Merge branch 'master' into ci_matching_branch/bump_ionic_gz-physics8

Formula/gz-common6.rb

@@ -0,0 +1,76 @@
+class GzCommon6 < Formula
+  desc "Common libraries for robotics applications"
+  homepage "https://gazebosim.org"
+  url "https://github.com/gazebosim/gz-common.git", branch: "main"
+  version "5.999.999-0-20231009"
+  license "Apache-2.0"
+
+  head "https://github.com/gazebosim/gz-common.git", branch: "gz-common6"
+
+  depends_on "assimp"
+  depends_on "cmake"
+  depends_on "ffmpeg"
+  depends_on "freeimage"
+  depends_on "gdal"
+  depends_on "gts"
+  depends_on "gz-cmake4"
+  depends_on "gz-math8"
+  depends_on "gz-utils3"
+  depends_on macos: :high_sierra # c++17
+  depends_on "ossp-uuid"
+  depends_on "pkg-config"
+  depends_on "tinyxml2"
+
+  def install
+    cmake_args = std_cmake_args
+    cmake_args << "-DBUILD_TESTING=OFF"
+    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpath}"
+
+    # Use build folder
+    mkdir "build" do
+      system "cmake", "..", *cmake_args
+      system "make", "install"
+    end
+  end
+
+  test do
+    (testpath/"test.cpp").write <<-EOS
+      #include <iostream>
+      #include <gz/common.hh>
+      int main() {
+        gzdbg << "debug" << std::endl;
+        gzwarn << "warn" << std::endl;
+        gzerr << "error" << std::endl;
+        return 0;
+      }
+    EOS
+    (testpath/"CMakeLists.txt").write <<-EOS
+      cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
+      find_package(gz-common6 QUIET REQUIRED)
+      add_executable(test_cmake test.cpp)
+      target_link_libraries(test_cmake gz-common6::gz-common6)
+    EOS
+    system "pkg-config", "gz-common6"
+    cflags = `pkg-config --cflags gz-common6`.split
+    system ENV.cc, "test.cpp",
+                   *cflags,
+                   "-L#{lib}",
+                   "-lgz-common6",
+                   "-lc++",
+                   "-o", "test"
+    system "./test"
+    # test building with cmake
+    mkdir "build" do
+      ENV.append "LIBRARY_PATH", Formula["gettext"].opt_lib
+      system "cmake", ".."
+      system "make"
+      system "./test_cmake"
+    end
+    # check for Xcode frameworks in bottle
+    # ! requires system with single argument, which uses standard shell
+    # put in variable to avoid audit complaint
+    # enclose / in [] so the following line won't match itself
+    cmd_not_grep_xcode = "! grep -rnI 'Applications[/]Xcode' #{prefix}"
+    system cmd_not_grep_xcode
+  end
+end

Formula/gz-msgs11.rb

@@ -0,0 +1,70 @@
+class GzMsgs11 < Formula
+  desc "Middleware protobuf messages for robotics"
+  homepage "https://gazebosim.org"
+  url "https://github.com/gazebosim/gz-msgs.git", branch: "main"
+  version "10.999.999-0-20231013"
+  license "Apache-2.0"
+
+  head "https://github.com/gazebosim/gz-msgs.git", branch: "main"
+
+  depends_on "cmake"
+  depends_on "gz-cmake4"
+  depends_on "gz-math8"
+  depends_on "gz-tools2"
+  depends_on macos: :high_sierra # c++17
+  depends_on "pkg-config"
+  depends_on "protobuf"
+  depends_on "python@3.11"
+  depends_on "tinyxml2"
+
+  def install
+    cmake_args = std_cmake_args
+    cmake_args << "-DBUILD_TESTING=Off"
+    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpath}"
+
+    mkdir "build" do
+      system "cmake", "..", *cmake_args
+      system "make", "install"
+    end
+
+    (lib/"python3.11/site-packages").install Dir[lib/"python/*"]
+    rmdir prefix/"lib/python"
+  end
+
+  test do
+    (testpath/"test.cpp").write <<-EOS
+      #include <gz/msgs.hh>
+      int main() {
+        gz::msgs::UInt32;
+        return 0;
+      }
+    EOS
+    (testpath/"CMakeLists.txt").write <<-EOS
+      cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
+      find_package(gz-msgs11 QUIET REQUIRED)
+      add_executable(test_cmake test.cpp)
+      target_link_libraries(test_cmake gz-msgs11::gz-msgs11)
+    EOS
+    # test building with pkg-config
+    system "pkg-config", "gz-msgs11"
+    cflags = `pkg-config --cflags gz-msgs11`.split
+    system ENV.cc, "test.cpp",
+                   *cflags,
+                   "-L#{lib}",
+                   "-lgz-msgs11",
+                   "-lc++",
+                   "-o", "test"
+    system "./test"
+    # test building with cmake
+    mkdir "build" do
+      system "cmake", ".."
+      system "make"
+      system "./test_cmake"
+    end
+    # check for Xcode frameworks in bottle
+    cmd_not_grep_xcode = "! grep -rnI 'Applications[/]Xcode' #{prefix}"
+    system cmd_not_grep_xcode
+    # check python import
+    system Formula["python@3.11"].opt_bin/"python3.11", "-c", "import gz.msgs11"
+  end
+end

