@wip

Signed-off-by: Michael Carroll <[email protected]>
gazebosim · Oct 29, 2024 · 8d8a62b · 8d8a62b
1 parent b1e4eac
commit 8d8a62b
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Showing 7 changed files with 126 additions and 82 deletions.
diff --git a/.bazelrc b/.bazelrc
@@ -1,3 +1,12 @@
 common --enable_bzlmod
 common --lockfile_mode=off
-build --cxxopt='-std=c++20'
+
+# Add C++17 compiler flags.
+build --cxxopt=-std=c++17
+build --host_cxxopt=-std=c++17
+
+build --force_pic
+build --strip=never
+build --strict_system_includes
+build --fission=dbg
+build --features=per_object_debug_info
diff --git a/.bazelversion b/.bazelversion
@@ -1 +1 @@
-USE_BAZEL_VERSION=latest
+7.3.1
diff --git a/BUILD.bazel b/BUILD.bazel
@@ -1,5 +1,5 @@
-load("@rules_gz//gz:headers.bzl", "gz_configure_header", "gz_export_header")
 load("@buildifier_prebuilt//:rules.bzl", "buildifier", "buildifier_test")
+load("@rules_gazebo//gazebo:headers.bzl", "gz_configure_header", "gz_export_header")
 load("@rules_license//rules:license.bzl", "license")
 
 package(
@@ -14,69 +14,43 @@ license(
 licenses(["notice"])
 
 exports_files([
+    "package.xml",
     "LICENSE",
     "MODULE.bazel",
 ])
 
+gz_export_header(
+    name = "Export",
+    out = "include/sdf/Export.hh",
+    export_base = "GZ_SDFORMAT",
+    lib_name = "sdformat",
+)
+
 gz_configure_header(
-    name = "config",
+    name = "Config",
     src = "include/sdf/config.hh.in",
-    cmakelists = ["CMakeLists.txt"],
     defines = {
         "CMAKE_INSTALL_FULL_DATAROOTDIR": "unused",
-        "PROJECT_NAME": "sdformat",
-        "PROJECT_VERSION": "15.0.0",
-        "PROJECT_VERSION_FULL": "15.0.0",
-        "PROJECT_VERSION_MAJOR": "15",
-        "PROJECT_VERSION_MINOR": "0",
-        "PROJECT_VERSION_PATCH": "0",
-        "SDF_PROTOCOL_VERSION": "1.12",
+        "SDF_PROTOCOL_VERSION": "11111",
     },
-    package = "sdformat",
+    package_xml = "package.xml",
 )
 
-gz_export_header(
-    name = "include/sdf/Export.hh",
-    export_base = "GZ_SDFORMAT",
-    lib_name = "sdformat",
-    visibility = ["//visibility:private"],
+py_binary(
+    name = "embed_sdf",
+    srcs = ["sdf/embedSdf.py"],
+    main = "sdf/embedSdf.py",
 )
 
-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/InstallationDirectories.cc",
-    ],
-)
-
-public_headers = public_headers_no_gen + [
-    "include/sdf/config.hh",
-    "include/sdf/Export.hh",
-]
-
-cc_library(
-    name = "installation_directories",
-    srcs = ["src/InstallationDirectories.cc"],
-    hdrs = [
-        "include/sdf/Export.hh",
-        "include/sdf/InstallationDirectories.hh",
-        "include/sdf/config.hh",
-        "include/sdf/sdf_config.h",
-        "include/sdf/system_util.hh",
-    ],
-    defines = [
-        'CMAKE_INSTALL_RELATIVE_DATAROOTDIR=\\"unused\\"',
-    ],
-    includes = ["include"],
-    visibility = ["//visibility:private"],
+genrule(
+    name = "embed_sdf_genrule",
+    srcs = glob([
+        "sdf/**/*.sdf",
+        "sdf/**/*.convert",
+    ]),
+    outs = ["EmbeddedSdf.cc"],
+    cmd = "$(execpath :embed_sdf) --output-file $@ --sdf-root sdf/ --input-files $(SRCS)",  # noqa
+    tools = [":embed_sdf"],
 )
 
