Add lanelet2 module

Closes #3487
bazelbuild · Dec 26, 2024 · 7bc8e0a · 7bc8e0a
1 parent 0d1e990
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diff --git a/modules/lanelet2/1.2.1/MODULE.bazel b/modules/lanelet2/1.2.1/MODULE.bazel
@@ -0,0 +1,29 @@
+module(
+    name = "lanelet2",
+    version = "1.2.1",
+)
+
+BOOST_VERSION = "1.83.0"
+
+bazel_dep(name = "boost.config", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.core", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.filesystem", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.format", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.geometry", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.graph", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.iterator", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.lexical_cast", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.optional", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.polygon", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.program_options", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.property_map", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.serialization", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.type_traits", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "boost.units", version = BOOST_VERSION)
+bazel_dep(name = "boost.variant", version = BOOST_VERSION + ".bcr.1")
+bazel_dep(name = "eigen", version = "3.4.0.bcr.1")
+bazel_dep(name = "geographiclib", version = "2.4.0")
+bazel_dep(name = "googletest", version = "1.15.2", repo_name = "com_google_googletest")
+bazel_dep(name = "pugixml", version = "1.14.bcr.1")
+bazel_dep(name = "rules_cc", version = "0.0.9")
+bazel_dep(name = "rules_license", version = "1.0.0")
diff --git a/modules/lanelet2/1.2.1/overlay/BUILD.bazel b/modules/lanelet2/1.2.1/overlay/BUILD.bazel
@@ -0,0 +1,232 @@
+"""Bazel build file for lanelet2 libraries"""
+
+load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
+load("@rules_license//rules:license.bzl", "license")
+
+package(default_applicable_licenses = [":license"])
+
+license(
+    name = "license",
+    license_kinds = ["@rules_license//licenses/spdx:BSD-3-Clause"],
+    license_text = "LICENSE",
+)
+
+cc_library(
+    name = "lanelet2_core",
+    srcs = glob(["lanelet2_core/src/**/*.cpp"]),
+    hdrs = glob(["lanelet2_core/include/**/*.h"]),
+    copts = [
+        "-Wno-sign-compare",
+        "-Wno-unused-function",
+        "-Wno-unused-local-typedefs",
+    ],
+    includes = ["lanelet2_core/include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "@boost.config",
+        "@boost.core",
+        "@boost.geometry",
+        "@boost.iterator",
+        "@boost.lexical_cast",
+        "@boost.optional",
+        "@boost.polygon",
+        "@boost.type_traits",
+        "@boost.units",
+        "@boost.variant",
+        "@eigen",
+    ],
+)
+
+cc_library(
+    name = "lanelet2_io",
+    srcs = glob(["lanelet2_io/src/**/*.cpp"]),
+    hdrs = glob(["lanelet2_io/include/**/*.h"]),
+    includes = ["lanelet2_io/include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":lanelet2_core",
+        "@boost.filesystem",
+        "@boost.format",
+        "@boost.geometry",
+        "@boost.serialization",
+        "@pugixml",
+    ],
+)
+
+filegroup(
+    name = "lanelet2_maps_osm_files",
+    srcs = glob(["lanelet2_maps/res/*.osm"]),
+)
+
+cc_library(
+    name = "lanelet2_matching",
+    srcs = glob(["lanelet2_matching/src/**/*.cpp"]),
+    hdrs = glob(["lanelet2_matching/include/**/*.h"]),
+    includes = [
+        "lanelet2_matching/include",
+        # This has to be exposed as a public include because the headers include other headers using
+        # the local path.
