139 lines
5.8 KiB
Scheme
139 lines
5.8 KiB
Scheme
;;; GNU Guix --- Functional package management for GNU
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;;; Copyright © 2018, 2022 Ludovic Courtès <ludo@gnu.org>
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;;;
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;;; This file is part of GNU Guix.
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;;;
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;;; GNU Guix is free software; you can redistribute it and/or modify it
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;;; under the terms of the GNU General Public License as published by
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;;; the Free Software Foundation; either version 3 of the License, or (at
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;;; your option) any later version.
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;;;
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;;; GNU Guix is distributed in the hope that it will be useful, but
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;;; WITHOUT ANY WARRANTY; without even the implied warranty of
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;;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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;;; GNU General Public License for more details.
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;;;
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;;; You should have received a copy of the GNU General Public License
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;;; along with GNU Guix. If not, see <http://www.gnu.org/licenses/>.
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(define-module (gnu packages robotics)
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#:use-module (guix packages)
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#:use-module (guix download)
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#:use-module (guix git-download)
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#:use-module ((guix licenses) #:prefix license:)
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#:use-module (guix build-system cmake)
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#:use-module (gnu packages avahi)
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#:use-module (gnu packages base)
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#:use-module (gnu packages cpp)
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#:use-module (gnu packages gl)
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#:use-module (gnu packages linux)
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#:use-module (gnu packages pkg-config)
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#:use-module (gnu packages protobuf)
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#:use-module (gnu packages qt)
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#:use-module (gnu packages sdl)
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#:use-module (gnu packages valgrind)
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#:use-module (gnu packages xml))
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(define-public enki
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;; Previous versions use Qt4 and are unsuitable for Aseba.
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(let ((commit "afd2d8e2f91c095f6745505ca1f32f31ea874200")
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(revision "0"))
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(package
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(name "enki")
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(version (git-version "2.0pre" revision commit))
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(home-page "https://github.com/enki-community/enki/")
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(source (origin
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(method git-fetch)
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(uri (git-reference (url home-page) (commit commit)))
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(sha256
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(base32
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"1d1901zzsfml97hb4mb3ah3ab1bk4kh7bn6m7xrj1rv0gk9wkhq7"))
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(file-name (string-append name "-" version "-checkout"))))
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(build-system cmake-build-system)
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(arguments
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'(#:configure-flags '("-DBUILD_SHARED_LIBS=ON")))
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(native-inputs (list pkg-config))
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(inputs
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;; Optionally, add Python + Boost for Python bindings.
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(list sdl2))
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(propagated-inputs
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;; 'Viewer.h' includes 'QGLWidget'.
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(list qtbase-5 ;the viewer module needs Qt5 + MESA
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mesa))
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(synopsis "Robot simulator")
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(description
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"Enki is a robot simulator written in C++. It provides collision and
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limited physics support for robots evolving on a flat surface. On a
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contemporary desktop computer, Enki is able to simulate groups of robots
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hundred times faster than real-time.")
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;; The 'LICENSE' file as well as source file headers says that
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;; researchers using the software are "asked" to cite using a given
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;; citation, but that sentence is written as not being part of the
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;; license (fortunately).
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(license license:gpl2+))))
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(define-public aseba
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;; Use the commit that allows us to build with Qt5.
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(let ((commit "3b35de80d5fdd47592b1c01d57e1f4ef37c5e5ea")
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(revision "0"))
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(package
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(name "aseba")
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(version (git-version "1.6.0" revision commit))
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(home-page "https://github.com/aseba-community/aseba")
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(source (origin
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(method git-fetch)
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(uri (git-reference (url home-page) (commit commit)
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(recursive? #t))) ;for Blockly
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(sha256
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(base32
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"0j31lmc9f0ksvkh0md2fgsz92hcsrwnrqqcynamizs2ah8iwlqi5"))
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(file-name (string-append name "-" version "-checkout"))
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(modules '((guix build utils)))
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(snippet
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;; Add missing Qt5::Network.
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'(substitute* "targets/playground/CMakeLists.txt"
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(("target_link_libraries(.*)\\$\\{EXTRA_LIBS\\}" _ middle)
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(string-append "target_link_libraries" middle
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" Qt5::Network ${EXTRA_LIBS}"))))))
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(build-system cmake-build-system)
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(arguments
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'(#:configure-flags '("-DBUILD_SHARED_LIBS=ON")
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#:parallel-build? #f ;occasionally fails with '-j'
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#:phases (modify-phases %standard-phases
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(add-after 'unpack 'help-valgrind
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(lambda* (#:key inputs #:allow-other-keys)
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(let ((debug (search-input-directory inputs
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"/lib/debug")))
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(substitute* "tests/common/CMakeLists.txt"
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(("--error-exitcode=1" flag)
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(string-append "--extra-debuginfo-path="
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debug " " flag)))))))))
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(native-inputs
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(list pkg-config
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valgrind ;for tests
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`(,(canonical-package glibc) "debug")))
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(inputs
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(list dashel
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enki
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protobuf-3.5 ;for logging
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qtbase-5
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qtsvg-5
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qttools ;for libQt5Help, needed by "studio"
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qtwebkit
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qtx11extras
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eudev
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libxml2
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sdl2
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avahi)) ;XXX: we need the libdnssd compat layer
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(synopsis "Event-based robot programming tools")
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(description
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"Aseba means @dfn{actuator and sensor event-based architecture}.
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It is a set of tools which allow beginners to program robots easily and
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efficiently. It includes robot simulators, a programming language, and a
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visual programming language (VPL) that is notably used together with the
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Thymio educational robot.")
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;; Source file headers say "version 3.0" without "or any later version".
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(license license:lgpl3))))
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