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cartographer: add package (#2804)
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* cartographer: add package

* clean unneeded code

* cartographer: replace cairo with correct header

* cartographer: update port `xmake.lua`

* cartographer: patch to remove include config.h

* cartographer: fixed only on linux

* cartographer: use cxx17

* cartographer: set test C++ to 17

* cartographer: Remove all test files and remove unistd for windows

* cartographer: remove config via io.replace

* cartographer: fix for windows

* cartographer: add zlib

* cartographer: move zlib above boost

* cartographer: specify boost version

* cartographer: use boost 1.83.0

* cartographer: remove specify boost version

* Update xmake.lua

* cartographer: disable shared for windows

---------

Co-authored-by: ruki <[email protected]>
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Chi-EEE and waruqi authored Jan 17, 2024
1 parent f64e835 commit f674f33
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39 changes: 39 additions & 0 deletions packages/c/cartographer/patches/1.0.0/fix-build-error.patch
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@@ -0,0 +1,39 @@
diff --git a/cartographer/common/math.h b/cartographer/common/math.h
index c4a77ef..0248f66 100644
--- a/cartographer/common/math.h
+++ b/cartographer/common/math.h
@@ -17,6 +17,10 @@
#ifndef CARTOGRAPHER_COMMON_MATH_H_
#define CARTOGRAPHER_COMMON_MATH_H_

+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
#include <cmath>
#include <vector>

diff --git a/cartographer/common/thread_pool.cc b/cartographer/common/thread_pool.cc
index bc3c743..c61704d 100644
--- a/cartographer/common/thread_pool.cc
+++ b/cartographer/common/thread_pool.cc
@@ -16,7 +16,6 @@

#include "cartographer/common/thread_pool.h"

-#include <unistd.h>
#include <algorithm>
#include <chrono>
#include <numeric>
diff --git a/cartographer/mapping/pose_graph_interface.h b/cartographer/mapping/pose_graph_interface.h
index 6483ef4..6456720 100644
--- a/cartographer/mapping/pose_graph_interface.h
+++ b/cartographer/mapping/pose_graph_interface.h
@@ -18,6 +18,7 @@
#define CARTOGRAPHER_MAPPING_POSE_GRAPH_INTERFACE_H_

#include <vector>
+#include <array>

#include "cartographer/common/optional.h"
#include "cartographer/mapping/id.h"
53 changes: 53 additions & 0 deletions packages/c/cartographer/port/xmake.lua
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@@ -0,0 +1,53 @@
add_rules("mode.debug", "mode.release")

add_requires("boost", {configs = {iostreams = true}})
add_requires("ceres-solver", {configs = {suitesparse = true}})
add_requires("abseil", "cairo", "eigen", "glog", "lua", "protobuf-cpp", "zlib")

target("cartographer")
set_kind("$(kind)")
set_languages("cxx17")

add_packages(
"abseil",
"boost",
"ceres-solver",
"cairo",
"eigen",
"glog",
"lua",
"zlib"
)

add_packages("protobuf-cpp", {public = true})
add_rules("protobuf.cpp")

add_files("cartographer/**.proto", {proto_rootdir = "cartographer", proto_autogendir = path.join("$(buildir)", "proto") , proto_public = true})

add_includedirs("$(buildir)/proto/cartographer")
add_includedirs("$(buildir)/proto", { public = true })

add_headerfiles("$(buildir)/proto/(cartographer/**.h)")
add_headerfiles("$(buildir)/proto/cartographer/(**.h)")

remove_files("cartographer/**_service.proto")

add_headerfiles("(cartographer/**.h)")
add_files("cartographer/**.cc")

remove_files("cartographer/io/serialization_format_migration.cc")
remove_headerfiles("cartographer/io/serialization_format_migration.h")

remove_headerfiles("**/fake_*.h", "**/*test*.h", "**/mock*.h")
remove_files("**/fake_*.cc", "**/mock*.cc", "**/*_main.cc", "**/*test*.cc")

-- BUILD_GRPC is not enabled
remove_headerfiles("cartographer/cloud/**.h")
remove_files("cartographer/cloud/**.cc")
remove_files("cartographer/cloud/proto/**.proto")

add_includedirs(".", { public = true })

if is_plat("windows") then
add_defines("NOMINMAX")
end
47 changes: 47 additions & 0 deletions packages/c/cartographer/xmake.lua
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@@ -0,0 +1,47 @@
package("cartographer")
set_homepage("https://github.com/cartographer-project/cartographer")
set_description("Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.")
set_license("Apache-2.0")

add_urls("https://github.com/cartographer-project/cartographer/archive/refs/tags/$(version).tar.gz",
"https://github.com/cartographer-project/cartographer.git")

add_versions("1.0.0", "474a410bf6457eb8a0fd92ea412d7889fb013051e625d3ee25e8d65e4113fd6c")

add_patches("1.0.0", path.join(os.scriptdir(), "patches", "1.0.0", "fix-build-error.patch"), "a4bb53d6f098c77a397d72c244d4283af1f9eec8a4ca7a7fa28de77b06d1201e")

if is_plat("windows") then
add_configs("shared", {description = "Build shared library.", default = false, type = "boolean", readonly = true})
end

add_deps("cmake")
add_deps("zlib")
add_deps("boost", {configs = {iostreams = true}})
add_deps("ceres-solver", {configs = {suitesparse = true}})
add_deps("abseil", "cairo", "eigen", "lua", "protobuf-cpp")

on_install("windows|x64", "windows|x86", "macosx|x86_64", "linux", function (package)
for _, headerfile in ipairs(os.files("cartographer/**.h")) do
io.replace(headerfile, "cairo/cairo.h", "cairo.h", {plain = true})
end
for _, protofile in ipairs(os.files("cartographer/**.proto")) do
io.replace(protofile, [[import "cartographer/]], [[import "]], {plain = true})
end
os.cp(path.join(package:scriptdir(), "port", "xmake.lua"), "xmake.lua")
io.replace("cartographer/common/configuration_file_resolver.cc", [[#include "cartographer/common/config.h"]], "", {plain = true})
io.replace("cartographer/common/configuration_file_resolver.cc", [[configuration_files_directories_.push_back(kConfigurationFilesDirectory);]], "", {plain = true})
local configs = {}
if is_plat("windows") then
io.replace("cartographer/common/thread_pool.cc", "#include <unistd.h>", "", {plain = true})
end
import("package.tools.xmake").install(package, configs)
end)

on_test(function (package)
assert(package:check_cxxsnippets({test = [[
#include "cartographer/mapping/proto/map_builder_options.pb.h"
void test() {
cartographer::mapping::proto::MapBuilderOptions map_builder_options;
}
]]}, {configs = {languages = "c++17"}}))
end)

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