conda-forge · xhochy · Oct 28, 2022 · Sep 14, 2022
diff --git a/recipes/bipedal-locomotion-framework/563.patch b/recipes/bipedal-locomotion-framework/563.patch
@@ -0,0 +1,25 @@
+From 9f5f573138e5165c68c58bec35047688e18a3e06 Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <[email protected]>
+Date: Wed, 14 Sep 2022 15:14:36 +0200
+Subject: [PATCH] Do not redefine NEW_LINE in Python bindings CMake
+
+---
+ bindings/CMakeLists.txt | 5 -----
+ 1 file changed, 5 deletions(-)
+
+diff --git a/bindings/CMakeLists.txt b/bindings/CMakeLists.txt
+index 63e3642b4..5d8e285f4 100644
+--- a/bindings/CMakeLists.txt
++++ b/bindings/CMakeLists.txt
+@@ -45,11 +45,6 @@ if(FRAMEWORK_COMPILE_PYTHON_BINDINGS)
+     mark_as_advanced(BLF_PYTHON_PIP_METADATA_INSTALLER)
+     if(BLF_PYTHON_PIP_METADATA_INSTALL)
+       get_filename_component(PYTHON_METADATA_PARENT_DIR ${PYTHON_INSTDIR} DIRECTORY)
+-      if(WIN32)
+-        set(NEW_LINE "\n\r")
+-      else()
+-        set(NEW_LINE "\n")
+-      endif()
+       file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/METADATA "")
+       file(APPEND ${CMAKE_CURRENT_BINARY_DIR}/METADATA "Metadata-Version: 2.1${NEW_LINE}")
+       file(APPEND ${CMAKE_CURRENT_BINARY_DIR}/METADATA "Name: bipedal_locomotion_framework${NEW_LINE}")
diff --git a/recipes/bipedal-locomotion-framework/564.patch b/recipes/bipedal-locomotion-framework/564.patch
@@ -0,0 +1,79 @@
+From 99d6999545c6407ef2abc00a2553be73b2636c98 Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <[email protected]>
+Date: Wed, 14 Sep 2022 16:14:49 +0200
+Subject: [PATCH] Support standalone compilation of Python bindings
+
+---
+ bindings/CMakeLists.txt | 59 +++++++++++++++++++++++++++++++++++++++++
+ 1 file changed, 59 insertions(+)
+
+diff --git a/bindings/CMakeLists.txt b/bindings/CMakeLists.txt
+index 63e3642b4..c72be536f 100644
+--- a/bindings/CMakeLists.txt
++++ b/bindings/CMakeLists.txt
+@@ -2,6 +2,65 @@
+ # This software may be modified and distributed under the terms of the
+ # BSD-3-Clause license.
+
++# Detect if we are doing a standalone build of the bindings, using an external iDynTree
++if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
++  set(FRAMEWORK_PYTHON_BINDINGS_BUILD_STANDALONE ON)
++  set(FRAMEWORK_COMPILE_PYTHON_BINDINGS ON)
++else()
++  set(FRAMEWORK_PYTHON_BINDINGS_BUILD_STANDALONE FALSE)
++endif()
++
++if(FRAMEWORK_PYTHON_BINDINGS_BUILD_STANDALONE)
++    cmake_minimum_required(VERSION 3.16)
++    project(BipedalLocomotionFrameworkBindings)
++    find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
++    find_package(pybind11 REQUIRED)
++    find_package(BipedalLocomotionFramework REQUIRED)
++    get_filename_component(CMAKE_CURRENT_PARENT_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR} DIRECTORY)
++    list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_PARENT_SOURCE_DIR}/cmake)
++    include(AddBipedalLocomotionPythonModule)
++    if(TARGET BipedalLocomotionFramework::SystemYarpImplementation AND TARGET BipedalLocomotionFramework::ParametersHandlerYarpImplementation)