+        "lanelet2_matching/include/lanelet2_matching",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":lanelet2_core",
+        ":lanelet2_traffic_rules",
+        "@eigen",
+    ],
+)
+
+cc_library(
+    name = "lanelet2_projection",
+    srcs = glob(["lanelet2_projection/src/**/*.cpp"]),
+    hdrs = glob(["lanelet2_projection/include/**/*.h"]),
+    includes = ["lanelet2_projection/include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":lanelet2_core",
+        ":lanelet2_io",
+        "@geographiclib",
+    ],
+)
+
+cc_library(
+    name = "lanelet2_routing",
+    srcs = glob(["lanelet2_routing/src/**/*.cpp"]),
+    hdrs = glob(["lanelet2_routing/include/**/*.h"]),
+    includes = ["lanelet2_routing/include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":lanelet2_core",
+        ":lanelet2_traffic_rules",
+        "@boost.geometry",
+        "@boost.graph",
+        "@boost.property_map",
+    ],
+)
+
+cc_library(
+    name = "lanelet2_traffic_rules",
+    srcs = glob(["lanelet2_traffic_rules/src/**/*.cpp"]),
+    hdrs = glob(["lanelet2_traffic_rules/include/**/*.h"]),
+    includes = ["lanelet2_traffic_rules/include"],
+    visibility = ["//visibility:public"],
+    deps = [":lanelet2_core"],
+)
+
+cc_library(
+    name = "lanelet2_validation",
+    srcs = glob(["lanelet2_validation/src/**/*.cpp"]),
+    hdrs = glob(["lanelet2_validation/include/**/*.h"]),
+    includes = ["lanelet2_validation/include"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":lanelet2_core",
+        ":lanelet2_io",
+        ":lanelet2_projection",
+        ":lanelet2_routing",
+        ":lanelet2_traffic_rules",
+        "@boost.program_options",
+    ],
+)
+
+#################################################################################
+# Tests
+#################################################################################
+cc_test(
+    name = "lanelet2_core_test",
+    size = "small",
+    srcs = glob([
+        "lanelet2_core/test/*.cpp",
+        "lanelet2_core/test/*.h",
+    ]),
+    copts = ["-Wno-sign-compare"],
+    deps = [
+        ":lanelet2_core",
+        "@boost.geometry",
+        "@boost.optional",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "lanelet2_io_test",
+    size = "small",
+    srcs = glob([
+        "lanelet2_io/test/*.cpp",
+        "lanelet2_io/test/*.h",
+    ]),
+    data = [":lanelet2_maps_osm_files"],
+    deps = [
+        ":lanelet2_core",
+        ":lanelet2_io",
+        "@boost.filesystem",
+        "@boost.serialization",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "lanelet2_matching_test",
+    size = "small",
+    srcs = glob(["lanelet2_matching/test/*.cpp"]),
+    deps = [
+        ":lanelet2_io",
+        ":lanelet2_matching",
+        ":lanelet2_projection",
+        ":lanelet2_traffic_rules",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "lanelet2_projection_test",
+    size = "small",
+    srcs = glob(["lanelet2_projection/test/*.cpp"]),
+    deps = [
+        ":lanelet2_projection",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "lanelet2_routing_test",
+    size = "small",
+    srcs = glob([
+        "lanelet2_routing/test/*.cpp",
+        "lanelet2_routing/test/*.h",
+    ]),
+    deps = [
+        ":lanelet2_core",
+        ":lanelet2_routing",
+        ":lanelet2_traffic_rules",
+        "@boost.filesystem",
+        "@boost.geometry",
+        "@boost.optional",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "lanelet2_traffic_rules_test",
+    size = "small",
+    srcs = glob(["lanelet2_traffic_rules/test/*.cpp"]),
+    deps = [
+        ":lanelet2_core",
+        ":lanelet2_traffic_rules",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "lanelet2_validation_test",
+    size = "small",
+    srcs = glob(["lanelet2_validation/test/*.cpp"]),
+    data = [":lanelet2_maps_osm_files"],
+    deps = [
+        ":lanelet2_core",
+        ":lanelet2_io",
+        ":lanelet2_projection",
+        ":lanelet2_validation",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
diff --git a/modules/lanelet2/1.2.1/overlay/MODULE.bazel b/modules/lanelet2/1.2.1/overlay/MODULE.bazel
@@ -0,0 +1 @@
+../MODULE.bazel
diff --git a/modules/lanelet2/1.2.1/patches/bazel_test_paths.patch b/modules/lanelet2/1.2.1/patches/bazel_test_paths.patch
@@ -0,0 +1,48 @@
+diff --git a/lanelet2_io/test/TestBinHandler.cpp b/lanelet2_io/test/TestBinHandler.cpp
+index c9868ab..a2c1b75 100644
+--- a/lanelet2_io/test/TestBinHandler.cpp
++++ b/lanelet2_io/test/TestBinHandler.cpp
+@@ -115,7 +115,7 @@ TEST(BinHandler, explicitIO) {  // NOLINT
