merge from gz-msgs10

Signed-off-by: Ian Chen <ichen@openrobotics.org>
gazebosim · Mar 14, 2024 · e5aa06a · e5aa06a
2 parents 2effe83 + f253f69
commit e5aa06a
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Showing 29 changed files with 527 additions and 201 deletions.
diff --git a/BUILD.bazel b/BUILD.bazel
@@ -129,7 +129,7 @@ test_sources = glob(
         "test/desc",
     ],
     defines = [
-      'GZ_MSGS_TEST_PATH=\\"msgs/test\\"',
+        'GZ_MSGS_TEST_PATH=\\"msgs/test\\"',
     ],
     deps = [
         ":msgs",

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -25,34 +25,49 @@ gz_configure_project(VERSION_SUFFIX
 #============================================================================
 
 # Cross-compilation related options
-# In a cross-compilation scenario, it is possible that the gz_msgs_gen
+# In a cross-compilation scenario, it is possible that the
+# ${PROJECT_NAME}_protoc_plugin
 # generator compiled for the target machine cannot be used to generate
-# the C++ code corresponding to the .proto definition. For this scenario,
-# the following two options can be used as follows.
+# the C++ code corresponding to the .proto definition.
+# Similarly, it is possible that Python3::Interpreter and protobuf::protoc
+# found via find_package are not executable that can be run during the build.
+# To avoid, that the following options can be used as follows.
 # First of all, gz-msgs is compiled targeting the host machine, and in the
-# build targeting the host, the INSTALL_GZ_MSGS_GEN_EXECUTABLE option is
-# enabled:
-# > cmake -DINSTALL_GZ_MSGS_GEN_EXECUTABLE:BOOL=ON ..
-# ensuring that the gz_msgs_gen is installed in
-# <host_install_prefix>/bin/gz_msgs_gen . Then, the same version of gz-msgs
+# build targeting the host, ensuring that the ${PROJECT_NAME}_protoc_plugin
+# is installed in <host_install_prefix>/bin/${PROJECT_NAME}_protoc_plugin .
+# Then, the same version of gz-msgs
 # can be cross-compiled, and in the cross-compilation build the location of the
-# host gz_msgs_gen is specified via the GZ_MSGS_GEN_EXECUTABLE
-# CMake cache variable:
-# > cmake -GZ_MSGS_GEN_EXECUTABLE=<host_install_prefix>/bin/gz_msgs_gen ..
+# host gz_msgs_gen is specified via the GZ_MSGS_GEN_EXECUTABLE CMake option.
+# Similarly to gz-msgs, also a copy of protoc and of the Python interpreter need
+# to be installed in the host at <host_install_prefix>/bin, and they can be passed
+# to the build appropriate CMake options:
+# > cmake -Dgz-msgs<MajVer>_PROTO_GENERATOR_PLUGIN=gz-msgs<MajVer>_protoc_plugin
+# >       -Dgz-msgs<MajVer>_PROTOC_EXECUTABLE=<host_install_prefix>/bin/protoc
+# >       -Dgz-msgs<MajVer>_PYTHON_INTERPRETER=<host_install_prefix>/bin/python
+# >        ..
+# In case the gz-msgs CMake functions are used also in downstream projects,
+# the same variables can be passed when configuring the downsream projects.
 
-option(
-  INSTALL_GZ_MSGS_GEN_EXECUTABLE
-  "Install the gz_msgs_gen executable."
-  OFF)
+set(
+  ${PROJECT_NAME}_PROTO_GENERATOR_PLUGIN
+  "${PROJECT_NAME}_protoc_plugin"
+  CACHE STRING
+  "gz_msgs_gen executable used in the gz-msgs CMake functions.")
+mark_as_advanced(${PROJECT_NAME}_PROTO_GENERATOR_PLUGIN)
 
-mark_as_advanced(INSTALL_GZ_MSGS_GEN_EXECUTABLE)
+set(
+  ${PROJECT_NAME}_PROTOC_EXECUTABLE
+  protobuf::protoc
+  CACHE STRING
+  "protoc target or executable used in the gz-msgs CMake functions.")
+mark_as_advanced(${PROJECT_NAME}_PROTOC_EXECUTABLE)
 
 set(
-  GZ_MSGS_GEN_EXECUTABLE
-  "$<TARGET_FILE:gz_msgs_gen>"
+  ${PROJECT_NAME}_PYTHON_INTERPRETER
+  Python3::Interpreter
   CACHE STRING
-  "gz_msgs_gen executable used in the gz_msgs_protoc CMake function.")
-mark_as_advanced(GZ_MSGS_GEN_EXECUTABLE)
+  "python target or executable used in the gz-msgs CMake functions.")
+mark_as_advanced(${PROJECT_NAME}_PYTHON_INTERPRETER)
 
