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;;; 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 ;for libQt5Help, needed by "studio"
qtwebkit
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))))
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