Merge pull request gazebosim#445 from gazebosim/scpeters/merge_10_main

Merge gz-msgs10 ➡️ main
rudislabs · May 30, 2024 · cdc2839 · cdc2839
2 parents cd39a9f + 3dad23f
commit cdc2839
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diff --git a/.github/workflows/package_xml.yml b/.github/workflows/package_xml.yml
@@ -0,0 +1,11 @@
+name: Validate package.xml
+
+on:
+  pull_request:
+
+jobs:
+  package-xml:
+    runs-on: ubuntu-latest
+    name: Validate package.xml
+    steps:
+      - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy
diff --git a/BUILD.bazel b/BUILD.bazel
@@ -3,28 +3,41 @@ load(
     "GZ_FEATURES",
     "GZ_ROOT",
     "GZ_VISIBILITY",
+    "gz_configure_file",
     "gz_configure_header",
     "gz_export_header",
     "gz_include_header",
 )
+load(
+    "@gz//bazel/lint:lint.bzl",
+    "add_lint_tests",
+)
 load(
     "@gz//msgs/tools:gz_msgs_generate.bzl",
-    "get_proto_headers",
-    "gz_msgs_generate",
+    "gz_proto_factory",
+    "gz_proto_library",
 )
+load("@rules_license//rules:license.bzl", "license")
 
 package(
+    default_applicable_licenses = [GZ_ROOT + "msgs:license"],
     default_visibility = GZ_VISIBILITY,
     features = GZ_FEATURES,
 )
 
-licenses(["notice"])  # Apache-2.0
+license(
+    name = "license",
+    package_name = "gz-msgs",
+)
+
+licenses(["notice"])
 
 exports_files(["LICENSE"])
 
 gz_configure_header(
     name = "msgs_config_hh",
-    src = "include/gz/msgs/config.hh.in",
+    src = "core/include/gz/msgs/config.hh.in",
+    out = "include/gz/msgs/config.hh",
     cmakelists = ["CMakeLists.txt"],
     package = "msgs",
 )
@@ -37,43 +50,29 @@ gz_export_header(
 )
 
 public_headers_no_gen = glob([
-    "include/gz/msgs/*.hh",
-    "include/gz/msgs/detail/*.hh",
+    "core/include/gz/msgs/*.hh",
+    "core/include/gz/msgs/convert/*.hh",
+    "core/include/gz/msgs/detail/*.hh",
 ])
 
 protos = glob(["proto/gz/msgs/*.proto"])
 
-gz_include_header(
-    name = "messagetypes_hh_genrule",
-    out = "include/gz/msgs/MessageTypes.hh",
-    hdrs = get_proto_headers(protos),
-    strip_prefix = ["gz_msgs"],
-)
-
 gz_include_header(
     name = "msgs_hh_genrule",
     out = "include/gz/msgs.hh",
     hdrs = public_headers_no_gen + [
         "include/gz/msgs/config.hh",
         "include/gz/msgs/Export.hh",
-        "include/gz/msgs/MessageTypes.hh",
     ],
 )
 
-public_headers = public_headers_no_gen + [
-    "include/gz/msgs/config.hh",
-    "include/gz/msgs/Export.hh",
-    "include/gz/msgs/MessageTypes.hh",
-    "include/gz/msgs.hh",
-]
-
 # Custom Gazebo Protoc plugin
 cc_binary(
     name = "gz_msgs_gen",
     srcs = [
-        "src/Generator.cc",
-        "src/Generator.hh",
-        "src/generator_main.cc",
+        "core/generator_lite/Generator.cc",
+        "core/generator_lite/Generator.hh",
+        "core/generator_lite/generator_main.cc",
     ],
     deps = [
         "@com_google_protobuf//:protobuf",
@@ -91,26 +90,51 @@ proto_library(
     ],
 )
 
-gz_msgs_generate(
+gz_proto_library(
     name = "gzmsgs_cc_proto",
+    proto_deps = [":gzmsgs_proto"],
     deps = [
-        ":gzmsgs_proto",
-        "@com_google_protobuf//:any_proto",
+        "@com_google_protobuf//:protobuf",
     ],
 )
 
