Add recipe for icub-main packages

recipes/icub-main/985.patch

@@ -0,0 +1,138 @@
+From c1b007ac630b687bc6e52b8f1abd252c427a5fed Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <[email protected]>
+Date: Mon, 23 Sep 2024 12:49:54 +0200
+Subject: [PATCH 1/3] Fix use double leading underscore in python swig bindings
+ library name
+
+Fix https://github.com/robotology/icub-main/issues/984
+---
+ bindings/CMakeLists.txt | 1 -
+ 1 file changed, 1 deletion(-)
+
+diff --git a/bindings/CMakeLists.txt b/bindings/CMakeLists.txt
+index ea477e8f54..38d836de1c 100644
+--- a/bindings/CMakeLists.txt
++++ b/bindings/CMakeLists.txt
+@@ -58,7 +58,6 @@ if(CREATE_PYTHON)
+                      LANGUAGE python
+                      SOURCES icub.i)
+     target_link_libraries(${SWIG_MODULE_icub_python_REAL_NAME} Python::Python ${ICUB_SWIG_LIBRARIES})
+-    set_target_properties(${SWIG_MODULE_icub_python_REAL_NAME} PROPERTIES OUTPUT_NAME "_icub")
+
+     # installation path is determined reliably on most platforms using distutils
+     execute_process(COMMAND ${Python_EXECUTABLE} -c "from distutils import sysconfig; print(sysconfig.get_python_lib(1,0,prefix=''))"
+
+From 1f02858bb678f7fc9de45e0ce4c890b3398caf69 Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <[email protected]>
+Date: Fri, 20 Sep 2024 08:59:43 +0200
+Subject: [PATCH 2/3] Support compiling bindings as standalone project using an
+ external ICUB CMake package
+
+---
+ bindings/CMakeLists.txt | 37 +++++++++++++++++++++----------------
+ 1 file changed, 21 insertions(+), 16 deletions(-)
+
+diff --git a/bindings/CMakeLists.txt b/bindings/CMakeLists.txt
+index 38d836de1c..f187f2ca90 100644
+--- a/bindings/CMakeLists.txt
++++ b/bindings/CMakeLists.txt
+@@ -2,7 +2,17 @@
+ # Authors: Paul Fitzpatrick
+ # CopyPolicy: Released under the terms of the GNU GPL v2.0.
+
+-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR})
++# Detect if we are doing a standalone build of the bindings, using an external icub-main
++if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
++  set(ICUB_BINDINGS_BUILD_STANDALONE TRUE)
++else()
++  set(ICUB_BINDINGS_BUILD_STANDALONE FALSE)
++endif()
++
++if(ICUB_BINDINGS_BUILD_STANDALONE)
++  cmake_minimum_required(VERSION 3.16)
++  project(ICUBBindings)
++endif()
+
+ # Find YARP for bindings-only builds
+ find_package(YARP COMPONENTS conf os sig dev math gsl REQUIRED)
+@@ -11,10 +21,9 @@ foreach(_component conf os sig dev math gsl)
+   include_directories(${YARP_${_component}_INCLUDE_DIRS})
+ endforeach()
+
+-# Work-around for missing paths to OpenCV libraries
+-find_package(OpenCV)
+-if(OpenCV_FOUND)
+-    link_directories(${OpenCV_LINK_DIRECTORIES} ${OPENCV_LINK_DIRECTORIES})
++# Find ICUB for bindings-only builds
++if(ICUB_BINDINGS_BUILD_STANDALONE)
++  find_package(ICUB REQUIRED)
+ endif()
+
+ set(ICUB_SWIG_LIBRARIES ctrlLib
+
+@@ -58,6 +59,7 @@ if(CREATE_PYTHON)
+                      LANGUAGE python
+                      SOURCES icub.i)
+     target_link_libraries(${SWIG_MODULE_icub_python_REAL_NAME} Python::Python ${ICUB_SWIG_LIBRARIES})
++    set_target_properties(${SWIG_MODULE_icub_python_REAL_NAME} PROPERTIES SWIG_USE_TARGET_INCLUDE_DIRECTORIES TRUE)
