Garden: fix physics, rendering, transport rpath issues and add tests (#…

…2409)

This adds custom CMAKE_INSTALL_RPATH entries for
formulae with binaries installed to nested subfolders,
such as <prefix>/libexec/gz/transport12 and
<prefix>/lib/gz-physics-6/engine-plugins.
This should fix library loading issues with ARM CPUs.
This adds tests as well.

* gz-rendering: patch for ogre2 rpath
* gz-physics6: revision bump
* gz-rendering7: revision bump
* gz-transport12: revision bump
* update  bottle.

Signed-off-by: Steve Peters <[email protected]>
Co-authored-by: OSRF Build Bot <[email protected]>

Formula/gz-physics6.rb

@@ -4,12 +4,13 @@ class GzPhysics6 < Formula
   url "https://osrf-distributions.s3.amazonaws.com/gz-physics/releases/gz-physics-6.5.0.tar.bz2"
   sha256 "807345b1e8ca3b33678cd5424331f50d7e609be453491247c88267ec8af0adee"
   license "Apache-2.0"
+  revision 1
 
   bottle do
     root_url "https://osrf-distributions.s3.amazonaws.com/bottles-simulation"
-    sha256 ventura:  "11339ffc950754980e92302f2721784a7ad1d1cc76869ea13d1da61bc6fbc47f"
-    sha256 monterey: "6981b3711f914e88cdbf86464559adb0d5d146b4e3161385ced44789bb4447d5"
-    sha256 big_sur:  "fe19abc81ae3e805ce5fe4ff90fc071a24b11c1828f5b4acd5605821740f6df9"
+    sha256 ventura:  "2a2ddc047ebbb1d413ae87844572d6be59e657e76f7ef4d3ac5da66f21f9acd5"
+    sha256 monterey: "0f0aefaddd5545fcc3b7eb0f01ec278466f0d32f0ebdcea187a7967750ed26cd"
+    sha256 big_sur:  "3da98f2f48f3e0f0a94fe9c405803e1ad54419041f3fed61b3f8d46969c913fc"
   end
 
   depends_on "cmake" => :build
@@ -27,14 +28,35 @@ class GzPhysics6 < Formula
   depends_on "sdformat13"
 
   def install
+    rpaths = [
+      rpath,
+      rpath(source: lib/"gz-physics-6/engine-plugins", target: lib),
+    ]
     cmake_args = std_cmake_args
     cmake_args << "-DBUILD_TESTING=OFF"
-    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpath}"
-    system "cmake", ".", *cmake_args
-    system "make", "install"
+    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
+    %w[bullet-featherstone bullet dartsim tpe].each do |engine|
+      p = lib/"gz-physics-6/engine-plugins/libgz-physics-#{engine}-plugin.dylib"
+      # Use gz-plugin --info command to check plugin linking
+      cmd = Formula["gz-plugin2"].opt_libexec/"gz/plugin2/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
     (testpath/"test.cpp").write <<-EOS
       #include "gz/plugin/Loader.hh"
       #include "gz/physics/ConstructEmpty.hh"

Formula/gz-rendering7.rb

@@ -4,14 +4,15 @@ class GzRendering7 < Formula
   url "https://osrf-distributions.s3.amazonaws.com/gz-rendering/releases/gz-rendering-7.4.1.tar.bz2"
   sha256 "fea3a6b06c8fab598ffbc56a60dba48779282ac828260251b9058a6b5a5b823a"
   license "Apache-2.0"
+  revision 1
 
   head "https://github.com/gazebosim/gz-rendering.git", branch: "gz-rendering7"
 
   bottle do
     root_url "https://osrf-distributions.s3.amazonaws.com/bottles-simulation"
-    sha256 ventura:  "b79e201679fd148c68065f77092498413a18c5d0ecff03646f027e0c3498d108"
-    sha256 monterey: "1c586df54e9f6139cf168b090bb4f1c5beb0e7f49ea1af163cb39e31398aac41"
-    sha256 big_sur:  "1067c6d25e463b3c30f06aaba1d41040750b1422493113b549c07f892dd586d8"
+    sha256 ventura:  "553fc8ea77688fd97354525418814a0d0b3a0a29b85de011987e2b29417cb865"
+    sha256 monterey: "ea61caed7c72f4bce5d559f888f7baa3c368b56da165d9c08cdc836ea4a247e1"
+    sha256 big_sur:  "39844d2004e2e338d77556ad696c47de3ac39800132845c5ba39a3e57adae9d3"
   end
 
   depends_on "cmake" => [:build, :test]
@@ -27,10 +28,20 @@ class GzRendering7 < Formula
   depends_on "ogre1.9"
   depends_on "ogre2.3"
 
