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Merge pull request #88 from PX4/mrpollo/update_gazebo
formula: update formulas & adds ci test * updates px4-dev formula to avoid installation errors * updates gazebo formula to harmonic to remain in line with px4 * adds ci sanity checks for the px4/px4 tap * adds ci px4-dev install plus build px4 test
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‎.github/workflows/test_bot.yml‎

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name: Brew test-bot
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on:
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push:
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branches:
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- master
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pull_request:
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branches:
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- '**'
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jobs:
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test-bot:
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name: Check Style, and Audit Formula
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runs-on: ubuntu-24.04
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env:
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HOMEBREW_FORCE_VENDOR_RUBY: 1
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steps:
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- name: Activate Homebrew
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if: runner.os == 'Linux'
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run: echo "/home/linuxbrew/.linuxbrew/bin" >> "$GITHUB_PATH"
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- name: Set up Homebrew
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id: set-up-homebrew
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uses: Homebrew/actions/setup-homebrew@master
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- name: Cache Bundler RubyGems
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id: cache
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uses: actions/cache@v4
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with:
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path: ${{ steps.set-up-homebrew.outputs.gems-path }}
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key: ${{ runner.os }}-rubygems-${{ steps.set-up-homebrew.outputs.gems-hash }}
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restore-keys: ${{ runner.os }}-rubygems-
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- run: brew test-bot --only-cleanup-before
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- run: brew test-bot --only-setup
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- run: brew test-bot --fail-fast --tap=px4/px4 --only-tap-syntax

‎.github/workflows/test_px4_dev.yml‎

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name: Build, Test & Compile PX4 Projects
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on:
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push:
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branches:
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- master
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pull_request:
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branches:
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- '**'
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jobs:
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build:
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name: Building ${{ matrix.formula }}
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runs-on: macos-latest
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strategy:
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fail-fast: true
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matrix:
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include:
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- formula: px4-dev
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build_target: px4_fmu-v5
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#- formula: px4-sim-gazebo
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#build_target: px4_sitl_default
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steps:
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- name: Checkout Homebrew tap
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uses: actions/checkout@v4
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with:
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repository: px4/homebrew-px4
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path: homebrew-px4
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- name: Update Homebrew
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run: brew update
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- name: Tap PX4/px4 repository
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working-directory: homebrew-px4
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run: brew tap px4/px4 "${{ github.workspace }}/homebrew-px4"
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- name: Checkout PX4 Autopilot
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uses: actions/checkout@v4
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with:
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repository: PX4/PX4-Autopilot
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path: px4-autopilot
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fetch-depth: 0
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- name: Set up Python
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uses: actions/setup-python@v5
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with:
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python-version: '3.11'
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- name: Setup Python virtual environment
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working-directory: px4-autopilot
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run: |
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python3 -m venv venv
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source venv/bin/activate
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pip install --upgrade pip
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pip install -r Tools/setup/requirements.txt
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- name: Add venv to PATH for subsequent steps
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run: echo "${{ github.workspace }}/px4-autopilot/venv/bin" >> "$GITHUB_PATH"
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- name: Install formula
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run: brew install --build-from-source ${{ matrix.formula }}
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- name: Run formula tests
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run: brew test ${{ matrix.formula }}
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- name: Audit formula
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run: brew audit --strict --online ${{ matrix.formula }}
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- name: Build PX4 Autopilot
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working-directory: px4-autopilot
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run: |
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source venv/bin/activate
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make ${{ matrix.build_target }}

‎Formula/asio@1.10.8.rb‎

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class AsioAT1108 < Formula
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desc "Cross-platform C++ Library for asynchronous programming"
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homepage "https://think-async.com/Asio"
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url "https://downloads.sourceforge.net/project/asio/asio/1.10.8%20%28Stable%29/asio-1.10.8.tar.bz2"
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sha256 "26deedaebbed062141786db8cfce54e77f06588374d08cccf11c02de1da1ed49"
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license "BSL-1.0"
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head "https://github.com/chriskohlhoff/asio.git"
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keg_only :versioned_formula
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depends_on "autoconf" => :build
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depends_on "automake" => :build
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depends_on "libtool" => :build
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depends_on "pkg-config" => :build
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depends_on "boost"
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def install
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# Ensure C++11 compatibility
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ENV.cxx11
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# Regenerate the configure script
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system "autoconf"
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# Configure with Boost support
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args = %W[
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--disable-dependency-tracking
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--disable-silent-rules
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--prefix=#{prefix}
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--with-boost=#{Formula["boost"].opt_include}
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]
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system "./configure", *args
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# Build and install
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system "make", "install"
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# Install example programs
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pkgshare.install "src/examples"
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end
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test do
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# Use the HTTP server example to verify functionality
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httpserver = pkgshare/"examples/cpp03/http/server/http_server"
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pid = fork do
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exec httpserver, "127.0.0.1", "8080", "."
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end
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sleep 1
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begin
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assert_match "404 Not Found", shell_output("curl -s http://127.0.0.1:8080")
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ensure
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Process.kill "TERM", pid
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Process.wait pid
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end
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end
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end

