[ompl] Fix linking using ${OMPL_LIBRARIES} (#18908)

* Fix _IMPORT_PREFIX

* Export cmake targets file

* Fix config

* Make separate omplapp port

* Run x-add-version for omplapp

* Fix versions

* Fix omplapp static builds

* Run x-add-version

* Update ports/omplapp/portfile.cmake

Co-authored-by: Phoebe <20694052+PhoebeHui@users.noreply.github.com>

* Update ports/omplapp/portfile.cmake

Co-authored-by: Phoebe <20694052+PhoebeHui@users.noreply.github.com>

* Put files in quotes

* Run x-add-version

Co-authored-by: Phoebe <20694052+PhoebeHui@users.noreply.github.com>

15 files changed, 215 insertions, 35 deletions

diff --git a/ports/ccd/CONTROL b/ports/ccd/CONTROL
index 5a5f59e28..6a7d5eeb0 100644
--- a/ports/ccd/CONTROL
+++ b/ports/ccd/CONTROL
@@ -1,4 +1,5 @@
 Source: ccd
 Version: 2.1-4
+Port-Version: 1
 Homepage: https://github.com/danfis/libccd
 Description: Library for collision detection between two convex shapes
diff --git a/ports/ccd/fix-static.patch b/ports/ccd/fix-static.patch
new file mode 100644
index 000000000..cfb4d388c
--- /dev/null
+++ b/ports/ccd/fix-static.patch
@@ -0,0 +1,13 @@
+diff --git a/src/ccd/ccd_export.h b/src/ccd/ccd_export.h

+index e898d41..c6aa5fb 100644

+--- a/src/ccd/ccd_export.h

++++ b/src/ccd/ccd_export.h

+@@ -1,7 +1,7 @@

+ #ifndef CCD_EXPORT_H

+ #define CCD_EXPORT_H

+ 

+-#ifdef CCD_STATIC_DEFINE

++#if 1

+ #  define CCD_EXPORT

+ #else

+ #  ifdef _MSC_VER

diff --git a/ports/ccd/portfile.cmake b/ports/ccd/portfile.cmake
index 29f0f9efa..a465560ca 100644
--- a/ports/ccd/portfile.cmake
+++ b/ports/ccd/portfile.cmake
@@ -1,3 +1,7 @@
+if(VCPKG_LIBRARY_LINKAGE STREQUAL static)
+    set(STATIC_PATCH fix-static.patch)
+endif()
+
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO danfis/libccd
@@ -5,7 +9,9 @@ vcpkg_from_github(
     SHA512 ff037d9c4df50f09600cf9b3514b259b2850ff43f74817853f5665d22812891168f70bd3cc3969b2c9e3c706f6254991a65421476349607fbd04d894b217456d
     HEAD_REF master
     # Backport https://github.com/danfis/libccd/pull/70 to support Emscripten
-    PATCHES "support-emscripten.patch"
+    PATCHES
+        "support-emscripten.patch"
+        ${STATIC_PATCH}
 )
 
 vcpkg_configure_cmake(
diff --git a/ports/ompl/0001_Export_targets.patch b/ports/ompl/0001_Export_targets.patch
new file mode 100644
index 000000000..6d599aec3
--- /dev/null
+++ b/ports/ompl/0001_Export_targets.patch
@@ -0,0 +1,27 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt

+index a9bb05f..31fab8c 100644

+--- a/CMakeLists.txt

++++ b/CMakeLists.txt

+@@ -215,6 +215,10 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/omplConfig.cmake

+     ${CMAKE_CURRENT_BINARY_DIR}/omplConfigVersion.cmake

+     DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/ompl/cmake

+     COMPONENT ompl)

++install(EXPORT ompl

++    DESTINATION "share/ompl"

++    FILE ompl-targets.cmake

++)

+ 

+ # script to install ompl on Ubuntu

+ configure_file("${CMAKE_CURRENT_SOURCE_DIR}/install-ompl-ubuntu.sh.in"

+diff --git a/src/ompl/CMakeLists.txt b/src/ompl/CMakeLists.txt

+index 9ea130e..6dda4df 100644

+--- a/src/ompl/CMakeLists.txt

++++ b/src/ompl/CMakeLists.txt

+@@ -83,6 +83,7 @@ endif (MSVC)

