# Copyright 2013-2021 Lawrence Livermore National Security, LLC and other
# Spack Project Developers. See the top-level COPYRIGHT file for details.
#
# SPDX-License-Identifier: (Apache-2.0 OR MIT)

from spack import *


class _3dtk(CMakePackage):
    """The 3D Toolkit provides algorithms and methods to process 3D point
    clouds.

    It includes automatic high-accurate registration (6D simultaneous
    localization and mapping, 6D SLAM) and other tools, e.g., a fast 3D viewer,
    plane extraction software, etc. Several file formats for the point clouds
    are natively supported, new formats can be implemented easily."""

    homepage = "http://slam6d.sourceforge.net/"
    # Repo seems to be in the process of switching to git:
    # https://github.com/3DTK/3DTK

    version('trunk', svn='https://svn.code.sf.net/p/slam6d/code/trunk', preferred=True)
    version('1.2', svn='https://svn.code.sf.net/p/slam6d/code/branches/3dtk-release-1.2')

    variant('cgal', default=False, description='Compile with CGAL support')
    variant('opengl', default=True, description='Compile with OpenGL support')
    variant('opencv', default=True, description='Compile with OpenCV support')
    variant('compact_octree', default=False, description='Whether to use the compact octree display')
    variant('cuda', default=False, description='Whether to build CUDA accelerated collision detection tools')
    variant('openmp', default=False, description='Whether to use parallel processing capabilities of OPENMP')

    conflicts('~opencv', when='platform=darwin')
    conflicts('+compact_octree', when='~opengl')

    generator = 'Ninja'

    depends_on('cmake@3.5:', when='@trunk', type='build')
    depends_on('cmake@2.6.1:2.999', when='@1.2', type='build')
    depends_on('ninja', type='build')
    depends_on('boost+serialization+graph+regex+filesystem+system+thread+date_time+program_options')
    depends_on('suite-sparse')
    depends_on('zlib')
    depends_on('libpng')
    depends_on('eigen')
    depends_on('cgal', when='+cgal')
    depends_on('gl', when='+opengl')
    depends_on('glew', when='+opengl')
    depends_on('freeglut', when='+opengl')
    depends_on('opencv+calib3d+contrib+core+features2d+highgui+imgcodecs+imgproc+ml+videoio', when='+opencv')
    # Because concretizer is broken
    depends_on('opencv+flann', when='+opencv')
    depends_on('cuda', when='+cuda')

    # TODO: add Spack packages for these instead of using vendored copies
    # depends_on('ann')
    # depends_on('newmat')

    patch('homebrew.patch', when='platform=darwin')

    def setup_build_environment(self, env):
        env.prepend_path('CPATH', self.spec['eigen'].prefix.include)

    def cmake_args(self):
        return [
            self.define_from_variant('WITH_CGAL', 'cgal'),
            self.define('WITH_GMP', False),
            self.define('WITH_LIBZIP', False),
            self.define_from_variant('WITH_OPENGL', 'opengl'),
            self.define_from_variant('WITH_OPENCV', 'opencv'),
            self.define('WITH_QT', False),
            self.define('WITH_GLFW', False),
            self.define('WITH_FTGL', False),
            self.define('WITH_XMLRPC', False),
            self.define('WITH_LIBCONFIG', False),
            self.define('WITH_ROS', False),
            self.define('WITH_PYTHON', False),
            self.define('WITH_WXWIDGETS', False),
            self.define_from_variant('WITH_COMPACT_OCTREE', 'compact_octree'),
            self.define('WITH_GLEE', False),
            self.define('WITH_LASLIB', False),
            self.define('WITH_E57', False),
            self.define('WITH_3DMOUSE', False),
            self.define_from_variant('WITH_CUDA', 'cuda'),
            self.define('WITH_RIVLIB', False),
            self.define('WITH_MICROEPSILONLIB', False),
            self.define_from_variant('WITH_OPENMP', 'openmp'),
            self.define('WITH_METRICS', False),
            self.define('WITH_ADDONS', False),
        ]

    def install(self, spec, prefix):
        install_tree('bin', prefix.bin)