From 1daec834f2095a800631df5d86a7f9075222aebe Mon Sep 17 00:00:00 2001
From: Jia Yue Hua <3423893+jiayuehua@users.noreply.github.com>
Date: Wed, 3 Apr 2024 03:42:49 +0800
Subject: [PATCH] [octomap] update to 1.10.0 (#37706)

---
 ports/octomap/fix-compilation.patch | 22 ----------------------
 ports/octomap/fix-isnan.patch       | 25 +++++++++++++++++++++++++
 ports/octomap/portfile.cmake        |  6 +++---
 ports/octomap/vcpkg.json            |  3 +--
 versions/baseline.json              |  4 ++--
 versions/o-/octomap.json            |  5 +++++
 6 files changed, 36 insertions(+), 29 deletions(-)
 delete mode 100644 ports/octomap/fix-compilation.patch
 create mode 100644 ports/octomap/fix-isnan.patch

diff --git a/ports/octomap/fix-compilation.patch b/ports/octomap/fix-compilation.patch
deleted file mode 100644
index ebb6e4a535..0000000000
--- a/ports/octomap/fix-compilation.patch
+++ /dev/null
@@ -1,22 +0,0 @@
-diff --git a/octomap/include/octomap/ScanGraph.h b/octomap/include/octomap/ScanGraph.h
-index 07c7436..e54eaf5 100644
---- a/octomap/include/octomap/ScanGraph.h
-+++ b/octomap/include/octomap/ScanGraph.h
-@@ -60,7 +60,7 @@ namespace octomap {
- 
-     ~ScanNode();
- 
--    bool operator == (const ScanNode& other) {
-+    bool operator == (const ScanNode& other) const {
-       return (id == other.id);
-     }
- 
-@@ -87,7 +87,7 @@ namespace octomap {
-       : first(_first), second(_second), constraint(_constraint), weight(1.0) { }
-     ScanEdge() {}
- 
--    bool operator == (const ScanEdge& other) {
-+    bool operator == (const ScanEdge& other) const {
-       return ( (*first == *(other.first) ) && ( *second == *(other.second) ) );
-     }
- 
diff --git a/ports/octomap/fix-isnan.patch b/ports/octomap/fix-isnan.patch
new file mode 100644
index 0000000000..5da9a207ea
--- /dev/null
+++ b/ports/octomap/fix-isnan.patch
@@ -0,0 +1,25 @@
+diff --git a/octomap/src/compare_octrees.cpp b/octomap/src/compare_octrees.cpp
+index c02ceea8..e6890f59 100644
+--- a/octomap/src/compare_octrees.cpp
++++ b/octomap/src/compare_octrees.cpp
+@@ -39,7 +39,7 @@
+ #include <list>
+ #include <cmath>
+ 
+-#ifdef _MSC_VER // fix missing isnan for VC++
++#if defined(_MSC_VER) && !((defined(_MSVC_LANG) && _MSVC_LANG >= 201103L) || __cplusplus >= 201103L)
+ #define isnan(x) _isnan(x)  
+ #endif
+ 
+@@ -132,11 +132,7 @@ int main(int argc, char** argv) {
+       else
+         kld +=log(p1/p2)*p1 + log((1-p1)/(1-p2))*(1-p1);
+ 
+-#if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201103L) || __cplusplus >= 201103L)
+-      if (std::isnan(kld)){
+-#else
+       if (isnan(kld)){
+-#endif
+         OCTOMAP_ERROR("KLD is nan! KLD(%f,%f)=%f; sum = %f", p1, p2, kld, kld_sum);
+         exit(-1);
+       }
diff --git a/ports/octomap/portfile.cmake b/ports/octomap/portfile.cmake
index d820b3a411..c3405ac3bc 100644
--- a/ports/octomap/portfile.cmake
+++ b/ports/octomap/portfile.cmake
@@ -4,11 +4,11 @@ vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO OctoMap/octomap
     REF "v${VERSION}"
-    SHA512 60afeecc36a190f136dcbe33cb9cd6c06c16233988b383b0b010f65f81e6a3630b55902c5b5ad756ac35dee4c4ec26ec5722d6bd9b8e079f70b7d286293c518e
-    HEAD_REF master
+    SHA512 1cbee4f6b3569587986774447ad9ec4190f597310c4d6865ffa7cd8865ece2492e4a42fa369b633d9d7a9da782560d49deaa62a18601ea4f56396bdf1a6a5f52
+    HEAD_REF devel
     PATCHES
       001-fix-exported-targets.patch
-      fix-compilation.patch
+      fix-isnan.patch # Remove this patch in the next update
 )
 
 vcpkg_cmake_configure(
diff --git a/ports/octomap/vcpkg.json b/ports/octomap/vcpkg.json
index f22b0e8f16..53a6dad165 100644
--- a/ports/octomap/vcpkg.json
+++ b/ports/octomap/vcpkg.json
@@ -1,7 +1,6 @@
 {
   "name": "octomap",
-  "version": "1.9.8",
-  "port-version": 1,
+  "version": "1.10.0",
   "description": "An Efficient Probabilistic 3D Mapping Framework Based on Octrees",
   "homepage": "https://octomap.github.io/",
   "license": "BSD-3-Clause",
diff --git a/versions/baseline.json b/versions/baseline.json
index e792f957c6..dbbbce5e4c 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -6293,8 +6293,8 @@
       "port-version": 0
     },
     "octomap": {
-      "baseline": "1.9.8",
-      "port-version": 1
+      "baseline": "1.10.0",
+      "port-version": 0
     },
     "ode": {
       "baseline": "0.16.4",
diff --git a/versions/o-/octomap.json b/versions/o-/octomap.json
index a458c41f90..9965fa87bf 100644
--- a/versions/o-/octomap.json
+++ b/versions/o-/octomap.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "ff492e256718daa9fb2245c135959d6a812f938d",
+      "version": "1.10.0",
+      "port-version": 0
+    },
     {
       "git-tree": "18c703e99a9e7da9184b9ebcee3ddfa80d66502e",
       "version": "1.9.8",