+ 

+ # install the library

+ install(TARGETS ompl

++    EXPORT ompl

+     DESTINATION ${CMAKE_INSTALL_LIBDIR}

+     COMPONENT ompl)

+ if (NOT MSVC)

diff --git a/ports/ompl/0002_Fix_config.patch b/ports/ompl/0002_Fix_config.patch
new file mode 100644
index 000000000..974b1b6ad
--- /dev/null
+++ b/ports/ompl/0002_Fix_config.patch
@@ -0,0 +1,39 @@
+diff --git a/omplConfig.cmake.in b/omplConfig.cmake.in

+index 465de25..ad373fa 100644

+--- a/omplConfig.cmake.in

++++ b/omplConfig.cmake.in

+@@ -18,8 +18,10 @@ set(OMPL_MAJOR_VERSION @PROJECT_VERSION_MAJOR@)

+ set(OMPL_MINOR_VERSION @PROJECT_VERSION_MINOR@)

+ set(OMPL_PATCH_VERSION @PROJECT_VERSION_PATCH@)

+ 

++find_dependency(Boost 1.58 COMPONENTS serialization filesystem system program_options)

++find_dependency(Eigen3)

+ set_and_check(OMPL_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")

+-set(OMPL_INCLUDE_DIRS "${OMPL_INCLUDE_DIR};@Boost_INCLUDE_DIR@;@EIGEN3_INCLUDE_DIR@")

++set(OMPL_INCLUDE_DIRS "${OMPL_INCLUDE_DIR};${Boost_INCLUDE_DIR};${EIGEN3_INCLUDE_DIR}")

+ foreach(_dir @FLANN_INCLUDE_DIRS@;@ODE_INCLUDE_DIRS@;@SPOT_INCLUDE_DIRS@;@TRIANGLE_INCLUDE_DIR@;@FCL_INCLUDE_DIRS@;@PQP_INCLUDE_DIR@;@ASSIMP_INCLUDE_DIRS@;@OPENGL_INCLUDE_DIR@)

+     if(_dir)

+         list(APPEND OMPL_INCLUDE_DIRS "${_dir}")

+@@ -29,7 +31,7 @@ list(REMOVE_DUPLICATES OMPL_INCLUDE_DIRS)

+ set(OMPL_INCLUDE_DIRS "${OMPL_INCLUDE_DIRS}" CACHE STRING "Include path for OMPL and its dependencies")

+ 

+ set_and_check(OMPL_LIBRARY_DIR @PACKAGE_LIB_INSTALL_DIR@)

+-set(OMPL_LIBRARY_DIRS "${OMPL_LIBRARY_DIR};@Boost_LIBRARY_DIRS@")

++set(OMPL_LIBRARY_DIRS "${OMPL_LIBRARY_DIR};${Boost_LIBRARY_DIRS}")

+ foreach(_dir @FLANN_LIBRARY_DIRS@;@ODE_LIBRARY_DIRS@;@SPOT_LIBRARY_DIRS@;@FCL_LIBRARY_DIRS@;@ASSIMP_LIBRARY_DIRS@)

+     if(_dir)

+         list(APPEND OMPL_LIBRARY_DIRS "${_dir}")

+@@ -40,7 +42,7 @@ set(OMPL_LIBRARY_DIRS "${OMPL_LIBRARY_DIRS}" CACHE STRING "Library path for OMPL

+ 

+ find_library(OMPL_LIBRARIES NAMES ompl.${OMPL_VERSION} ompl

+     PATHS ${OMPL_LIBRARY_DIR} NO_DEFAULT_PATH)

+-foreach(_lib @Boost_SERIALIZATION_LIBRARY@;@Boost_FILESYSTEM_LIBRARY@;@Boost_SYSTEM_LIBRARY@;@ODE_LIBRARIES@;@SPOT_LIBRARIES@)

++foreach(_lib ${Boost_SERIALIZATION_LIBRARY};${Boost_FILESYSTEM_LIBRARY};${Boost_SYSTEM_LIBRARY};@ODE_LIBRARIES@;@SPOT_LIBRARIES@)

+     if(_lib)

+         list(APPEND OMPL_LIBRARIES "${_lib}")

+     endif()

+@@ -61,3 +63,4 @@ endif()