++        set(FRAMEWORK_COMPILE_YarpImplementation ON)
++    endif()
++    if(TARGET BipedalLocomotionFramework::ParametersHandlerTomlImplementation)
++        set(FRAMEWORK_COMPILE_TomlImplementation ON)
++    endif()
++    if(TARGET BipedalLocomotion::System)
++        set(FRAMEWORK_COMPILE_System ON)
++    endif()
++    if(TARGET BipedalLocomotion::Contacts)
++        set(FRAMEWORK_COMPILE_Contact ON)
++    endif()
++    if(TARGET BipedalLocomotion::Planners)
++        set(FRAMEWORK_COMPILE_Planners ON)
++    endif()
++    if(TARGET BipedalLocomotion::Unicycle)
++        set(FRAMEWORK_COMPILE_Unicycle ON)
++    endif()
++    if(TARGET BipedalLocomotion::FloatingBaseEstimators)
++        set(FRAMEWORK_COMPILE_FloatingBaseEstimators ON)
++    endif()
++    if(TARGET BipedalLocomotion::IK)
++        set(FRAMEWORK_COMPILE_IK ON)
++    endif()
++    if(TARGET BipedalLocomotion::TSID)
++        set(FRAMEWORK_COMPILE_TSID ON)
++    endif()
++    if(TARGET BipedalLocomotion::ManifConversions)
++        set(FRAMEWORK_COMPILE_ManifConversions ON)
++        set(FRAMEWORK_USE_manif ON)
++    endif()
++    if(TARGET BipedalLocomotion::YarpUtilities)
++        set(FRAMEWORK_COMPILE_YarpUtilities ON)
++    endif()
++    if(TARGET BipedalLocomotion::ContinuousDynamicalSystem)
++        set(FRAMEWORK_COMPILE_ContinuousDynamicalSystem ON)
++    endif()
++    if(TARGET BipedalLocomotion::RobotInterface)
++        set(FRAMEWORK_COMPILE_RobotInterface ON)
++    endif()
++endif()
++
+ if(FRAMEWORK_COMPILE_PYTHON_BINDINGS)
+
+     set(NEW_LINE "\n")
diff --git a/recipes/bipedal-locomotion-framework/bld_cxx.bat b/recipes/bipedal-locomotion-framework/bld_cxx.bat
@@ -0,0 +1,34 @@
+mkdir build
+cd build
+
+cmake -G "Ninja" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DBUILD_TESTING:BOOL=ON ^
+    -DBUILD_SHARED_LIBS:BOOL=ON ^
+    -DFRAMEWORK_USE_YARP:BOOL=ON ^
+    -DFRAMEWORK_USE_OsqpEigen:BOOL=ON ^
+    -DFRAMEWORK_USE_matioCpp:BOOL=ON ^
+    -DFRAMEWORK_USE_manif:BOOL=ON ^
+    -DFRAMEWORK_USE_Qhull:BOOL=ON ^
+    -DFRAMEWORK_USE_cppad:BOOL=ON ^
+    -DFRAMEWORK_USE_casadi:BOOL=ON ^
+    -DFRAMEWORK_USE_LieGroupControllers:BOOL=ON ^
+    -DFRAMEWORK_USE_UnicyclePlanner:BOOL=ON ^
+    -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=OFF ^
+    %SRC_DIR%
+if errorlevel 1 exit 1
+
+type CMakeCache.txt
+
+:: Build.
+cmake --build . --config Release
+if errorlevel 1 exit 1
+
+:: Install.
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1
+
+:: Test.
+ctest --output-on-failure -C Release 
+if errorlevel 1 exit 1
diff --git a/recipes/bipedal-locomotion-framework/bld_py.bat b/recipes/bipedal-locomotion-framework/bld_py.bat
@@ -0,0 +1,21 @@
+cd bindings
+rmdir /s /q build
+mkdir build
+cd build
+
+cmake -G "Ninja" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DBUILD_SHARED_LIBS:BOOL=ON ^
+    -DPython3_EXECUTABLE:PATH=%PYTHON% ^
+    -DFRAMEWORK_DETECT_ACTIVE_PYTHON_SITEPACKAGES:BOOL=ON ^
+    ..
