Enable use of ign gazebo -s on Windows

Signed-off-by: Silvio <silvio@traversaro.it>
gazebosim · Aug 28, 2022 · 579addc · 579addc
1 parent 25bdef6
commit 579addc
Show file tree

Hide file tree

Showing 8 changed files with 136 additions and 79 deletions.
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -92,19 +92,29 @@ set (gtest_sources
   TestFixture_TEST.cc
   Util_TEST.cc
   World_TEST.cc
-  ign_TEST.cc
   comms/Broker_TEST.cc
   comms/MsgManager_TEST.cc
   network/NetworkConfig_TEST.cc
   network/PeerTracker_TEST.cc
   network/NetworkManager_TEST.cc
 )
 
+# ign_TEST and ModelCommandAPI_TEST are not supported with multi config
+# CMake generators, see also cmd/CMakeLists.txt
+get_property(GENERATOR_IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
+if(NOT GENERATOR_IS_MULTI_CONFIG)
+  list(APPEND gtest_sources ign_TEST.cc)
+endif()
+
+
 # Tests that require a valid display
 set(tests_needing_display
-  ModelCommandAPI_TEST.cc
 )
 
+if(NOT GENERATOR_IS_MULTI_CONFIG)
+  list(APPEND tests_needing_display ModelCommandAPI_TEST.cc)
+endif()
+
 # Add systems that need a valid display here.
 # \todo(anyone) Find a way to run these tests with a virtual display such Xvfb
 # or Xdummy instead of skipping them
@@ -222,9 +232,19 @@ foreach(CMD_TEST
   set_tests_properties(${CMD_TEST} PROPERTIES
     ENVIRONMENT "${_env_vars}")
 
-endforeach()
+  # On Windows there is no RPATH, so an alternative way for tests for finding .dll libraries
+  # in build directory in necessary. For regular tests, the trick is to place all libraries
+  # and executables in a common CMAKE_RUNTIME_OUTPUT_DIRECTORY, so that the .dll are found
+  # as they are in the same directory where the executable is loaded. For tests that are
+  # launched via ruby, this does not work, so we need to manually add CMAKE_RUNTIME_OUTPUT_DIRECTORY
+  # to the PATH. This is done via the ENVIRONMENT_MODIFICATION that is only available
+  # since CMake 3.22 . However, if an older CMake is used another trick to install the libraries
+  # beforehand
+  if (WIN32 AND CMAKE_VERSION STRGREATER "3.22")
+    set_tests_properties(${CMD_TEST} PROPERTIES
+      ENVIRONMENT_MODIFICATION "PATH=path_list_prepend:${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
+  endif()
 
-if(NOT WIN32)
-  add_subdirectory(cmd)
-endif()
+endforeach()
 
+add_subdirectory(cmd)
diff --git a/src/cmd/CMakeLists.txt b/src/cmd/CMakeLists.txt
@@ -2,12 +2,19 @@
 # Generate the ruby script.
 # Note that the major version of the library is included in the name.
 # Ex: cmdgazebo0.rb
-set(cmd_script_generated "${CMAKE_CURRENT_BINARY_DIR}/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb")
-set(cmd_script_configured "${cmd_script_generated}.configured")
+set(cmd_script_name "cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb")
+set(cmd_script_generated "${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>_${cmd_script_name}")
+set(cmd_script_configured "${CMAKE_CURRENT_BINARY_DIR}/${cmd_script_name}.configured")
 
 # Set the library_location variable to the relative path to the library file
 # within the install directory structure.
-set(library_location "../../../${CMAKE_INSTALL_LIBDIR}/$<TARGET_FILE_NAME:${ign_lib_target}>")
+if(WIN32)
+  set(plugin_location ${CMAKE_INSTALL_BINDIR})
+else()
+  set(plugin_location ${CMAKE_INSTALL_LIBDIR})
+endif()
+
+set(library_location "../../../${plugin_location}/$<TARGET_FILE_NAME:${ign_lib_target}>")
 
 configure_file(
   "cmd${IGN_DESIGNATION}.rb.in"
@@ -19,7 +26,7 @@ file(GENERATE
   INPUT  "${cmd_script_configured}")
 