+ 

+ include(FindPackageHandleStandardArgs)

+ find_package_handle_standard_args(ompl DEFAULT_MSG OMPL_INCLUDE_DIRS OMPL_LIBRARY_DIRS OMPL_LIBRARIES)

++include(${CMAKE_CURRENT_LIST_DIR}/ompl-targets.cmake)

diff --git a/ports/ompl/CONTROL b/ports/ompl/CONTROL
index e608b16d8..259006c2c 100644
--- a/ports/ompl/CONTROL
+++ b/ports/ompl/CONTROL
@@ -1,10 +1,6 @@
 Source: ompl

 Version: 1.5.1

-Port-Version: 0

+Port-Version: 1

 Homepage: https://ompl.kavrakilab.org/

 Description: The Open Motion Planning Library, consists of many state-of-the-art sampling-based motion planning algorithms

 Build-Depends: boost-dynamic-bitset, boost-filesystem, boost-graph, boost-odeint, boost-program-options, boost-serialization, boost-system, boost-test, boost-ublas, boost-timer, eigen3

-

-Feature: app

-Description: Add support for reading meshes and performing collision checking

-Build-Depends: assimp, fcl

diff --git a/ports/ompl/portfile.cmake b/ports/ompl/portfile.cmake
index e15cb560d..ab02eba31 100644
--- a/ports/ompl/portfile.cmake
+++ b/ports/ompl/portfile.cmake
@@ -2,28 +2,19 @@ vcpkg_buildpath_length_warning(37)
 

 set(OMPL_VERSION 1.5.1)

 

-set(FEATURE_PATCHES)

-

-if("app" IN_LIST FEATURES)

-    vcpkg_download_distfile(ARCHIVE

-        URLS "https://github.com/ompl/omplapp/releases/download/1.5.1/omplapp-1.5.1-Source.tar.gz"

-        FILENAME "omplapp-${OMPL_VERSION}.tar.gz"

-        SHA512 83b1b09d6be776f7e15a748402f0c2f072459921de61a92731daf5171bd1f91a829fbeb6e10a489b92fba0297f6272e7bb6b8f07830c387bb29ccdbc7b3731f3

-    )

-    list(APPEND FEATURE_PATCHES fix_dependency.patch)

-else()

-    vcpkg_download_distfile(ARCHIVE

-        URLS "https://github.com/ompl/ompl/archive/1.5.1.tar.gz"

-        FILENAME "ompl-${OMPL_VERSION}.tar.gz"

-        SHA512 2f28d29f32f3bb03e67b29ce251e4786364847a25e3c4cf66d7663ed38dca4da71d4e03cf9ce647710d9524a3907c76c09795e77f041cb8822f695d28f5ca570

-    )

-endif()

+vcpkg_download_distfile(ARCHIVE

+    URLS "https://github.com/ompl/ompl/archive/1.5.1.tar.gz"

+    FILENAME "ompl-${OMPL_VERSION}.tar.gz"

+    SHA512 2f28d29f32f3bb03e67b29ce251e4786364847a25e3c4cf66d7663ed38dca4da71d4e03cf9ce647710d9524a3907c76c09795e77f041cb8822f695d28f5ca570

+)

 

 vcpkg_extract_source_archive_ex(

     OUT_SOURCE_PATH SOURCE_PATH

     ARCHIVE ${ARCHIVE}

     REF ${OMPL_VERSION}

-    PATCHES ${FEATURE_PATCHES}

+    PATCHES

+        0001_Export_targets.patch

+        0002_Fix_config.patch

 )

 

 # Based on selected features different files get downloaded, so use the following command instead of patch.

@@ -58,17 +49,6 @@ file(REMOVE_RECURSE
     ${CURRENT_PACKAGES_DIR}/share/ompl/ompl.conf

     ${CURRENT_PACKAGES_DIR}/share/ompl/plannerarena

 )

-if ("app" IN_LIST FEATURES)

-    file(MAKE_DIRECTORY ${CURRENT_PACKAGES_DIR}/tools/ompl)

-    file(RENAME ${CURRENT_PACKAGES_DIR}/bin/ompl_benchmark.exe ${CURRENT_PACKAGES_DIR}/tools/ompl/ompl_benchmark.exe)

