From 11f8fa4aeb363a47d458ef234df631b5242bc50b Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Tue, 29 Aug 2023 18:26:35 +0200 Subject: [PATCH 1/2] Add optional binary relocatability (#507) Signed-off-by: Silvio Traversaro Signed-off-by: Silvio Traversaro Co-authored-by: Jose Luis Rivero Co-authored-by: Michael Carroll --- CMakeLists.txt | 5 +- dartsim/CMakeLists.txt | 4 +- include/gz/physics/InstallationDirectories.hh | 43 +++++ include/gz/physics/config.hh.in | 2 +- src/CMakeLists.txt | 17 +- src/InstallationDirectories.cc | 155 ++++++++++++++++++ test/integration/CMakeLists.txt | 4 +- test/performance/CMakeLists.txt | 2 + test/regression/CMakeLists.txt | 4 +- tpe/lib/CMakeLists.txt | 4 +- tpe/plugin/CMakeLists.txt | 4 +- 11 files changed, 236 insertions(+), 8 deletions(-) create mode 100644 include/gz/physics/InstallationDirectories.hh create mode 100644 src/InstallationDirectories.cc diff --git a/CMakeLists.txt b/CMakeLists.txt index d3b2c674e..d57174aa8 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -93,8 +93,11 @@ message(STATUS "-------------------------------------------\n") set(GZ_PHYSICS_RESOURCE_DIR "${CMAKE_SOURCE_DIR}/resources") # Plugin install dirs +set(GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR + ${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins +) set(GZ_PHYSICS_ENGINE_INSTALL_DIR - ${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins + ${CMAKE_INSTALL_PREFIX}/${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR} ) #============================================================================ diff --git a/dartsim/CMakeLists.txt b/dartsim/CMakeLists.txt index 2b328b09d..35b416bb3 100644 --- a/dartsim/CMakeLists.txt +++ b/dartsim/CMakeLists.txt @@ -90,7 +90,9 @@ gz_build_tests( ${PROJECT_LIBRARY_TARGET_NAME}-sdf ${PROJECT_LIBRARY_TARGET_NAME}-heightmap ${PROJECT_LIBRARY_TARGET_NAME}-mesh - TEST_LIST tests) + TEST_LIST tests + ENVIRONMENT + GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}) foreach(test ${tests}) diff --git a/include/gz/physics/InstallationDirectories.hh b/include/gz/physics/InstallationDirectories.hh new file mode 100644 index 000000000..a8b975ce9 --- /dev/null +++ b/include/gz/physics/InstallationDirectories.hh @@ -0,0 +1,43 @@ +/* + * Copyright (C) 2023 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#ifndef GZ_PHYSICS_INSTALLATION_DIRECTORIES_HH_ +#define GZ_PHYSICS_INSTALLATION_DIRECTORIES_HH_ + +#include + +#include +#include + +namespace gz +{ + namespace physics + { + inline namespace GZ_PHYSICS_VERSION_NAMESPACE { + + /// \brief getInstallPrefix return the install prefix of the library + /// i.e. CMAKE_INSTALL_PREFIX unless the library has been moved + GZ_PHYSICS_VISIBLE std::string getInstallPrefix(); + + /// \brief getEngineInstallDir return the install directory of the engines + GZ_PHYSICS_VISIBLE std::string getEngineInstallDir(); + + } + } +} + +#endif diff --git a/include/gz/physics/config.hh.in b/include/gz/physics/config.hh.in index 75e9338e2..d0c68462d 100644 --- a/include/gz/physics/config.hh.in +++ b/include/gz/physics/config.hh.in @@ -28,7 +28,7 @@ #define GZ_PHYSICS_VERSION "${PROJECT_VERSION}" #define GZ_PHYSICS_VERSION_FULL "${PROJECT_VERSION_FULL}" -#define GZ_PHYSICS_ENGINE_INSTALL_DIR "${GZ_PHYSICS_ENGINE_INSTALL_DIR}" +#define GZ_PHYSICS_ENGINE_INSTALL_DIR _Pragma ("GCC warning \"'GZ_PHYSICS_ENGINE_INSTALL_DIR' macro is deprecated, use gz::physics::getEngineInstallDir() function instead. \"") "${GZ_PHYSICS_ENGINE_INSTALL_DIR}" #define GZ_PHYSICS_VERSION_HEADER "Gazebo Physics, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2017 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n" diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 14f4f830f..3f57a1355 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -1,6 +1,14 @@ gz_get_libsources_and_unittests(sources gtest_sources) gz_create_core_library(SOURCES ${sources} CXX_STANDARD 17) +gz_add_get_install_prefix_impl(GET_INSTALL_PREFIX_FUNCTION gz::physics::getInstallPrefix + GET_INSTALL_PREFIX_HEADER gz/physics/InstallationDirectories.hh + OVERRIDE_INSTALL_PREFIX_ENV_VARIABLE GZ_PHYSICS_INSTALL_PREFIX) +set_property( + SOURCE InstallationDirectories.cc + PROPERTY COMPILE_DEFINITIONS + GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR="${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR}" +) target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME} PUBLIC @@ -9,9 +17,16 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME} gz-plugin${GZ_PLUGIN_VER}::register Eigen3::Eigen) +if(WIN32) + target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME} + PRIVATE shlwapi) +endif() + gz_build_tests( TYPE UNIT - SOURCES ${gtest_sources}) + SOURCES ${gtest_sources} + ENVIRONMENT + GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}) if(TARGET UNIT_FindFeatures_TEST) target_link_libraries(UNIT_FindFeatures_TEST diff --git a/src/InstallationDirectories.cc b/src/InstallationDirectories.cc new file mode 100644 index 000000000..7b9bcf459 --- /dev/null +++ b/src/InstallationDirectories.cc @@ -0,0 +1,155 @@ +/* + * Copyright (C) 2023 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include + +#include +#include + +#ifdef _WIN32 +#include +#endif + +namespace gz +{ +namespace physics +{ +inline namespace GZ_PHYSICS_VERSION_NAMESPACE { + +// We locally import the gz::common::joinPaths function +// See https://github.com/gazebosim/gz-physics/pull/507#discussion_r1186919267 +// for more details + +// Function imported from +// https://github.com/gazebosim/gz-common/blob/ignition-common4_4.6.2/src/FilesystemBoost.cc#L507 +#ifndef WIN32 +static const char preferred_separator = '/'; +#else // Windows +static const char preferred_separator = '\\'; +#endif +const std::string separator(const std::string &_p) +{ + return _p + preferred_separator; +} + +// Function imported from +// https://github.com/gazebosim/gz-common/blob/ignition-common4_4.6.2/src/Filesystem.cc#L227 +std::string checkWindowsPath(const std::string _path) +{ + if (_path.empty()) + return _path; + + // Check if this is a http or https, if so change backslashes generated by + // jointPaths to '/' + if ((_path.size() > 7 && 0 == _path.compare(0, 7, "http://")) || + (_path.size() > 8 && 0 == _path.compare(0, 8, "https://"))) + { + return std::regex_replace(_path, std::regex(R"(\\)"), "/"); + } + + // This is a Windows path, convert all '/' into backslashes + std::string result = std::regex_replace(_path, std::regex(R"(/)"), "\\"); + std::string drive_letters; + + // only Windows contains absolute paths starting with drive letters + if (result.length() > 3 && 0 == result.compare(1, 2, ":\\")) + { + drive_letters = result.substr(0, 3); + result = result.substr(3); + } + result = drive_letters + std::regex_replace( + result, std::regex("[<>:\"|?*]"), ""); + return result; +} + +// Function imported from +// https://github.com/gazebosim/gz-common/blob/ignition-common4_4.6.2/src/Filesystem.cc#L256 +std::string joinPaths(const std::string &_path1, + const std::string &_path2) +{ + + /// This function is used to avoid duplicated path separators at the + /// beginning/end of the string, and between the two paths being joined. + /// \param[in] _path This is the string to sanitize. + /// \param[in] _stripLeading True if the leading separator should be + /// removed. + auto sanitizeSlashes = [](const std::string &_path, + bool _stripLeading = false) + { + // Shortcut + if (_path.empty()) + return _path; + + std::string result = _path; + + // Use the appropriate character for each platform. +#ifndef _WIN32 + char replacement = '/'; +#else + char replacement = '\\'; +#endif + + // Sanitize the start of the path. + size_t index = 0; + size_t leadingIndex = _stripLeading ? 0 : 1; + for (; index < result.length() && result[index] == replacement; ++index) + { + } + if (index > leadingIndex) + result.erase(leadingIndex, index-leadingIndex); + + // Sanitize the end of the path. + index = result.length()-1; + for (; index < result.length() && result[index] == replacement; --index) + { + } + index += 1; + if (index < result.length()-1) + result.erase(index+1); + return result; + }; + + std::string path; +#ifndef _WIN32 + path = sanitizeSlashes(sanitizeSlashes(separator(_path1)) + + sanitizeSlashes(_path2, true)); +#else // _WIN32 + std::string path1 = sanitizeSlashes(checkWindowsPath(_path1)); + std::string