Merge pull request #79 from Intermodalics/jubeira/automatic_patches

Applying all patches inside patches directory

android.toolchain.cmake

@@ -0,0 +1,27 @@
+
+if(ANDROID_NDK_TOOLCHAIN_INCLUDED)
+  return()
+endif(ANDROID_NDK_TOOLCHAIN_INCLUDED)
+include($ENV{ANDROID_NDK_HOME}/build/cmake/android.toolchain.cmake)
+
+# Debug and release flags.
+list(REMOVE_ITEM ANDROID_COMPILER_FLAGS -g)
+list(APPEND ANDROID_COMPILER_FLAGS_DEBUG -g)
+list(APPEND ANDROID_COMPILER_FLAGS_RELWITHDEBINFO -g ${ANDROID_COMPILER_FLAGS_RELEASE})
+
+if(ANDROID_TOOLCHAIN STREQUAL clang)
+  list(APPEND ANDROID_COMPILER_FLAGS_RELWITHDEBINFO -fno-limit-debug-info)
+endif()
+
+# Toolchain ABI specific flags.
+string(REPLACE ";" " " ANDROID_COMPILER_FLAGS_RELWITHDEBINFO "${ANDROID_COMPILER_FLAGS_RELWITHDEBINFO}")
+set(CMAKE_C_FLAGS_RELWITHDEBINFO ""
+  CACHE STRING "Flags used by the compiler during relwithdebinfo builds.")
+set(CMAKE_CXX_FLAGS_RELWITHDEBINFO ""
+  CACHE STRING "Flags used by the compiler during relwithdebinfo builds.")
+set(CMAKE_ASM_FLAGS_RELWITHDEBINFO ""
+  CACHE STRING "Flags used by the compiler during relwithdebinfo builds.")
+
+set(CMAKE_C_FLAGS_RELWITHDEBINFO   "${ANDROID_COMPILER_FLAGS_RELWITHDEBINFO} ${CMAKE_C_FLAGS_RELWITHDEBINFO}")
+set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${ANDROID_COMPILER_FLAGS_RELWITHDEBINFO} ${CMAKE_CXX_FLAGS_RELWITHDEBINFO}")
+set(CMAKE_ASM_FLAGS_RELWITHDEBINFO "${ANDROID_COMPILER_FLAGS_RELWITHDEBINFO} ${CMAKE_ASM_FLAGS_RELWITHDEBINFO}")

apply_patches.sh

@@ -0,0 +1,25 @@
+#!/bin/bash
+
+# Abort script on any failures
+set -e
+
+my_loc="$(cd "$(dirname $0)" && pwd)"
+source $my_loc/config.sh
+source $my_loc/utils.sh
+
+if [ $# != 2 ] || [ $1 == '-h' ] || [ $1 == '--help' ]; then
+    echo "Usage: $0 patch_prefix output_prefix"
+    echo "  example: $0 /home/user/ros_android/patches /home/user/my_workspace/output"
+    exit 1
+fi
+
+patch_prefix=$1
+output_prefix=$2
+
+echo
+echo -e '\e[34mApplying patches.\e[39m'
+echo
+
+for patch_file in $patch_prefix/*.patch; do
+	apply_patch $patch_file -d $output_prefix
+done

config.sh

@@ -6,7 +6,3 @@ export ANDROID_PLATFORM=android-24
 # Enable this value for debug build
 #CMAKE_BUILD_TYPE=Debug
 CMAKE_BUILD_TYPE=Release
-
-# Enable this if you need to use pluginlib in Android.
-# The plugins will be statically linked
-use_pluginlib=1

do_everything.sh

@@ -101,17 +101,7 @@ mkdir -p $prefix/libs
 export TARGET_DIR=$prefix/target
 [ -d $TARGET_DIR ] || mkdir -p $TARGET_DIR
 