+
+     # installation path is determined reliably on most platforms using distutils
+     execute_process(COMMAND ${Python_EXECUTABLE} -c "from distutils import sysconfig; print(sysconfig.get_python_lib(1,0,prefix=''))"
+@@ -101,7 +103,9 @@ if(CREATE_RUBY)
+     target_link_libraries(${SWIG_MODULE_icub_ruby_REAL_NAME} ${RUBY_LIBRARY} ${ICUB_SWIG_LIBRARIES})
+     target_include_directories(${SWIG_MODULE_icub_ruby_REAL_NAME} SYSTEM PRIVATE ${RUBY_INCLUDE_PATH})
+     set_target_properties(${SWIG_MODULE_icub_ruby_REAL_NAME} PROPERTIES OUTPUT_NAME "icub"
+-                                                                      LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib/ruby")
++                                                                      LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib/ruby"
++                                                                      SWIG_USE_TARGET_INCLUDE_DIRECTORIES TRUE)
++
+ endif()
+
+ if(CREATE_JAVA)
+@@ -119,6 +123,7 @@ if(CREATE_JAVA)
+     if(APPLE)
+       set_target_properties(${SWIG_MODULE_icub_java_REAL_NAME} PROPERTIES SUFFIX ".jnilib")
+     endif(APPLE)
++    set_target_properties(${SWIG_MODULE_icub_python_REAL_NAME} PROPERTIES SWIG_USE_TARGET_INCLUDE_DIRECTORIES TRUE)
+ endif()
+
+ if(CREATE_CSHARP)
+@@ -128,7 +133,7 @@ if(CREATE_CSHARP)
+                      SOURCES icub.i)
+
+   target_link_libraries(${SWIG_MODULE_icub_csharp_REAL_NAME} ${SWIG_ICUB_LIBRARIES})
+-  set_target_properties(${SWIG_MODULE_icub_csharp_REAL_NAME} PROPERTIES OUTPUT_NAME "icub" LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib/csharp")
++  set_target_properties(${SWIG_MODULE_icub_csharp_REAL_NAME} PROPERTIES OUTPUT_NAME "icub" LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib/csharp" SWIG_USE_TARGET_INCLUDE_DIRECTORIES TRUE)
+ endif()
+
+ if(CREATE_LUA)
+@@ -139,5 +144,5 @@ if(CREATE_LUA)
+                    LANGUAGE lua
+                    SOURCES icub.i)
+   target_link_libraries(${SWIG_MODULE_icub_lua_REAL_NAME} ${LUA_LIBRARY} ${ICUB_SWIG_LIBRARIES})
+-  set_target_properties(${SWIG_MODULE_icub_lua_REAL_NAME} PROPERTIES OUTPUT_NAME "icub" LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib/lua")
++  set_target_properties(${SWIG_MODULE_icub_lua_REAL_NAME} PROPERTIES OUTPUT_NAME "icub" LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib/lua" SWIG_USE_TARGET_INCLUDE_DIRECTORIES TRUE)
+ endif()
+
+From 8eac01933c0df534a5c0eff51c409f7fc99808cb Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <[email protected]>
+Date: Mon, 23 Sep 2024 12:51:02 +0200
+Subject: [PATCH 3/3] Remove references to iDyn in bindings
+
+---
+ bindings/CMakeLists.txt |  1 -
+ bindings/icub.i         | 16 ----------------
+ 2 files changed, 17 deletions(-)
+
+diff --git a/bindings/CMakeLists.txt b/bindings/CMakeLists.txt
+index f187f2ca90..9d47b06b79 100644
+--- a/bindings/CMakeLists.txt
++++ b/bindings/CMakeLists.txt
+@@ -27,7 +27,6 @@ if(ICUB_BINDINGS_BUILD_STANDALONE)
+ endif()
+
+ set(ICUB_SWIG_LIBRARIES ctrlLib
+-                        iDyn
+                         iKin
+                         skinDynLib
+                         optimization)