path2 = sanitizeSlashes(checkWindowsPath(_path2), true); + std::vector combined(path1.length() + path2.length() + 2); + if (::PathCombineA(combined.data(), path1.c_str(), path2.c_str()) != NULL) + { + path = sanitizeSlashes(checkWindowsPath(std::string(combined.data()))); + } + else + { + path = sanitizeSlashes(checkWindowsPath(separator(path1) + path2)); + } +#endif // _WIN32 + return path; +} + + +std::string getEngineInstallDir() +{ + return gz::physics::joinPaths( + getInstallPrefix(), GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR); +} + +} +} +} diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt index a7c565c75..6cf8c9eb6 100644 --- a/test/integration/CMakeLists.txt +++ b/test/integration/CMakeLists.txt @@ -14,7 +14,9 @@ gz_build_tests( gz-plugin${GZ_PLUGIN_VER}::loader INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/src - TEST_LIST list) + TEST_LIST list + ENVIRONMENT + GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}) if (BUILD_TESTING) foreach(test ${list}) diff --git a/test/performance/CMakeLists.txt b/test/performance/CMakeLists.txt index 1034620fa..6a1627d67 100644 --- a/test/performance/CMakeLists.txt +++ b/test/performance/CMakeLists.txt @@ -12,4 +12,6 @@ gz_build_tests( SOURCES ${tests} INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/src + ENVIRONMENT + GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} ) diff --git a/test/regression/CMakeLists.txt b/test/regression/CMakeLists.txt index f56c54cd5..b7f08a009 100644 --- a/test/regression/CMakeLists.txt +++ b/test/regression/CMakeLists.txt @@ -2,4 +2,6 @@ gz_get_sources(tests) gz_build_tests( TYPE REGRESSION - SOURCES ${tests}) + SOURCES ${tests} + ENVIRONMENT + GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}) diff --git a/tpe/lib/CMakeLists.txt b/tpe/lib/CMakeLists.txt index ef5979fbd..7b18a37f2 100644 --- a/tpe/lib/CMakeLists.txt +++ b/tpe/lib/CMakeLists.txt @@ -25,4 +25,6 @@ gz_build_tests( ${PROJECT_LIBRARY_TARGET_NAME}-sdf ${PROJECT_LIBRARY_TARGET_NAME}-mesh ${tpelib_target} - TEST_LIST tests) + TEST_LIST tests + ENVIRONMENT + GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}) diff --git a/tpe/plugin/CMakeLists.txt b/tpe/plugin/CMakeLists.txt index f3075af5b..3d73d6828 100644 --- a/tpe/plugin/CMakeLists.txt +++ b/tpe/plugin/CMakeLists.txt @@ -59,7 +59,9 @@ gz_build_tests( gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} ${PROJECT_LIBRARY_TARGET_NAME}-sdf ${PROJECT_LIBRARY_TARGET_NAME}-mesh - TEST_LIST tests) + TEST_LIST tests + ENVIRONMENT + GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}) foreach(test ${tests}) From 21ac5816a80c4a5b362470c5cf6d3355f04dc586 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Wed, 30 Aug 2023 00:10:07 -0700 Subject: [PATCH 2/2] Prepare for 6.5.0 release Signed-off-by: Steve Peters --- CMakeLists.txt | 2 +- Changelog.md | 20 +++++++++++++++++++- 2 files changed, 20 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index d57174aa8..797bfe24a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(gz-physics6 VERSION 6.4.0) +project(gz-physics6 VERSION 6.5.0) #============================================================================ # Find gz-cmake diff --git a/Changelog.md b/Changelog.md index 10d2bd407..ef37ceff4 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,6 +1,24 @@ ## Gazebo Physics 6.x -### Gazebo Physics 6.x.x (202X-XX-XX) +### Gazebo Physics 6.5.0 (2023-08-30) + +1. Add optional binary relocatability + * [Pull request #507](https://github.com/gazebosim/gz-physics/pull/507) + +1. Unregister collision detectors when the darstim plugin is unloaded + * [Pull request #529](https://github.com/gazebosim/gz-physics/pull/529) + +1. Minor cleanup of dartsim + * [Pull request #515](https://github.com/gazebosim/gz-physics/pull/515) + +1. Fix Github project automation for new project board + * [Pull request #527](https://github.com/gazebosim/gz-physics/pull/527) + +1. Check that plugin exists before adding common test + * [Pull request #523](https://github.com/gazebosim/gz-physics/pull/523) + +1. Clangtidy fixes + * [Pull request #514](https://github.com/gazebosim/gz-physics/pull/514) ### Gazebo Physics 6.4.0 (2023-05-22)