon'
    cmake_package 'external/snap' do |pkg|
        pkg.depends_on 'base/cmake'
        pkg.parallel_build_level = 1
    end
    cmake_package 'external/gexf' do |pkg|
        pkg.depends_on 'base/cmake'
        pkg.depends_on 'libxml2'
    end
    cmake_package 'simulation/imumodel'

    cmake_package 'slam/octomap'

    cmake_package "drivers/freenect" do |pkg|
        pkg.define "BUILD_AUDIO", "ON"
        pkg.define "BUILD_FAKENECT", "OFF"
        pkg.define "BUILD_EXAMPLES", "OFF"
        pkg.define "BUILD_C_SYNC", "OFF"
        pkg.depends_on 'libusb1_0_13'
        pkg.source_tree_excludes << /doc/
        pkg.doc_dir = File.join(pkg.srcdir, 'doc', 'html')
        pkg.doc_task do
            pkg.in_dir(File.join(pkg.srcdir, 'doc')) do
                pkg.progress_start "generating documentation for %s", :done_message => 'generated documentation for %s' do
                    Autobuild::Subprocess.run(pkg, 'doc', Autobuild.tool(:doxygen), "Doxyfile")
                end
            end
        end
    end
    Autoproj.add_osdeps_overrides 'freenect', :package => 'drivers/freenect'
    metapackage 'external/freenect', 'drivers/freenect'


    cmake_package 'control/urdfdom' do |pkg|
        pkg.depends_on 'control/urdfdom_headers'
        pkg.depends_on 'base/console_bridge'
    end
    cmake_package 'tools/ignition-math2'
    cmake_package 'control/sdformat'
    cmake_package 'control/urdfdom_headers'
    cmake_package 'control/kdl_parser'
    cmake_package 'control/robot_frames'
    cmake_package 'gui/robot_model' do |pkg|
        pkg.env_add_path "VIZKIT_PLUGIN_RUBY_PATH", File.join(pkg.prefix,"lib")
        # the tests in gui/robot_model is an app for a human to run. Do not let
        # autoproj believe there is something to run automatically
        pkg.test_utility.available = false
    end
    cmake_package 'gui/control_ui'
    cmake_package 'control/joint_dispatcher'
    cmake_package 'control/kdl_conversions'
    cmake_package 'data_processing/openann' do |pkg|
        pkg.depends_on 'base/cmake'
    end
    cmake_package 'data_processing/type_to_vector'
    cmake_package 'drivers/video_capture_vlc'
    cmake_package 'drivers/video_streamer_vlc'
    autotools_package 'drivers/phidgets' do |pkg|
        pkg.disable_doc
        pkg.using[:autoheader] = false
        if pkg.respond_to?(:automake_flags)
            pkg.automake_flags = "--add-missing"
        end
    end

#    cmake_package 'drivers/gsf' #Link iscurrently death, no new one could be found.
    cmake_package 'control/reflexxes'

     #No compiling version can be found currently 05.2015
#    cmake_package 'planning/openrave' do |pkg|
#        pkg.depends_on 'assimp'
#        pkg.depends_on 'sympy'
#        pkg.depends_on 'soqt'
#        pkg.depends_on 'ode'
#        pkg.depends_on 'boost-python'
#        pkg.depends_on 'numpy'
#        pkg.depends_on 'scipy'
#
#        Autoproj.env_add_path 'PYTHONPATH', File.join(pkg.prefix, 'lib', 'python2.7', 'site-packages')
#    end
#    remove_from_default 'planning/openrave'
    cmake_package 'drivers/actuator_dispatcher'

    bundle_package 'bundles/rock_ugv_nav'
    cmake_package 'control/kdl' do |pkg|
        pkg.depends_on 'base/cmake'
        pkg.with_doc 'docs'
        pkg.doc_dir = File.join('orocos_kdl', 'doc', 'api', 'html')
    end
    cmake_package 'drivers/ptu_directedperception'
    import_package 'drivers/aria' do |pkg|
        def pkg.do_build
            run('build', Autobuild.tool(:make), "-j#{parallel_build_level}", "-C", srcdir)
        end

        def pkg.do_install
            include_dir = File.join(prefix, 'include', 'aria')
            lib_dir     = File.join(prefix, 'lib')
            FileUtils.rm_rf include_dir
            FileUtils.mkdir_p File.dirname(include_dir)
            FileUtils.mkdir_p lib_dir