 # Install the ruby command line library in an unversioned location.
-install(FILES ${cmd_script_generated} DESTINATION lib/ruby/ignition)
+install(FILES ${cmd_script_generated} DESTINATION lib/ruby/ignition RENAME ${cmd_script_name})
 
 set(ign_library_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}")
 
@@ -40,8 +47,9 @@ install( FILES
 # Used for the installed model command version.
 # Generate the ruby script that gets installed.
 # Note that the major version of the library is included in the name.
-set(cmd_model_script_generated "${CMAKE_CURRENT_BINARY_DIR}/cmdmodel${PROJECT_VERSION_MAJOR}.rb")
-set(cmd_model_script_configured "${cmd_model_script_generated}.configured")
+set(cmd_model_script_name "cmdmodel${PROJECT_VERSION_MAJOR}.rb")
+set(cmd_model_script_generated "${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>_${cmd_model_script_name}")
+set(cmd_model_script_configured "${CMAKE_CURRENT_BINARY_DIR}/${cmd_script_name}.configured")
 
 configure_file(
   "cmdmodel.rb.in"
@@ -51,7 +59,7 @@ file(GENERATE
   OUTPUT "${cmd_model_script_generated}"
   INPUT  "${cmd_model_script_configured}")
 
-install(FILES ${cmd_model_script_generated} DESTINATION lib/ruby/ignition)
+install(FILES ${cmd_model_script_generated} DESTINATION lib/ruby/ignition RENAME ${cmd_model_script_name})
 
 # Used for the installed version.
 set(ign_model_ruby_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmdmodel${PROJECT_VERSION_MAJOR}")
@@ -68,55 +76,64 @@ install(FILES ${model_configured} DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_IN
 # Generate the ruby script for internal testing.
 # Note that the major version of the library is included in the name.
 # Ex: cmdgazebo0.rb
-set(cmd_script_generated_test "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb")
-set(cmd_script_configured_test "${cmd_script_generated_test}.configured")
-
-# Set the library_location variable to the relative path to the library file
-# within the install directory structure.
-set(library_location "$<TARGET_FILE:${ign_lib_target}>")
-
-configure_file(
-  "cmd${IGN_DESIGNATION}.rb.in"
-  "${cmd_script_configured_test}"
-  @ONLY)
-
-file(GENERATE
-  OUTPUT "${cmd_script_generated_test}"
-  INPUT  "${cmd_script_configured_test}")
-
-# Used only for internal testing.
-set(ign_library_path
-  "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}")
-
-# Generate a configuration file for internal testing.
-# Note that the major version of the library is included in the name.
-# Ex: gazebo0.yaml
-configure_file(
-  "${IGN_DESIGNATION}.yaml.in"
-  "${CMAKE_BINARY_DIR}/test/conf/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
+# The logic is valid only for single-config CMake generators, so no script is
+# generated if a multiple-config CMake geneator is used
+get_property(GENERATOR_IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
+if(NOT GENERATOR_IS_MULTI_CONFIG)
+  set(cmd_script_generated_test "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb")
+  set(cmd_script_configured_test "${cmd_script_generated_test}.configured")
+
+  # Set the library_location variable to the relative path to the library file
+  # within the install directory structure.
+  set(library_location "$<TARGET_FILE:${ign_lib_target}>")
+
+  configure_file(
+    "cmd${IGN_DESIGNATION}.rb.in"
+    "${cmd_script_configured_test}"
+    @ONLY)
+
+  file(GENERATE
+    OUTPUT "${cmd_script_generated_test}"
+    INPUT  "${cmd_script_configured_test}")
+
+  # Used only for internal testing.
+  set(ign_library_path
+    "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}")
+
+  # Generate a configuration file for internal testing.
+  # Note that the major version of the library is included in the name.
+  # Ex: gazebo0.yaml
+  configure_file(
+    "${IGN_DESIGNATION}.yaml.in"
+    "${CMAKE_BINARY_DIR}/test/conf/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
+endif()
 
