Update bazel files

Signed-off-by: Michael Carroll <[email protected]>
gazebosim · Feb 16, 2023 · 7553e0f · 7553e0f
1 parent a82e65f
commit 7553e0f
Show file tree

Hide file tree

Showing 16 changed files with 487 additions and 149 deletions.
diff --git a/BUILD.bazel b/BUILD.bazel
@@ -0,0 +1,151 @@
+load(
+    "@gz//bazel/skylark:build_defs.bzl",
+    "GZ_FEATURES",
+    "GZ_ROOT",
+    "GZ_VISIBILITY",
+    "gz_configure_header",
+    "gz_export_header",
+    "gz_include_header",
+)
+load("@gz//bazel/skylark:gz_py.bzl", "gz_py_binary")
+
+package(
+    default_visibility = GZ_VISIBILITY,
+    features = GZ_FEATURES,
+)
+
+licenses(["notice"])  # Apache-2.0
+
+exports_files(["LICENSE"])
+
+gz_configure_header(
+    name = "config",
+    src = "include/sdf/config.hh.in",
+    cmakelists = ["CMakeLists.txt"],
+    defines = {
+        "CMAKE_INSTALL_FULL_DATAROOTDIR": "",
+    },
+    package = "sdformat",
+)
+
+gz_py_binary(
+    name = "embed_sdf",
+    srcs = ["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,
+    includes = [
+        "include",
+        "src",
+    ],
+    defines = [
+      'SDF_SHARE_PATH=\\".\\"',
+      'SDF_VERSION_PATH=\\"sdformat\\"',
+    ],
+    deps = [
+        ":urdf",
+        GZ_ROOT + "math",
+        GZ_ROOT + "utils",
+        "@tinyxml2",
+    ],
+)
+
+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]
+
+exports_files(["sdf"])
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 "${CMAKE_INSTALL_FULL_DATAROOTDIR}/"
+#endif
+
+#ifndef SDF_VERSION_PATH
 #define SDF_VERSION_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/${SDF_PKG_VERSION}"
+#endif 
 
 #endif  // #ifndef SDF_CONFIG_HH_
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -61,6 +61,13 @@ if (BUILD_TESTING)
       XmlUtils.cc)
   endif()
 
+  if (TARGET UNIT_gz_TEST)
+    target_compile_definitions(UNIT_gz_TEST PRIVATE
+      -DGZ_PATH="${GZ_PROGRAM}"
+      -DGZ_CONFIG_PATH="${CMAKE_BINARY_DIR}/test/conf"
+      -DGZ_TEST_LIBRARY_PATH="${PROJECT_BINARY_DIR}/src")
+  endif()
+
   if (TARGET UNIT_FrameSemantics_TEST)
     target_sources(UNIT_FrameSemantics_TEST PRIVATE FrameSemantics.cc Utils.cc)
     target_link_libraries(UNIT_FrameSemantics_TEST TINYXML2::TINYXML2)

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)
 {
@@ -98,14 +107,14 @@ 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,
+  path = sdf::filesystem::append(sdfSharePath(),
                                  "sdformat" SDF_MAJOR_VERSION_STR,
                                  sdf::SDF::Version(), filename);
   if (sdf::filesystem::exists(path))