From 3a3def5ce59f1fc24be676b29eaf5a87e14f914f Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Wed, 18 Oct 2023 12:54:41 -0700
Subject: [PATCH] Bumps in ionic : ci_matching_branch/bump_ionic_gz-sim9
 (#2470)

Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 Aliases/gz-sim9    |   1 -
 Formula/gz-sim9.rb | 137 +++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 137 insertions(+), 1 deletion(-)
 delete mode 120000 Aliases/gz-sim9
 create mode 100644 Formula/gz-sim9.rb

diff --git a/Aliases/gz-sim9 b/Aliases/gz-sim9
deleted file mode 120000
index 35f69d73d..000000000
--- a/Aliases/gz-sim9
+++ /dev/null
@@ -1 +0,0 @@
-../Formula/gz-sim8.rb
\ No newline at end of file
diff --git a/Formula/gz-sim9.rb b/Formula/gz-sim9.rb
new file mode 100644
index 000000000..73740be08
--- /dev/null
+++ b/Formula/gz-sim9.rb
@@ -0,0 +1,137 @@
+class GzSim9 < Formula
+  desc "Gazebo Sim robot simulator"
+  homepage "https://github.com/gazebosim/gz-sim"
+  url "https://github.com/gazebosim/gz-sim.git", branch: "main"
+  version "8.999.999-0-20231016"
+  license "Apache-2.0"
+
+  head "https://github.com/gazebosim/gz-sim.git", branch: "main"
+
+  depends_on "cmake" => :build
+  depends_on "pybind11" => :build
+  depends_on "ffmpeg"
+  depends_on "gflags"
+  depends_on "google-benchmark"
+  depends_on "gz-cmake4"
+  depends_on "gz-common6"
+  depends_on "gz-fuel-tools10"
+  depends_on "gz-gui9"
+  depends_on "gz-math8"
+  depends_on "gz-msgs11"
+  depends_on "gz-physics8"
+  depends_on "gz-plugin3"
+  depends_on "gz-rendering9"
+  depends_on "gz-sensors9"
+  depends_on "gz-tools2"
+  depends_on "gz-transport14"
+  depends_on "gz-utils3"
+  depends_on macos: :mojave # c++17
+  depends_on "pkg-config"
+  depends_on "protobuf"
+  depends_on "ruby"
+  depends_on "sdformat15"
+
+  def install
+    rpaths = [
+      rpath,
+      rpath(source: lib/"gz-sim-8/plugins", target: lib),
+      rpath(source: lib/"gz-sim-8/plugins/gui", target: lib),
+      rpath(source: lib/"gz-sim-8/plugins/gui/GzSim", 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 some plugins in subfolders
+    plugin_info = lambda { |p|
+      # 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
+    }
+    %w[altimeter log physics sensors].each do |system|
+      plugin_info.call lib/"gz-sim-8/plugins/libgz-sim-#{system}-system.dylib"
+    end
+    ["libAlignTool", "libEntityContextMenuPlugin", "libGzSceneManager", "GzSim/libEntityContextMenu"].each do |p|
+      plugin_info.call lib/"gz-sim-8/plugins/gui/#{p}.dylib"
+    end
+    # test gz sim CLI tool
+    ENV["GZ_CONFIG_PATH"] = "#{opt_share}/gz"
+    system Formula["gz-tools2"].opt_bin/"gz",
+           "sim", "-s", "--iterations", "5", "-r", "-v", "4"
+    # build against API
+    (testpath/"test.cpp").write <<-EOS
+    #include <cstdint>
+    #include <gz/sim/Entity.hh>
+    #include <gz/sim/EntityComponentManager.hh>
+    #include <gz/sim/components/World.hh>
+    #include <gz/sim/components/Name.hh>
+
+    using namespace gz;
+    using namespace sim;
+
+    //////////////////////////////////////////////////
+    int main(int argc, char **argv)
+    {
+      // Warm start. Initial allocation of resources can throw off calculations.
+      {
+        // Create the entity component manager
+        EntityComponentManager mgr;
+
+        // Create the matching entities
+        for (int i = 0; i < 100; ++i)
+        {
+          Entity entity = mgr.CreateEntity();
+          mgr.CreateComponent(entity, components::World());
+          mgr.CreateComponent(entity, components::Name("world_name"));
+        }
+
+        mgr.Each<components::World, components::Name>(
+            [&](const Entity &, const components::World *,
+              const components::Name *)->bool {return true;});
+      }
+
+      return 0;
+    }
+    EOS
+    (testpath/"CMakeLists.txt").write <<-EOS
+      cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
+      find_package(gz-sim9 QUIET REQUIRED)
+      add_executable(test_cmake test.cpp)
+      target_link_libraries(test_cmake gz-sim9::core)
+    EOS
+    # ENV.append_path "PKG_CONFIG_PATH", Formula["qt@5"].opt_lib/"pkgconfig"
+    # system "pkg-config", "--cflags", "gz-sim9"
+    # cflags   = `pkg-config --cflags gz-sim9`.split
+    # ldflags  = `pkg-config --libs gz-sim9`.split
+    # system ENV.cc, "test.cpp",
+    #                *cflags,
+    #                *ldflags,
+    #                "-lc++",
+    #                "-o", "test"
+    # system "./test"
+    # test building with cmake
+    ENV.append_path "CMAKE_PREFIX_PATH", Formula["ffmpeg@4"].opt_prefix
+    ENV.append_path "CMAKE_PREFIX_PATH", Formula["qt@5"].opt_prefix
+    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
+  end
+end