recipes/icub-main/activate.msh

@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\iCub"))
+]).else_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/iCub"))
+])

recipes/icub-main/bld_cxx.bat

@@ -0,0 +1,74 @@
+mkdir build
+cd build
+
+cmake %CMAKE_ARGS% ^
+    -G "Ninja" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_PREFIX_PATH=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DBUILD_SHARED_LIBS=ON ^
+    -DENABLE_icubmod_cartesiancontrollerserver:BOOL=ON ^
+    -DENABLE_icubmod_cartesiancontrollerclient:BOOL=ON ^
+    -DENABLE_icubmod_gazecontrollerclient:BOOL=ON ^
+    -DENABLE_icubmod_skinWrapper:BOOL=ON ^
+    -DENABLE_icubmod_dragonfly2:BOOL=OFF ^
+    -DENABLE_icubmod_sharedcan:BOOL=ON ^
+    -DENABLE_icubmod_bcbBattery:BOOL=ON ^
+    -DENABLE_icubmod_canmotioncontrol:BOOL=ON ^
+    -DENABLE_icubmod_canBusAnalogSensor:BOOL=ON ^
+    -DENABLE_icubmod_canBusInertialMTB:BOOL=ON ^
+    -DENABLE_icubmod_canBusSkin:BOOL=ON ^
+    -DENABLE_icubmod_canBusFtSensor:BOOL=ON ^
+    -DENABLE_icubmod_canBusVirtualAnalogSensor:BOOL=ON ^
+    -DENABLE_icubmod_cfw2can:BOOL=OFF ^
+    -DENABLE_icubmod_ecan:BOOL=OFF ^
+    -DENABLE_icubmod_embObjBattery:BOOL=ON ^
+    -DENABLE_icubmod_embObjFTsensor:BOOL=ON ^
+    -DENABLE_icubmod_embObjMultipleFTsensors:BOOL=ON ^
+    -DENABLE_icubmod_embObjIMU:BOOL=ON ^
+    -DENABLE_icubmod_embObjMais:BOOL=ON ^
+    -DENABLE_icubmod_embObjMotionControl:BOOL=ON ^
+    -DENABLE_icubmod_embObjSkin:BOOL=ON ^
+    -DENABLE_icubmod_parametricCalibrator:BOOL=ON ^
+    -DENABLE_icubmod_parametricCalibratorEth:BOOL=ON ^
+    -DENABLE_icubmod_embObjPOS:BOOL=ON ^
+    -DENABLE_icubmod_xsensmtx:BOOL=OFF ^
+    -DENABLE_icubmod_socketcan:BOOL=OFF ^
+    -DICUB_USE_icub_firmware_shared:BOOL=ON ^
+    -DICUB_COMPILE_BINDINGS:BOOL=OFF ^
+    %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/icub-main/bld_py.bat

@@ -0,0 +1,25 @@
+cd bindings
+rmdir /s /q build
+mkdir build
+cd build
+
+cmake %CMAKE_ARGS% -G "Ninja" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DBUILD_SHARED_LIBS:BOOL=ON ^
+    -DPython_EXECUTABLE:PATH=%PYTHON% ^
+    -DCREATE_PYTHON:BOOL=ON ^
+    -DCREATE_RUBY:BOOL=OFF ^
+    -DCREATE_JAVA:BOOL=OFF ^
+    -DCREATE_CSHARP:BOOL=OFF ^
+    -DCMAKE_INSTALL_PYTHONDIR:PATH=%SP_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

