Bazel updates for Garden build (#1239)

* Cherry-pick the python3 embedSdf script and tests (#884) These won't be used as part of the cmake build on this branch, but are useful for generating the same file from bazel. Co-authored-by: Bi0T1N <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Signed-off-by: Michael Carroll <[email protected]> * Improvements to embedSdf script Signed-off-by: Michael Carroll <[email protected]> * Update sdf/CMakeLists.txt Signed-off-by: Michael Carroll <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> * Update bazel files Signed-off-by: Michael Carroll <[email protected]> * Lint Signed-off-by: Michael Carroll <[email protected]> * Add utils back to parser Signed-off-by: Michael Carroll <[email protected]> * Fix gz_TEST Signed-off-by: Michael Carroll <[email protected]> * Ignore pycache folders Signed-off-by: Michael Carroll <[email protected]> * Fix parser_TEST Signed-off-by: Michael Carroll <[email protected]> * Bazel nits Signed-off-by: Michael Carroll <[email protected]> * Fix path logic Signed-off-by: Michael Carroll <[email protected]> * Fix visibility Signed-off-by: Michael Carroll <[email protected]> * Fix strings Signed-off-by: Michael Carroll <[email protected]> * Use standard vars Signed-off-by: Michael Carroll <[email protected]> * Fix string conversions Signed-off-by: Michael Carroll <[email protected]> * Fix string conversions Signed-off-by: Michael Carroll <[email protected]> * Fix embedded sdf Signed-off-by: Michael Carroll <[email protected]> * Fix converter test Signed-off-by: Michael Carroll <[email protected]> * Lint Signed-off-by: Michael Carroll <[email protected]> * Update bazel files Signed-off-by: Michael Carroll <[email protected]> * Add detail prefix Signed-off-by: Michael Carroll <[email protected]> * Fix test path Signed-off-by: Michael Carroll <[email protected]> * Set homepath on Windows Signed-off-by: Michael Carroll <[email protected]> --------- Signed-off-by: Michael Carroll <[email protected]> Signed-off-by: Michael Carroll <[email protected]> Co-authored-by: Bi0T1N <[email protected]> Co-authored-by: Bi0T1N <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>
gazebosim · Dec 13, 2023 · a20cf95 · a20cf95
1 parent 24b6153
commit a20cf95
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Showing 23 changed files with 607 additions and 180 deletions.
diff --git a/.gitignore b/.gitignore
@@ -3,3 +3,5 @@ build
 build_*
 *.*.sw?
 .vscode
+
+__pycache__
diff --git a/BUILD.bazel b/BUILD.bazel
@@ -0,0 +1,200 @@
+load(
+ "@gz//bazel/skylark:build_defs.bzl",
+ "GZ_FEATURES",
+ "GZ_ROOT",
+ "GZ_VISIBILITY",
+ "add_lint_tests",
+ "gz_configure_file",
+ "gz_configure_header",
+ "gz_export_header",
+ "gz_include_header",
+ "gz_py_binary",
+)
+
+package(
+ default_visibility = GZ_VISIBILITY,
+ features = GZ_FEATURES,
+)
+
+licenses(["notice"])
+
+exports_files(["LICENSE"])
+
+gz_configure_header(
+ name = "config",
+ src = "include/sdf/config.hh.in",
+ cmakelists = ["CMakeLists.txt"],
+ defines = {
+ "CMAKE_INSTALL_FULL_DATAROOTDIR": "unused",
+ },
+ package = "sdformat",
+)
+
+gz_py_binary(
+ name = "embed_sdf",
+ srcs = ["sdf/embedSdf.py"],
+ main = "sdf/embedSdf.py",
+)
+
+genrule(
+ name = "embed_sdf_genrule",
+ srcs = glob([
