cartographer: add version 2.0.0 (#3173)

* cartographer: add 2.0.0

* cartographer: fix name

* cartographer: add include memory

* cartographer: remove files with `int main`

* cartographer: remove another file

* cartographer: remove `remove_files` (unneeded)

* cartographer: remove unneeded statements

packages/c/cartographer/patches/2.0.0/fix-build-error.patch

@@ -0,0 +1,39 @@
+diff --git a/cartographer/common/math.h b/cartographer/common/math.h
+index c4a77ef..0248f66 100644
+--- a/cartographer/common/math.h
++++ b/cartographer/common/math.h
+@@ -17,6 +17,10 @@
+ #ifndef CARTOGRAPHER_COMMON_MATH_H_
+ #define CARTOGRAPHER_COMMON_MATH_H_
+ 
++#ifndef M_PI
++#define M_PI 3.14159265358979323846
++#endif
++
+ #include <cmath>
+ #include <vector>
+ 
+diff --git a/cartographer/mapping/pose_graph_interface.h b/cartographer/mapping/pose_graph_interface.h
+index 68551f1..6055485 100644
+--- a/cartographer/mapping/pose_graph_interface.h
++++ b/cartographer/mapping/pose_graph_interface.h
+@@ -19,6 +19,7 @@
+ 
+ #include <chrono>
+ #include <vector>
++#include <array>
+ 
+ #include "absl/types/optional.h"
+ #include "cartographer/mapping/id.h"
+diff --git a/cartographer/mapping/value_conversion_tables.h b/cartographer/mapping/value_conversion_tables.h
+index 56924f0..f67854f 100644
+--- a/cartographer/mapping/value_conversion_tables.h
++++ b/cartographer/mapping/value_conversion_tables.h
+@@ -19,6 +19,7 @@
+ 
+ #include <map>
+ #include <vector>
++#include <memory>
+ 
+ #include "cartographer/common/port.h"
+ #include "glog/logging.h"

packages/c/cartographer/patches/2.0.0/remove-boost.patch

@@ -0,0 +1,89 @@
+diff --git a/cartographer/common/port.h b/cartographer/common/port.h
+index eec8469..96881ad 100644
+--- a/cartographer/common/port.h
++++ b/cartographer/common/port.h
+@@ -17,12 +17,14 @@
+ #ifndef CARTOGRAPHER_COMMON_PORT_H_
+ #define CARTOGRAPHER_COMMON_PORT_H_
+ 
+-#include <boost/iostreams/device/back_inserter.hpp>
+-#include <boost/iostreams/filter/gzip.hpp>
+-#include <boost/iostreams/filtering_stream.hpp>
+ #include <cinttypes>
++#include <cstring>
+ #include <cmath>
+ #include <string>
++#include <stdexcept>
++#include <functional>
++
++#include <zlib.h>
+ 
+ namespace cartographer {
+ 
+@@ -47,22 +49,54 @@ inline int64 RoundToInt64(const double x) { return std::lround(x); }
+ 
+ inline void FastGzipString(const std::string& uncompressed,
+                            std::string* compressed) {
+-  boost::iostreams::filtering_ostream out;
+-  out.push(
+-      boost::iostreams::gzip_compressor(boost::iostreams::zlib::best_speed));
+-  out.push(boost::iostreams::back_inserter(*compressed));
+-  boost::iostreams::write(out,
+-                          reinterpret_cast<const char*>(uncompressed.data()),
+-                          uncompressed.size());
++    z_stream zs;
++    memset(&zs, 0, sizeof(zs));
++
++    if (deflateInit(&zs, Z_BEST_SPEED) != Z_OK)
++        throw std::runtime_error("deflateInit failed while compressing.");
++
++    zs.next_in = reinterpret_cast<Bytef*>(const_cast<char*>(uncompressed.data()));
++    zs.avail_in = static_cast<uInt>(uncompressed.size());
++
++    int ret;
++    char buffer[4096];
++
++    do {
++        zs.next_out = reinterpret_cast<Bytef*>(buffer);
++        zs.avail_out = sizeof(buffer);
++
++        ret = deflate(&zs, Z_FINISH);
++
++        compressed->append(buffer, sizeof(buffer) - zs.avail_out);
++    } while (zs.avail_out == 0);
++
++    deflateEnd(&zs);
+ }
+ 
+ inline void FastGunzipString(const std::string& compressed,
+                              std::string* decompressed) {
+-  boost::iostreams::filtering_ostream out;
+-  out.push(boost::iostreams::gzip_decompressor());
+-  out.push(boost::iostreams::back_inserter(*decompressed));
+-  boost::iostreams::write(out, reinterpret_cast<const char*>(compressed.data()),
+-                          compressed.size());
++    z_stream zs;
++    memset(&zs, 0, sizeof(zs));
++
++    if (inflateInit(&zs) != Z_OK)
++        throw std::runtime_error("inflateInit failed while decompressing.");
++
++    zs.next_in = reinterpret_cast<Bytef*>(const_cast<char*>(compressed.data()));
++    zs.avail_in = static_cast<uInt>(compressed.size());
++
++    int ret;
++    char buffer[4096];
++
++    do {
++        zs.next_out = reinterpret_cast<Bytef*>(buffer);
++        zs.avail_out = sizeof(buffer);
++
++        ret = inflate(&zs, Z_NO_FLUSH);
++
++        decompressed->append(buffer, sizeof(buffer) - zs.avail_out);
++    } while (zs.avail_out == 0);
++
++    inflateEnd(&zs);
+ }
+ 
+ }  // namespace common