-# Get the android ndk build helper script
-# If file doesn't exist, then download and patch it
-#if ! [ -e $prefix/android.toolchain.cmake ]; then
-#    cd $prefix
-#    download 'https://raw.githubusercontent.com/taka-no-me/android-cmake/556cc14296c226f753a3778d99d8b60778b7df4f/android.toolchain.cmake'
-#    patch -p0 -N -d $prefix < $my_loc/patches/android.toolchain.cmake.patch
-#    cat $my_loc/files/android.toolchain.cmake.addendum >> $prefix/android.toolchain.cmake
-#fi
-
-export RBA_TOOLCHAIN=$ANDROID_NDK_HOME/build/cmake/android.toolchain.cmake
-apply_patch $my_loc/patches/android.toolchain.cmake.patch -d $ANDROID_NDK_HOME/build/cmake
+export RBA_TOOLCHAIN=$my_loc/android.toolchain.cmake
 
 # Get all library dependencies.
 run_cmd get_system_dependencies $my_loc/system_deps.rosinstall $prefix/libs $my_loc/files
@@ -123,193 +113,32 @@ echo
 if [[ $skip -ne 1 ]] ; then
     run_cmd get_catkin_packages $prefix
 
-    echo
-    echo -e '\e[34mApplying patches.\e[39m'
-    echo
-
-    # patch CMakeLists.txt for lz4 library - Build as a library
-    apply_patch $my_loc/patches/lz4.patch
-
-    # patch rosbag_storage - Fix static linking due to missing BZIP2 dependency
-    apply_patch $my_loc/patches/rosbag_storage.patch
-
-    # Patch collada - Build as static lib
-    apply_patch $my_loc/patches/collada_dom.patch
-
-    #  Patch assimp - Build as static lib
-    apply_patch $my_loc/patches/assimp.patch
-
-    # Patch console_bridge - Disable unit tests (unsatisfied dependencies)
-    apply_patch $my_loc/patches/console_bridge.patch
-
-    # Patch urdfdom - Build as static lib
-    apply_patch $my_loc/patches/urdfdom.patch
-
-    # Patch qhull - Don't install shared libraries
-    # TODO: Remove shared libraries to avoid hack in parse_libs.py
-    # apply_patch /opt/roscpp_android/patches/qhull.patch
-
-    # Patch bfl - Build as static lib
-    apply_patch $my_loc/patches/bfl.patch
-
-    # Patch orocos_kdl - Build as static lib
-    apply_patch $my_loc/patches/orocos_kdl.patch
-
-    # Patch PCL - Disable optionals.
-    apply_patch $my_loc/patches/pcl-1.8.1.patch
-
-    # Patch uuid - Avoiding stdlib.h include
-    apply_patch $my_loc/patches/uuid.patch
-
-    # Patch yaml - Avoid building tests
-    apply_patch $my_loc/patches/yaml-cpp.patch
-
-    # Patch bullet - Avoid building examples
-    apply_patch $my_loc/patches/bullet.patch
-
-    ## ROS patches
-
-    # Patch rosconsole - Add android backend
-    apply_patch $my_loc/patches/rosconsole.patch
-
-    # Patch catkin - Fix transitive linking of interface libraries for static builds
-    apply_patch $my_loc/patches/catkin.patch
-
-    # Patch map_server - Fix find yaml
-    apply_patch $my_loc/patches/map_server.patch
-
-    # Patch bondcpp - Fix transitive linking problems
-    apply_patch $my_loc/patches/bondcpp.patch
-
-    # Patch image_publisher - Fix linking problems, transitive linking,
-    # and changed shared to static library building.
-    apply_patch $my_loc/patches/image_publisher.patch
-
-    # Patch image_rotate - Fix find opencv and transitive linking problem
-    apply_patch $my_loc/patches/image_rotate.patch
-
-    # Patch opencv - Fix installation path
-    apply_patch $my_loc/patches/opencv.patch
-
-    # Patch actionlib - problems with Boost changes.
-    apply_patch $my_loc/patches/actionlib.patch
-
-    # Patch rospack - problems with Boost changes
-    # Also emptied some unnecessary functions to avoid problems related to including Python.
-    apply_patch $my_loc/patches/rospack.patch
-
-    # Patch xmlrpcpp - problems with Boost changes.
-    apply_patch $my_loc/patches/xmlrpcpp.patch
-
-    # Patch roslib - weird issue with rospack.
-    # TODO: Need to look further (only on catkin_make_isolated)
-    # apply_patch /opt/roscpp_android/patches/roslib.patch
-
