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;
-Original file line number
+Diff line change
@@ Expand Up / @@ -3,3 +3,5 @@ build @@
     build_*
     *.*.sw?
     .vscode
+    __pycache__