Merge pull request #26175 from traversaro/patch-62

Add recipe for ergocub-software

recipes/ergocub-software/activate.msh

@@ -0,0 +1,27 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\ergoCub")),
+	sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
+	sys.list_append("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library")),
+]).else_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/ergoCub")),
+	sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
+	sys.list_append("AMENT_PREFIX_PATH", env("CONDA_PREFIX")),
+])
+
+# For some reason setting two times the same variable inside the same if does not work in command prompt
+# As a workaround, we move each GAZEBO_MODEL_PATH and GZ_SIM_RESOURCE_PATH set to a separate if
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\ergoCub\\robots")),
+	sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\ergoCub\\robots"))
+]).else_([
+	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/ergoCub/robots")),
+	sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share/ergoCub/robots"))
+])
+
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
+	sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
+]).else_([
+	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share")),
+	sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share"))
+])

recipes/ergocub-software/bld_cxx.bat

@@ -0,0 +1,46 @@
+mkdir build
+cd build
+
+cmake ^
+    -G "Ninja" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_PREFIX_PATH=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DBUILD_SHARED_LIBS=ON ^
+    -DCOMPILE_ergoCubEmotions:BOOL=ON ^
+    %SRC_DIR%
+if errorlevel 1 exit 1
+
+:: Build.
+cmake --build . --config Release
+if errorlevel 1 exit 1
+
+:: Install.
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1
+
+setlocal EnableDelayedExpansion
+:: Generate and copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
+:: This will allow them to be run on environment activation.
+for %%F in (activate deactivate) DO (
+    multisheller %RECIPE_DIR%\%%F.msh --output .\%%F
+
+    if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
+    copy %%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
+    if %errorlevel% neq 0 exit /b %errorlevel%
+
+    copy %%F.sh %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.sh
+    if %errorlevel% neq 0 exit /b %errorlevel%
+
+    copy %%F.bash %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bash
+    if %errorlevel% neq 0 exit /b %errorlevel%
+
+    copy %%F.ps1 %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.ps1
+    if %errorlevel% neq 0 exit /b %errorlevel%
+
+    copy %%F.xsh %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.xsh
+    if %errorlevel% neq 0 exit /b %errorlevel%
+
+    copy %%F.zsh %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.zsh
+    if %errorlevel% neq 0 exit /b %errorlevel%
+)

recipes/ergocub-software/build_cxx.sh

@@ -0,0 +1,38 @@
+#!/bin/sh
+
+rm -rf build
+mkdir build
+cd build
+
+if [[ "${target_platform}" == osx-* ]]; then
+    # See https://conda-forge.org/docs/maintainer/knowledge_base.html#newer-c-features-with-old-sdk
+    CXXFLAGS="${CXXFLAGS} -D_LIBCPP_DISABLE_AVAILABILITY"
+fi
+
+cmake ${CMAKE_ARGS} -GNinja .. \
+      -DCMAKE_BUILD_TYPE=Release \
+      -DBUILD_SHARED_LIBS:BOOL=ON \
+      -DBUILD_TESTING:BOOL=ON \
+      -DCOMPILE_ergoCubEmotions:BOOL=ON \
+      ..
+
+cmake --build . --config Release
+
+if [[ ("${CONDA_BUILD_CROSS_COMPILATION:-}" != "1" || "${CROSSCOMPILING_EMULATOR}" != "") ]]; then
+  ctest --output-on-failure --repeat until-pass:5 -C Release 
+fi
+
+cmake --build . --config Release --target install
+
+# Generate and copy the [de]activate scripts to $PREFIX/etc/conda/[de]activate.d.
+# This will allow them to be run on environment activation.
+for CHANGE in "activate" "deactivate"
+do
+    multisheller ${RECIPE_DIR}/${CHANGE}.msh --output ./${CHANGE}
+    mkdir -p "${PREFIX}/etc/conda/${CHANGE}.d"
+    cp "${CHANGE}.sh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.sh"
+    cp "${CHANGE}.bash" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.bash"
+    cp "${CHANGE}.xsh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.xsh"
+    cp "${CHANGE}.zsh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.zsh"
+    cp "${CHANGE}.ps1" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.ps1"
+done

recipes/ergocub-software/deactivate.msh

@@ -0,0 +1,27 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\ergoCub")),
+	sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
+	sys.list_remove("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library")),
+]).else_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/ergoCub")),
+	sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
+	sys.list_remove("AMENT_PREFIX_PATH", env("CONDA_PREFIX")),
+])
+
+# For some reason setting two times the same variable inside the same if does not work in command prompt
+# As a workaround, we move each GAZEBO_MODEL_PATH and GZ_SIM_RESOURCE_PATH set to a separate if
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\ergoCub\\robots")),
+	sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\ergoCub\\robots"))
+]).else_([
+	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/ergoCub/robots")),
+	sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share/ergoCub/robots"))
+])
+
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
+	sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
+]).else_([
+	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share")),
+	sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share"))
+])

recipes/ergocub-software/meta.yaml

@@ -0,0 +1,63 @@
+{% set version = "0.7.3" %}
+
+package:
+  name: ergocub-software-split
+  version: {{ version }}
+
+source:
+  - url: https://github.com/icub-tech-iit/ergocub-software/archive/refs/tags/v{{ version }}.tar.gz
+    sha256: 346d3301da028dfe9e9d31bda259b39c8f6189a69d8bc713389ff0a0e42c02bb
+
+build:
+  number: 0
+
+outputs:
+  - name: libergocub-software
+    script: build_cxx.sh  # [unix]
+    script: bld_cxx.bat  # [win]
+    build:
+      run_exports:
+        - {{ pin_subpackage("libergocub-software", max_pin='x.x.x') }}
+      ignore_run_exports_from:
+      # idyntree is just used for tests
+        - idyntree
+    requirements:
+      build:
+        - {{ compiler('c') }}
+        - {{ stdlib("c") }}
+        - {{ compiler('cxx') }}
+        - cmake
+        - pkg-config
+        - ninja
+        - multisheller
+      host:
+        - ycm-cmake-modules
+        - libyarp
+        - libopencv
+        - idyntree
+
+    test:
+      commands:
+        - test -f ${PREFIX}/lib/yarp/yarp_couplingXCubHandMk5.so  # [unix]
+        - if not exist %LIBRARY_LIB%\\yarp\\yarp_couplingXCubHandMk5.dll exit 1  # [win]
+
+  - name: ergocub-software
+    requirements:
+      run:
+        - {{ pin_subpackage("libergocub-software", exact=True) }}
+    test:
+      commands:
+        - test -f ${PREFIX}/lib/yarp/yarp_couplingXCubHandMk5.so  # [unix]
+        - if not exist %LIBRARY_LIB%\\yarp\\yarp_couplingXCubHandMk5.dll exit 1  # [win]
+
+
+about:
+  home: https://github.com/icub-tech-iit/ergocub-software
+  license: BSD-3-Clause
+  license_file: LICENSE
+  summary: 'Software required to simulate and run the ergoCub humanoid robot.'
+
+extra:
+  feedstock-name: ergocub-software
+  recipe-maintainers:
+    - traversaro