Enable use of ign gazebo -s on Windows

[traversaro]

🎉 New feature

This PR enable the use of ign gazebo -s on Windows. Similarly to what is done in macOS, as ign gazebo and ign gazebo -g are not supported, those options are explicitly disabled to give a nice error to the users.

Summary

Summary of changes:

• Add src/cmd directory also on Windows
• Correctly mark export visibility in ign.hh and ModelCommandAPI.hh
• Ensure that the correct directory if used in cmdgazebo.rb.in to load the gazebo plugin
• Fix the logic to copy the unversion versions of the plugins
• Fix UNIT_ign_TEST to work correctly on Windows
• Disable generation of test-only ruby scripts for ign-tools when using multiple config CMake generators, and consequently disable UNIT_ign_TEST and UNIT_ModelCommandAPI_TEST` when using multiple config CMake generators.
• As only ign gazebo -s is working, explicitly disable ign gazebo -g and ign gazebo as done on macOS .

Test it

Note, the following instructions are not complete as a version of libignition-common4 with gazebosim/gz-common#389 needs to be released before the tests work again.

Personally, I tested it with conda-forge provided depedencies. I created an environment with:

mamba create -n igngaz vs2019_win-64 cmake ninja pkg-config libignition-cmake2 libsdformat12 libignition-plugin1 libignition-transport11 libignition-msgs8 libignition-common4 libignition-fuel-tools7 libignition-gui6 libignition-physics5 libignition-sensors6 libignition-rendering6 libignition-math6 libignition-tools1 libprotobuf qt-main tinyxml2

Then, I compiled ign-gazebo with:

mamba activate igngaz
git clone https://github.com/traversaro/ign-gazebo
cd ign-gazebo
git checkout fixigngazeboserveronwin
mkdir build
cd build
cmake -GNinja -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library-DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP:BOOL=ON ..

After that, I was able to run correctly the server:

mamba activate igngaz
ign gazebo --verbose -s shapes.sdf

To verify the server was running correctly, I run in another terminal:

(igngaz) C:\Users\STraversaro>ign model --list

Requesting state for world [shapes]...

Available models:
    - ground_plane
    - box
    - cylinder
    - sphere
    - capsule
    - ellipsoid

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[ahcorde]

linters and update branch with ign-gazebo6

[codecov]

Codecov Report

Merging #1574 (d00c62b) into ign-gazebo6 (25bdef6) will decrease coverage by 0.66%.
The diff coverage is n/a.

❗ Current head d00c62b differs from pull request most recent head bacff19. Consider uploading reports for the commit bacff19 to get more accurate results

@@               Coverage Diff               @@
##           ign-gazebo6    #1574      +/-   ##
===============================================
- Coverage        64.69%   64.02%   -0.67%     
===============================================
  Files              321      317       -4     
  Lines            26055    25649     -406     
===============================================
- Hits             16855    16422     -433     
- Misses            9200     9227      +27     

Impacted Files	Coverage Δ
src/gui/Gui.cc	61.97% <0.00%> (-10.17%)	⬇️
src/systems/user_commands/UserCommands.cc	53.33% <0.00%> (-4.77%)	⬇️
src/systems/physics/Physics.cc	70.37% <0.00%> (-1.07%)	⬇️
src/systems/log/LogRecord.cc	78.13% <0.00%> (-1.02%)	⬇️
src/Util.cc	92.53% <0.00%> (-0.58%)	⬇️
src/ServerConfig.cc	90.69% <0.00%> (-0.31%)	⬇️
.../plugins/component_inspector/ComponentInspector.cc	5.33% <0.00%> (-0.29%)	⬇️
src/Model.cc	95.77% <0.00%> (-0.23%)	⬇️
src/ServerPrivate.cc	82.81% <0.00%> (-0.16%)	⬇️
src/EntityComponentManager.cc	89.36% <0.00%> (-0.03%)	⬇️
... and 19 more

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[chapulina]

Windows CI is failing on this file:

[12.204s] CMake Error in src/cmd/CMakeLists.txt:
[12.204s]   Evaluation file to be written multiple times with different content.  This
[12.204s]   is generally caused by the content evaluating the configuration type,
[12.204s]   language, or location of object files:
[12.204s] 
[12.204s]    C:/Jenkins/workspace/ign_gazebo-pr-win/ws/build/ignition-gazebo6/test/lib/ruby/ignition/cmdgazebo6.rb

[traversaro]

Thanks. For reference, I was developing using Ninja cmake generator, while this error appears with Visual Studio 16 2019.

[traversaro]

This turned out to be quite a can of worms. Basically, all the logic that is generating .yaml files and ruby scripts for testing was written strictly assuming the use of a single-config CMake generator. So everything was working fine when using make, single-config Ninja or NMake Makefiles, but it was going to fail as soon as Visual Studio, XCode or multiple config Ninja was used.

Initially, I tried to make the CMake code support also multiple config generator, but that was going to make that code quite difficult to mantain. For this reason, I switched the PR to explicitly disable the UNIT_ign_TEST and UNIT_ModelCommandAPI_TEST test when a multiple-config CMake generator is used. Note that this test can be run on Windows using any of the available single-config CMake generators, such as Ninja or NMake Makefiles.

[traversaro]

By the way, while working on this I also got UNIT_ign_TEST to work on Windows.

