packages.autobuild

# This file defines the external packages from ROCK used in ESROCOS.
# The package definitons are copied from ROCK's package sets for
# maintenance of the ESROCOS system.

cmake_package 'base/cmake' do |pkg|
    Autobuild.env_add_path 'CMAKE_PREFIX_PATH', pkg.prefix
end

cmake_package 'base/console_bridge'

cmake_package 'base/logging'

orogen_package 'base/orogen/std'

orogen_package 'base/orogen/types' do |pkg|
    pkg.orogen_file = "base.orogen"
    if package_selected?('external/sisl')
        pkg.define "SISL_PREFIX", package('external/sisl').prefix
    end
    Autoproj.env_set 'ROCK_PREFIX', File.join(pkg.prefix,'share','rock')

    pkg.remove_obsolete_installed_file "share", "typelib", "ruby", "base.rb"
end

import_package 'base/templates/cmake_lib' do |pkg|
    pkg.env_set "ROCK_TEMPLATE_PREFIX", File.join(File.expand_path('..', pkg.srcdir), '')
    pkg.env_set "ROCK_TEMPLATE_SUFFIX", ""
end

cmake_package 'base/types' do |pkg|
    pkg.depends_on 'rice'
    if package_enabled?('external/sisl')
        pkg.define 'SISL_PREFIX', package('external/sisl').prefix
    end
    pkg.define "RUBY_EXECUTABLE", Autoproj.config.ruby_executable
end

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 'control/kdl_parser'

cmake_package 'control/sdformat'

cmake_package 'control/urdfdom' do |pkg|
    pkg.depends_on 'control/urdfdom_headers'
    pkg.depends_on 'base/console_bridge'
end

cmake_package 'control/urdfdom_headers'

cmake_package 'external/sisl' do |pkg|
    pkg.define "BUILD_SHARED_LIBS","ON"
    pkg.doc_task do
        pkg.message "copying HTML documentation from %s"
    end # Nothing to do, SISL ships with the generated documentation
    pkg.doc_dir = File.join(pkg.srcdir, 'doc', 'html')
end

cmake_package 'gui/osgviz'

cmake_package 'gui/robot_model'

cmake_package 'gui/vizkit3d' do |pkg|
    pkg.define "OROCOS_TARGET", Autoproj.config.get('rtt_target')
    Autoproj.env_add_path 'OSG_FILE_PATH', File.join(pkg.prefix, "share", "vizkit" )

    # Add our prefix to the VIZKIT_PLUGIN_RUBY_PATH. Relevant packages will have
    # to list the place where they install themselves
    # TODO the path should be renamed to VIZKIT3D_PLUGIN_PATH
    Autoproj.env_add_path 'VIZKIT_PLUGIN_RUBY_PATH', File.join(pkg.prefix, 'lib')
    Autoproj.env_add_path 'VIZKIT_PLUGIN_RUBY_PATH', File.join(pkg.prefix, 'lib', 'vizkit')
end

ruby_package 'orogen'
move_package 'orogen', 'tools'

cmake_package 'rtt' do |pkg|
    pkg.always_reconfigure = true
    pkg.doc_dir = File.join('doc', 'api', 'html')
    pkg.with_doc('docapi')

    target = Autoproj.config.get('rtt_target')
    env_set 'OROCOS_TARGET', target
    pkg.define 'OROCOS_TARGET', target

    env_add 'CMAKE_PREFIX_PATH', pkg.prefix

    # Used by the oroGen handler
    pkg.provides "pkgconfig/orocos-rtt-#{target}"
    Autoproj.config.get('rtt_corba_implementation')

    # Disable building the test suite because it needs a lot of time and memory
    pkg.with_tests
    pkg.test_utility.source_dir = File.join(pkg.srcdir, 'tests')
    pkg.define 'BUILD_TESTING', pkg.test_utility.enabled?