            FileUtils.cp File.join(srcdir, 'lib','libAria.so'), File.join(lib_dir, 'libAria.so')
            FileUtils.cp_r File.join(srcdir, 'include'), include_dir
        end

        def pkg.do_pkgconfig
            pkgconfig_dir     = File.join(prefix, 'lib', "pkgconfig")
            FileUtils.mkdir_p pkgconfig_dir

            infile = File.readlines(File.join(srcdir, 'aria.pc.in'))

            pkgconfig = infile.map do |line|
                if !line.index("@CMAKE_INSTALL_PREFIX@").nil?
                    line["@CMAKE_INSTALL_PREFIX@"] = prefix
                end

                if !line.index("@TARGET_NAME@").nil?
                    line["@TARGET_NAME@"] = "aria"
                end

                if !line.index("@PROJECT_VERSION@").nil?
                    line["@PROJECT_VERSION@"] = "2.7.5.2"
                end
                line
            end

            File.open(File.join(pkgconfig_dir, 'aria.pc'), 'w') do |outfile|
                outfile.write pkgconfig.join
            end
        end

        if pkg.respond_to?(:progress_start) # newer versions of autoproj
            pkg.post_install do
                pkg.progress_start "building %s" do
                    pkg.do_build
                end
                pkg.progress_start "installing %s" do
                    pkg.do_install
                end
                pkg.progress_start "generating pkgconfig file for %s" do
                    pkg.do_pkgconfig
                end
            end
        else
            pkg.post_install do
                pkg.progress "building %s"
                pkg.do_build
                pkg.progress "installing %s"
                pkg.do_install
                pkg.progress "generating pkgconfig file for %s"
                pkg.do_pkgconfig
            end
        end
    end

    ##### External libraries not available as binary packages
    cmake_package 'external/yaml-cpp' do |pkg|
        pkg.define("BUILD_SHARED_LIBS","ON")
        pkg.disable_doc # the package has documentation generation target
    end
    ##### External libraries not available as binary packages
    cmake_package 'external/yaml-cpp03' do |pkg|
        pkg.define("BUILD_SHARED_LIBS","ON")
        pkg.disable_doc # the package has documentation generation target
    end
    cmake_package 'external/tinyxml' do |pkg|
        # tinyxml is patched to use Rock macros
        pkg.depends_on 'base/cmake'
    end

    ##### Control-related libraries
    cmake_package 'control/motor_controller'
    cmake_package 'control/trajectory_follower'
    cmake_package 'control/waypoint_navigation'

    ##### Device drivers
    cmake_package 'drivers/velodyne_lidar'
    cmake_package 'drivers/base_schilling'
    cmake_package 'drivers/canbus'
    cmake_package 'drivers/mb500'
    cmake_package 'drivers/hokuyo'
    cmake_package 'drivers/xsens_imu'
    cmake_package 'drivers/dynamixel'
    cmake_package 'drivers/controldev'
    cmake_package 'drivers/parport'
    cmake_package 'drivers/camera_interface'
    cmake_package 'drivers/camera_prosilica' do |pkg|
        if pkg.respond_to?(:source_tree_excludes)
            pkg.source_tree_excludes << /Ping$/ << /ListCameras$/
        end
    end

    cmake_package 'drivers/camera_usb'
    cmake_package 'drivers/dvl_teledyne'
    cmake_package 'drivers/camera_firewire'
    cmake_package 'drivers/fog_kvh'
    cmake_package 'drivers/iCharger'
    cmake_package 'drivers/vicon'
    cmake_package 'drivers/qualisys'
    cmake_package 'drivers/sonar_tritech'
    cmake_package 'drivers/laserscanner_sick'
    cmake_package 'drivers/laser_filter'
    cmake_package 'drivers/camera_ids'
    if !has_ueye_api? # defined in init.rb
        Autoproj.manifest.add_exclusion "drivers/camera_ids", "the uEye Linux SDK needed for camera_ids is not installed!. Install it manually: http://www.ids-imaging.de/drivers.php"
    end

    ##### Image Processing
    cmake_package 'perception/stereo'
    metapackage 'image_processing/stereo', 'perception/stereo'
    cmake_package 'perception/libelas' do |pkg|
        # Build system from libelas has been patched into a Rock/CMake-based one
        pkg.depends_on 'base/cmake'
    end
    metapackage 'image_processing/libelas', 'perception/libelas'

    ##### Planning
    cmake_package 'planning/nav_graph_search'
    cmake_package 'planning/corridor_planner'
    cmake_package 'planning/vfh_star'
    cmake_package 'planning/corridor_navigation'
    cmake_package 'planning/motion_planning_libraries'