 #===============================================================================
 # Generate the ruby script for internal testing.
 # Note that the major version of the library is included in the name.
-set(cmd_model_ruby_test_dir "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition")
-set(cmd_model_script_generated_test "${cmd_model_ruby_test_dir}/cmdmodel${PROJECT_VERSION_MAJOR}.rb")
-set(cmd_model_script_configured_test "${cmd_model_script_generated_test}.configured")
-
-configure_file(
-  "cmdmodel.rb.in"
-  "${cmd_model_script_configured_test}"
-  @ONLY)
-
-file(GENERATE
-  OUTPUT "${cmd_model_script_generated_test}"
-  INPUT  "${cmd_model_script_configured_test}")
-
-# Used for internal testing.
-set(ign_model_ruby_path "${cmd_model_script_generated_test}")
-
-configure_file(
-  "model.yaml.in"
-  "${CMAKE_BINARY_DIR}/test/conf/model${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
+# The logic is valid only for single-config CMake generators, so no script is
+# generated if a multiple-config CMake geneator is used
+if(NOT GENERATOR_IS_MULTI_CONFIG)
+  set(cmd_model_ruby_test_dir "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition")
+  set(cmd_model_script_generated_test "${cmd_model_ruby_test_dir}/cmdmodel${PROJECT_VERSION_MAJOR}.rb")
+  set(cmd_model_script_configured_test "${cmd_model_script_generated_test}.configured")
+
+  configure_file(
+    "cmdmodel.rb.in"
+    "${cmd_model_script_configured_test}"
+    @ONLY)
+
+  file(GENERATE
+    OUTPUT "${cmd_model_script_generated_test}"
+    INPUT  "${cmd_model_script_configured_test}")
+
+  # Used for internal testing.
+  set(ign_model_ruby_path "${cmd_model_script_generated_test}")
+
+  configure_file(
+    "model.yaml.in"
+    "${CMAKE_BINARY_DIR}/test/conf/model${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
+endif()
 
 #===============================================================================
 # Bash completion

diff --git a/src/cmd/ModelCommandAPI.hh b/src/cmd/ModelCommandAPI.hh
@@ -15,16 +15,18 @@
  *
 */
 
+#include "ignition/gazebo/Export.hh"
+
 /// \brief External hook to get a list of available models.
-extern "C" void cmdModelList();
+extern "C" IGNITION_GAZEBO_VISIBLE void cmdModelList();
 
 /// \brief External hook to dump model information.
 /// \param[in] _modelName Model name.
 /// \param[in] _pose --pose option.
 /// \param[in] _linkName Link name.
 /// \param[in] _jointName Joint name.
 /// \param[in] _sensorName Sensor name.
-extern "C" void cmdModelInfo(
+extern "C" IGNITION_GAZEBO_VISIBLE void cmdModelInfo(
     const char *_modelName, int _pose, const char *_linkName,
     const char *_jointName,
     const char *_sensorName);

diff --git a/src/cmd/cmdgazebo.rb.in b/src/cmd/cmdgazebo.rb.in
@@ -27,6 +27,7 @@ end
 
 require 'optparse'
 require 'erb'
+require 'pathname'
 
 # Constants.
 LIBRARY_NAME = '@library_location@'
@@ -337,7 +338,8 @@ class Cmd
   def execute(args)
     options = parse(args)
 
-    if LIBRARY_NAME[0] == '/'
+    library_name_path = Pathname.new(LIBRARY_NAME)
+    if library_name_path.absolute?
       # If the first character is a slash, we'll assume that we've been given an
       # absolute path to the library. This is only used during test mode.
       plugin = LIBRARY_NAME
@@ -467,6 +469,12 @@ See https://github.com/ignitionrobotics/ign-gazebo/issues/44 for more info."
           exit(-1)
         end
 