    corba = Autoproj.config.get('rtt_corba_implementation')
    if corba == 'none'
        Autobuild::Orogen.corba = false
        pkg.define 'ENABLE_CORBA', 'OFF'
    else
        Autobuild::Orogen.corba = true
        pkg.define 'ENABLE_CORBA', 'YES'
        pkg.define 'CORBA_IMPLEMENTATION', corba.upcase
        pkg.depends_on corba.downcase
    end
end

setup_package 'rtt' do |rtt|
    rtt.define "DEFAULT_PLUGIN_PATH", "/"
    rtt.post_import do
        # There was a bug in RTT CMake code that generated the pluginpath.cpp file
        # in the source directory. Delete that file so that the DEFAULT_PLUGIN_PATH
        # change above is effective
        FileUtils.rm_f File.join(rtt.srcdir, "rtt", "plugin", "pluginpath.cpp")
    end
    if rtt.respond_to?(:add_tag)
        rtt.add_tag 'stable'
    end
    if Autoproj.config.get('USE_OCL')
        rtt.define "PLUGINS_ENABLE_SCRIPTING", "ON"
        rtt.define 'ORO_DISABLE_PORT_DATA_SCRIPTING', 'OFF'
        Autobuild::Orogen.default_type_export_policy = 'all'
    else
        rtt.define "PLUGINS_ENABLE_SCRIPTING", "OFF"
        rtt.define 'ORO_DISABLE_PORT_DATA_SCRIPTING', 'ON'
        Autobuild::Orogen.default_type_export_policy = 'used'
        Autobuild::Orogen.orogen_options << "--no-rtt-scripting"
    end
    rtt.disable_doc

    rtt.define 'ENABLE_TESTS', rtt.test_utility.enabled?
end

move_package 'rtt', 'tools'

cmake_package 'rtt_typelib'
move_package 'rtt_typelib', 'tools'

ruby_package 'tools/metaruby'
# For ROS compatibility, ROS does not like paths in package names
metapackage 'metaruby', 'tools/metaruby'
# The Autoproj API does not allow to put a package higher in the hierarchy, only
# lower. Trick it.
Autoproj.manifest.moved_packages['tools/metaruby'] = 'metaruby'

cmake_package 'tools/orogen_metadata' do |pkg|
    Autoproj.env_add_path 'OROGEN_PLUGIN_PATH', File.join(pkg.prefix, 'share', 'orogen', 'plugins')
    pkg.remove_obsolete_installed_file('share', 'orogen', 'plugins', 'metadata_plugin.rb')
    pkg.remove_obsolete_installed_file('share', 'typelib', 'ruby', 'metadata_typelib.rb')
end

cmake_package 'typelib' do |pkg|
    pkg.define 'RUBY_EXECUTABLE', Autoproj::CmdLine.ruby_executable
    pkg.env_set 'TYPELIB_PLUGIN_PATH', File.join(pkg.prefix, 'lib', 'typelib')

    # Enable the castxml importer by adding the following in autoproj/init.rb
    #
    #   Autoproj.config.set 'typelib_cxx_loader', 'castxml'
    cxx_loader = Autoproj.config.get 'typelib_cxx_loader', 'gccxml'
    pkg.define 'BUILD_CLANG_TLB_IMPORTER', (cxx_loader == 'clang')
    pkg.env_set 'TYPELIB_CXX_LOADER', cxx_loader
    pkg.post_import do
        if cxx_loader == 'clang'
            pkg.message '%s: using the clang importer'
            pkg.depends_on 'clang-3.4'
        elsif cxx_loader == 'castxml'
            pkg.message '%s: using the castxml importer'
            pkg.depends_on 'castxml'
        else
            pkg.message '%s: using the gccxml importer'
            pkg.depends_on 'gccxml'
        end
    end
end

move_package 'typelib', 'tools'

ruby_package 'utilrb'
move_package 'utilrb', 'tools'

cmake_package 'drivers/controldev'