‎Formula/fastcdr.rb‎

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class Fastcdr < Formula
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desc "OMG RTPS / DDS implementation"
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homepage "http://www.eprosima.com/index.php/products-all/eprosima-fast-rtps"
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url "https://github.com/eProsima/Fast-CDR/archive/v1.0.22.tar.gz"
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url "https://github.com/eProsima/Fast-CDR/archive/refs/tags/v1.0.22.tar.gz"
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sha256 "7ca7f09c633963622431bdb216eeb4145e378f81a2ce5113e341b9eee55e4f44"
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depends_on "cmake" => :build
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# bottle do
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# root_url "http://px4-tools.s3.amazonaws.com"
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# cellar :any
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# sha256 "e33d048df94b0e4efcdc5249a979f6c3780607d96ef1a1f767c54ab425a4418a" => :sierra
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# end
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def install
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Dir.mkdir("./build")
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Dir.chdir("./build")
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system "cmake", "-DCMAKE_INSTALL_PREFIX:PATH=#{prefix}", ".."
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system "make"
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system "make", "install"
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build_dir = buildpath/"build"
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build_dir.mkpath
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# Configure with updated minimum CMake policy to avoid compatibility errors
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system "cmake", "-S", ".", "-B", build_dir,
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"-DCMAKE_POLICY_VERSION_MINIMUM=3.5",
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*std_cmake_args
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system "cmake", "--build", build_dir
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system "cmake", "--install", build_dir
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end
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end

‎Formula/fastdds.rb‎

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homepage "https://www.eprosima.com/index.php/products-all/eprosima-fast-dds"
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url "https://github.com/eProsima/Fast-DDS/archive/refs/tags/v2.0.2.tar.gz"
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sha256 "d8c87e84c41a5628cc41658476137b6a392f218b844a6f5e2ff5d8c359fd5b10"
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license "Apache-2.0"
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depends_on "cmake" => :build
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depends_on "asio"
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depends_on "tinyxml2"
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depends_on "asio@1.10.8"
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depends_on "fastcdr"
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depends_on "foonathan-memory"
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depends_on "tinyxml2"
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def install
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Dir.mkdir("./build")
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Dir.chdir("./build")
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system "cmake", "-DCMAKE_INSTALL_PREFIX:PATH=#{prefix}", ".."
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system "make"
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system "make", "install"
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# Out-of-tree build to avoid nested chdir conflicts
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build_dir = buildpath/"build"
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build_dir.mkpath
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# Configure, build, and install with updated CMake policy
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system "cmake", "-S", ".", "-B", build_dir,
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"-DCMAKE_POLICY_VERSION_MINIMUM=3.5",
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*std_cmake_args
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system "cmake", "--build", build_dir
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system "cmake", "--install", build_dir
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end
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end

‎Formula/fastddsgen.rb‎

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class Fastddsgen < Formula
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desc "Fast-DDS IDL code generator tool "
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desc "Fast-DDS IDL code generator tool"
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homepage "https://www.eprosima.com/index.php/products-all/eprosima-fast-dds"
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url "https://github.com/eProsima/Fast-DDS-Gen.git", tag: "v1.0.4"
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sha256 "a75399160aab20490a64a4e936230f446441a2717c756e478bbd83822fcb97a2"
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system "./gradlew", "assemble"
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system "./gradlew", "install", "--install_path=#{prefix}"
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end
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end