+
+ TEST(BinHandler, fullMap) {
+   Origin origin({49, 8.4, 0});
+-  std::string filenameIn = "../../lanelet2_maps/res/mapping_example.osm";
++  std::string filenameIn = "../lanelet2~/lanelet2_maps/res/mapping_example.osm";
+   auto map = lanelet::load(filenameIn, origin);
+   auto llt = map->laneletLayer.find(44968);
+   writeAndLoad(*llt);
+diff --git a/lanelet2_io/test/TestSimpleUsage.cpp b/lanelet2_io/test/TestSimpleUsage.cpp
+index 792f69d..a21fa86 100644
+--- a/lanelet2_io/test/TestSimpleUsage.cpp
++++ b/lanelet2_io/test/TestSimpleUsage.cpp
+@@ -5,7 +5,7 @@
+ TEST(lanelet2_io, exampleUsage) {  // NOLINT
+   using namespace lanelet;
+   Origin origin({49, 8.4, 0});
+-  std::string filenameIn = "../../lanelet2_maps/res/mapping_example.osm";
++  std::string filenameIn = "../lanelet2~/lanelet2_maps/res/mapping_example.osm";
+   LaneletMapPtr laneletMap = lanelet::load(filenameIn, origin);
+
+   lanelet::test_setup::Tempfile file("file.osm");
+diff --git a/lanelet2_validation/test/lanelet2_validation.cpp b/lanelet2_validation/test/lanelet2_validation.cpp
+index 3e30df4..47d4c83 100644
+--- a/lanelet2_validation/test/lanelet2_validation.cpp
++++ b/lanelet2_validation/test/lanelet2_validation.cpp
+@@ -9,7 +9,7 @@
+ #include "lanelet2_validation/Validation.h"
+
+ TEST(TestAllValidators, onExampleMap) {  // NOLINT
+-  const char* args[] = {"validator",      "../../lanelet2_maps/res/mapping_example.osm",
++  const char* args[] = {"validator",      "../lanelet2~/lanelet2_maps/res/mapping_example.osm",
+                         "--participants", "vehicle",
+                         "--participants", "pedestrian",
+                         "--lat",          "49",
+@@ -32,7 +32,7 @@ TEST(Validator, pointsTooClose) {  // NOLINT
+ }
+
+ TEST(Validator, curvatureTooBig) {  // NOLINT
+-  std::string exampleMapPath = "../../lanelet2_maps/res/mapping_example.osm";
++  std::string exampleMapPath = "../lanelet2~/lanelet2_maps/res/mapping_example.osm";
+   using namespace lanelet;
+   projection::UtmProjector projector(Origin({49, 8.4}));
+   LaneletMapPtr map = load(exampleMapPath, projector);
diff --git a/modules/lanelet2/1.2.1/patches/fix_test_include_paths.patch b/modules/lanelet2/1.2.1/patches/fix_test_include_paths.patch
@@ -0,0 +1,26 @@
+diff --git a/lanelet2_core/test/test_linestring.cpp b/lanelet2_core/test/test_linestring.cpp
+index b8242ee..e002787 100644
+--- a/lanelet2_core/test/test_linestring.cpp
++++ b/lanelet2_core/test/test_linestring.cpp
+@@ -5,7 +5,7 @@
+
+ #include "lanelet2_core/geometry/LineString.h"
+ #include "lanelet2_core/primitives/LineString.h"
+-#include "primitives/Traits.h"
++#include "lanelet2_core/primitives/Traits.h"
+ using namespace lanelet;
+
+ class LineStringPoints : public ::testing::Test {
+diff --git a/lanelet2_matching/test/lanelet2_matching.cpp b/lanelet2_matching/test/lanelet2_matching.cpp
+index c47194e..5b84b54 100644
+--- a/lanelet2_matching/test/lanelet2_matching.cpp
++++ b/lanelet2_matching/test/lanelet2_matching.cpp
+@@ -33,7 +33,7 @@
+ #include <lanelet2_traffic_rules/TrafficRules.h>
+ #include <lanelet2_traffic_rules/TrafficRulesFactory.h>
+
+-#include "LaneletMatching.h"
++#include "lanelet2_matching/LaneletMatching.h"
+ #include "gtest/gtest.h"
+
+ using namespace lanelet;
diff --git a/modules/lanelet2/1.2.1/source.json b/modules/lanelet2/1.2.1/source.json
@@ -0,0 +1,14 @@
+{
+    "url": "https://github.com/fzi-forschungszentrum-informatik/Lanelet2/archive/refs/tags/1.2.1.tar.gz",
+    "integrity": "sha256-7fjbxyE5hUBZ8jddMj5bBwSLeGdlj/9fMSlGnVDYJes=",
+    "strip_prefix": "Lanelet2-1.2.1",
+    "patches": {
+        "bazel_test_paths.patch": "sha256-8snNURNG2CCMOzecFPYHtdEAq5cGRwslAAYe9lShJCo=",
+        "fix_test_include_paths.patch": "sha256-iaAuQFKvVknHYUzSmFpsnXx5auhE1RqpXIKS9qK+C2E="
+    },
+    "overlay": {
+        "BUILD.bazel": "sha256-ILVS6eeAAv/vUWj6So2Iy85YUi/80d3eBpgSqA1SPU0=",
+        "MODULE.bazel": "sha256-lj6BzIv7yZmtEd+TQBI82tSzxaoIT/JzvfOjZYAn6Yo="
+    },
+    "patch_strip": 1
+}
diff --git a/modules/lanelet2/metadata.json b/modules/lanelet2/metadata.json
@@ -0,0 +1,17 @@
+{
+    "homepage": "https://github.com/fzi-forschungszentrum-informatik/Lanelet2",
+    "maintainers": [
+        {
+            "email": "[email protected]",
+            "github": "kgreenek",
+            "name": "Kevin Greene"
+        }
+    ],
+    "repository": [
+        "github:fzi-forschungszentrum-informatik/Lanelet2"
+    ],
+    "versions": [
+        "1.2.1",
+    ],
+    "yanked_versions": {}
+}