mavsdk: add mavlink and mavsdk recipes

recipes/mavlink/all/conandata.yml

@@ -0,0 +1,15 @@
+sources:
+  "1.0.12.cci.20241205":
+    mavlink:
+      url: "https://github.com/mavlink/mavlink/archive/35f70c4a7e0c4aa91edc1eaa5205a1077490442c.tar.gz"
+      sha256: "be2e9583bc72cc894056b903578879128fe8c68a92fbcbb3268ab92c78c7ddef"
+    pymavlink:
+      url: "https://github.com/ArduPilot/pymavlink/archive/refs/tags/v2.4.42.tar.gz"
+      sha256: "bbe1b78759211597c98214e31b6dfc9cc42b3cb4548c813674463cb664b56a9f"
+  "1.0.12.cci.20240530":
+    mavlink:
+      url: "https://github.com/mavlink/mavlink/archive/f1d42e2774cae767a1c0651b0f95e3286c587257.tar.gz"
+      sha256: "3eb515843143fd9b1e275141c4c82f5f3cbbb77c12e1eb2b929a6a005f016a51"
+    pymavlink:
+      url: "https://github.com/ArduPilot/pymavlink/archive/refs/tags/v2.4.42.tar.gz"
+      sha256: "bbe1b78759211597c98214e31b6dfc9cc42b3cb4548c813674463cb664b56a9f"

recipes/mavlink/all/conanfile.py

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+import os
+
+from conan import ConanFile
+from conan.tools.cmake import CMake, CMakeDeps, CMakeToolchain, cmake_layout
+from conan.tools.files import copy, get, rmdir
+
+required_conan_version = ">=2.4"
+
+
+class MavlinkConan(ConanFile):
+    name = "mavlink"
+    description = "Marshalling / communication library for drones."
+    license = "MIT"
+    url = "https://github.com/conan-io/conan-center-index"
+    homepage = "https://github.com/mavlink/mavlink"
+    topics = ("mav", "drones", "marshalling", "communication")
+    package_type = "header-library"
+    settings = "os", "arch", "compiler", "build_type"
+    options = {
+        # https://mavlink.io/en/messages/README.html
+        "dialect": [
+            "all",
+            "common",
+            "standard",
+            "minimal",
+            "development",
+            "ardupilotmega",
+            "ASLUAV",
+            "AVSSUAS",
+            "csAirLink",
+            "cubepilot",
+            "icarous",
+            "loweheiser",
+            "matrixpilot",
+            "paparazzi",
+            "storm32",
+            "ualberta",
+            "uAvionix",
+        ],
+        # https://github.com/ArduPilot/pymavlink/blob/v2.4.42/tools/mavgen.py#L24
+        "wire_protocol": ["0.9", "1.0", "2.0"],
+    }
+    default_options = {
+        "dialect": "common",
+        "wire_protocol": "2.0",
+    }
+    languages = ["C"]
+
+    def layout(self):
+        cmake_layout(self, src_folder="src")
+
+    def package_id(self):
+        self.info.clear()
+
+    def build_requirements(self):
+        self.tool_requires("cpython/[>=3.12 <4]")
+
+    def source(self):
+        info = self.conan_data["sources"][self.version]
+        get(self, **info["mavlink"], strip_root=True)
+        get(self, **info["pymavlink"], strip_root=True, destination="pymavlink")
+
+    def generate(self):
+        tc = CMakeToolchain(self)
+        tc.cache_variables["MAVLINK_DIALECT"] = self.options.dialect
+        tc.cache_variables["MAVLINK_VERSION"] = self.options.wire_protocol
+        tc.generate()
+        deps = CMakeDeps(self)
+        deps.generate()
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def package(self):
+        copy(self, "COPYING", self.source_folder, os.path.join(self.package_folder, "licenses"))
+        cmake = CMake(self)
+        cmake.install()
+        rmdir(self, os.path.join(self.package_folder, "lib"))
+
+    def package_info(self):
+        self.cpp_info.set_property("cmake_file_name", "MAVLink")
+        self.cpp_info.set_property("cmake_target_name", "MAVLink::mavlink")
+        self.cpp_info.bindirs = []
+        self.cpp_info.libdirs = []