recipes/icub-main/build_cxx.sh

@@ -0,0 +1,67 @@
+#!/bin/sh
+
+rm -rf build
+mkdir build
+cd build
+
+if [[ "${target_platform}" == linux-* ]]; then
+    export ICUB_MAIN_ON_LINUX=ON
+else
+    export ICUB_MAIN_ON_LINUX=OFF
+fi
+
+cmake ${CMAKE_ARGS} -GNinja .. \
+      -DCMAKE_BUILD_TYPE=Release \
+      -DBUILD_SHARED_LIBS:BOOL=ON \
+      -DBUILD_TESTING:BOOL=ON \
+      -DENABLE_icubmod_cartesiancontrollerserver:BOOL=ON \
+      -DENABLE_icubmod_cartesiancontrollerclient:BOOL=ON \
+      -DENABLE_icubmod_gazecontrollerclient:BOOL=ON \
+      -DENABLE_icubmod_skinWrapper:BOOL=ON \
+      -DENABLE_icubmod_dragonfly2:BOOL=${ICUB_MAIN_ON_LINUX} \
+      -DENABLE_icubmod_sharedcan:BOOL=ON \
+      -DENABLE_icubmod_bcbBattery:BOOL=ON \
+      -DENABLE_icubmod_canmotioncontrol:BOOL=ON \
+      -DENABLE_icubmod_canBusAnalogSensor:BOOL=ON \
+      -DENABLE_icubmod_canBusInertialMTB:BOOL=ON \
+      -DENABLE_icubmod_canBusSkin:BOOL=ON \
+      -DENABLE_icubmod_canBusFtSensor:BOOL=ON \
+      -DENABLE_icubmod_canBusVirtualAnalogSensor:BOOL=ON \
+      -DENABLE_icubmod_cfw2can:BOOL=OFF \
+      -DENABLE_icubmod_ecan:BOOL=OFF \
+      -DENABLE_icubmod_embObjBattery:BOOL=ON \
+      -DENABLE_icubmod_embObjFTsensor:BOOL=ON \
+      -DENABLE_icubmod_embObjMultipleFTsensors:BOOL=ON \
+      -DENABLE_icubmod_embObjIMU:BOOL=ON \
+      -DENABLE_icubmod_embObjMais:BOOL=ON \
+      -DENABLE_icubmod_embObjMotionControl:BOOL=ON \
+      -DENABLE_icubmod_embObjSkin:BOOL=ON \
+      -DENABLE_icubmod_parametricCalibrator:BOOL=ON \
+      -DENABLE_icubmod_parametricCalibratorEth:BOOL=ON \
+      -DENABLE_icubmod_embObjPOS:BOOL=ON \
+      -DENABLE_icubmod_xsensmtx:BOOL=ON \
+      -DENABLE_icubmod_socketcan:BOOL=${ICUB_MAIN_ON_LINUX} \
+      -DICUB_USE_icub_firmware_shared:BOOL=ON \
+      -DICUB_COMPILE_BINDINGS:BOOL=OFF \
+      ..
+
+cmake --build . --config Release
+
+if [[ ("${CONDA_BUILD_CROSS_COMPILATION:-}" != "1" || "${CROSSCOMPILING_EMULATOR}" != "") ]]; then
+  ctest --output-on-failure  -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/icub-main/build_py.sh

@@ -0,0 +1,20 @@
+#!/bin/sh
+
+cd ${SRC_DIR}/bindings
+
+rm -rf build
+mkdir build
+cd build
+
+cmake ${CMAKE_ARGS} -GNinja .. \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DBUILD_SHARED_LIBS:BOOL=ON \
+    -DPython_EXECUTABLE:PATH=$PYTHON \
+    -DCREATE_PYTHON:BOOL=ON \
+    -DCREATE_RUBY:BOOL=OFF \
+    -DCREATE_JAVA:BOOL=OFF \
+    -DCREATE_CSHARP:BOOL=OFF \
+    -DCMAKE_INSTALL_PYTHONDIR:PATH=${SP_DIR}
+
+ninja -v
+cmake --build . --config Release --target install

recipes/icub-main/deactivate.msh

@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\iCub"))
+]).else_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/iCub"))
+])