 # Python interfaces vars
 option(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION
@@ -92,7 +107,7 @@ find_package(Python3 REQUIRED COMPONENTS Interpreter)
 # Note that CLI files are installed regardless of whether the dependency is
 # available during build time
 find_program(HAVE_GZ_TOOLS gz)
-set(GZ_TOOLS_VER 1)
+set(GZ_TOOLS_VER 2)
 
 #--------------------------------------
 # Find Tinyxml2

diff --git a/Changelog.md b/Changelog.md
@@ -4,6 +4,40 @@
 
 ## Gazebo Msgs 10.x
 
+### Gazebo Msgs 10.1.0 (2024-01-22)
+
+1. Add proto message for MaterialColor.
+    * [Pull request #414](https://github.com/gazebosim/gz-msgs/pull/414)
+    * [Pull request #415](https://github.com/gazebosim/gz-msgs/pull/415)
+    * [Pull request #416](https://github.com/gazebosim/gz-msgs/pull/416)
+
+1. Update CI badges in README
+    * [Pull request #412](https://github.com/gazebosim/gz-msgs/pull/412)
+
+1. Ensure that tests pass fine with GZ_RELOCATABLE_INSTALL option enabled
+    * [Pull request #394](https://github.com/gazebosim/gz-msgs/pull/394)
+
+1. Added missing parts to the `CMakeLists.txt` code.
+    * [Pull request #400](https://github.com/gazebosim/gz-msgs/pull/400)
+
+1. Miscellaneous cleanups of protobuf generator plugin
+    * [Pull request #405](https://github.com/gazebosim/gz-msgs/pull/405)
+
+1. Fix memory leak in generator plugin code
+    * [Pull request #404](https://github.com/gazebosim/gz-msgs/pull/404)
+
+1. Enables cmd commands on Windows
+    * [Pull request #402](https://github.com/gazebosim/gz-msgs/pull/402)
+
+1. Miscellaneous housekeeping
+    * [Pull request #398](https://github.com/gazebosim/gz-msgs/pull/398)
+
+1. Fix cross-compilation support for gz-msg10
+    * [Pull request #392](https://github.com/gazebosim/gz-msgs/pull/392)
+
+1. Do not redefine GZ_PYTHON_INSTALL_PATH if it is already defined
+    * [Pull request #393](https://github.com/gazebosim/gz-msgs/pull/393)
+
 ### Gazebo Msgs 10.0.0 (2023-09-29)
 
 1. Add missing `<functional>` header

diff --git a/README.md b/README.md
@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-msgs/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-msgs)
-Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_msgs-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_msgs-ci-main-focal-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_msgs-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_msgs-ci-main-homebrew-amd64)
-Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ign_msgs-ci-win)](https://build.osrfoundation.org/job/ign_msgs-ci-win)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-msgs/tree/gz-msgs10/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-msgs/tree/gz-msgs10)
+Ubuntu Jammy  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_msgs-ci-gz-msgs10-jammy-amd64)](https://build.osrfoundation.org/job/gz_msgs-ci-gz-msgs10-jammy-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_msgs-ci-gz-msgs10-homebrew-amd64)](https://build.osrfoundation.org/job/gz_msgs-ci-gz-msgs10-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_msgs-10-win)](https://build.osrfoundation.org/job/gz_msgs-10-win)
 
 Gazebo Messages is a component in the [Gazebo](http://gazebosim.org)
 framework, a set of libraries designed to rapidly develop robot applications.

diff --git a/cmake/gz_msgs_factory.cmake b/cmake/gz_msgs_factory.cmake
@@ -6,7 +6,7 @@
 # One value arguments:
 #   FACTORY_GEN_SCRIPT  - Location of the factory generator script
 #   PROTO_PACKAGE       - Protobuf package the file belongs to (e.g. "gz.msgs")
-#   PROTOC_EXEC         - Path to protoc
+#   PYTHON_INTERPRETER  - Target or path to the Python interpreter to use to execute the generator script
 #   OUTPUT_CPP_DIR      - Path where C++ files are saved
 #   OUTPUT_CPP_HH_VAR   - A CMake variable name containing a list that the C++ headers should be appended to
 #   OUTPUT_CPP_CC_VAR   - A Cmake variable name containing a list that the C++ sources should be appended to
@@ -18,13 +18,19 @@ function(gz_msgs_factory)
   set(oneValueArgs
     FACTORY_GEN_SCRIPT
     PROTO_PACKAGE
+    PYTHON_INTERPRETER
     OUTPUT_CPP_DIR
     OUTPUT_CPP_HH_VAR
     OUTPUT_CPP_CC_VAR)
   set(multiValueArgs INPUT_PROTOS PROTO_PATH)
 