recipes/mavlink/all/test_package/CMakeLists.txt

@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.15)
+project(test_package LANGUAGES C)
+
+find_package(MAVLink REQUIRED CONFIG)
+
+add_executable(${PROJECT_NAME} test_package.c)
+target_link_libraries(${PROJECT_NAME} PRIVATE MAVLink::mavlink)

recipes/mavlink/all/test_package/conanfile.py

@@ -0,0 +1,25 @@
+from conan import ConanFile
+from conan.tools.build import can_run
+from conan.tools.cmake import cmake_layout, CMake
+import os
+
+
+class TestPackageConan(ConanFile):
+    settings = "os", "arch", "compiler", "build_type"
+    generators = "CMakeDeps", "CMakeToolchain"
+
+    def layout(self):
+        cmake_layout(self)
+
+    def requirements(self):
+        self.requires(self.tested_reference_str)
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def test(self):
+        if can_run(self):
+            bin_path = os.path.join(self.cpp.build.bindir, "test_package")
+            self.run(bin_path, env="conanrun")

recipes/mavlink/all/test_package/config.yml

@@ -0,0 +1,5 @@
+versions:
+  "1.2.0":
+    folder: all
+  "1.1.0":
+    folder: all

recipes/mavlink/all/test_package/test_package.c

@@ -0,0 +1,7 @@
+#include <mavlink/minimal/mavlink.h>
+
+#include <stdio.h>
+
+int main() {
+    printf("Payload size for minimal dialect: %d bytes\n", MAVLINK_MAX_DIALECT_PAYLOAD_SIZE);
+}

recipes/mavlink/config.yml

@@ -0,0 +1,5 @@
+versions:
+  "1.0.12.cci.20241205":
+    folder: all
+  "1.0.12.cci.20240530":
+    folder: all

recipes/mavsdk/all/conandata.yml

@@ -0,0 +1,8 @@
+sources:
+  "2.13.0":
+    source:
+      url: "https://github.com/mavlink/MAVSDK/archive/refs/tags/v2.13.0.tar.gz"
+      sha256: "9af60e71d707b0ca412198dc14ab7e1b632dd7f4558c2f5e7cefc0a0354ce3a6"
+    proto:
+      url: "https://github.com/mavlink/MAVSDK-Proto/archive/34bce6d61dba5f72b602bdbd31f04fceff093881.tar.gz"
+      sha256: "1f441671dddf38fe5ef6a4d0aa73be5634437a4e6bd516348e7f6e344ed05356"