+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
diff --git a/recipes/bipedal-locomotion-framework/build_cxx.sh b/recipes/bipedal-locomotion-framework/build_cxx.sh
@@ -0,0 +1,31 @@
+#!/bin/sh
+
+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
+
+mkdir build
+cd build
+
+cmake ${CMAKE_ARGS} -GNinja .. \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DBUILD_TESTING:BOOL=ON \
+    -DBUILD_SHARED_LIBS:BOOL=ON \
+    -DFRAMEWORK_USE_YARP:BOOL=ON \
+    -DFRAMEWORK_USE_OsqpEigen:BOOL=ON \
+    -DFRAMEWORK_USE_matioCpp:BOOL=ON \
+    -DFRAMEWORK_USE_manif:BOOL=ON \
+    -DFRAMEWORK_USE_Qhull:BOOL=ON \
+    -DFRAMEWORK_USE_cppad:BOOL=ON \
+    -DFRAMEWORK_USE_casadi:BOOL=ON \
+    -DFRAMEWORK_USE_LieGroupControllers:BOOL=ON \
+    -DFRAMEWORK_USE_UnicyclePlanner:BOOL=ON \
+    -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=OFF
+
+cat CMakeCache.txt
+
+cmake --build . --config Release
+cmake --build . --config Release --target install
+
+ctest --output-on-failure -C Release
diff --git a/recipes/bipedal-locomotion-framework/build_py.sh b/recipes/bipedal-locomotion-framework/build_py.sh
@@ -0,0 +1,23 @@
+#!/bin/sh
+
+if [[ "${target_platform}" == osx-* ]]; then
+    # See https://conda-forge.org/docs/maintainer/knowledge_base.html#newer-c-features-with-old-sdk
+    CXXFLAGS="${CXXFLAGS} -D_LIBCPP_DISABLE_AVAILABILITY"
+fi
+
+CXXFLAGS="${CXXFLAGS} -DPYBIND11_DETAILED_ERROR_MESSAGES"
+
+cd ${SRC_DIR}/bindings
+
+rm -rf build
+mkdir build
+cd build
+
+cmake ${CMAKE_ARGS} -GNinja .. \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DBUILD_SHARED_LIBS:BOOL=ON \
+    -DPython3_EXECUTABLE:PATH=$PYTHON \
+    -DFRAMEWORK_DETECT_ACTIVE_PYTHON_SITEPACKAGES:BOOL=ON
+
+ninja -v
+cmake --build . --config Release --target install
diff --git a/recipes/bipedal-locomotion-framework/conda_build_config.yaml b/recipes/bipedal-locomotion-framework/conda_build_config.yaml
@@ -0,0 +1,3 @@
+# Workaround for https://github.com/conda-forge/staged-recipes/pull/20432#issuecomment-1274243030
+openssl:
+  - 1.1.1
diff --git a/recipes/bipedal-locomotion-framework/meta.yaml b/recipes/bipedal-locomotion-framework/meta.yaml
@@ -0,0 +1,150 @@
+{% set name = "bipedal-locomotion-framework" %}
+{% set namecxx = "libbipedal-locomotion-framework" %}
+{% set namepython = "bipedal-locomotion-framework-python" %}
+{% set version = "0.9.0" %}
+
+package:
+  name: {{ name }}
+  version: {{ version }}
+
+source:
+  url: https://github.com/ami-iit/bipedal-locomotion-framework/archive/refs/tags/v{{ version }}.tar.gz
+  sha256: b297b4e83e5008cf3461eecd1ecc306fc789867c18c1bfb3ed4568140f0956bb
+  patches:
+    - 563.patch
+    - 564.patch
+
+build:
+  number: 0
+
+outputs:
+  - name: {{ namecxx }}
+    script: build_cxx.sh  # [unix]
+    script: bld_cxx.bat  # [win]
+    build:
+      run_exports:
+        - {{ pin_subpackage(namecxx, max_pin='x.x.x') }}
+    requirements:
+      build:
+        - {{ compiler('c') }}
+        - {{ compiler('cxx') }}
+        - cmake
+        - pkg-config
+        - ninja
+        - {{ cdt('mesa-libgl-devel') }}  # [linux]
+        - {{ cdt('mesa-dri-drivers') }}  # [linux]
+        - {{ cdt('libselinux') }}  # [linux]
+        - {{ cdt('libxdamage') }}  # [linux]
+        - {{ cdt('libxxf86vm') }}  # [linux]
+        - {{ cdt('libxext') }}     # [linux]
+      host:
+        - eigen
+        - idyntree
+        - manif
+        - yarp-cxx
+        - librobometry
+        - fmt
+        - spdlog
+        - cppad
+        - manif
+        - nlohmann_json
+        - libosqp