-    # Patch collada_parser - cmake detects mkstemps even though Android does not support it
-    # TODO: investigate how to prevent cmake to detect system mkstemps
-#    apply_patch $my_loc/patches/collada_parser.patch
-
-    # Patch laser_assembler - Remove testing for Android
-    # TODO: It seems like there may be a better way to handle the test issues
-    # http://stackoverflow.com/questions/22055741/googletest-for-android-ndk
-    # apply_patch $my_loc/patches/laser_assembler.patch
-
-    # Patch laser_filters - Remove testing for Android
-    # TODO: It seems like there may be a better way to handle the test issues
-    # http://stackoverflow.com/questions/22055741/googletest-for-android-ndk
-    # https://source.android.com/reference/com/android/tradefed/testtype/GTest.html
-    # apply_patch $my_loc/patches/laser_filters.patch
-
-    # Patch camera_info_manager - remove testing for Android
-    # TODO: It seems like there may be a better way to handle the test issues
-    # http://stackoverflow.com/questions/22055741/googletest-for-android-ndk
-    # https://source.android.com/reference/com/android/tradefed/testtype/GTest.html
-    apply_patch $my_loc/patches/camera_info_manager.patch
-
-    # Patch camera_calibration_parsers - deleted python things and solved problem finding Boost.
-    apply_patch $my_loc/patches/camera_calibration_parsers.patch
-
-    # Patch cv_bridge - fix transitive linking in cv_bridge-extras.cmake
-    apply_patch $my_loc/patches/cv_bridge.patch
-
-    # Patch theora_image_transport - fix transitive linking
-    apply_patch $my_loc/patches/theora_image_transport.patch
-
-    # Patch robot_pose_ekf - Add bfl library cmake variables, also, remove tests
-    # TODO: The correct way to handle this would be to create .cmake files for bfl and do a findpackage(orocos-bfl)
-    # apply_patch $my_loc/patches/robot_pose_ekf.patch
-
-    # Patch robot_state_publisher - Add ARCHIVE DESTINATION
-    # TODO: Create PR to add ARCHIVE DESTINATION
-    apply_patch $my_loc/patches/robot_state_publisher.patch
-
-    # Patch moveit_core - Add fcl library cmake variables
-    # TODO: The correct way to handle this would be to create .cmake files for fcl and do a findpackage(fcl)
-    #apply_patch $my_loc/patches/moveit_core.patch
-
-    # Patch moveit_core plugins - Add ARCHIVE DESTINATION
-    # TODO: PR merged: https://github.com/ros-planning/moveit_core/pull/251
-    # Wait for next release to remove (current 0.6.15)
-    #apply_patch $my_loc/patches/moveit_core_plugins.patch
-
-    # Patch camera_calibration_parsers - Fix yaml-cpp dependency
-    # TODO: PR created: https://github.com/ros-perception/image_common/pull/36
-    # apply_patch $my_loc/patches/camera_calibration_parsers.patch
-
-    # Patch image_view - Solved YAML linking problems, and transitive linking.
-    apply_patch $my_loc/patches/image_view.patch
-
-    # Patch depth_image_proc - Solved transitive linking problems
-    apply_patch $my_loc/patches/depth_image_proc.patch
-
-    # Patch urdf - Fixed linking with pluginlib and dependencies in downstream packages
-    apply_patch $my_loc/patches/urdf.patch
-
-    # Patch global_planner - Add angles dependency
-    # TODO: PR merged: https://github.com/ros-planning/navigation/pull/359
-    # Wait for next release to remove (current 1.12.4)
-    # apply_patch $my_loc/patches/global_planner.patch
-
-    #Patch Poco lib
-    apply_patch $my_loc/patches/poco.patch
-
-    # Plugin specific patches
-    if [ $use_pluginlib -ne 0 ]; then
-        # Patch pluginlib for static loading
-        apply_patch $my_loc/patches/pluginlib.patch
-        # apply_patch image_transport # to fix faulty export plugins
-        apply_patch $my_loc/patches/image_transport.patch
-    fi
-
-    ## Demo Application specific patches
-
+    run_cmd apply_patches $my_loc/patches $prefix
 fi
 
