cpp-nix-experiment/flake.nix at main · devsamuelv/cpp-nix-experiment · GitHub

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{
  inputs = {
    flake-utils = { url = "github:numtide/flake-utils"; };
    torch = { url = "path:libraries/torch"; };
    httplib = { url = "path:libraries/httplib"; };
    spdlog = { url = "path:libraries/spdlog"; };
    # Nix Ros Overlay
    nix-ros-overlay = { url = "github:lopsided98/nix-ros-overlay/master"; };
    nixpkgs = { follows = "nix-ros-overlay/nixpkgs"; };
  };
  outputs =
    { nixpkgs, flake-utils, torch, httplib, spdlog, nix-ros-overlay, ... }:
    flake-utils.lib.eachDefaultSystem (system:
      let
        pkgs = (import nixpkgs {
          inherit system;
          overlays = [ nix-ros-overlay.overlays.default ];
        });
      in {
        packages.default = with pkgs.clangStdenv;
          mkDerivation {
            pname = "teleop-control";
            version = "1.0.0";
            src = ./.;

            cmakeFlags = [
              "-DGTK2_GLIBCONFIG_INCLUDE_DIR=${pkgs.glib.out}/lib/glib-2.0/include"
              "-DGTK2_GDKCONFIG_INCLUDE_DIR=${pkgs.gtk2.out}/lib/gtk-2.0/include"
              "-DGTK2_GDKCONFIG_INCLUDE_DIR=${pkgs.gtk2.out}/lib/gtk-2.0/include"
              "-DCMAKE_MODULE_PATH=$CMAKE_MODULE_PATH;${pkgs.opencv.out}/lib/cmake/opencv4"
              "-D$AMENT_PREFIX_PATH=$AMENT_PREFIX_PATH"
            ];

            nativeBuildInputs = [
              pkgs.cmake
              pkgs.makeWrapper
              pkgs.glib
              pkgs.gtk2
              (pkgs.opencv.override {
                enableJPEG = true;
                enableFfmpeg = true;
              })

              # x86_64-linux only
              torch.packages.x86_64-linux.libtorch
              httplib.packages.x86_64-linux.cpp-httplib
              # spdlog.packages.x86_64-linux.default

              # ROS Packages
              pkgs.colcon
              # ... other non-ROS packages
              (with pkgs.rosPackages.humble;
                buildEnv {
                  paths = [
                    image-transport
                    ros-core
                    sensor-msgs
                    cv-bridge
                    ament-cmake
                    ament-cmake-core
                    ament-cmake-ros
                    ament-cmake-auto

                    # ... other ROS packages
                  ];
                })
            ];
            buildInputs = [ pkgs.gtk2 ];

            buildPhase = ''
              mkdir -p build
              cmake -S $src -B ./build -DCMAKE_BUILD_TYPE=Release
              cmake --build build
            '';
            installPhase = ''
              mkdir -p $out/bin
              cp build/teleop-control $out/bin
            '';
          };

        devShells.default = with pkgs;
          mkShell.override { stdenv = pkgs.clangStdenv; } {
            TORCH_LIBRARIES = "${torch.packages.x86_64-linux.libtorch.out}/lib";
            CMAKE_MODULE_PATH = "${pkgs.opencv.out}/lib/cmake/opencv4";

            packages = [
              # Generic DevTools
              # clang-tools must be first before clang
              pkgs.clang-tools
              pkgs.cmake
              pkgs.glib
              pkgs.gtk2
              pkgs.clang
              pkgs.nixfmt
              (pkgs.opencv.override {
                enableJPEG = true;
                enableFfmpeg = true;
              })

              # x86_64-linux only
              torch.packages.x86_64-linux.libtorch
              httplib.packages.x86_64-linux.cpp-httplib
              # spdlog.packages.x86_64-linux.default

              # ROS Packages
              pkgs.colcon
              (with pkgs.rosPackages.humble;
                buildEnv {
                  paths = [
                    ros-core
                    image-transport
                    sensor-msgs
                    cv-bridge
                    ament-cmake
                    ament-cmake-core
                    ament-cmake-ros
                    ament-cmake-auto
                    foxglove-bridge

                    # ... other ROS packages
                  ];
                })
            ];
          };
      });
}