+ "sdf/**/*.sdf",
+ "sdf/**/*.convert",
+ ]),
+ outs = ["EmbeddedSdf.cc"],
+ cmd = "$(execpath :embed_sdf) --output-file $@ --sdf-root sdformat/sdf/ --input-files $(SRCS)", # noqa
+ tools = [":embed_sdf"],
+)
+
+public_headers_no_gen = glob([
+ "include/sdf/*.h",
+ "include/sdf/*.hh",
+])
+
+private_headers = glob(["src/*.hh"])
+
+sources = glob(
+ ["src/*.cc"],
+ exclude = [
+ "src/*_TEST.cc",
+ "src/gz.cc",
+ ],
+)
+
+gz_export_header(
+ name = "include/sdf/Export.hh",
+ export_base = "GZ_SDFORMAT",
+ lib_name = "sdf",
+ visibility = ["//visibility:private"],
+)
+
+gz_include_header(
+ name = "sdformat_hh_genrule",
+ out = "include/sdformat.hh",
+ hdrs = public_headers_no_gen + [
+ "include/sdf/config.hh",
+ "include/sdf/Export.hh",
+ ],
+)
+
+public_headers = public_headers_no_gen + [
+ "include/sdf/Export.hh",
+ "include/sdf/config.hh",
+ "include/sdformat.hh",
+]
+
+cc_library(
+ name = "urdf",
+ srcs = [
+ "src/urdf/urdf_parser/joint.cpp",
+ "src/urdf/urdf_parser/link.cpp",
+ "src/urdf/urdf_parser/model.cpp",
+ "src/urdf/urdf_parser/pose.cpp",
+ "src/urdf/urdf_parser/twist.cpp",
+ "src/urdf/urdf_parser/urdf_model_state.cpp",
+ "src/urdf/urdf_parser/urdf_sensor.cpp",
+ "src/urdf/urdf_parser/world.cpp",
+ ],
+ hdrs = glob(
+ ["src/urdf/**/*.h"],
+ ),
+ copts = ["-Wno-unknown-pragmas"],
+ includes = ["src/urdf"],
+ deps = [
+ "@tinyxml2",
+ ],
+)
+
+cc_library(
+ name = "sdformat",
+ srcs = sources + private_headers + ["EmbeddedSdf.cc"],
+ hdrs = public_headers,
+ defines = [
+ 'SDF_SHARE_PATH=\\".\\"',
+ 'SDF_VERSION_PATH=\\"sdformat\\"',
+ ],
+ includes = [
+ "include",
+ "src",
+ ],
+ deps = [
+ ":urdf",
+ GZ_ROOT + "math",
+ GZ_ROOT + "utils",
+ "@tinyxml2",
+ ],
+)
+
+cc_library(
+ name = "sdformat_internal",
+ srcs = [
+ "src/gz.cc",
+ "src/gz.hh",
+ ],
+ visibility = ["//visibility:private"],
+ deps = [":sdformat"],
+)
+
+test_sources = glob(
+ ["src/*_TEST.cc"],
+ exclude = ["src/gz_TEST.cc"],
+)
+
+[cc_test(
+ name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
+ srcs = [src],
+ data = [
+ "sdf",
+ GZ_ROOT + "sdformat/test:integration",
+ GZ_ROOT + "sdformat/test:sdf",
+ ],
+ env = {
+ "GZ_BAZEL": "1",
+ "GZ_BAZEL_PATH": "sdformat",
+ },
+ deps = [
+ ":sdformat",
+ GZ_ROOT + "sdformat/test:test_utils",
+ "@gtest",
+ "@gtest//:gtest_main",
+ ],
+) for src in test_sources]
+
+gz_configure_file(
+ name = "sdformat.rb",
+ src = "src/cmd/cmdsdformat.rb.in",
+ out = "cmdsdformat.rb",
+ cmakelists = ["CMakeLists.txt"],
+ defines = [
+ "library_location=libgz-sdformat.so",
+ ],
+ package = "sdformat",
+ visibility = [GZ_ROOT + "tools:__pkg__"],
+)
+
+gz_configure_file(
+ name = "sdformat_yaml",
+ src = "conf/sdformat.yaml.in",
+ out = "sdformat.yaml",
+ cmakelists = ["CMakeLists.txt"],
+ defines = [
+ "gz_library_path=gz/sdformat/cmdsdformat.rb",
+ ],
+ package = "sdformat",
+ visibility = [GZ_ROOT + "tools:__pkg__"],
+)
+
+cc_binary(
+ name = "libgz-sdformat.so",
+ srcs = [":sdformat_internal"],
+ linkshared = True,
+ visibility = [GZ_ROOT + "tools:__pkg__"],
+ deps = [
+ ":sdformat",
+ ],
+)
+
+exports_files(["sdf"])
+
+add_lint_tests()
diff --git a/include/sdf/Param.hh b/include/sdf/Param.hh
@@ -85,6 +85,11 @@ namespace sdf
  : val(_val), precision(_precision) {}
  };
 