+gz_proto_factory(
+    name = "gzmsgs_proto_factory",
+    cc_output = "core/src/RegisterMsgs.cc",
+    hh_output = "include/gz/msgs/MessageTypes.hh",
+    deps = [":gzmsgs_proto"],
+)
+
+public_headers = public_headers_no_gen + [
+    "include/gz/msgs/config.hh",
+    "include/gz/msgs/Export.hh",
+    "include/gz/msgs.hh",
+    "include/gz/msgs/MessageTypes.hh",
+]
+
 cc_library(
     name = "msgs",
     srcs = [
-        "src/Factory.cc",
-        "src/Filesystem.cc",
-        "src/Utility.cc",
-        ":gzmsgs_cc_proto",
+        "core/src/DynamicFactory.cc",
+        "core/src/DynamicFactory.hh",
+        "core/src/Factory.cc",
+        "core/src/MessageFactory.cc",
+        "core/src/RegisterMsgs.cc",
+        "core/src/impl/InstallationDirectories.cc",
     ],
     hdrs = public_headers,
-    includes = ["include"],
+    copts = [
+        "-Wno-duplicate-decl-specifier",
+        "-fexceptions",
+    ],
+    includes = [
+        "core/include",
+        "core/src",
+        "include",
+    ],
     deps = [
         ":gzmsgs_cc_proto",
+        ":gzmsgs_proto_factory",
         GZ_ROOT + "math",
         "@com_google_protobuf//:protobuf",
         "@tinyxml2",
@@ -138,3 +162,100 @@ test_sources = glob(
         "@gtest//:gtest_main",
     ],
 ) for src in test_sources]
+
+cc_test(
+    name = "INTEGRATION_headers",
+    srcs = ["test/integration/headers.cc"],
+    deps = [
+        ":gzmsgs_cc_proto",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "INTEGRATION_image_msg",
+    srcs = ["test/integration/image_msg.cc"],
+    deps = [
+        ":gzmsgs_cc_proto",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "INTEGRATION_Utility",
+    srcs = ["test/integration/Utility_TEST.cc"],
+    deps = [
+        ":msgs",
+        GZ_ROOT + "common/testing",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "INTEGRATION_Factory",
+    srcs = ["test/integration/Factory_TEST.cc"],
+    data = ["test/desc/stringmsg.desc"],
+    defines = [
+        'GZ_MSGS_TEST_PATH=\\"msgs/test\\"',
+    ],
+    deps = [
+        ":msgs",
+        GZ_ROOT + "common/testing",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "INTEGRATION_descriptors",
+    srcs = ["test/integration/descriptors.cc"],
+    data = ["test/desc"],
+    defines = [
+        'GZ_MSGS_TEST_PATH=\\"msgs/test\\"',
+    ],
+    deps = [
+        ":msgs",
+        GZ_ROOT + "common/testing",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+)
+
+gz_configure_file(
+    name = "msgs_yaml",
+    src = "conf/msgs.yaml.in",
+    out = "msgs.yaml",
+    defines = [
+        "PROJECT_NAME_NO_VERSION_LOWER=msgs",
+        "gz_library_path=msgs/cmdmsgs",
+    ],
+    package = "msgs",
+)
+
+gz_configure_file(
+    name = "msgs_rb",
+    src = "core/src/cmd/cmdmsgs.rb.in",
+    out = "cmdmsgs.rb",
+    defines = [
+        "library_location=libgz-msgs.so",
+    ],
+    package = "msgs",
+)
+
+cc_binary(
+    name = "gz-msgs",
+    srcs = ["core/src/gz.cc"],
+    data = [
+        "cmdmsgs.rb",
+        "msgs.yaml",
+        ":gzmsgs_proto",
+    ],
+    linkshared = True,
+    linkstatic = True,
+    deps = [":msgs"],
+)
+
+add_lint_tests()
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -177,7 +177,7 @@ file(
 # Install cmake support files
 install(
   DIRECTORY cmake/
-  DESTINATION "${PROJECT_CMAKE_EXTRAS_INSTALL_DIR}"
+  DESTINATION "${PROJECT_CMAKE_EXTRAS_RELATIVE_INSTALL_DIR}"
 )
 
 #============================================================================

diff --git a/Changelog.md b/Changelog.md
@@ -4,6 +4,51 @@
 
 ## Gazebo Msgs 10.x
 
+### Gazebo Msgs 10.2.0 (2024-05-17)
+
+1. CameraTrack message for advanced tracking and following.
+    * [Pull request #440](https://github.com/gazebosim/gz-msgs/pull/440)
+
+1. Update minimum version of gz-cmake3
+    * [Pull request #439](https://github.com/gazebosim/gz-msgs/pull/439)
+
+1. bazel: lint
+    * [Pull request #438](https://github.com/gazebosim/gz-msgs/pull/438)
+
+1. Add package.xml
+    * [Pull request #432](https://github.com/gazebosim/gz-msgs/pull/432)
+
+### Gazebo Msgs 10.1.2 (2024-04-08)
+
+1. Use relative install paths for gz tool data and extra cmake files
+    * [Pull request #436](https://github.com/gazebosim/gz-msgs/pull/436)
+
+1. Bazel updates for Harmonic
+    * [Pull request #397](https://github.com/gazebosim/gz-msgs/pull/397)
+
+1. Fix MSVC "possible loss of data" warning
+    * [Pull request #434](https://github.com/gazebosim/gz-msgs/pull/434)
+
+### Gazebo Msgs 10.1.1 (2024-03-14)
+
+1. Allow topic and service to construct messages from description files
+    * [Pull request #428](https://github.com/gazebosim/gz-msgs/pull/428)
+
+1. Conditionally use cmake_path on cmake < 3.20
+    * [Pull request #424](https://github.com/gazebosim/gz-msgs/pull/424)
+
+1. Remove duplicate find_package(Python3) call
+    * [Pull request #420](https://github.com/gazebosim/gz-msgs/pull/420)
+
+1. Bazel: Fix py_binary location
+    * [Pull request #406](https://github.com/gazebosim/gz-msgs/pull/406)
+
+1. Fix compiler warning in `generator.cc`
+    * [Pull request #403](https://github.com/gazebosim/gz-msgs/pull/403)
+
+1. Set GZ_TOOLS_VER to 2 for consistency with rest of Garden and Harmonic libraries
+    * [Pull request #391](https://github.com/gazebosim/gz-msgs/pull/391)
+
 ### Gazebo Msgs 10.1.0 (2024-01-22)
 
 1. Add proto message for MaterialColor.

diff --git a/conf/CMakeLists.txt b/conf/CMakeLists.txt
@@ -24,4 +24,4 @@ configure_file(
 
 # Install the yaml configuration files in an unversioned location.
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml
-  DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gz/)
+  DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/gz/)