recipes/mavsdk/all/conanfile.py

@@ -0,0 +1,163 @@
+import os
+
+from conan import ConanFile
+from conan.tools.build import check_min_cppstd
+from conan.tools.cmake import CMake, CMakeDeps, CMakeToolchain, cmake_layout
+from conan.tools.files import copy, get, rm, rmdir, replace_in_file
+from conan.tools.microsoft import is_msvc
+from conan.tools.scm import Version
+
+required_conan_version = ">=2.0.9"
+
+
+class MavsdkConan(ConanFile):
+    name = "mavsdk"
+    description = "C++ library to interface with MAVLink systems"
+    license = "BSD-3-Clause"
+    url = "https://github.com/conan-io/conan-center-index"
+    homepage = "https://mavsdk.mavlink.io/"
+    topics = ("mavlink", "drones")
+    package_type = "library"
+    settings = "os", "arch", "compiler", "build_type"
+    options = {
+        "shared": [True, False],
+        "fPIC": [True, False],
+        "regenerate_protobuf": [True, False],
+        "build_server": [True, False],
+        "enable_reflection": [True, False],
+    }
+    default_options = {
+        "shared": False,
+        "fPIC": True,
+        "regenerate_protobuf": False,
+        "build_server": False,
+        "enable_reflection": False,
+    }
+    implements = ["auto_shared_fpic"]
+
+    def configure(self):
+        if self.options.shared:
+            self.options.rm_rf("fPIC")
+        if self.options.build_server:
+            # The .proto files were processed with protobuf v4, which is not compatible with
+            # the gRPC protobuf version on CCI, so we need to regenerate them.
+            del self.options.regenerate_protobuf
+        else:
+            del self.options.enable_reflection
+
+    def layout(self):
+        cmake_layout(self, src_folder="src")
+
+    def requirements(self):
+        self.requires("mavlink/1.0.12.cci.20240530", transitive_headers=True)
+        self.requires("jsoncpp/1.9.6")
+        self.requires("tinyxml2/10.0.0")
+        self.requires("libcurl/[>=7.86 <9]")
+        self.requires("xz_utils/[>=5.4.5 <6]")
+        if self.options.build_server:
+            self.requires("grpc/1.67.1")
+
+    def validate(self):
+        check_min_cppstd(self, 17)
+
+    def build_requirements(self):
+        if self.options.get_safe("regenerate_protobuf", True):
+            if self.options.build_server:
+                self.tool_requires("grpc/<host_version>")
+                self.tool_requires("protobuf/<host_version>")
+            else:
+                self.tool_requires("grpc/1.67.1")
+                self.tool_requires("protobuf/5.27.0")
+            if self.settings_build.os == "Windows":
+                self.win_bash = True
+                if not self.conf.get("tools.microsoft.bash:path", check_type=str):
+                    self.tool_requires("msys2/cci.latest")
+
+    def source(self):
+        get(self, **self.conan_data["sources"][self.version]["source"], strip_root=True)
+        get(self, **self.conan_data["sources"][self.version]["proto"], strip_root=True, destination="proto")
+        # Let Conan handle the C++ standard
+        replace_in_file(self, os.path.join(self.source_folder, "src", "CMakeLists.txt"),
+                        "set(CMAKE_CXX_STANDARD 17)", "")
+        # Fix version string for SOVERSION, since it cannot be derived from a git tag.
+        replace_in_file(self, os.path.join(self.source_folder, "CMakeLists.txt"),
+                        'set(VERSION_STR "0.0.0")',
+                        f'set(VERSION_STR "v{self.version}")')
+
+    def generate(self):
+        tc = CMakeToolchain(self)
+        if Version(self.version) <= "2.13.0":
+            tc.cache_variables["BUILD_TESTS"] = False
+        tc.cache_variables["BUILD_TESTING"] = False
+        tc.cache_variables["SUPERBUILD"] = False
+        tc.cache_variables["MAVLINK_DIALECT"] = self.dependencies["mavlink"].options.dialect
+        tc.cache_variables["BUILD_MAVSDK_SERVER"] = self.options.build_server
+        tc.cache_variables["BUILD_WITH_PROTO_REFLECTION"] = self.options.get_safe("enable_reflection", False)
+        # The project uses CMake policy version < 3.12 in several places
+        tc.cache_variables["CMAKE_POLICY_DEFAULT_CMP0077"] = "NEW"
+        tc.generate()
+
+        deps = CMakeDeps(self)
+        deps.generate()
+
+    def build(self):
+        if self.options.get_safe("regenerate_protobuf", True):
+            # No need to re-generate Jinja templates
+            replace_in_file(self, os.path.join(self.source_folder, "tools", "generate_from_protos.sh"),
+                            "python3 ${script_dir}/grpc_server_jinja.py",
+                            "# python3 ${script_dir}/grpc_server_jinja.py")
+            self.run(f"tools/generate_from_protos.sh -b {self.build_folder}", cwd=self.source_folder)
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def package(self):
+        copy(self, "LICENSE.md", self.source_folder, os.path.join(self.package_folder, "licenses"))
+        cmake = CMake(self)
+        cmake.install()
+        rmdir(self, os.path.join(self.package_folder, "lib", "pkgconfig"))
+        rmdir(self, os.path.join(self.package_folder, "lib", "cmake"))
+        rm(self, "*.pdb", self.package_folder, recursive=True)
+
+    def package_info(self):
+        self.cpp_info.set_property("cmake_file_name", "MAVSDK")
+
+        postfix = ""
+        if is_msvc(self) and self.settings.build_type == "Debug":
+            postfix = "d"
+
+        mavsdk = self.cpp_info.components["mavsdk"]
+        mavsdk.set_property("cmake_target_name", "MAVSDK::mavsdk")
+        mavsdk.set_property("pkg_config_name", "mavsdk")
+        mavsdk.libs = ["mavsdk" + postfix]
+        mavsdk.includedirs.append(os.path.join("include", "mavsdk"))
+        if self.settings.os in ["Linux", "FreeBSD"]:
+            mavsdk.system_libs = ["m", "pthread", "dl"]
+        elif self.settings.os == "Windows":
+            mavsdk.system_libs = ["ws2_32"]
+        elif self.settings.os == "iOS":
+            mavsdk.frameworks = ["Foundation", "Security"]
+        elif self.settings.os == "Android":
+            mavsdk.system_libs = ["log"]
+        if str(self.settings.compiler.libcxx) in ["libstdc++", "libstdc++11"] or str(self.settings.arch).startswith("arm"):
+            mavsdk.system_libs.append("atomic")
+        mavsdk.requires = [
+            "mavlink::mavlink",
+            "jsoncpp::jsoncpp",
+            "tinyxml2::tinyxml2",
+            "libcurl::libcurl",
+            "xz_utils::xz_utils",
+        ]
+
+        if self.options.build_server:
+            mavsdk_server = self.cpp_info.components["mavsdk_server"]
+            mavsdk_server.set_property("cmake_target_name", "MAVSDK::mavsdk_server")
+            mavsdk_server.set_property("pkg_config_name", "mavsdk_server")
+            mavsdk_server.libs = ["mavsdk_server"]
+            if self.settings.os in ["Linux", "FreeBSD"]:
+                mavsdk_server.system_libs = ["dl"]
+            if str(self.settings.compiler.libcxx) in ["libstdc++", "libstdc++11"] or str(self.settings.arch).startswith("arm"):
+                mavsdk_server.system_libs.append("atomic")
+            mavsdk_server.requires = ["grpc::grpc++"]
+            if self.options.enable_reflection:
+                mavsdk_server.requires.append("grpc::grpc++_reflection")