+        - osqp-eigen
+        - libmatio-cpp
+        - tomlplusplus
+        - casadi
+        - qhull
+        - libopencv
+        - liblie-group-controllers
+        - libunicycle-footstep-planner
+        - librealsense  # [not win]
+        - xorg-libxfixes  # [linux]
+      run:
+        # manif and eigen are mentioned in the headers so needed when building
+        # against libbipedal-locomotion-framework
+        - manif
+        - eigen
+
+    test:
+      commands:
+        - test -f ${PREFIX}/include/BipedalLocomotion/System/Advanceable.h  # [unix]
+        - test -f ${PREFIX}/lib/libBipedalLocomotionFrameworkSystem${SHLIB_EXT}  # [unix]
+        - test -f ${PREFIX}/lib/cmake/BipedalLocomotionFramework/BipedalLocomotionFrameworkConfig.cmake  # [not win]
+        - if not exist %PREFIX%\\Library\\include\\BipedalLocomotion\\System\\Advanceable.h exit 1  # [win]
+        - if not exist %PREFIX%\\Library\\lib\\BipedalLocomotionFrameworkSystem.lib exit 1  # [win]
+        - if not exist %PREFIX%\\Library\\bin\\BipedalLocomotionFrameworkSystem.dll exit 1  # [win]
+        - if not exist %PREFIX%\\Library\\CMake\\BipedalLocomotionFrameworkConfig.cmake exit 1  # [win]
+
+  - name: {{ namepython }}
+    script: build_py.sh  # [unix]
+    script: bld_py.bat  # [win]
+    requirements:
+      build:
+        - {{ compiler('c') }}
+        - {{ compiler('cxx') }}
+        - pybind11
+        - pybind11-abi
+        - ninja
+        - cmake
+        - python                                 # [build_platform != target_platform]
+        - cross-python_{{ target_platform }}     # [build_platform != target_platform]
+        - pybind11                               # [build_platform != target_platform]
+        - pybind11-abi                           # [build_platform != target_platform]
+        - {{ cdt('mesa-libgl-devel') }}  # [linux]
+        - {{ cdt('mesa-dri-drivers') }}  # [linux]
+        - {{ cdt('libselinux') }}  # [linux]
+        - {{ cdt('libxdamage') }}  # [linux]
+        - {{ cdt('libxxf86vm') }}  # [linux]
+        - {{ cdt('libxext') }}     # [linux]
+      host:
+        - {{ pin_subpackage(namecxx, exact=True) }}
+        - python
+        - pip
+        - pybind11
+        - pybind11-abi
+        # Workaround for https://github.com/conda-forge/staged-recipes/pull/20432#issuecomment-1274243030
+        - openssl=1.1.1
+        - liblie-group-controllers
+        - yarp-cxx
+        - idyntree
+        - fmt
+        - spdlog
+        - xorg-libxfixes  # [linux]
+      run:
+        - {{ pin_subpackage(namecxx, exact=True) }}
+        - python
+        - numpy
+        - manifpy
+    test:
+      commands:
+        - test $(pip list | grep bipedal_locomotion_framework | tr -s " " | grep $PKG_VERSION | wc -l) -eq 1  # [unix]
+        - pip check
+      requires:
+        - pip
+      imports:
+        - bipedal_locomotion_framework
+
+  - name: {{ name }}
+    build:
+      run_exports:
+        - {{ pin_subpackage(namecxx, max_pin='x.x.x') }}
+    requirements:
+      run:
+        - {{ pin_subpackage(namecxx, exact=True) }}
+        - {{ pin_subpackage(namepython, max_pin='x.x.x') }}
+    test:
+      imports:
+        - bipedal_locomotion_framework
+
+about:
+  home: https://github.com/ami-iit/bipedal-locomotion-framework
+  license: BSD-3-Clause
+  license_file:
+    - LICENSE
+  summary:  Suite of libraries for achieving bipedal locomotion on humanoid robots.
+
+
+extra:
+  recipe-maintainers:
+    - traversaro
+    - GiulioRomualdi