   cmake_parse_arguments(gz_msgs_factory "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
+  # Default values for optional parameters
+  if (NOT DEFINED gz_msgs_factory_PYTHON_INTERPRETER)
+    set(gz_msgs_factory_PYTHON_INTERPRETER Python3::Interpreter)
+  endif()
+
   _gz_msgs_proto_pkg_to_path(${gz_msgs_factory_PROTO_PACKAGE} proto_package_dir)
 
   set(output_header "${gz_msgs_factory_OUTPUT_CPP_DIR}/${proto_package_dir}/MessageTypes.hh")
@@ -57,7 +63,7 @@ function(gz_msgs_factory)
 
   add_custom_command(
     OUTPUT ${output_files}
-    COMMAND Python3::Interpreter
+    COMMAND ${gz_msgs_factory_PYTHON_INTERPRETER}
     ARGS ${gz_msgs_factory_FACTORY_GEN_SCRIPT} ${GENERATE_ARGS}
     DEPENDS
       ${depends_index}

diff --git a/cmake/gz_msgs_generate.cmake b/cmake/gz_msgs_generate.cmake
@@ -2,6 +2,7 @@
 # The implementation of gz_msgs_generate_messages
 # Options:
 # One value arguments:
+#   PYTHON_INTERPRETER  - Target or path to the python interpreter used
 #   PROTO_PACKAGE       - Protobuf package the file belongs to (e.g. "gz.msgs")
 #   MSGS_GEN_SCRIPT     - Location of the messge generator script
 #   GZ_PROTOC_PLUGIN    - Location of the gazebo generator plugin
@@ -20,6 +21,8 @@ function(gz_msgs_generate_messages_impl)
   set(options "")
   set(oneValueArgs
     # Inputs
+    PYTHON_INTERPRETER
+    PROTOC_EXEC
     PROTO_PACKAGE MSGS_GEN_SCRIPT GZ_PROTOC_PLUGIN FACTORY_GEN_SCRIPT PROTO_PATH
     DEPENDENCY_DESCRIPTIONS
     DLLEXPORT_DECL
@@ -33,6 +36,15 @@ function(gz_msgs_generate_messages_impl)
   set(multiValueArgs INPUT_PROTOS)
 
   cmake_parse_arguments(generate_messages "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+
+  # Default values for optional parameters
+  if (NOT DEFINED generate_messages_PYTHON_INTERPRETER)
+    set(generate_messages_PYTHON_INTERPRETER Python3::Interpreter)
+  endif()
+  if (NOT DEFINED generate_messages_PROTOC_EXEC)
+    set(generate_messages_PROTOC_EXEC protobuf::protoc)
+  endif()
+
   _gz_msgs_proto_pkg_to_string(${generate_messages_PROTO_PACKAGE} gen_dir)
   _gz_msgs_proto_pkg_to_path(${generate_messages_PROTO_PACKAGE} proto_package_dir)
   set(output_directory ${generate_messages_OUTPUT_DIRECTORY})
@@ -42,14 +54,16 @@ function(gz_msgs_generate_messages_impl)
 
   foreach(proto_file ${generate_messages_INPUT_PROTOS})
     gz_msgs_protoc(
+      PYTHON_INTERPRETER
+        ${generate_messages_PYTHON_INTERPRETER}
       MSGS_GEN_SCRIPT
         ${generate_messages_MSGS_GEN_SCRIPT}
       PROTO_PACKAGE
         ${generate_messages_PROTO_PACKAGE}
       INPUT_PROTO
         ${proto_file}
       PROTOC_EXEC
-        protobuf::protoc
+        ${generate_messages_PROTOC_EXEC}
       GZ_PROTOC_PLUGIN
         ${generate_messages_GZ_PROTOC_PLUGIN}
       PROTO_PATH
@@ -81,6 +95,8 @@ function(gz_msgs_generate_messages_impl)
   endforeach()
 
