[sdformat9] Add new port 🤖 (#11265)

* [sdformat9] Add new port

* Update ports/sdformat9/portfile.cmake

Co-authored-by: NancyLi1013 <46708020+NancyLi1013@users.noreply.github.com>

* Update ports/sdformat9/portfile.cmake

Co-authored-by: NancyLi1013 <46708020+NancyLi1013@users.noreply.github.com>

* Update ports/sdformat9/portfile.cmake

Co-authored-by: NancyLi1013 <46708020+NancyLi1013@users.noreply.github.com>

* [sdformat9] Fix indent

Co-authored-by: NancyLi1013 <46708020+NancyLi1013@users.noreply.github.com>

4 files changed, 234 insertions, 0 deletions

diff --git a/ports/sdformat9/CONTROL b/ports/sdformat9/CONTROL
new file mode 100644
index 000000000..2242dfcab
--- /dev/null
+++ b/ports/sdformat9/CONTROL
@@ -0,0 +1,6 @@
+Source: sdformat9
+Version: 9.2.0
+Homepage: http://sdformat.org/
+Build-Depends: ignition-math6, urdfdom, tinyxml
+Description: Simulation Description Format (SDF) parser and description files.
+Supports: !(linux|uwp)
\ No newline at end of file
diff --git a/ports/sdformat9/portfile.cmake b/ports/sdformat9/portfile.cmake
new file mode 100644
index 000000000..828f04525
--- /dev/null
+++ b/ports/sdformat9/portfile.cmake
@@ -0,0 +1,43 @@
+vcpkg_fail_port_install(ON_TARGET "linux" "uwp")
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO osrf/sdformat
+    REF sdformat9_9.2.0
+    SHA512 6fc7d0ce46d9a7d1cae4fd905ebe6a07bb4ba98faa267be92a32b3409d6d82a99d5082485008a15484f7b5be2c347b5b24bc472fb1a4be5eb8b678b105cae6af
+    HEAD_REF sdf9
+    # Backport of https://github.com/osrf/sdformat/pull/269
+    PATCHES respect-build-testing.patch
+)
+
+# Ruby is required by the sdformat build process
+vcpkg_find_acquire_program(RUBY)
+get_filename_component(RUBY_PATH ${RUBY} DIRECTORY)
+set(_path $ENV{PATH})
+vcpkg_add_to_path(${RUBY_PATH})
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS 
+        -DBUILD_TESTING=OFF
+        -DUSE_EXTERNAL_URDF=ON
+        -DUSE_EXTERNAL_TINYXML=ON
+)
+
+vcpkg_install_cmake()
+
+# Restore original path
+set(ENV{PATH} ${_path})
+
+# Fix cmake targets and pkg-config file location
+vcpkg_fixup_cmake_targets(CONFIG_PATH "lib/cmake/sdformat9")
+vcpkg_fixup_pkgconfig()
+
+# Remove debug files
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include
+                    ${CURRENT_PACKAGES_DIR}/debug/lib/cmake
+                    ${CURRENT_PACKAGES_DIR}/debug/share)
+
+# Handle copyright
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)
diff --git a/ports/sdformat9/respect-build-testing.patch b/ports/sdformat9/respect-build-testing.patch
new file mode 100644
index 000000000..8509b91ea
--- /dev/null
+++ b/ports/sdformat9/respect-build-testing.patch
@@ -0,0 +1,182 @@
+From f31b1d65e0cc550d37ff9f67a01af055534282d0 Mon Sep 17 00:00:00 2001
+From: Silvio <silvio.traversaro@iit.it>
+Date: Sat, 2 May 2020 12:39:02 +0200
+Subject: [PATCH] If defined observe the CMake variable BUILD_TESTING
+
+For backward compatibility if it is not defined compile the tests
+
+Signed-off-by: Silvio <silvio.traversaro@iit.it>
+---
+ CMakeLists.txt     |  10 +++-
+ src/CMakeLists.txt | 136 +++++++++++++++++++++++----------------------
+ 2 files changed, 78 insertions(+), 68 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c0b934f9..38a71649 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -265,7 +265,15 @@ else (build_errors)
+ 
+     link_directories(${PROJECT_BINARY_DIR}/src)
+ 
+-    add_subdirectory(test)
++    if (NOT DEFINED BUILD_TESTING OR BUILD_TESTING)
++      set(BUILD_SDF_TEST TRUE)
++    else()
++      set(BUILD_SDF_TEST FALSE)
++    endif()
++
++    if (BUILD_SDF_TEST)
++      add_subdirectory(test)
++    endif()
+     add_subdirectory(src)
+     add_subdirectory(include/sdf)
+     add_subdirectory(sdf)
