[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>

5 files changed, 75 insertions, 65 deletions

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/fix_dependency.patch b/ports/ompl/fix_dependency.patch
deleted file mode 100644
index 4a19f81b8..000000000
--- a/ports/ompl/fix_dependency.patch
+++ /dev/null
@@ -1,32 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt

-index 4c7e6901..a433b7da 100644

---- a/CMakeLists.txt

-+++ b/CMakeLists.txt

-@@ -136,7 +136,7 @@ find_package(Drawstuff QUIET)

- set_package_properties(assimp PROPERTIES

-     URL "http://assimp.org"

-     PURPOSE "Used in ompl_app for reading meshes representing robots and environments.")

--find_package(assimp REQUIRED)

-+find_package(assimp CONFIG REQUIRED)

- set_package_properties(ccd PROPERTIES

-     URL "https://github.com/danfis/libccd"

-     PURPOSE "Collision detection library used by fcl.")

-@@ -178,8 +178,7 @@ include_directories(

-     "${OMPLAPP_INCLUDE_DIRS}"

-     "${OMPL_INCLUDE_DIRS}"

-     "${EIGEN3_INCLUDE_DIR}"

--    "${FCL_INCLUDE_DIRS}"

--    "${ASSIMP_INCLUDE_DIRS}")

-+    "${FCL_INCLUDE_DIRS}")

- 

- # ROS installs fcl in /usr. In /usr/include/fcl/config.h it says octomap was

- # enabled. Octomap is installed in /opt/ros/${ROS_DISTRO}/include (most

-@@ -195,7 +194,7 @@ set(OMPLAPP_MODULE_LIBRARIES

-     ${FCL_LIBRARIES})

- set(OMPLAPP_LIBRARIES

-     ${OPENGL_LIBRARIES}

--    ${ASSIMP_LIBRARIES}

-+    assimp::assimp

-     ${FCL_LIBRARIES})

- link_directories(${ASSIMP_LIBRARY_DIRS} ${CCD_LIBRARY_DIRS} ${OCTOMAP_LIBRARY_DIRS} ${FCL_LIBRARY_DIRS})

- 

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")