Finish gz-sim-yarp-plugins-check-model

.github/workflows/apt.yml

@@ -42,7 +42,7 @@ jobs:
         # YARP dependencies
         sudo apt-get install git build-essential cmake ninja-build libace-dev libeigen3-dev libopencv-dev libtinyxml-dev
         # gz-sim-yarp-plugins dependencies
-        sudo apt-get install gz-${{ matrix.gazebo_distro }}
+        sudo apt-get install gz-${{ matrix.gazebo_distro }} libcli11-dev
         # Test dependencies
         sudo apt-get install libgtest-dev
 

CMakeLists.txt

@@ -14,6 +14,12 @@ set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 gz_find_package(gz-sim8 REQUIRED)
 set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
 
+option(GZ_SIM_YARP_PLUGINS_BUILD_TOOLS "If enabled, build command line helper tools" ON)
+
+if(GZ_SIM_YARP_PLUGINS_BUILD_TOOLS)
+    find_package(CLI11 REQUIRED)
+endif()
+
 # Defines the CMAKE_INSTALL_LIBDIR, CMAKE_INSTALL_BINDIR and many other useful macros.
 # See https://cmake.org/cmake/help/latest/module/GNUInstallDirs.html
 include(GNUInstallDirs)

ci_env.yml

@@ -11,3 +11,4 @@ dependencies:
   - yarp
   - gtest
   - cmake-package-check
+  - cli11

docs/build-from-source.md

@@ -60,7 +60,7 @@ If you are using an apt-based distribution such as Ubuntu and you want to use ap
 
 ```bash
 sudo apt-get update
-sudo apt-get install lsb-release wget gnupg cmake pkg-config ninja-build build-essential libgtest-dev
+sudo apt-get install lsb-release wget gnupg cmake pkg-config ninja-build build-essential libcli11-dev libgtest-dev
 ```
 
 and then install Gazebo Harmonic:

tests/gz-sim-yarp-plugins-check-model/CMakeLists.txt

@@ -1,7 +1,7 @@
 macro(gsyp_add_tutorial_model_check tutorialname tutorialfolder worldname)
     add_test(NAME gz-sim-yarp-plugins-check-model-tutorial-${tutorialname}
-             COMMAND gz-sim-yarp-plugins-check-model ./${worldname}
-             WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/tutorial/${tutorialfolder})
+             COMMAND gz-sim-yarp-plugins-check-model --world-file ./tutorial/${tutorialfolder}/${worldname}
+             WORKING_DIRECTORY ${PROJECT_SOURCE_DIR})
     set(_env_vars)
     list(APPEND _env_vars
         "GZ_SIM_SYSTEM_PLUGIN_PATH=$<TARGET_FILE_DIR:gz-sim-yarp-device-registry>"

tools/gz-sim-yarp-plugins-check-model/gz-sim-yarp-plugins-check-model.cpp

@@ -5,17 +5,32 @@
 
 #include <yarp/os/Network.h>
 
+#include <CLI/CLI.hpp>
+
 #include <DeviceRegistry.hh>
 
 
 /////////////////////////////////////////////////
 int main(int argc, char *argv[])
 {
-    if (argc != 2)
-    {
-        std::cerr << "Usage: " << argv[0] << " ./path/to/world.sdf" << std::endl;
-        return EXIT_FAILURE;
-    }
+    CLI::App app{"gz-sim-yarp-plugins-check-models"};
+
+    std::string world_file;
+    std::string model_uri;
+
+    auto world_option = app.add_option("--world-file", world_file, "Path to the world file (for example ./path/world.sdf)");
+    auto model_option = app.add_option("--model-uri", model_uri, "URI to the model (for example model://ergoCub/robots/ergoCubGazeboV1_2)");
+
+    app.callback([&]() {
+        if (world_option->count() == 0 && model_option->count() == 0) {
+            throw CLI::ValidationError("You must specify either --world-file or --model-uri");
+        }
+        if (world_option->count() > 0 && model_option->count() > 0) {
+            throw CLI::ValidationError("You cannot specify both --world-file and --model-uri");
+        }
+    });
+
+    CLI11_PARSE(app, argc, argv);
 
     // In case the modules include YARP devices that are YARP's Network Wrapper Server devices
     // (i.e. devices that need to read or write from YARP ports), let's select local mode so
@@ -29,14 +44,25 @@ int main(int argc, char *argv[])
     gz::sim::ServerConfig serverConfig;
 
     // Populate with some configuration, for example, the SDF file to load
-    serverConfig.SetSdfFile(std::string(argv[1]));
+    if (world_option->count() > 0) {
+        // It seems that SetSdfFile prever absolute paths
+        serverConfig.SetSdfFile(world_file);
+    } else if (model_option->count() > 0) {
+        // Here we build an empty world with just the inclusion of the specified model
+    }
 
     // Instantiate server
     gz::sim::Server server(serverConfig);
 
     // Run the server paused for 1 iterations blocking to see if the model loads correctly,
     server.Run(true /*blocking*/, /*iterations*/ 1, /*paused*/false);
 
+    // If there were no iteration, then the server did not load correctly
+    if (server.IterationCount() != 1)
+    {
+        return EXIT_FAILURE;
+    }
+
     // At this point. we run the server for one iteration, and we need to know if some plugin failed.
     // As we own this process, we know that there was only one gz-sim server, so we can just check from the gzyarp::DeviceRegistry if there was any device that
     // failed