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mjcarrollBi0T1Nazeey
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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]>
1 parent 24b6153 commit a20cf95

23 files changed

+607
-180
lines changed

‎.gitignore‎

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@@ -3,3 +3,5 @@ build
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build_*
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*.*.sw?
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.vscode
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__pycache__

‎BUILD.bazel‎

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@@ -0,0 +1,200 @@
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load(
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"@gz//bazel/skylark:build_defs.bzl",
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"GZ_FEATURES",
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"GZ_ROOT",
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"GZ_VISIBILITY",
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"add_lint_tests",
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"gz_configure_file",
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"gz_configure_header",
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"gz_export_header",
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"gz_include_header",
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"gz_py_binary",
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)
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package(
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default_visibility = GZ_VISIBILITY,
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features = GZ_FEATURES,
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)
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licenses(["notice"])
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exports_files(["LICENSE"])
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gz_configure_header(
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name = "config",
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src = "include/sdf/config.hh.in",
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cmakelists = ["CMakeLists.txt"],
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defines = {
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"CMAKE_INSTALL_FULL_DATAROOTDIR": "unused",
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},
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package = "sdformat",
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)
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gz_py_binary(
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name = "embed_sdf",
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srcs = ["sdf/embedSdf.py"],
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main = "sdf/embedSdf.py",
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)
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genrule(
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name = "embed_sdf_genrule",
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srcs = glob([
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"sdf/**/*.sdf",
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"sdf/**/*.convert",
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]),
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outs = ["EmbeddedSdf.cc"],
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cmd = "$(execpath :embed_sdf) --output-file $@ --sdf-root sdformat/sdf/ --input-files $(SRCS)", # noqa
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tools = [":embed_sdf"],
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)
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public_headers_no_gen = glob([
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"include/sdf/*.h",
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"include/sdf/*.hh",
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])
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private_headers = glob(["src/*.hh"])
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sources = glob(
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["src/*.cc"],
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exclude = [
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"src/*_TEST.cc",
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"src/gz.cc",
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],
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)
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gz_export_header(
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name = "include/sdf/Export.hh",
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export_base = "GZ_SDFORMAT",
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lib_name = "sdf",
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visibility = ["//visibility:private"],
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)
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gz_include_header(
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name = "sdformat_hh_genrule",
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out = "include/sdformat.hh",
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hdrs = public_headers_no_gen + [
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"include/sdf/config.hh",
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"include/sdf/Export.hh",
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],
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)
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public_headers = public_headers_no_gen + [
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"include/sdf/Export.hh",
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"include/sdf/config.hh",
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"include/sdformat.hh",
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]
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cc_library(
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name = "urdf",
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srcs = [
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"src/urdf/urdf_parser/joint.cpp",
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"src/urdf/urdf_parser/link.cpp",
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"src/urdf/urdf_parser/model.cpp",
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"src/urdf/urdf_parser/pose.cpp",
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"src/urdf/urdf_parser/twist.cpp",
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"src/urdf/urdf_parser/urdf_model_state.cpp",
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"src/urdf/urdf_parser/urdf_sensor.cpp",
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"src/urdf/urdf_parser/world.cpp",
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],
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hdrs = glob(
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["src/urdf/**/*.h"],
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),
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copts = ["-Wno-unknown-pragmas"],
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includes = ["src/urdf"],
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deps = [
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"@tinyxml2",
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],
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)
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cc_library(
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name = "sdformat",
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srcs = sources + private_headers + ["EmbeddedSdf.cc"],
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hdrs = public_headers,
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defines = [
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'SDF_SHARE_PATH=\\".\\"',
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'SDF_VERSION_PATH=\\"sdformat\\"',
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],
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includes = [
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"include",
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"src",
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],
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deps = [
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":urdf",
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GZ_ROOT + "math",
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GZ_ROOT + "utils",
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"@tinyxml2",
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],
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)
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cc_library(
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name = "sdformat_internal",
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srcs = [
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"src/gz.cc",
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"src/gz.hh",
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],
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visibility = ["//visibility:private"],
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deps = [":sdformat"],
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)
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test_sources = glob(
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["src/*_TEST.cc"],
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exclude = ["src/gz_TEST.cc"],
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)
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[cc_test(
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name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
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srcs = [src],
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data = [
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"sdf",
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GZ_ROOT + "sdformat/test:integration",
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GZ_ROOT + "sdformat/test:sdf",
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],
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env = {
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"GZ_BAZEL": "1",
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"GZ_BAZEL_PATH": "sdformat",
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},
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deps = [
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":sdformat",
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GZ_ROOT + "sdformat/test:test_utils",
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"@gtest",
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"@gtest//:gtest_main",
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],
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) for src in test_sources]
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gz_configure_file(
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name = "sdformat.rb",
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src = "src/cmd/cmdsdformat.rb.in",
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out = "cmdsdformat.rb",
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cmakelists = ["CMakeLists.txt"],
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defines = [
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"library_location=libgz-sdformat.so",
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],
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package = "sdformat",
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visibility = [GZ_ROOT + "tools:__pkg__"],
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)
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gz_configure_file(
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name = "sdformat_yaml",
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src = "conf/sdformat.yaml.in",
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out = "sdformat.yaml",
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cmakelists = ["CMakeLists.txt"],
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defines = [
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"gz_library_path=gz/sdformat/cmdsdformat.rb",
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],
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package = "sdformat",
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visibility = [GZ_ROOT + "tools:__pkg__"],
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)
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cc_binary(
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name = "libgz-sdformat.so",
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srcs = [":sdformat_internal"],
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linkshared = True,
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visibility = [GZ_ROOT + "tools:__pkg__"],
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deps = [
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":sdformat",
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],
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)
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exports_files(["sdf"])
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add_lint_tests()

