;;; GNU Guix --- Functional package management for GNU
;;; Copyright © 2018, 2022 Ludovic Courtès <ludo@gnu.org>
;;;
;;; This file is part of GNU Guix.
;;;
;;; GNU Guix is free software; you can redistribute it and/or modify it
;;; under the terms of the GNU General Public License as published by
;;; the Free Software Foundation; either version 3 of the License, or (at
;;; your option) any later version.
;;;
;;; GNU Guix is distributed in the hope that it will be useful, but
;;; WITHOUT ANY WARRANTY; without even the implied warranty of
;;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
;;; GNU General Public License for more details.
;;;
;;; You should have received a copy of the GNU General Public License
;;; along with GNU Guix.  If not, see <http://www.gnu.org/licenses/>.

(define-module (gnu packages robotics)
  #:use-module (guix packages)
  #:use-module (guix download)
  #:use-module (guix git-download)
  #:use-module ((guix licenses) #:prefix license:)
  #:use-module (guix build-system cmake)
  #:use-module (guix gexp)
  #:use-module (gnu packages avahi)
  #:use-module (gnu packages base)
  #:use-module (gnu packages cpp)
  #:use-module (gnu packages gl)
  #:use-module (gnu packages linux)
  #:use-module (gnu packages pkg-config)
  #:use-module (gnu packages protobuf)
  #:use-module (gnu packages qt)
  #:use-module (gnu packages sdl)
  #:use-module (gnu packages valgrind)
  #:use-module (gnu packages xml))

(define-public enki
  ;; Previous versions use Qt4 and are unsuitable for Aseba.
  (let ((commit "afd2d8e2f91c095f6745505ca1f32f31ea874200")
        (revision "0"))
    (package
      (name "enki")
      (version (git-version "2.0pre" revision commit))
      (home-page "https://github.com/enki-community/enki/")
      (source (origin
                (method git-fetch)
                (uri (git-reference (url home-page) (commit commit)))
                (sha256
                 (base32
                  "1d1901zzsfml97hb4mb3ah3ab1bk4kh7bn6m7xrj1rv0gk9wkhq7"))
                (file-name (string-append name "-" version "-checkout"))))
      (build-system cmake-build-system)
      (arguments
       '(#:configure-flags '("-DBUILD_SHARED_LIBS=ON")))
      (native-inputs (list pkg-config))
      (inputs
       ;; Optionally, add Python + Boost for Python bindings.
       (list sdl2))
      (propagated-inputs
       ;; 'Viewer.h' includes 'QGLWidget'.
       (list qtbase-5 ;the viewer module needs Qt5 + MESA
             mesa))
      (synopsis "Robot simulator")
      (description
       "Enki is a robot simulator written in C++.  It provides collision and
limited physics support for robots evolving on a flat surface.  On a
contemporary desktop computer, Enki is able to simulate groups of robots
hundred times faster than real-time.")

      ;; The 'LICENSE' file as well as source file headers says that
      ;; researchers using the software are "asked" to cite using a given
      ;; citation, but that sentence is written as not being part of the
      ;; license (fortunately).
      (license license:gpl2+))))

(define-public fusion
  (package
    (name "fusion")
    (version "1.2.9")
    (source
     (origin
       (method git-fetch)
       (uri (git-reference
              (url "https://github.com/xioTechnologies/Fusion")
              (commit (string-append "v" version))))
       (file-name (git-file-name name version))
       (sha256
        (base32 "0k5p9fc3zg49c9l8cfm08sgnzwkbz2brv7yfwsly2yfipl38w6xx"))))
    (build-system cmake-build-system)
    (arguments
     (list
      #:tests? #f
      #:configure-flags #~(list "-DBUILD_SHARED_LIBS=ON")
      #:phases
      #~(modify-phases %standard-phases
          (replace 'install
            (lambda _ (install-file "Fusion/libFusion.so"
                                    (string-append #$output "/lib")))))))
    (home-page "https://github.com/xioTechnologies/Fusion")
    (synopsis "Sensor fusion library for embedded systems")
    (description "Fusion is a sensor fusion library implementing the Attitude
and Heading Reference System (AHRS) algorithm, which combines available
gyroscope, accelerometer, and magnetometer data into a single measurement of
orientation relative to the Earth.")
    (license license:expat)))
