gnu/packages/robotics.scm

   1 ;;; GNU Guix --- Functional package management for GNU
   2 ;;; Copyright © 2018 Ludovic Courtès <ludo@gnu.org>
   3 ;;;
   4 ;;; This file is part of GNU Guix.
   5 ;;;
   6 ;;; GNU Guix is free software; you can redistribute it and/or modify it
   7 ;;; under the terms of the GNU General Public License as published by
   8 ;;; the Free Software Foundation; either version 3 of the License, or (at
   9 ;;; your option) any later version.
  10 ;;;
  11 ;;; GNU Guix is distributed in the hope that it will be useful, but
  12 ;;; WITHOUT ANY WARRANTY; without even the implied warranty of
  13 ;;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  14 ;;; GNU General Public License for more details.
  15 ;;;
  16 ;;; You should have received a copy of the GNU General Public License
  17 ;;; along with GNU Guix.  If not, see <http://www.gnu.org/licenses/>.
  18
  19 (define-module (gnu packages robotics)
  20   #:use-module (guix packages)
  21   #:use-module (guix download)
  22   #:use-module (guix git-download)
  23   #:use-module ((guix licenses) #:prefix license:)
  24   #:use-module (guix build-system cmake)
  25   #:use-module (gnu packages avahi)
  26   #:use-module (gnu packages cpp)
  27   #:use-module (gnu packages gl)
  28   #:use-module (gnu packages linux)
  29   #:use-module (gnu packages pkg-config)
  30   #:use-module (gnu packages protobuf)
  31   #:use-module (gnu packages qt)
  32   #:use-module (gnu packages sdl)
  33   #:use-module (gnu packages valgrind)
  34   #:use-module (gnu packages xml))
  35
  36 (define-public enki
  37   ;; Previous versions use Qt4 and are unsuitable for Aseba.
  38   (let ((commit "afd2d8e2f91c095f6745505ca1f32f31ea874200")
  39         (revision "0"))
  40     (package
  41       (name "enki")
  42       (version (git-version "2.0pre" revision commit))
  43       (home-page "https://github.com/enki-community/enki/")
  44       (source (origin
  45                 (method git-fetch)
  46                 (uri (git-reference (url home-page) (commit commit)))
  47                 (sha256
  48                  (base32
  49                   "1d1901zzsfml97hb4mb3ah3ab1bk4kh7bn6m7xrj1rv0gk9wkhq7"))
  50                 (file-name (string-append name "-" version "-checkout"))))
  51       (build-system cmake-build-system)
  52       (arguments
  53        '(#:configure-flags '("-DBUILD_SHARED_LIBS=ON")))
  54       (native-inputs `(("pkg-config" ,pkg-config)))
  55       (inputs
  56        ;; Optionally, add Python + Boost for Python bindings.
  57        `(("sdl2" ,sdl2)))
  58       (propagated-inputs
  59        ;; 'Viewer.h' includes 'QGLWidget'.
  60        `(("qtbase" ,qtbase)                ;the viewer module needs Qt5 + MESA
  61          ("mesa" ,mesa)))
  62       (synopsis "Robot simulator")
  63       (description
  64        "Enki is a robot simulator written in C++.  It provides collision and
  65 limited physics support for robots evolving on a flat surface.  On a
  66 contemporary desktop computer, Enki is able to simulate groups of robots
  67 hundred times faster than real-time.")
  68
  69       ;; The 'LICENSE' file as well as source file headers says that
  70       ;; researchers using the software are "asked" to cite using a given
  71       ;; citation, but that sentence is written as not being part of the
  72       ;; license (fortunately).
  73       (license license:gpl2+))))
  74
  75 (define-public aseba
  76   ;; Use the commit that allows us to build with Qt5.
  77   (let ((commit "3b35de80d5fdd47592b1c01d57e1f4ef37c5e5ea")
  78         (revision "0"))
  79     (package
  80       (name "aseba")
  81       (version (git-version "1.6.0" revision commit))
  82       (home-page "https://github.com/aseba-community/aseba")
  83       (source (origin
  84                 (method git-fetch)
  85                 (uri (git-reference (url home-page) (commit commit)
  86                                     (recursive? #t))) ;for Blockly
  87                 (sha256
  88                  (base32
  89                   "0j31lmc9f0ksvkh0md2fgsz92hcsrwnrqqcynamizs2ah8iwlqi5"))
  90                 (file-name (string-append name "-" version "-checkout"))
  91                 (modules '((guix build utils)))
  92                 (snippet
  93                  ;; Add missing Qt5::Network.
  94                  '(substitute* "targets/playground/CMakeLists.txt"
  95                     (("target_link_libraries(.*)\\$\\{EXTRA_LIBS\\}" _ middle)
  96                      (string-append "target_link_libraries" middle
  97                                     " Qt5::Network ${EXTRA_LIBS}"))))))
  98       (build-system cmake-build-system)
  99       (arguments
 100        '(#:configure-flags '("-DBUILD_SHARED_LIBS=ON")))
 101       (native-inputs
 102        `(("pkg-config" ,pkg-config)
 103          ("valgrind" ,valgrind)))                 ;for tests
 104       (inputs
 105        `(("dashel" ,dashel)
 106          ("enki" ,enki)
 107          ("protobuf" ,protobuf)                   ;for logging
 108          ("qtbase" ,qtbase)
 109          ("qtsvg" ,qtsvg)
 110          ("qttools" ,qttools)              ;for libQt5Help, needed by "studio"
 111          ("qtwebkit" ,qtwebkit)
 112          ("qtx11extras" ,qtx11extras)
 113          ("eudev" ,eudev)
 114          ("libxml2" ,libxml2)
 115          ("sdl2" ,sdl2)
 116          ("avahi" ,avahi)))            ;XXX: we need the libdnssd compat layer
 117       (synopsis "Event-based robot programming tools")
 118       (description
 119        "Aseba means @dfn{actuator and sensor event-based architecture}.
 120 It is a set of tools which allow beginners to program robots easily and
 121 efficiently.  It includes robot simulators, a programming language, and a
 122 visual programming language (VPL) that is notably used together with the
 123 Thymio educational robot.")
 124
 125       ;; Source file headers say "version 3.0" without "or any later version".
 126       (license license:lgpl3))))