packages/c/cartographer/port/xmake.lua

@@ -36,6 +36,9 @@ target("cartographer")
     remove_files("cartographer/io/serialization_format_migration.cc")
     remove_headerfiles("cartographer/io/serialization_format_migration.h")
 
+    remove_files("cartographer/io/internal/pbstream_migrate.cc", "cartographer/io/internal/pbstream_info.cc")
+    remove_headerfiles("cartographer/io/internal/pbstream_migrate.h", "cartographer/io/internal/pbstream_info.h")
+
     remove_headerfiles("**/fake_*.h", "**/*test*.h", "**/mock*.h")
     remove_files("**/fake_*.cc", "**/mock*.cc", "**/*_main.cc", "**/*test*.cc")
 

packages/c/cartographer/xmake.lua

@@ -7,9 +7,12 @@ package("cartographer")
              "https://github.com/cartographer-project/cartographer.git")
 
     add_versions("1.0.0", "474a410bf6457eb8a0fd92ea412d7889fb013051e625d3ee25e8d65e4113fd6c")
+    add_versions("2.0.0", "abba0daa348095a5e821ee5e8037bad5d06f89f4c21ea850da5ab8a7e6997a2a")
 
     add_patches("1.0.0", path.join(os.scriptdir(), "patches", "1.0.0", "fix-build-error.patch"), "a4bb53d6f098c77a397d72c244d4283af1f9eec8a4ca7a7fa28de77b06d1201e")
     add_patches("1.0.0", path.join(os.scriptdir(), "patches", "1.0.0", "remove-boost.patch"), "bd0666bbf4eff2f4fda0c6bd55c960fd60af848f7d750a9c1efaffda2abc1e9b")
+    add_patches("2.0.0", path.join(os.scriptdir(), "patches", "2.0.0", "fix-build-error.patch"), "5b59ffeb1ef339759e8def5c3a4e4793d5efc9d2af6feb782cae09afd3dd7a04")
+    add_patches("2.0.0", path.join(os.scriptdir(), "patches", "2.0.0", "remove-boost.patch"), "9b323141681748e3191c9964c7774bbb5acf17292dda76554763da4999a6358e")
 
     if is_plat("windows") then
         add_configs("shared", {description = "Build shared library.", default = false, type = "boolean", readonly = true})
@@ -24,6 +27,11 @@ package("cartographer")
         for _, headerfile in ipairs(os.files("cartographer/**.h")) do
             io.replace(headerfile, "cairo/cairo.h", "cairo.h", {plain = true})
         end
+        for _, file in ipairs(table.join(os.files("cartographer/**.cc"), os.files("cartographer/**.h"))) do
+            io.replace(file, "LOCKS_EXCLUDED", "ABSL_LOCKS_EXCLUDED", {plain = true})
+            io.replace(file, "GUARDED_BY", "ABSL_GUARDED_BY", {plain = true})
+            io.replace(file, "EXCLUSIVE_LOCKS_REQUIRED", "ABSL_EXCLUSIVE_LOCKS_REQUIRED", {plain = true})
+        end
         for _, protofile in ipairs(os.files("cartographer/**.proto")) do
             io.replace(protofile, [[import "cartographer/]], [[import "]], {plain = true})
         end
@@ -31,9 +39,6 @@ package("cartographer")
         io.replace("cartographer/common/configuration_file_resolver.cc", [[#include "cartographer/common/config.h"]], "", {plain = true})
         io.replace("cartographer/common/configuration_file_resolver.cc", [[configuration_files_directories_.push_back(kConfigurationFilesDirectory);]], "", {plain = true})
         local configs = {}
-        if is_plat("windows") then
-            io.replace("cartographer/common/thread_pool.cc", "#include <unistd.h>", "", {plain = true})
-        end
         import("package.tools.xmake").install(package, configs)
     end)