‎include/sdf/Param.hh‎

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@@ -85,6 +85,11 @@ namespace sdf
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: val(_val), precision(_precision) {}
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};
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// Template deduction guide for ParamVariant
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template<typename ParamVariant>
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ParamStreamer(const ParamVariant &_val, int _precision)
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-> ParamStreamer<ParamVariant>;
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template<class T>
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std::ostream& operator<<(std::ostream &os, ParamStreamer<T> s)
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{

‎include/sdf/config.hh.in‎

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#cmakedefine SDFORMAT_DISABLE_CONSOLE_LOGFILE 1
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#ifndef SDF_SHARE_PATH
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#define SDF_SHARE_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/"
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#define SDF_VERSION_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/${SDF_PKG_VERSION}"
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#endif
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#ifndef SDF_VERSION_PATH
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#define SDF_VERSION_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/${PROJECT_VERSION}"
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#endif
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#endif // #ifndef SDF_CONFIG_HH_

‎sdf/embedSdf.py‎

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@@ -160,10 +160,10 @@ def generate_map_content(paths: List[Path], relative_to: Optional[str] = None) -
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for path in paths:
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with open(path, "r", encoding="utf8") as input_sdf:
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file_content = input_sdf.read()
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# Strip relative path if requested
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if relative_to is not None:
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path = path.relative_to(relative_to)
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_, relative_path = str(path).split(relative_to)
166+
path = relative_path
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content.append(embed_sdf_content(str(path), file_content))
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return ",".join(content)
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‎src/CMakeLists.txt‎

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

‎src/Capsule_TEST.cc‎

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

‎src/Cylinder_TEST.cc‎

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// Add a radius element
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sdf::ElementPtr radiusDesc(new sdf::Element());
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radiusDesc->SetName("radius");
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radiusDesc->AddValue("double", "1.0", "1", "radius");
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radiusDesc->AddValue("double", "1.0", true, "radius");
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sdf->AddElementDescription(radiusDesc);
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sdf::ElementPtr radiusElem = sdf->AddElement("radius");
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radiusElem->Set<double>(2.0);

‎src/Plane_TEST.cc‎

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// Add a normal element
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sdf::ElementPtr normalDesc(new sdf::Element());
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normalDesc->SetName("normal");
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normalDesc->AddValue("vector3", "0 0 1", "1", "normal");
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normalDesc->AddValue("vector3", "0 0 1", true, "normal");
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sdf->AddElementDescription(normalDesc);
150150
sdf::ElementPtr normalElem = sdf->AddElement("normal");
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normalElem->Set<gz::math::Vector3d>({1, 0, 0});

‎src/SDF.cc‎

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@@ -43,6 +43,15 @@ inline namespace SDF_VERSION_NAMESPACE
4343
// returns the version string when possible.
4444
std::string SDF::version = SDF_VERSION; // NOLINT(runtime/string)
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46+
std::string sdfSharePath()
47+
{
48+
#ifdef SDF_SHARE_PATH
49+
if (std::string(SDF_SHARE_PATH) != "/")
50+
return SDF_SHARE_PATH;
51+
#endif
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return "";
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}
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4655
/////////////////////////////////////////////////
4756
void setFindCallback(std::function<std::string(const std::string &)> _cb)
4857
{
@@ -109,16 +118,17 @@ std::string findFile(const std::string &_filename, bool _searchLocalPath,
109118
}
110119

111120
// Next check the install path.
112-
std::string path = sdf::filesystem::append(SDF_SHARE_PATH, filename);
121+
std::string path = sdf::filesystem::append(sdfSharePath(), filename);
113122
if (sdf::filesystem::exists(path))
114123
{
115124
return path;
116125
}
117126

118127
// Next check the versioned install path.
119-
path = sdf::filesystem::append(SDF_SHARE_PATH,
120-
"sdformat" SDF_MAJOR_VERSION_STR,
121-
sdf::SDF::Version(), filename);
128+
path = sdf::filesystem::append(sdfSharePath(),
129+
"sdformat" + std::string(SDF_MAJOR_VERSION_STR),
130+
sdf::SDF::Version(), filename);
131+
122132
if (sdf::filesystem::exists(path))
123133
{
124134
return path;

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