-    file(REMOVE_RECURSE

-        ${CURRENT_PACKAGES_DIR}/bin

-        ${CURRENT_PACKAGES_DIR}/debug/bin

-        ${CURRENT_PACKAGES_DIR}/include/omplapp/CMakeFiles

-        ${CURRENT_PACKAGES_DIR}/share/ompl/resources

-        ${CURRENT_PACKAGES_DIR}/share/ompl/webapp

-    )

-endif()

 

 if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")

     file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")

diff --git a/ports/omplapp/fix_boost_static_link.patch b/ports/omplapp/fix_boost_static_link.patch
new file mode 100644
index 000000000..fd74fb8a7
--- /dev/null
+++ b/ports/omplapp/fix_boost_static_link.patch
@@ -0,0 +1,17 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt

+index f5c3c88..3a4a7d4 100644

+--- a/CMakeLists.txt

++++ b/CMakeLists.txt

+@@ -36,10 +36,10 @@ set(OMPL_DEMO_INSTALL_DIR "${CMAKE_INSTALL_DATAROOTDIR}/ompl/demos"

+ set(OMPL_CMAKE_UTIL_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules"

+     CACHE FILEPATH "Path to directory with auxiliary CMake scripts for OMPL")

+ 

+-if(MSVC)

++if(false)

+     add_definitions(-DBOOST_ALL_NO_LIB)

+     add_definitions(-DBOOST_PROGRAM_OPTIONS_DYN_LINK)

+-endif(MSVC)

++endif(false)

+ # Ensure dynamic linking with boost unit_test_framework

+ add_definitions(-DBOOST_TEST_DYN_LINK)

+ # Avoid valgrind error due to overflow error, cf. https://bitbucket.org/ompl/ompl/issues/543

diff --git a/ports/ompl/fix_dependency.patch b/ports/omplapp/fix_dependency.patch
index 4a19f81b8..4a19f81b8 100644
--- a/ports/ompl/fix_dependency.patch
+++ b/ports/omplapp/fix_dependency.patch
diff --git a/ports/omplapp/portfile.cmake b/ports/omplapp/portfile.cmake
new file mode 100644
index 000000000..02da44945
--- /dev/null
+++ b/ports/omplapp/portfile.cmake
@@ -0,0 +1,67 @@
+vcpkg_buildpath_length_warning(37)

+

+set(OMPL_VERSION 1.5.1)

+

+vcpkg_download_distfile(ARCHIVE

+    URLS "https://github.com/ompl/omplapp/releases/download/1.5.1/omplapp-1.5.1-Source.tar.gz"

+    FILENAME "omplapp-${OMPL_VERSION}.tar.gz"

+    SHA512 83b1b09d6be776f7e15a748402f0c2f072459921de61a92731daf5171bd1f91a829fbeb6e10a489b92fba0297f6272e7bb6b8f07830c387bb29ccdbc7b3731f3

+)

+

+if(VCPKG_LIBRARY_LINKAGE STREQUAL static)

+    set(STATIC_PATCH fix_boost_static_link.patch)

+endif()

+

+vcpkg_extract_source_archive_ex(

+    OUT_SOURCE_PATH SOURCE_PATH

+    ARCHIVE ${ARCHIVE}

+    REF ${OMPL_VERSION}

+    PATCHES

+        fix_dependency.patch

+        ${STATIC_PATCH}

+)

+

+# Based on selected features different files get downloaded, so use the following command instead of patch.

+file(READ ${SOURCE_PATH}/CMakeLists.txt _contents)

+string(REPLACE "find_package(Eigen3 REQUIRED)" "find_package(Eigen3 REQUIRED CONFIG)" _contents "${_contents}")

+string(REPLACE "find_package(ccd REQUIRED)" "find_package(ccd REQUIRED CONFIG)" _contents "${_contents}")

+file(WRITE ${SOURCE_PATH}/CMakeLists.txt "${_contents}")

+

+vcpkg_configure_cmake(

+    SOURCE_PATH ${SOURCE_PATH}

+    PREFER_NINJA

+    DISABLE_PARALLEL_CONFIGURE

+    OPTIONS

+        -DOMPL_VERSIONED_INSTALL=OFF

+        -DOMPL_REGISTRATION=OFF

+        -DOMPL_BUILD_DEMOS=OFF

+        -DOMPL_BUILD_TESTS=OFF

+        -DOMPL_BUILD_PYBINDINGS=OFF

+        -DOMPL_BUILD_PYTESTS=OFF

+)