‎Formula/foonathan-memory.rb‎

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class FoonathanMemory < Formula
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desc "STL compatible C++ memory allocator library using a new RawAllocator concept that is similar to an Allocator but easier to use and write."
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desc "STL-compatible C++ allocator library with a simpler memory model"
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homepage "https://memory.foonathan.net"
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url "https://github.com/foonathan/memory/archive/refs/tags/v0.7-1.tar.gz"
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sha256 "19eb61c5cba6ccc40b8ee741350fd29402a46641ba752c30b7079528d87dbc79"
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depends_on "cmake" => :build
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def install
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Dir.mkdir("./build")
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Dir.chdir("./build")
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system "cmake", "-DCMAKE_INSTALL_PREFIX:PATH=#{prefix}", ".."
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system "make"
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system "make", "install"
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end
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# Use out-of-tree build directory to avoid nested chdir conflicts
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build_dir = buildpath/"build"
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build_dir.mkpath
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# Configure with tests disabled and CMake compatibility policy
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system "cmake", "-S", ".", "-B", build_dir,
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"-DFOONATHAN_MEMORY_BUILD_TESTS=OFF",
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"-DCMAKE_POLICY_VERSION_MINIMUM=3.5",
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*std_cmake_args
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# Build and install
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system "cmake", "--build", build_dir
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system "cmake", "--install", build_dir
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end
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end

‎Formula/kconfig-frontends.rb‎

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--disable-debug
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--disable-dependency-tracking
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]
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if Hardware::CPU.arm?
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args << "--disable-nconf"
40-
end
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args << "--disable-nconf" if Hardware::CPU.arm?
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system "./configure", *args
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system "make", "install"
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end

‎Formula/px4-dev.rb‎

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class Px4Dev < Formula
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desc "PX4 development toolchain"
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homepage "http://px4.io"
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url "https://raw.githubusercontent.com/PX4/PX4-Autopilot/master/Tools/px4.py"
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version "1.11.0"
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homepage "https://px4.io"
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url "https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/px4.py"
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version "1.15.0"
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sha256 "5eda2111dc20c092dc8241768121cf4173edabb593b2b199e6c233b5088c52aa"
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depends_on "ant"
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depends_on "astyle"
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depends_on "bash-completion"
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1819
depends_on "python"
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def install
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mkdir_p "#{bin}/"
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cp "px4.py", "#{bin}/"
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# Patch px4.py to use HTTPS for remote tag lookup instead of SSH
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inreplace "px4.py",
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"git@github.com:PX4/PX4-Autopilot.git",
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"https://github.com/PX4/PX4-Autopilot.git"
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# Install the px4 script
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bin.install "px4.py"
2329
ohai "PX4 Toolchain Installed"
2430
end
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test do
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# Ensure the script runs without SSH errors and prints release info
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output = shell_output("#{bin}/px4.py")
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assert_match(/PX4 Release/, output)
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end
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end

‎Formula/px4-sim-gazebo.rb‎

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end
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class Px4SimGazebo < Formula
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desc "PX4 Gazebo simulation"
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desc "PX4 Gazebo Simulation Toolkit"
1616
homepage "http://px4.io"
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url "https://raw.githubusercontent.com/PX4/PX4-Autopilot/master/Tools/px4.py"
18-
version "1.11.0"
19-
sha256 "6e4a8a6aad592a0c156d16233e16ee276fd6cc63b620be5bd047375b1352e27d"
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url "https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/px4.py"
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version "1.15.0"
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sha256 "5eda2111dc20c092dc8241768121cf4173edabb593b2b199e6c233b5088c52aa"
2020
depends_on "exiftool"
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depends_on "glog"
2222
depends_on "graphviz"
23-
depends_on "gst-libav"
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depends_on "gst-plugins-bad"
25-
depends_on "gst-plugins-base"
26-
depends_on "gst-plugins-good"
27-
depends_on "gst-plugins-ugly"
2823
depends_on "gstreamer"
2924
depends_on "opencv"
30-
depends_on "osrf/simulation/gazebo11"
25+
depends_on "osrf/simulation/gz-harmonic"
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depends_on "protobuf"
3227
depends_on "px4-dev"
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3429
def install
3530
mkdir_p "#{bin}/"
3631
cp "px4.py", "#{bin}/px4-sim-gazebo.py"
37-
ohai "PX4 Gazebo simulation installed"
32+
ohai "PX4 Gazebo Simulation Installed"
33+
end
34+
35+
test do
36+
output = shell_output("#{bin}/gz sim --version 2> /dev/null")
37+
assert_match "Gazebo Sim, version 8*", output
3838
end
3939
end

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