+        if plugin.end_with? ".dll"
+          puts "`ign gazebo` currently only works with the -s argument on Windows.
+See https://github.com/gazebosim/gz-sim/issues/168 for more info."
+          exit(-1)
+        end
+
         serverPid = Process.fork do
           ENV['RMT_PORT'] = '1500'
           Process.setpgid(0, 0)
@@ -526,6 +534,12 @@ See https://github.com/ignitionrobotics/ign-gazebo/issues/44 for more info."
           exit(-1)
         end
 
+        if plugin.end_with? ".dll"
+          puts "`ign gazebo` currently only works with the -s argument on Windows.
+See https://github.com/gazebosim/gz-sim/issues/168 for more info."
+          exit(-1)
+        end
+
         ENV['RMT_PORT'] = '1501'
         Importer.runGui(options['gui_config'], options['file'],
             options['wait_gui'], options['render_engine_gui'])

diff --git a/src/cmd/cmdmodel.rb.in b/src/cmd/cmdmodel.rb.in
@@ -26,6 +26,7 @@ else
 end
 
 require 'optparse'
+require 'pathname'
 
 # Constants.
 LIBRARY_NAME = '@library_location@'
@@ -157,7 +158,8 @@ class Cmd
     options = parse(args)
 
     # Read the plugin that handles the command.
-    if LIBRARY_NAME[0] == '/'
+    library_name_path = Pathname.new(LIBRARY_NAME)
+    if library_name_path.absolute?
       # If the first character is a slash, we'll assume that we've been given an
       # absolute path to the library. This is only used during test mode.
       plugin = LIBRARY_NAME

diff --git a/src/ign.hh b/src/ign.hh
@@ -21,18 +21,18 @@
 
 /// \brief External hook to read the library version.
 /// \return C-string representing the version. Ex.: 0.1.2
-extern "C" char *ignitionGazeboVersion();
+extern "C" IGNITION_GAZEBO_VISIBLE char *ignitionGazeboVersion();
 
 /// \brief Get the Gazebo version header.
 /// \return C-string containing the Gazebo version information.
-extern "C" char *gazeboVersionHeader();
+extern "C" IGNITION_GAZEBO_VISIBLE char *gazeboVersionHeader();
 
 /// \brief Set verbosity level
 /// \param[in] _verbosity 0 to 4
-extern "C" void cmdVerbosity(
+extern "C" IGNITION_GAZEBO_VISIBLE void cmdVerbosity(
     const char *_verbosity);
 
-extern "C" const char *worldInstallDir();
+extern "C" IGNITION_GAZEBO_VISIBLE const char *worldInstallDir();
 
 /// \brief External hook to run simulation server.
 /// \param[in] _sdfString SDF file to run, as a string.
@@ -59,7 +59,7 @@ extern "C" const char *worldInstallDir();
 /// \param[in] _headless True if server rendering should run headless
 /// \param[in] _recordPeriod --record-period option
 /// \return 0 if successful, 1 if not.
-extern "C" int runServer(const char *_sdfString,
+extern "C" IGNITION_GAZEBO_VISIBLE int runServer(const char *_sdfString,
     int _iterations, int _run, float _hz, int _levels,
     const char *_networkRole, int _networkSecondaries, int _record,
     const char *_recordPath, int _recordResources, int _logOverwrite,
@@ -77,14 +77,14 @@ extern "C" int runServer(const char *_sdfString,
 /// it receives a world path from GUI.
 /// \param[in] _renderEngine --render-engine-gui option
 /// \return 0 if successful, 1 if not.
-extern "C" int runGui(const char *_guiConfig, const char *_file, int _waitGui,
-    const char *_renderEngine);
+extern "C" IGNITION_GAZEBO_VISIBLE int runGui(const char *_guiConfig,
+    const char *_file, int _waitGui, const char *_renderEngine);
 
 /// \brief External hook to find or download a fuel world provided a URL.
 /// \param[in] _pathToResource Path to the fuel world resource, ie,
 /// https://staging-fuel.ignitionrobotics.org/1.0/gmas/worlds/ShapesClone
 /// \return C-string containing the path to the local world sdf file
-extern "C" const char *findFuelResource(
+extern "C" IGNITION_GAZEBO_VISIBLE const char *findFuelResource(
     char *_pathToResource);
 
 #endif