+  patch do
+    # use CMAKE_INSTALL_RPATH values in ogre2 library
+    url "https://github.com/gazebosim/gz-rendering/commit/65ffacb49e5c5477e2ee5241bb45fdfd2273a5ae.patch?full_index=1"
+    sha256 "ed13b1d5e74d3a4e66c33a52149eb6be581b5f97014e2745d9e18ad216913fd8"
+  end
+
   def install
+    rpaths = [
+      rpath,
+      rpath(source: lib/"gz-rendering-7/engine-plugins", target: lib),
+    ]
     cmake_args = std_cmake_args
     cmake_args << "-DBUILD_TESTING=OFF"
-    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpath}"
+    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpaths.join(";")}"
 
     mkdir "build" do
       system "cmake", "..", *cmake_args
@@ -39,6 +50,20 @@ def install
   end
 
   test do
+    # test plugins in subfolders
+    ["ogre", "ogre2"].each do |engine|
+      p = lib/"gz-rendering-7/engine-plugins/libgz-rendering-#{engine}.dylib"
+      # Use gz-plugin --info command to check plugin linking
+      cmd = Formula["gz-plugin2"].opt_libexec/"gz/plugin2/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>

Formula/gz-transport12.rb

@@ -4,15 +4,15 @@ class GzTransport12 < Formula
   url "https://osrf-distributions.s3.amazonaws.com/gz-transport/releases/gz-transport-12.2.0.tar.bz2"
   sha256 "731ec9f87fd815c62486ed4e2c3ecbeff5b8b4a8f09cc5e7abf4d8758cebe048"
   license "Apache-2.0"
-  revision 12
+  revision 13
 
   head "https://github.com/gazebosim/gz-transport.git", branch: "gz-transport12"
 
   bottle do
     root_url "https://osrf-distributions.s3.amazonaws.com/bottles-simulation"
-    sha256 ventura:  "e2277d2560c81e2478f865359b45a9e0a61c30841fc29a1540d6923270832070"
-    sha256 monterey: "4cd9f47d9db13508c172e3c8fcb9dce8f3563018db1ae862aa6be2850760e727"
-    sha256 big_sur:  "898238b0bf771ba7420f0190b4f7e615e8899a8bc6120b328d4267caee7d5d79"
+    sha256 ventura:  "3e3a928f9dd36f8c97fc7b2fff27142f5d7e1c10e9194bf747c3841955d2d99b"
+    sha256 monterey: "250cf7691f8794722b1283971af31073b7f462fcd24bcda7f65a1d7c06c460ac"
+    sha256 big_sur:  "277dcbdc9d2af2325d16dbd24917a0ea5901acb4ef3ea5ee461c3b631697369a"
   end
 
   depends_on "doxygen" => [:build, :optional]
@@ -36,9 +36,13 @@ class GzTransport12 < Formula
   end
 
   def install
+    rpaths = [
+      rpath,
+      rpath(source: libexec/"gz/transport12", target: lib),
+    ]
     cmake_args = std_cmake_args
     cmake_args << "-DBUILD_TESTING=OFF"
-    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpath}"
+    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpaths.join(";")}"
 
     # Use build folder
     mkdir "build" do
@@ -48,6 +52,10 @@ def install
   end
 
   test do
+    # test CLI executables
+    system libexec/"gz/transport12/gz-transport-service"
+    system libexec/"gz/transport12/gz-transport-topic"
+    # build against API
     (testpath/"test.cpp").write <<-EOS
       #include <iostream>
       #include <gz/transport.hh>