 # Before build
 # Search packages that depend on pluginlib and generate plugin loader.
-if [ $use_pluginlib -ne 0 ]; then
-    echo
-    echo -e '\e[34mBuilding pluginlib support...\e[39m'
-    echo
+echo
+echo -e '\e[34mBuilding pluginlib support...\e[39m'
+echo
 
-    pluginlib_helper_file=pluginlib_helper.cpp
-    $my_loc/files/pluginlib_helper/pluginlib_helper.py -scanroot $prefix/catkin_ws/src $user_workspace -cppout $my_loc/files/pluginlib_helper/$pluginlib_helper_file
-    cp $my_loc/files/pluginlib_helper/$pluginlib_helper_file $prefix/catkin_ws/src/pluginlib/src/
-    line="add_library(pluginlib STATIC src/pluginlib_helper.cpp)"
-    # temporally turn off error detection
-    set +e
-    grep "$line" $prefix/catkin_ws/src/pluginlib/CMakeLists.txt
-    # if line is not already added, then add it to the pluginlib cmake
-    if [ $? -ne 0 ]; then
-        # backup the file
-        cp $prefix/catkin_ws/src/pluginlib/CMakeLists.txt $prefix/catkin_ws/src/pluginlib/CMakeLists.txt.bak
-        sed -i '/INCLUDE_DIRS include/a LIBRARIES ${PROJECT_NAME}' $prefix/catkin_ws/src/pluginlib/CMakeLists.txt
-        echo -e "\n"$line >> $prefix/catkin_ws/src/pluginlib/CMakeLists.txt
-        echo 'install(TARGETS pluginlib RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})' >> $prefix/catkin_ws/src/pluginlib/CMakeLists.txt
-    fi
-    # turn error detection back on
-    set -e
+pluginlib_helper_file=pluginlib_helper.cpp
+$my_loc/files/pluginlib_helper/pluginlib_helper.py -scanroot $prefix/catkin_ws/src $user_workspace -cppout $my_loc/files/pluginlib_helper/$pluginlib_helper_file
+cp $my_loc/files/pluginlib_helper/$pluginlib_helper_file $prefix/catkin_ws/src/pluginlib/src/
+line="add_library(pluginlib STATIC src/pluginlib_helper.cpp)"
+# temporally turn off error detection
+set +e
+grep "$line" $prefix/catkin_ws/src/pluginlib/CMakeLists.txt
+# if line is not already added, then add it to the pluginlib cmake
+if [ $? -ne 0 ]; then
+    # backup the file
+    cp $prefix/catkin_ws/src/pluginlib/CMakeLists.txt $prefix/catkin_ws/src/pluginlib/CMakeLists.txt.bak
+    sed -i '/INCLUDE_DIRS include/a LIBRARIES ${PROJECT_NAME}' $prefix/catkin_ws/src/pluginlib/CMakeLists.txt
+    echo -e "\n"$line >> $prefix/catkin_ws/src/pluginlib/CMakeLists.txt
+    echo 'install(TARGETS pluginlib RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})' >> $prefix/catkin_ws/src/pluginlib/CMakeLists.txt
 fi
+# turn error detection back on
+set -e
 
 echo
 echo -e '\e[34mBuilding library dependencies.\e[39m'