cartographer: add package (#2804)

* cartographer: add package

* clean unneeded code

* cartographer: replace cairo with correct header

* cartographer: update port `xmake.lua`

* cartographer: patch to remove include config.h

* cartographer: fixed only on linux

* cartographer: use cxx17

* cartographer: set test C++ to 17

* cartographer: Remove all test files and remove unistd for windows

* cartographer: remove config via io.replace

* cartographer: fix for windows

* cartographer: add zlib

* cartographer: move zlib above boost

* cartographer: specify boost version

* cartographer: use boost 1.83.0

* cartographer: remove specify boost version

* Update xmake.lua

* cartographer: disable shared for windows

---------

Co-authored-by: ruki <[email protected]>

packages/c/cartographer/patches/1.0.0/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/common/thread_pool.cc b/cartographer/common/thread_pool.cc
+index bc3c743..c61704d 100644
+--- a/cartographer/common/thread_pool.cc
++++ b/cartographer/common/thread_pool.cc
+@@ -16,7 +16,6 @@
+ 
+ #include "cartographer/common/thread_pool.h"
+ 
+-#include <unistd.h>
+ #include <algorithm>
+ #include <chrono>
+ #include <numeric>
+diff --git a/cartographer/mapping/pose_graph_interface.h b/cartographer/mapping/pose_graph_interface.h
+index 6483ef4..6456720 100644
+--- a/cartographer/mapping/pose_graph_interface.h
++++ b/cartographer/mapping/pose_graph_interface.h
+@@ -18,6 +18,7 @@
+ #define CARTOGRAPHER_MAPPING_POSE_GRAPH_INTERFACE_H_
+ 
+ #include <vector>
++#include <array>
+ 
+ #include "cartographer/common/optional.h"
+ #include "cartographer/mapping/id.h"

packages/c/cartographer/port/xmake.lua

@@ -0,0 +1,53 @@
+add_rules("mode.debug", "mode.release")
+
+add_requires("boost", {configs = {iostreams = true}})
+add_requires("ceres-solver", {configs = {suitesparse = true}})
+add_requires("abseil", "cairo", "eigen", "glog", "lua", "protobuf-cpp", "zlib")
+
+target("cartographer")
+    set_kind("$(kind)")
+    set_languages("cxx17")
+
+    add_packages(
+        "abseil",
+        "boost", 
+        "ceres-solver", 
+        "cairo", 
+        "eigen",
+        "glog",
+        "lua",
+        "zlib"
+    )
+    
+    add_packages("protobuf-cpp", {public = true})
+    add_rules("protobuf.cpp")
+
+    add_files("cartographer/**.proto", {proto_rootdir = "cartographer", proto_autogendir = path.join("$(buildir)", "proto") , proto_public = true})
+    
+    add_includedirs("$(buildir)/proto/cartographer")
+    add_includedirs("$(buildir)/proto", { public = true })
+
+    add_headerfiles("$(buildir)/proto/(cartographer/**.h)")
+    add_headerfiles("$(buildir)/proto/cartographer/(**.h)")
+
+    remove_files("cartographer/**_service.proto")
+
+    add_headerfiles("(cartographer/**.h)")
+    add_files("cartographer/**.cc")
+
+    remove_files("cartographer/io/serialization_format_migration.cc")
+    remove_headerfiles("cartographer/io/serialization_format_migration.h")
+
+    remove_headerfiles("**/fake_*.h", "**/*test*.h", "**/mock*.h")
+    remove_files("**/fake_*.cc", "**/mock*.cc", "**/*_main.cc", "**/*test*.cc")
+
+    -- BUILD_GRPC is not enabled
+    remove_headerfiles("cartographer/cloud/**.h")
+    remove_files("cartographer/cloud/**.cc")
+    remove_files("cartographer/cloud/proto/**.proto")
+
+    add_includedirs(".", { public = true })
+
+    if is_plat("windows") then
+        add_defines("NOMINMAX")
+    end

packages/c/cartographer/xmake.lua

@@ -0,0 +1,47 @@
+package("cartographer")
+    set_homepage("https://github.com/cartographer-project/cartographer")
+    set_description("Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.")
+    set_license("Apache-2.0")
+
+    add_urls("https://github.com/cartographer-project/cartographer/archive/refs/tags/$(version).tar.gz",
+             "https://github.com/cartographer-project/cartographer.git")
+
+    add_versions("1.0.0", "474a410bf6457eb8a0fd92ea412d7889fb013051e625d3ee25e8d65e4113fd6c")
+
+    add_patches("1.0.0", path.join(os.scriptdir(), "patches", "1.0.0", "fix-build-error.patch"), "a4bb53d6f098c77a397d72c244d4283af1f9eec8a4ca7a7fa28de77b06d1201e")
+
+    if is_plat("windows") then
+        add_configs("shared", {description = "Build shared library.", default = false, type = "boolean", readonly = true})
+    end
+
+    add_deps("cmake")
+    add_deps("zlib")
+    add_deps("boost", {configs = {iostreams = true}})
+    add_deps("ceres-solver", {configs = {suitesparse = true}})
+    add_deps("abseil", "cairo", "eigen", "lua", "protobuf-cpp")
+
+    on_install("windows|x64", "windows|x86", "macosx|x86_64", "linux", function (package)
+        for _, headerfile in ipairs(os.files("cartographer/**.h")) do
+            io.replace(headerfile, "cairo/cairo.h", "cairo.h", {plain = true})
+        end
+        for _, protofile in ipairs(os.files("cartographer/**.proto")) do
+            io.replace(protofile, [[import "cartographer/]], [[import "]], {plain = true})
+        end
+        os.cp(path.join(package:scriptdir(), "port", "xmake.lua"), "xmake.lua")
+        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)
+
+    on_test(function (package)
+        assert(package:check_cxxsnippets({test = [[
+            #include "cartographer/mapping/proto/map_builder_options.pb.h"
+            void test() {
+                cartographer::mapping::proto::MapBuilderOptions map_builder_options;
+            }
+        ]]}, {configs = {languages = "c++17"}}))
+    end)