+

+vcpkg_install_cmake()

+

+vcpkg_fixup_cmake_targets(CONFIG_PATH share/ompl/cmake)

+

+# Remove debug distribution and other, move ompl_benchmark to tools/ dir

+vcpkg_copy_tools(TOOL_NAMES ompl_benchmark AUTO_CLEAN)

+file(REMOVE_RECURSE

+    "${CURRENT_PACKAGES_DIR}/include/ompl"

+    "${CURRENT_PACKAGES_DIR}/bin"

+    "${CURRENT_PACKAGES_DIR}/include/omplapp/CMakeFiles"

+    "${CURRENT_PACKAGES_DIR}/lib/ompl.lib"

+    "${CURRENT_PACKAGES_DIR}/share/ompl"

+    "${CURRENT_PACKAGES_DIR}/share/man"

+    "${CURRENT_PACKAGES_DIR}/debug/bin"

+    "${CURRENT_PACKAGES_DIR}/debug/include"

+    "${CURRENT_PACKAGES_DIR}/debug/lib/ompl.lib"

+    "${CURRENT_PACKAGES_DIR}/debug/share"

+)

+

+if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")

+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")

+endif()

+

+# Handle copyright

+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

diff --git a/ports/omplapp/vcpkg.json b/ports/omplapp/vcpkg.json
new file mode 100644
index 000000000..07ac2ba64
--- /dev/null
+++ b/ports/omplapp/vcpkg.json
@@ -0,0 +1,11 @@
+{
+  "name": "omplapp",
+  "version-string": "1.5.1",
+  "description": "Use OMPL for reading meshes and performing collision checking",
+  "homepage": "https://ompl.kavrakilab.org/",
+  "dependencies": [
+    "assimp",
+    "fcl",
+    "ompl"
+  ]
+}
diff --git a/versions/baseline.json b/versions/baseline.json
index 8fea072f3..39d17150a 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -1158,7 +1158,7 @@
     },
     "ccd": {
       "baseline": "2.1-4",
-      "port-version": 0
+      "port-version": 1
     },
     "ccfits": {
       "baseline": "2.5",
@@ -4514,6 +4514,10 @@
     },
     "ompl": {
       "baseline": "1.5.1",
+      "port-version": 1
+    },
+    "omplapp": {
+      "baseline": "1.5.1",
       "port-version": 0
     },
     "onednn": {
diff --git a/versions/c-/ccd.json b/versions/c-/ccd.json
index da47a0a54..51d2ec8dd 100644
--- a/versions/c-/ccd.json
+++ b/versions/c-/ccd.json
@@ -1,6 +1,11 @@
 {
   "versions": [
     {
+      "git-tree": "a720cc123c190c6b68e57e356c4937685eeb2faa",
+      "version-string": "2.1-4",
+      "port-version": 1
+    },
+    {
       "git-tree": "c5315a631ffcea9c2a158578e73c53d8455808de",
       "version-string": "2.1-4",
       "port-version": 0
diff --git a/versions/o-/ompl.json b/versions/o-/ompl.json
index 485887ffe..801fcdea6 100644
--- a/versions/o-/ompl.json
+++ b/versions/o-/ompl.json
@@ -1,6 +1,11 @@
 {
   "versions": [
     {
+      "git-tree": "f3812117c1ed1d4080155284f12908236dd797f5",
+      "version-string": "1.5.1",
+      "port-version": 1
+    },
+    {
       "git-tree": "2dc123683ef75002bd7252b252cc220a7a643066",
       "version-string": "1.5.1",
       "port-version": 0
diff --git a/versions/o-/omplapp.json b/versions/o-/omplapp.json
new file mode 100644
index 000000000..4b8de5c30
--- /dev/null
+++ b/versions/o-/omplapp.json
@@ -0,0 +1,9 @@
+{
+  "versions": [
+    {
+      "git-tree": "590eb9956381e7ef47b780fbd9aee2c6e8da323c",
+      "version-string": "1.5.1",
+      "port-version": 0
+    }
+  ]
+}