    ##### Localisation and Mapping related packages
    autotools_package 'external/libply' do |pkg|
        pkg.using[:autoconf] = true
        pkg.using[:automake] = true
        pkg.using[:libtool] = true
        pkg.using[:autoheader] = true
        if pkg.respond_to?(:automake_flags)
            pkg.automake_flags = "--add-missing"
        end
        pkg.depends_on 'boost'
        pkg.configureflags << "CFLAGS=-fPIC" << "CXXFLAGS=-fPIC"
    end
    cmake_package 'slam/envire' do |pkg|
        Autoproj.env_add_path 'RUBYLIB', File.join(pkg.srcdir, 'ruby')
    end
    cmake_package 'slam/pose_ekf'
    cmake_package 'slam/quater_ikf'
    cmake_package 'external/cminpack' do |pkg|
        pkg.doc_dir = File.join(pkg.srcdir, 'doc')
        pkg.doc_task {}
        pkg.define("CMAKE_BUILD_TYPE","Release")
    end
    cmake_package 'slam/flann' do |pkg|
        pkg.define("CMAKE_BUILD_TYPE","Release")
        pkg.define("BUILD_C_BINDINGS", "OFF")
        pkg.define("BUILD_MATLAB_BINDINGS", "OFF")
        pkg.define("BUILD_PYTHON_BINDINGS", "OFF")
    end
    Autoproj.add_osdeps_overrides 'flann', :package => 'slam/flann'
    #remove_from_default 'slam/flann' # The debian package is currently broken, so we install flann everwhere on our own currently

    cmake_package 'slam/pcl' do |pkg|
        pkg.define("CMAKE_BUILD_TYPE","Release")
        pkg.define("BUILD_OPENNI","OFF")
        env_add 'PKG_CONFIG_PATH', File.join(pkg.prefix, 'lib64', 'pkgconfig')

        # Seamlessly migrate from the SVN to the archive. We must delete the svn
        # directory !
        if pkg.importer.kind_of?(Autobuild::ArchiveImporter) && File.directory?(File.join(pkg.srcdir, ".svn"))
            Autoproj.configuration_option "UPDATE_PCL_FROM_SVN", "boolean",
                :doc => ["delete slam/pcl to update to a release tarball ?",
                    "Rock was previously checking out the PCL SVN but just switched to",
                    "using the release tarball. Updating requires the deletion of the",
                    "currently checked out slam/pcl directory.",
                    "Should I do it ? This is required to continue building"],
                :default => 'yes'

            if Autoproj.config.get("UPDATE_PCL_FROM_SVN")
                Autoproj.warn "deleting PCL source directory to migrate from the SVN checkout to the release tarball"
                FileUtils.rm_rf pkg.srcdir
            else
                raise ConfigError, "user refused to delete slam/pcl, aborting the build"
            end
        end
    end
    remove_from_default 'slam/pcl'
    cmake_package 'slam/hogman' do |pkg|
        pkg.source_tree_excludes << /doc/
        pkg.doc_dir = File.join(pkg.srcdir, 'doc', 'html')
        pkg.doc_task do
            pkg.in_dir(File.join(pkg.srcdir, 'doc')) do
                pkg.progress_start "generating documentation for %s", :done_message => 'generated documentation for %s' do
                    Autobuild::Subprocess.run(pkg, 'doc', Autobuild.tool(:doxygen), "hogman.dox")
                end
            end
        end
    end
    cmake_package 'slam/quater_ukf'
    cmake_package 'slam/odometry'
    cmake_package 'slam/graph_slam'
    cmake_package 'slam/g2o' do |pkg|
        pkg.define("CMAKE_BUILD_TYPE", "RelWithDebInfo")
        pkg.define("CMAKE_RELWITHDEBINFO_POSTFIX", "")
        pkg.source_tree_excludes << /doc\/doxygen/
        pkg.doc_dir = File.join(pkg.srcdir, 'doc', 'doxygen', 'html')
        pkg.doc_task do
            pkg.in_dir(File.join(pkg.srcdir, 'doc', 'doxygen')) do
                pkg.progress_start "generating documentation for %s", :done_message => 'generated documentation for %s' do
                    Autobuild::Subprocess.run(pkg, 'doc', Autobuild.tool(:doxygen), "doxy.config")
                end
            end
        end
    end

    #### Multiagent related packages
    cmake_package 'multiagent/fipa_acl' do |pkg|
        pkg.define "RUBY_EXECUTABLE", Autoproj.config.ruby_executable
    end

    autotools_package 'external/kdtree'
    remove_from_default 'external/kdtree'
    Autoproj.add_osdeps_overrides 'libkdtree', :package => 'external/kdtree'

    cmake_package 'external/box2d' do |pkg|
        pkg.define("BOX2D_BUILD_SHARED", "ON")
        pkg.define("BOX2D_BUILD_STATIC", "OFF")
        pkg.define("BOX2D_BUILD_EXAMPLES", "OFF")
    end
    remove_from_default 'external/box2d'
    Autoproj.add_osdeps_overrides 'box2d', :package => 'external/box2d'
end

# There is a problem with GCC and fipa_acl. Three of its files are taking
# something north of 3G to compile ... each
#
# Don't build unless really really needed
remove_from_default 'multiagent/fipa_acl'

create_metapackages