 cc_library(
@@ -103,31 +77,96 @@ cc_library(
 
 cc_library(
     name = "sdformat",
-    srcs = sources + private_headers,
-    hdrs = public_headers,
-    includes = ["include"],
-    visibility = ["//visibility:public"],
+    srcs = glob(
+        include = [
+            "src/*.cc",
+            "src/*.hh",
+            "src/bazel/*.cc",
+        ],
+        exclude = [
+            "src/*_TEST.cc",
+        ],
+    ) + ["EmbeddedSdf.cc"],
+    hdrs = glob(
+        include = [
+            "include/sdf/*.hh",
+        ],
+        exclude = [
+        ],
+    ),
+    defines = [
+        "CMAKE_INSTALL_RELATIVE_DATAROOTDIR=\\\"\\\"",
+        'SDF_SHARE_PATH=\\".\\"',
+        'SDF_VERSION_PATH=\\"sdformat\\"',
+    ],
+    includes = [
+        "include",
+        "src",
+    ],
+    data = [
+        "sdf"
+    ],
     deps = [
-        ":installation_directories",
+        ":Config",
+        ":Export",
         ":urdf_parser",
-        "@gz-math",
-        "@gz-utils",
+        "@gz-math//:Angle",
+        "@gz-math//:Box",
+        "@gz-math//:Capsule",
+        "@gz-math//:Color",
+        "@gz-math//:Cone",
+        "@gz-math//:Cylinder",
+        "@gz-math//:Ellipsoid",
+        "@gz-math//:Graph",
+        "@gz-math//:Inertial",
+        "@gz-math//:Pose3",
+        "@gz-math//:SemanticVersion",
+        "@gz-math//:Sphere",
+        "@gz-math//:SphericalCoordinates",
+        "@gz-math//:Temperature",
+        "@gz-math//:Vector2",
+        "@gz-utils//:Environment",
+        "@gz-utils//:ImplPtr",
     ],
 )
 
-[cc_test(
-    name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
-    srcs = [src],
+cc_test(
+    name = "Actor_TEST",
+    srcs = [
+        "src/Actor_TEST.cc",
+    ],
     env = {
         "GZ_BAZEL": "1",
         "GZ_BAZEL_PATH": "sdformat",
     },
     deps = [
         ":sdformat",
-        "@gtest",
-        "@gtest//:gtest_main",
+        "@googletest//:gtest_main",
     ],
-) for src in test_sources]
+)
+
+cc_test(
+    name = "Console_TEST",
+    srcs = [
+        "src/Console_TEST.cc",
+    ],
+    deps = [
+        ":sdformat",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "Element_TEST",
+    srcs = [
+        "src/Element_TEST.cc",
+    ],
+    deps = [
+        ":sdformat",
+        "//test:test_utils",
+        "@googletest//:gtest_main",
+    ],
+)
 
 # Bazel linting
 buildifier(

diff --git a/MODULE.bazel b/MODULE.bazel
@@ -10,13 +10,13 @@ bazel_dep(name = "rules_license", version = "0.0.8")
 bazel_dep(name = "tinyxml2", version = "10.0.0")
 
 # Gazebo Dependencies
-bazel_dep(name = "rules_gz")
+bazel_dep(name = "rules_gazebo")
 bazel_dep(name = "gz-utils")
 bazel_dep(name = "gz-math")
 
 local_path_override(
-    module_name = "rules_gz",
-    path = "/usr/local/google/home/mjcarroll/workspaces/gz_ionic_bazel/rules_gz",
+    module_name = "rules_gazebo",
+    path = "/usr/local/google/home/mjcarroll/workspaces/gz_ionic_bazel/rules_gazebo",
 )
 
 local_path_override(

diff --git a/include/sdf/Console.hh b/include/sdf/Console.hh
@@ -193,19 +193,6 @@ namespace sdf
     return *this;
   }
   }  // namespace SDF_VERSION_NAMESPACE
-
-  /// \brief Internal namespace. Functions and classes defined in this namespace
-  /// are for internal use only and maybe removed without a deprecation cycle.
-  namespace internal
-  {
-  /// \brief Prints the error to _out or throw using SDF_ASSERT depending on the
-  /// ErrorCode in _error.
-  /// \param[out] _out ostream to use for printing errors.
-  /// \param[in] _error _error The error object to be printed
-  void SDFORMAT_VISIBLE throwOrPrintError(sdf::Console::ConsoleStream &_out,
-                                          const sdf::Error &_error);
-  }  // namespace internal
-  /// \}
 }  // namepsace sdf
 
 #ifdef _WIN32

diff --git a/src/Actor_TEST.cc b/src/Actor_TEST.cc
@@ -20,6 +20,8 @@
 #include "sdf/Actor.hh"
 #include "sdf/Plugin.hh"
 
+#include <filesystem>
+
 /////////////////////////////////////////////////
 sdf::Animation CreateDummyAnimation()
 {
@@ -509,6 +511,9 @@ TEST(DOMActor, ToElement)
 {
   sdf::Actor actor;
 
+  // Output the current working directory
+  std::cout << std::filesystem::current_path() << std::endl;
+
   actor.SetName("my-actor");
   actor.SetRawPose(gz::math::Pose3d(1, 2, 3, 0.1, 0.2, 0.3));
   actor.SetSkinFilename("my-skinfilename");

diff --git a/src/SDF.cc b/src/SDF.cc
@@ -538,9 +538,13 @@ const std::string &SDF::EmbeddedSpec(
 const std::string &SDF::EmbeddedSpec(
     sdf::Errors &_errors, const std::string &_filename)
 {
+
   try
   {
     const std::string pathname = SDF::Version() + "/" + _filename;
+
+    std::cout << "Reading: " << pathname << std::endl;
+
     return GetEmbeddedSdf().at(pathname);
   }
   catch(const std::out_of_range &)