   gz_msgs_factory(
+    PYTHON_INTERPRETER
+      ${generate_messages_PYTHON_INTERPRETER}
     FACTORY_GEN_SCRIPT
       ${generate_messages_FACTORY_GEN_SCRIPT}
     PROTO_PACKAGE
@@ -130,6 +146,7 @@ endfunction()
 ##################################################
 # Options:
 # One value arguments:
+#   PROTOC_EXEC         - protoc target or executable to use
 #   PROTO_PATH          - Base directory of the proto files
 #   DEPENDENCY_DESCRIPTIONS - Variable containing all depedency description files
 #   OUTPUT_DIRECTORY - Directory of output gz_desc file
@@ -140,6 +157,7 @@ function(gz_msgs_generate_desc_impl)
   set(options "")
   set(oneValueArgs
     # Inputs
+    PROTOC_EXEC
     PROTO_PATH
     DEPENDENCY_DESCRIPTIONS
     OUTPUT_DIRECTORY
@@ -148,6 +166,10 @@ function(gz_msgs_generate_desc_impl)
 
   cmake_parse_arguments(generate_messages "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
+  if (NOT DEFINED generate_messages_PROTOC_EXEC)
+    set(generate_messages_PROTOC_EXEC protobuf::protoc)
+  endif()
+
   set(ARGS)
   list(APPEND ARGS -I${generate_messages_PROTO_PATH})
   list(APPEND ARGS --descriptor_set_out=${generate_messages_OUTPUT_FILENAME})
@@ -161,7 +183,7 @@ function(gz_msgs_generate_desc_impl)
 
   add_custom_command(
     OUTPUT ${generate_messages_OUTPUT_FILENAME}
-    COMMAND protobuf::protoc
+    COMMAND ${generate_messages_PROTOC_EXEC}
     ARGS ${ARGS}
     DEPENDS ${generate_messages_INPUT_PROTOS}
     COMMENT "Generating descriptor set"
@@ -175,6 +197,8 @@ endfunction()
 #   TARGET              - Target (static library) to create
 #   PROTO_PACKAGE       - Protobuf package the file belongs to (e.g. "gz.msgs")
 #   MSGS_GEN_SCRIPT     - Location of the messge generator script
+#   PYTHON_INTERPRETER  - Target or path to the python interpreter used
+#   PROTOC_EXEC         - Protoc target or executable to use
 #   GZ_PROTOC_PLUGIN    - Location of the gazebo generator plugin
 #   FACTORY_GEN_SCRIPT  - Location of the factory generator script
 #   MSGS_LIB            - gz-msgs library to link to
@@ -186,7 +210,7 @@ endfunction()
 #                         that depend on gz-msgs
 function(gz_msgs_generate_messages_lib)
   set(options "")
-  set(oneValueArgs TARGET PROTO_PACKAGE MSGS_GEN_SCRIPT GZ_PROTOC_PLUGIN FACTORY_GEN_SCRIPT MSGS_LIB PROTO_PATH)
+  set(oneValueArgs TARGET PROTO_PACKAGE MSGS_GEN_SCRIPT PYTHON_INTERPRETER PROTOC_EXEC GZ_PROTOC_PLUGIN FACTORY_GEN_SCRIPT MSGS_LIB PROTO_PATH)
   set(multiValueArgs INPUT_PROTOS DEPENDENCIES)
 
   cmake_parse_arguments(generate_messages "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
@@ -205,9 +229,19 @@ function(gz_msgs_generate_messages_lib)
     list(APPEND depends_msgs_desc ${msgs_desc_file})
   endforeach()
 
+  # Default values for optional parameters
+  if (NOT DEFINED generate_messages_PYTHON_INTERPRETER)
+    set(generate_messages_PYTHON_INTERPRETER Python3::Interpreter)
+  endif()
+  if (NOT DEFINED generate_messages_PROTOC_EXEC)
+    set(generate_messages_PROTOC_EXEC protobuf::protoc)
+  endif()
+
   gz_msgs_generate_messages_impl(
     PROTO_PACKAGE ${generate_messages_PROTO_PACKAGE}
     MSGS_GEN_SCRIPT ${generate_messages_MSGS_GEN_SCRIPT}
+    PYTHON_INTERPRETER ${generate_messages_PYTHON_INTERPRETER}
+    PROTOC_EXEC ${generate_messages_PROTOC_EXEC}
     GZ_PROTOC_PLUGIN ${generate_messages_GZ_PROTOC_PLUGIN}
     FACTORY_GEN_SCRIPT ${generate_messages_FACTORY_GEN_SCRIPT}
     PROTO_PATH ${generate_messages_PROTO_PATH}
@@ -221,6 +255,7 @@ function(gz_msgs_generate_messages_lib)
   )
 
   gz_msgs_generate_desc_impl(
+    PROTOC_EXEC ${generate_messages_PROTOC_EXEC}
     INPUT_PROTOS ${generate_messages_INPUT_PROTOS}
     PROTO_PATH ${generate_messages_PROTO_PATH}
     DEPENDENCY_DESCRIPTIONS ${depends_msgs_desc}

