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