recipes/mavsdk/all/test_package/CMakeLists.txt

@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.15)
+project(test_package LANGUAGES CXX)
+
+find_package(MAVSDK REQUIRED CONFIG)
+
+add_executable(${PROJECT_NAME} test_package.cpp)
+target_link_libraries(${PROJECT_NAME} PRIVATE MAVSDK::mavsdk)

recipes/mavsdk/all/test_package/conanfile.py

@@ -0,0 +1,25 @@
+from conan import ConanFile
+from conan.tools.build import can_run
+from conan.tools.cmake import cmake_layout, CMake
+import os
+
+
+class TestPackageConan(ConanFile):
+    settings = "os", "arch", "compiler", "build_type"
+    generators = "CMakeDeps", "CMakeToolchain"
+
+    def layout(self):
+        cmake_layout(self)
+
+    def requirements(self):
+        self.requires(self.tested_reference_str)
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def test(self):
+        if can_run(self):
+            bin_path = os.path.join(self.cpp.build.bindir, "test_package")
+            self.run(bin_path, env="conanrun")

recipes/mavsdk/all/test_package/config.yml

@@ -0,0 +1,5 @@
+versions:
+  "1.2.0":
+    folder: all
+  "1.1.0":
+    folder: all

recipes/mavsdk/all/test_package/test_package.cpp

@@ -0,0 +1,10 @@
+#include <mavsdk/mavsdk.h>
+#include <iostream>
+
+using namespace mavsdk;
+
+int main()
+{
+    Mavsdk mavsdk{Mavsdk::Configuration{1, 180, false}};
+    std::cout << "MAVSDK version: " << mavsdk.version() << std::endl;
+}

recipes/mavsdk/config.yml

@@ -0,0 +1,3 @@
+versions:
+  "2.13.0":
+    folder: all