[traversaro]

@ahcorde I worked on this locally, I still need to push the local version in the repo, sorry!

[traversaro]

@ahcorde I worked on this locally, I still need to push the local version in the repo, sorry!

The PR is now updated. I update the original post to reflect the changes, note that the unreleased change gazebosim/gz-common#389 is required to actually get the UNIT_ign_TEST test to pass.

[traversaro]

It seems that there is some not intentional interaction with INTEGRATION_log_system.

[traversaro]

It seems that there is some not intentional interaction with INTEGRATION_log_system.

I tried to reproduce the problem locally, but in my case that test fails also when I am on the master branch (commit 8c66ef3):

197: Running command [IGN_GAZEBO_SYSTEM_PLUGIN_PATH=/home/straversaro/gz-sim/build3/lib LD_LIBRARY_PATH=/home/straversaro/gz-sim/build3/lib:/usr/local/lib:${LD_LIBRARY_PATH} ign gazebo -s  -r -v 4 --iterations 5 --record /home/straversaro/gz-sim/test/worlds/log_record_dbl_pendulum.sdf]
197: The 'ign' command provides a command line interface to the ignition tools.
197:
197:   ign <command> [options]
197:
197: List of available commands:
197:
197:   help:          Print this help text.
197:   fuel:          Manage simulation resources.
197:   gui:           Launch graphical interfaces.
197:   msg:           Print information about messages.
197:   plugin:        Print information about plugins.
197:   sdf:           Utilities for SDF files.
197:   topic:         Print information about topics.
197:   service:       Print information about services.
197:   log:           Record or playback topics.
197:
197: Options:
197:
197:   --force-version <VERSION>  Use a specific library version.
197:   --versions                 Show the available versions.
197:   --commands                 Show the available commands.
197: Use 'ign help <command>' to print help for a command.
197:
197: /home/straversaro/gz-sim/test/integration/log_system.cc:397: Failure
197: Expected equality of these values:
197:   nEntries + 1
197:     Which is: 1
197:   entryCount(logPath)
197:     Which is: 0
197: /home/straversaro/gz-sim/test/integration/log_system.cc:402: Failure
197: Expected equality of these values:
197:   1ul
197:     Which is: 1
197:   entriesDiff.size()
197:     Which is: 0
1/2 Test #197: INTEGRATION_log_system ...........***Exception: SegFault  1.48 sec

[traversaro]

It seems that there is some not intentional interaction with INTEGRATION_log_system.

I tried to reproduce the problem locally, but in my case that test fails also when I am on the master branch (commit 8c66ef3):

Ah, I think I know the problem here. I am using WSLg, so the problems:

• When OpenGL ogre2 rendering is happening via mesa's llvmpipe 21 or 22 with Ignition Fortress a black area is displayed instead of the 3D rendering #1116
• No camera/render on ubuntu (WSLg + vGPU) #920

Are still presents. In theory #1116 was fixed, but thre is still not release of gz-rendering that contains the fix.

[traversaro]

@ahcorde I worked on this locally, I still need to push the local version in the repo, sorry!

The PR is now updated. I update the original post to reflect the changes, note that the unreleased change gazebosim/gz-common#389 is required to actually get the UNIT_ign_TEST test to pass.

gz-common4 4.5.2 was released some days ago, containing this change: https://github.com/gazebosim/gz-common/releases/tag/ignition-common4_4.5.2 .

[ahcorde]

a minor style issue

[traversaro]

Still some failureso on Linux/macOS, and some new warnings on Windows.

errors

[scpeters]

@osrf-jenkins run tests please

[nkoenig]

@traversaro , I have a windows build setup from these instructions. I'm using powershell on windows 11. When I run ign gazebo -s shapes.sdf the command exits immediately. Alternatively, when I run ign model --list, the command does run.

Any thoughts, or extra information I should provide?

[traversaro]

I would expect everything to work also on Powershell, but just to check: can you try if the commands are working fine on Command Prompt?

[traversaro]

Note, the following instructions are not complete as a version of libignition-common4 with gazebosim/gz-common#389 needs to be released before the tests work again.

I think I understood the problem: this PR was merged and a new release of ign-common4 was released (i.e. 4.5.2, see #1574 (comment)), but the related package of conda-forge was not updated and is still stick to 4.5.1 (probably due to conda-forge/libignition-gazebo-feedstock#24). We can manually bump ign-common4, also to simplify the test of conda-forge/libignition-gazebo-feedstock#49 .

[traversaro]

We can manually bump ign-common4, also to simplify the test of conda-forge/libignition-gazebo-feedstock#49 .

Related PR: conda-forge/libignition-common-feedstock#54 .

[nkoenig]

I found that the installed cmdmodel6.rb and cmdgazebo6.rb files were identical. Both files contained the model command code. Will the conda-forge PR you linked to fix this?

[traversaro]

I found that the installed cmdmodel6.rb and cmdgazebo6.rb files were identical. Both files contained the model command code. Will the conda-forge PR you linked to fix this?

No, that seems a different issue, hopefully fixed by 124c13d .

[traversaro]

Sorry, it seems I did something wrong while trying to fix the DCO checks. Probably it is easier for me to open a new PR.

[traversaro]

I opened #1764 to have a PR with a clean history. I think we can close this one and continue the discussion on #1764 .