mirror of
https://github.com/NixOS/nixpkgs.git
synced 2024-12-03 20:33:21 +00:00
e0464e4788
In preparation for the deprecation of `stdenv.isX`. These shorthands are not conducive to cross-compilation because they hide the platforms. Darwin might get cross-compilation for which the continued usage of `stdenv.isDarwin` will get in the way One example of why this is bad and especially affects compiler packages https://www.github.com/NixOS/nixpkgs/pull/343059 There are too many files to go through manually but a treewide should get users thinking when they see a `hostPlatform.isX` in a place where it doesn't make sense. ``` fd --type f "\.nix" | xargs sd --fixed-strings "stdenv.is" "stdenv.hostPlatform.is" fd --type f "\.nix" | xargs sd --fixed-strings "stdenv'.is" "stdenv'.hostPlatform.is" fd --type f "\.nix" | xargs sd --fixed-strings "clangStdenv.is" "clangStdenv.hostPlatform.is" fd --type f "\.nix" | xargs sd --fixed-strings "gccStdenv.is" "gccStdenv.hostPlatform.is" fd --type f "\.nix" | xargs sd --fixed-strings "stdenvNoCC.is" "stdenvNoCC.hostPlatform.is" fd --type f "\.nix" | xargs sd --fixed-strings "inherit (stdenv) is" "inherit (stdenv.hostPlatform) is" fd --type f "\.nix" | xargs sd --fixed-strings "buildStdenv.is" "buildStdenv.hostPlatform.is" fd --type f "\.nix" | xargs sd --fixed-strings "effectiveStdenv.is" "effectiveStdenv.hostPlatform.is" fd --type f "\.nix" | xargs sd --fixed-strings "originalStdenv.is" "originalStdenv.hostPlatform.is" ```
120 lines
3.2 KiB
Nix
120 lines
3.2 KiB
Nix
{
|
|
boost,
|
|
casadi,
|
|
casadiSupport ? true,
|
|
cmake,
|
|
collisionSupport ? true,
|
|
console-bridge,
|
|
doxygen,
|
|
eigen,
|
|
example-robot-data,
|
|
fetchFromGitHub,
|
|
hpp-fcl,
|
|
jrl-cmakemodules,
|
|
lib,
|
|
pkg-config,
|
|
pythonSupport ? false,
|
|
python3Packages,
|
|
stdenv,
|
|
urdfdom,
|
|
}:
|
|
|
|
stdenv.mkDerivation (finalAttrs: {
|
|
pname = "pinocchio";
|
|
version = "3.2.0";
|
|
|
|
src = fetchFromGitHub {
|
|
owner = "stack-of-tasks";
|
|
repo = "pinocchio";
|
|
rev = "v${finalAttrs.version}";
|
|
hash = "sha256-8V+n1TwFojXKOVkGG8k9aXVadt2NBFlZKba93L+NRNU=";
|
|
};
|
|
|
|
outputs = [
|
|
"out"
|
|
"doc"
|
|
];
|
|
|
|
# test failure, ref https://github.com/stack-of-tasks/pinocchio/issues/2277
|
|
prePatch = lib.optionalString (stdenv.hostPlatform.isLinux && stdenv.hostPlatform.isAarch64) ''
|
|
substituteInPlace unittest/algorithm/utils/CMakeLists.txt \
|
|
--replace-fail "add_pinocchio_unit_test(force)" ""
|
|
'';
|
|
|
|
postPatch = ''
|
|
# example-robot-data models are used in checks.
|
|
# Upstream provide them as git submodule, but we can use our own version instead.
|
|
test -d models/example-robot-data && rmdir models/example-robot-data
|
|
ln -s ${example-robot-data.src} models/example-robot-data
|
|
|
|
# allow package:// uri use in examples
|
|
export ROS_PACKAGE_PATH=${example-robot-data}/share
|
|
|
|
# silence matplotlib warning
|
|
export MPLCONFIGDIR=$(mktemp -d)
|
|
'';
|
|
|
|
# CMAKE_BUILD_TYPE defaults to Release in this package,
|
|
# which enable -O3, which break some tests
|
|
# ref. https://github.com/stack-of-tasks/pinocchio/issues/2304#issuecomment-2231018300
|
|
postConfigure = ''
|
|
substituteInPlace CMakeCache.txt --replace-fail '-O3' '-O2'
|
|
'';
|
|
|
|
strictDeps = true;
|
|
|
|
nativeBuildInputs =
|
|
[
|
|
cmake
|
|
doxygen
|
|
pkg-config
|
|
]
|
|
++ lib.optionals pythonSupport [
|
|
python3Packages.python
|
|
python3Packages.pythonImportsCheckHook
|
|
];
|
|
|
|
propagatedBuildInputs =
|
|
[
|
|
console-bridge
|
|
jrl-cmakemodules
|
|
urdfdom
|
|
]
|
|
++ lib.optionals (!pythonSupport) [
|
|
boost
|
|
eigen
|
|
]
|
|
++ lib.optionals (!pythonSupport && collisionSupport) [ hpp-fcl ]
|
|
++ lib.optionals pythonSupport [
|
|
python3Packages.boost
|
|
python3Packages.eigenpy
|
|
]
|
|
++ lib.optionals (pythonSupport && collisionSupport) [ python3Packages.hpp-fcl ]
|
|
++ lib.optionals (!pythonSupport && casadiSupport) [ casadi ]
|
|
++ lib.optionals (pythonSupport && casadiSupport) [ python3Packages.casadi ];
|
|
|
|
checkInputs = lib.optionals (pythonSupport && casadiSupport) [ python3Packages.matplotlib ];
|
|
|
|
cmakeFlags = [
|
|
(lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)
|
|
(lib.cmakeBool "BUILD_WITH_LIBPYTHON" pythonSupport)
|
|
(lib.cmakeBool "BUILD_WITH_CASADI_SUPPORT" casadiSupport)
|
|
(lib.cmakeBool "BUILD_WITH_COLLISION_SUPPORT" collisionSupport)
|
|
(lib.cmakeBool "INSTALL_DOCUMENTATION" true)
|
|
];
|
|
|
|
doCheck = true;
|
|
pythonImportsCheck = [ "pinocchio" ];
|
|
|
|
meta = {
|
|
description = "Fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives";
|
|
homepage = "https://github.com/stack-of-tasks/pinocchio";
|
|
license = lib.licenses.bsd2;
|
|
maintainers = with lib.maintainers; [
|
|
nim65s
|
|
wegank
|
|
];
|
|
platforms = lib.platforms.unix;
|
|
};
|
|
})
|