libs.autobuild

# IMPORTANT: new packages must be added at the top of this file

cmake_package 'external/sbpl'
cmake_package 'external/ompl'

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 'drivers/camera_aravis'

cmake_package 'drivers/video_capture_vlc'
cmake_package 'drivers/video_streamer_vlc'
cmake_package 'external/aruco'
cmake_package 'external/lemon'
cmake_package 'external/snap' do |pkg|
    pkg.depends_on 'base/cmake'
end
cmake_package 'external/gexf' do |pkg|
    pkg.depends_on 'base/cmake'
    pkg.depends_on 'libxml2'
end
cmake_package 'multiagent/fipa_services'
cmake_package 'drivers/tofcamera_mesasr'
cmake_package 'planning/motion_planning_libraries'

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

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

    # The following package will be removed as soon as we are done converting to the
    # OSRF-provided URDF packages
    cmake_package 'control/urdf'
    remove_from_default 'control/urdf'

    cmake_package 'image_processing/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 image_processing/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 image_processing/viso2 directory.",
                    "Should I do it ? This is required to continue building"],
                :default => 'yes'

            if Autoproj.user_config("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 image_processing/viso2, aborting the build"
            end
        end
    end

    cmake_package 'planning/lama'
    cmake_package 'planning/pddl_planner'
    cmake_package 'planning/simple_path_planner'

    cmake_package 'control/hysteresis_model'

    cmake_package 'slam/mtk'
    cmake_package 'slam/pose_estimation'
    cmake_package 'slam/terrain_estimator'
    cmake_package 'slam/eslam'
    cmake_package 'slam/polygonnet'
    cmake_package 'slam/gmapping'
    remove_from_default 'slam/polygonnet'

    cmake_package 'gui/map2d'
    cmake_package 'gui/vizkit_3d_plugins'

    cmake_package 'drivers/stim300'
    cmake_package 'drivers/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/velodyne_lidar'
end

in_flavor 'master', 'next' do
    cmake_package 'drivers/base_schilling'
    cmake_package 'simulation/imumodel'

    cmake_package 'slam/octomap'

    cmake_package "external/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.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


    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 'control/kdl_parser'
    cmake_package 'gui/robot_model'
    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'
    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'

    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'
end

in_flavor 'master', 'next', 'stable' do
    cmake_package 'drivers/actuator_dispatcher'

    bundle_package 'bundles/rock_ugv_nav'
    cmake_package 'control/kdl' do |pkg|
        pkg.depends_on 'base/types'
        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
    cmake_package 'external/tinyxml' do |pkg|
        # tinyxml is patched to use Rock macros
        pkg.depends_on 'base/types'
    end

    # Override for gdal, but don't force so we don't have to build gdal
    # unecessarily
    Autoproj.add_osdeps_overrides 'gdal', :package => 'external/gdal'
    autotools_package 'external/gdal' do |pkg|
        pkg.depends_on 'swig'
        # GDAL doesn't support out of source builds
        pkg.builddir = "."
        pkg.configureflags = [
                "--includedir=#{pkg.prefix}/include/gdal",
                '--with-threads',
                '--with-ogr',
                '--with-geos',
                '--without-libtool',
                '--with-libz=internal',
                '--with-libtiff=internal',
                '--with-geotiff=internal',
                '--with-jpeg',
                '--with-ruby',
                '--without-gif',
                '--without-pg',
                '--without-grass',
                '--without-libgrass',
                '--without-cfitsio',
                '--without-pcraster',
                '--without-netcdf',
                '--without-png',
                '--without-gif',
                '--without-ogdi',
                '--without-fme',
                '--without-hdf4',
                '--without-hdf5',
                '--without-jasper',
                '--without-ecw',
                '--without-kakadu',
                '--without-mrsid',
                '--without-jp2mrsid',
                '--without-bsb',
                '--without-grib',
                '--without-mysql',
                '--without-ingres',
                '--without-xerces',
                '--without-expat',
                '--without-odbc',
                '--without-curl',
                '--without-sqlite3',
                '--without-dwgdirect',
                '--without-panorama',
                '--without-idb',
                '--without-sde',
                '--without-perl',
                '--without-php',
                '--without-python',
                '--without-ogpython',
                '--with-hide-internal-symbols']
    end
    remove_from_default "external/gdal"
    
    ##### Control-related libraries
    cmake_package 'control/motor_controller'
    cmake_package 'control/trajectory_follower'
    cmake_package 'control/waypoint_navigation'

    ##### Base implementation for data acquisition
    cmake_package 'drivers/iodrivers_base' do |pkg|
        pkg.post_import do
            # CMake will fail if the test program is there 
            obsolete = File.join(pkg.builddir, "test")
            if File.exists?(obsolete) && !File.directory?(obsolete)
                FileUtils.rm_f obsolete
            end
        end
    end

    ##### Device drivers
    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 'image_processing/stereo'
    cmake_package 'image_processing/libelas' do |pkg|
        # Build system from libelas has been patched into a Rock/CMake-based one
        pkg.depends_on 'base/types'
    end

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

    ##### 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'
    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.user_config("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.depends_on 'libqglviewer'
        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::CmdLine.ruby_executable
    end
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'

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

name, version = Autoproj::OSDependencies.operating_system
#puts "VERSION IS: #{version[1].to_f} OS is: #{name}"
if((name.include?("ubuntu") && version[1].to_f > 14.0) || name.include?("debian") && !name.include?("ubuntu")) 
else
    puts "Compiling box2d locally, as there is no box2d v2.3.1 Package availible"
    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
    Autoproj.add_osdeps_overrides 'box2d', :package => 'external/box2d', :force => true
end


create_metapackages