+ // Template deduction guide for ParamVariant
+ template<typename ParamVariant>
+ ParamStreamer(const ParamVariant &_val, int _precision)
+ -> ParamStreamer<ParamVariant>;
+
  template<class T>
  std::ostream& operator<<(std::ostream &os, ParamStreamer<T> s)
  {

diff --git a/include/sdf/config.hh.in b/include/sdf/config.hh.in
@@ -47,7 +47,12 @@
 
 #cmakedefine SDFORMAT_DISABLE_CONSOLE_LOGFILE 1
 
+#ifndef SDF_SHARE_PATH
 #define SDF_SHARE_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/"
-#define SDF_VERSION_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/${SDF_PKG_VERSION}"
+#endif
+
+#ifndef SDF_VERSION_PATH
+#define SDF_VERSION_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/${PROJECT_VERSION}"
+#endif
 
 #endif // #ifndef SDF_CONFIG_HH_
diff --git a/sdf/embedSdf.py b/sdf/embedSdf.py
@@ -160,10 +160,10 @@ def generate_map_content(paths: List[Path], relative_to: Optional[str] = None) -
  for path in paths:
  with open(path, "r", encoding="utf8") as input_sdf:
  file_content = input_sdf.read()
-
  # Strip relative path if requested
  if relative_to is not None:
- path = path.relative_to(relative_to)
+ _, relative_path = str(path).split(relative_to)
+ path = relative_path
  content.append(embed_sdf_content(str(path), file_content))
  return ",".join(content)
 

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -61,8 +61,11 @@ if (BUILD_TESTING)
  XmlUtils.cc)
  endif()
 
- if(TARGET UNIT_gz_TEST)
- target_compile_definitions(UNIT_gz_TEST PUBLIC "-DDETAIL_GZ_CONFIG_PATH=\"${CMAKE_BINARY_DIR}/test/conf/$<CONFIG>\"")
+ if (TARGET UNIT_gz_TEST)
+ target_compile_definitions(UNIT_gz_TEST PRIVATE
+ -DGZ_PATH="${GZ_PROGRAM}"
+ -DDETAIL_GZ_CONFIG_PATH="${CMAKE_BINARY_DIR}/test/conf/$<CONFIG>"
+ -DGZ_TEST_LIBRARY_PATH="${PROJECT_BINARY_DIR}/src")
  endif()
 
  if (TARGET UNIT_FrameSemantics_TEST)

diff --git a/src/Capsule_TEST.cc b/src/Capsule_TEST.cc
@@ -154,7 +154,7 @@ TEST(DOMCapsule, Load)
  // Add a radius element
  sdf::ElementPtr radiusDesc(new sdf::Element());
  radiusDesc->SetName("radius");
- radiusDesc->AddValue("double", "1.0", "1", "radius");
+ radiusDesc->AddValue("double", "1.0", true, "radius");
  sdf->AddElementDescription(radiusDesc);
  sdf::ElementPtr radiusElem = sdf->AddElement("radius");
  radiusElem->Set<double>(2.0);

diff --git a/src/Cylinder_TEST.cc b/src/Cylinder_TEST.cc
@@ -150,7 +150,7 @@ TEST(DOMCylinder, Load)
  // Add a radius element
  sdf::ElementPtr radiusDesc(new sdf::Element());
  radiusDesc->SetName("radius");
- radiusDesc->AddValue("double", "1.0", "1", "radius");
+ radiusDesc->AddValue("double", "1.0", true, "radius");
  sdf->AddElementDescription(radiusDesc);
  sdf::ElementPtr radiusElem = sdf->AddElement("radius");
  radiusElem->Set<double>(2.0);

diff --git a/src/Plane_TEST.cc b/src/Plane_TEST.cc
@@ -145,7 +145,7 @@ TEST(DOMPlane, Load)
  // Add a normal element
  sdf::ElementPtr normalDesc(new sdf::Element());
  normalDesc->SetName("normal");
- normalDesc->AddValue("vector3", "0 0 1", "1", "normal");
+ normalDesc->AddValue("vector3", "0 0 1", true, "normal");
  sdf->AddElementDescription(normalDesc);
  sdf::ElementPtr normalElem = sdf->AddElement("normal");
  normalElem->Set<gz::math::Vector3d>({1, 0, 0});

diff --git a/src/SDF.cc b/src/SDF.cc
@@ -43,6 +43,15 @@ inline namespace SDF_VERSION_NAMESPACE
 // returns the version string when possible.
 std::string SDF::version = SDF_VERSION; // NOLINT(runtime/string)
 
+std::string sdfSharePath()
+{
+#ifdef SDF_SHARE_PATH
+ if (std::string(SDF_SHARE_PATH) != "/")
+ return SDF_SHARE_PATH;
+#endif
+ return "";
+}
+
 /////////////////////////////////////////////////
 void setFindCallback(std::function<std::string(const std::string &)> _cb)
 {
@@ -109,16 +118,17 @@ std::string findFile(const std::string &_filename, bool _searchLocalPath,
  }
 
  // Next check the install path.
- std::string path = sdf::filesystem::append(SDF_SHARE_PATH, filename);
+ std::string path = sdf::filesystem::append(sdfSharePath(), filename);
  if (sdf::filesystem::exists(path))
  {
  return path;
  }
 
  // Next check the versioned install path.
- path = sdf::filesystem::append(SDF_SHARE_PATH,
- "sdformat" SDF_MAJOR_VERSION_STR,
- sdf::SDF::Version(), filename);
+ path = sdf::filesystem::append(sdfSharePath(),
+ "sdformat" + std::string(SDF_MAJOR_VERSION_STR),
+ sdf::SDF::Version(), filename);
+
  if (sdf::filesystem::exists(path))
  {
  return path;