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 7dbb9536..c283a00a 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -91,74 +91,76 @@ else()
+   include_directories(${URDF_INCLUDE_DIRS})
+ endif()
+ 
+-set (gtest_sources
+-  Actor_TEST.cc
+-  AirPressure_TEST.cc
+-  Altimeter_TEST.cc
+-  Atmosphere_TEST.cc
+-  Box_TEST.cc
+-  Camera_TEST.cc
+-  Collision_TEST.cc
+-  Console_TEST.cc
+-  Cylinder_TEST.cc
+-  Element_TEST.cc
+-  Error_TEST.cc
+-  Exception_TEST.cc
+-  Frame_TEST.cc
+-  Filesystem_TEST.cc
+-  Geometry_TEST.cc
+-  Gui_TEST.cc
+-  Imu_TEST.cc
+-  Joint_TEST.cc
+-  JointAxis_TEST.cc
+-  Lidar_TEST.cc
+-  Light_TEST.cc
+-  Link_TEST.cc
+-  Magnetometer_TEST.cc
+-  Material_TEST.cc
+-  Mesh_TEST.cc
+-  Model_TEST.cc
+-  Noise_TEST.cc
+-  parser_urdf_TEST.cc
+-  Param_TEST.cc
+-  parser_TEST.cc
+-  Pbr_TEST.cc
+-  Physics_TEST.cc
+-  Plane_TEST.cc
+-  Root_TEST.cc
+-  Scene_TEST.cc
+-  SemanticPose_TEST.cc
+-  SDF_TEST.cc
+-  Sensor_TEST.cc
+-  Sphere_TEST.cc
+-  Surface_TEST.cc
+-  Types_TEST.cc
+-  Visual_TEST.cc
+-  World_TEST.cc
+-)
+-
+-# Build this test file only if Ignition Tools is installed.
+-if (IGNITION-TOOLS_BINARY_DIRS)
+-  set (gtest_sources ${gtest_sources}
+-    ign_TEST.cc
++if (BUILD_SDF_TEST)
++  set (gtest_sources
++    Actor_TEST.cc
++    AirPressure_TEST.cc
++    Altimeter_TEST.cc
++    Atmosphere_TEST.cc
++    Box_TEST.cc
++    Camera_TEST.cc
++    Collision_TEST.cc
++    Console_TEST.cc
++    Cylinder_TEST.cc
++    Element_TEST.cc
++    Error_TEST.cc
++    Exception_TEST.cc
++    Frame_TEST.cc
++    Filesystem_TEST.cc
++    Geometry_TEST.cc
++    Gui_TEST.cc
++    Imu_TEST.cc
++    Joint_TEST.cc
++    JointAxis_TEST.cc
++    Lidar_TEST.cc
++    Light_TEST.cc
++    Link_TEST.cc
++    Magnetometer_TEST.cc
++    Material_TEST.cc
++    Mesh_TEST.cc
++    Model_TEST.cc
++    Noise_TEST.cc
++    parser_urdf_TEST.cc
++    Param_TEST.cc
++    parser_TEST.cc
++    Pbr_TEST.cc
++    Physics_TEST.cc
++    Plane_TEST.cc
++    Root_TEST.cc
++    Scene_TEST.cc
++    SemanticPose_TEST.cc
++    SDF_TEST.cc
++    Sensor_TEST.cc
++    Sphere_TEST.cc
++    Surface_TEST.cc
++    Types_TEST.cc
++    Visual_TEST.cc
++    World_TEST.cc
+   )
+-endif()
+-
+-sdf_build_tests(${gtest_sources})
+-
+-if (NOT WIN32)
+-  set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS Utils.cc)
+-  sdf_build_tests(Utils_TEST.cc)
+-endif()
+-
+-if (NOT WIN32)
+-  set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS FrameSemantics.cc)
+-  sdf_build_tests(FrameSemantics_TEST.cc)
+-endif()
+-
+-if (NOT WIN32)
+-  set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS Converter.cc)
+-  sdf_build_tests(Converter_TEST.cc)
++  
++  # Build this test file only if Ignition Tools is installed.
++  if (IGNITION-TOOLS_BINARY_DIRS)
++    set (gtest_sources ${gtest_sources}
++      ign_TEST.cc
++    )
++  endif()
++  
++  sdf_build_tests(${gtest_sources})
++  
++  if (NOT WIN32)
++    set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS Utils.cc)
++    sdf_build_tests(Utils_TEST.cc)
++  endif()
++  
++  if (NOT WIN32)
++    set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS FrameSemantics.cc)
++    sdf_build_tests(FrameSemantics_TEST.cc)
++  endif()
++  
++  if (NOT WIN32)
++    set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS Converter.cc)
++    sdf_build_tests(Converter_TEST.cc)
++  endif()
+ endif()
+ 
+ sdf_add_library(${sdf_target} ${sources})
diff --git a/scripts/ci.baseline.txt b/scripts/ci.baseline.txt
index bf962053a..a366fb7d4 100644
--- a/scripts/ci.baseline.txt
+++ b/scripts/ci.baseline.txt
@@ -1645,6 +1645,9 @@ sdformat6:arm64-windows=fail
 sdformat6:arm-uwp=fail

 sdformat6:x64-uwp=fail

 sdformat6:x64-linux=ignore

+sdformat9:x64-linux=fail

+sdformat9:arm-uwp=fail

+sdformat9:x64-uwp=fail

 sdl1:arm-uwp=fail

 sdl1:x64-uwp=fail

 sdl1:x64-osx=fail