Formula/gz-rendering9.rb

@@ -0,0 +1,90 @@
+class GzRendering9 < Formula
+  desc "Rendering library for robotics applications"
+  homepage "https://gazebosim.org"
+  url "https://github.com/gazebosim/gz-rendering.git", branch: "main"
+  version "8.999.999-0-20231016"
+  license "Apache-2.0"
+
+  head "https://github.com/gazebosim/gz-rendering.git", branch: "main"
+
+  depends_on "cmake" => [:build, :test]
+  depends_on "pkg-config" => [:build, :test]
+
+  depends_on "freeimage"
+  depends_on "gz-cmake4"
+  depends_on "gz-common6"
+  depends_on "gz-math8"
+  depends_on "gz-plugin3"
+  depends_on "gz-utils3"
+  depends_on macos: :mojave # c++17
+  depends_on "ogre1.9"
+  depends_on "ogre2.3"
+
+  def install
+    rpaths = [
+      rpath,
+      rpath(source: lib/"gz-rendering-9/engine-plugins", target: lib),
+    ]
+    cmake_args = std_cmake_args
+    cmake_args << "-DBUILD_TESTING=OFF"
+    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpaths.join(";")}"
+
+    mkdir "build" do
+      system "cmake", "..", *cmake_args
+      system "make", "install"
+    end
+  end
+
+  test do
+    # test plugins in subfolders
+    ["ogre", "ogre2"].each do |engine|
+      p = lib/"gz-rendering-9/engine-plugins/libgz-rendering-#{engine}.dylib"
+      # Use gz-plugin --info command to check plugin linking
+      cmd = Formula["gz-plugin3"].opt_libexec/"gz/plugin3/gz-plugin"
+      args = ["--info", "--plugin"] << p
+      # print command and check return code
+      system cmd, *args
+      # check that library was loaded properly
+      _, stderr = system_command(cmd, args: args)
+      error_string = "Error while loading the library"
+      assert stderr.exclude?(error_string), error_string
+    end
+    # build against API
+    github_actions = ENV["HOMEBREW_GITHUB_ACTIONS"].present?
+    (testpath/"test.cpp").write <<-EOS
+      #include <gz/rendering/RenderEngine.hh>
+      #include <gz/rendering/RenderingIface.hh>
+      int main(int _argc, char** _argv)
+      {
+        gz::rendering::RenderEngine *engine =
+            gz::rendering::engine("ogre");
+        return engine == nullptr;
+      }
+    EOS
+    (testpath/"CMakeLists.txt").write <<-EOS
+      cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+      find_package(gz-rendering9 REQUIRED COMPONENTS ogre ogre2)
+      add_executable(test_cmake test.cpp)
+      target_link_libraries(test_cmake gz-rendering9::gz-rendering9)
+    EOS
+    # test building with pkg-config
+    system "pkg-config", "gz-rendering9"
+    cflags   = `pkg-config --cflags gz-rendering9`.split
+    ldflags  = `pkg-config --libs gz-rendering9`.split
+    system ENV.cc, "test.cpp",
+                   *cflags,
+                   *ldflags,
+                   "-lc++",
+                   "-o", "test"
+    system "./test" unless github_actions
+    # test building with cmake
+    mkdir "build" do
+      system "cmake", ".."
+      system "make"
+      system "./test_cmake" unless github_actions
+    end
+    # check for Xcode frameworks in bottle
+    cmd_not_grep_xcode = "! grep -rnI 'Applications[/]Xcode' #{prefix}"
+    system cmd_not_grep_xcode
+  end
+end

Formula/sdformat15.rb

@@ -2,7 +2,7 @@ class Sdformat15 < Formula
   desc "Simulation Description Format"
   homepage "http://sdformat.org"
   url "https://github.com/gazebosim/sdformat.git", branch: "main"
-  version "14.999.999-0-20231011"
+  version "14.999.999-0-20231016"
   license "Apache-2.0"
 
   head "https://github.com/gazebosim/sdformat.git", branch: "main"
@@ -12,10 +12,10 @@ class Sdformat15 < Formula
   depends_on "pybind11" => :build
 
   depends_on "doxygen"
-  depends_on "gz-cmake3"
-  depends_on "gz-math7"
+  depends_on "gz-cmake4"
+  depends_on "gz-math8"
   depends_on "gz-tools2"
-  depends_on "gz-utils2"
+  depends_on "gz-utils3"
   depends_on macos: :mojave # c++17
   depends_on "python@3.11"
   depends_on "tinyxml2"