diff --git a/cmake/gz_msgs_protoc.cmake b/cmake/gz_msgs_protoc.cmake
@@ -4,6 +4,7 @@
 #   GENERATE_CPP        - generates c++ code for the message if specified
 #   GENERATE_PYTHON     - generates python code for the message if specified
 # One value arguments:
+#   PYTHON_INTERPRETER  - Target or path to the Python interpreter to use to run generation scripts
 #   MSGS_GEN_SCRIPT     - Path to the message generation python script
 #   PROTO_PACKAGE       - Protobuf package the file belongs to (e.g. "gz.msgs")
 #   PROTOC_EXEC         - Path to protoc
@@ -22,6 +23,7 @@
 function(gz_msgs_protoc)
   set(options GENERATE_CPP GENERATE_PYTHON)
   set(oneValueArgs
+    PYTHON_INTERPRETER
     MSGS_GEN_SCRIPT
     PROTO_PACKAGE
     PROTOC_EXEC
@@ -38,6 +40,13 @@ function(gz_msgs_protoc)
 
   cmake_parse_arguments(gz_msgs_protoc "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
+  if (NOT DEFINED gz_msgs_protoc_PYTHON_INTERPRETER)
+    set(gz_msgs_protoc_PYTHON_INTERPRETER Python3::Interpreter)
+  endif()
+  if (NOT DEFINED gz_msgs_protoc_PROTOC_EXEC)
+    set(gz_msgs_protoc_PROTOC_EXEC protobuf::protoc)
+  endif()
+
   get_filename_component(ABS_FIL ${gz_msgs_protoc_INPUT_PROTO} ABSOLUTE)
   get_filename_component(FIL_WE ${gz_msgs_protoc_INPUT_PROTO} NAME_WE)
 
@@ -85,8 +94,14 @@ function(gz_msgs_protoc)
     set(${gz_msgs_protoc_OUTPUT_PYTHON_VAR} ${${gz_msgs_protoc_OUTPUT_PYTHON_VAR}} PARENT_SCOPE)
   endif()
 
+  if(TARGET ${gz_msgs_protoc_PROTOC_EXEC})
+    set(gz_msgs_protoc_PROTOC_EXEC_FILE_ABS_PATH "$<TARGET_FILE:${gz_msgs_protoc_PROTOC_EXEC}>")
+  else()
+    set(gz_msgs_protoc_PROTOC_EXEC_FILE_ABS_PATH ${gz_msgs_protoc_PROTOC_EXEC})
+  endif()
+
   set(GENERATE_ARGS
-      --protoc-exec "$<TARGET_FILE:${gz_msgs_protoc_PROTOC_EXEC}>"
+      --protoc-exec "${gz_msgs_protoc_PROTOC_EXEC_FILE_ABS_PATH}"
       --gz-generator-bin "${gz_msgs_protoc_GZ_PROTOC_PLUGIN}"
       --proto-path "${gz_msgs_protoc_PROTO_PATH}"
       --input-path "${ABS_FIL}"
@@ -118,7 +133,7 @@ function(gz_msgs_protoc)
 
   add_custom_command(
     OUTPUT ${output_files}
-    COMMAND Python3::Interpreter
+    COMMAND ${gz_msgs_protoc_PYTHON_INTERPRETER}
     ARGS ${gz_msgs_protoc_MSGS_GEN_SCRIPT} ${GENERATE_ARGS}
     DEPENDS
       ${ABS_FIL}

diff --git a/conf/CMakeLists.txt b/conf/CMakeLists.txt
@@ -1,12 +1,16 @@
 # Used only for internal testing.
-set(gz_library_path "${CMAKE_BINARY_DIR}/test/lib/ruby/gz/cmd${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}")
+set(gz_library_path "${CMAKE_BINARY_DIR}/test/lib/$<CONFIG>/ruby/gz/cmd${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}")
 
 # Generate a configuration file for internal testing.
 # Note that the major version of the library is included in the name.
 # Ex: transport0.yaml
 configure_file(
   "${GZ_DESIGNATION}.yaml.in"
-    "${CMAKE_BINARY_DIR}/test/conf/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
+  "${CMAKE_CURRENT_BINARY_DIR}/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml.configured" @ONLY)
+
+file(GENERATE
+  OUTPUT "${CMAKE_BINARY_DIR}/test/conf/$<CONFIG>/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml"
+  INPUT "${CMAKE_CURRENT_BINARY_DIR}/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml.configured")
 
 # Used for the installed version.
 set(gz_library_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/gz/cmd${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}")