Support standalone executable in gz-msgs11 (#357)

Signed-off-by: Michael Carroll <[email protected]>

.github/ci/packages.apt

@@ -1,6 +1,7 @@
 libgz-cmake4-dev
 libgz-math8-dev
 libgz-tools2-dev
+libgz-utils3-cli-dev
 libprotobuf-dev
 libprotoc-dev
 libtinyxml2-dev

CMakeLists.txt

@@ -77,7 +77,7 @@ gz_find_package(GzProtobuf
 
 #--------------------------------------
 # Find gz-utils
-gz_find_package(gz-utils3 REQUIRED)
+gz_find_package(gz-utils3 REQUIRED COMPONENTS cli)
 set(GZ_UTILS_VER ${gz-utils3_VERSION_MAJOR})
 
 #--------------------------------------
@@ -96,7 +96,7 @@ set(GZ_TOOLS_VER 1)
 
 #--------------------------------------
 # Find Tinyxml2
-gz_find_package(TINYXML2 REQUIRED PRIVATE PRETTY tinyxml2)
+gz_find_package(TINYXML2 REQUIRED PRETTY tinyxml2)
 
 #--------------------------------------
 # Find DL if doing relocatable installation
@@ -172,7 +172,6 @@ install(
 configure_file(${CMAKE_SOURCE_DIR}/api.md.in ${CMAKE_BINARY_DIR}/api.md)
 configure_file(${CMAKE_SOURCE_DIR}/tutorials.md.in ${CMAKE_BINARY_DIR}/tutorials.md)
 
-
 gz_create_docs(
   API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
   TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"

core/CMakeLists.txt

@@ -87,7 +87,6 @@ install(FILES ${msgs_python} DESTINATION ${GZ_PYTHON_INSTALL_PATH}/gz/msgs${PROJ
 gz_get_libsources_and_unittests(sources gtest_sources)
 
 gz_create_core_library(SOURCES
-  src/gz.cc
   src/Factory.cc
   src/MessageFactory.cc
   src/DynamicFactory.cc
@@ -121,17 +120,5 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
 target_include_directories(${PROJECT_LIBRARY_TARGET_NAME}
   SYSTEM PUBLIC $<TARGET_PROPERTY:protobuf::libprotobuf,INTERFACE_INCLUDE_DIRECTORIES>)
 
-##################################################
-# Build unit tests
-# Build the unit tests.
-gz_build_tests(TYPE UNIT
-  SOURCES
-    ${gtest_sources}
-  LIB_DEPS
-      TINYXML2::TINYXML2
-)
-
 add_subdirectory(include/gz/msgs)
-if(NOT WIN32)
-  add_subdirectory(src/cmd)
-endif()
+add_subdirectory(cmd)

core/cmd/CMakeLists.txt

@@ -0,0 +1,37 @@
+set(msgs_executable gz-msgs)
+add_executable(${msgs_executable} msgs_main.cc)
+target_link_libraries(${msgs_executable}
+  ${PROJECT_LIBRARY_TARGET_NAME}
+  gz-utils${GZ_UTILS_VER}::cli
+)
+
+set(EXE_INSTALL_DIR ${CMAKE_INSTALL_LIBEXECDIR}/gz/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}/)
+install(TARGETS ${msgs_executable} DESTINATION ${EXE_INSTALL_DIR})
+set(executable_location "../../../${EXE_INSTALL_DIR}/$<TARGET_FILE_NAME:${msgs_executable}>")
+
+set(cmd_script_generated "${CMAKE_CURRENT_BINARY_DIR}/cmd${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb")
+set(cmd_script_configured "${cmd_script_generated}.configured")
+
+configure_file(
+  "cmd${GZ_DESIGNATION}.rb.in"
+  "${cmd_script_configured}"
+  @ONLY)
+
+file(GENERATE
+  OUTPUT "${cmd_script_generated}"
+  INPUT  "${cmd_script_configured}")
+
+install(FILES ${cmd_script_generated} DESTINATION lib/ruby/gz)
+
+#===============================================================================
+# Bash completion
+
+# Tack version onto and install the bash completion script
+configure_file(
+  "msgs.bash_completion.sh"
+    "${CMAKE_CURRENT_BINARY_DIR}/msgs${PROJECT_VERSION_MAJOR}.bash_completion.sh" @ONLY)
+install(
+  FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/msgs${PROJECT_VERSION_MAJOR}.bash_completion.sh
+  DESTINATION
+    ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gz/gz${GZ_TOOLS_VER}.completion.d)

core/cmd/cmdmsgs.rb.in

@@ -0,0 +1,49 @@
+#!/usr/bin/env ruby
+
+# Copyright (C) 2016 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.
+
+require 'open3'
+require 'pathname'
+
+COMMANDS = {
+  'msg' => '@executable_location@'
+}.freeze
+
+# Class for the Gazebo msgs command line tools.
+#
+class Cmd
+  def execute(args)
+    exe_name = COMMANDS[args[0]]
+
+    unless Pathname.new(exe_name).absolute?
+      # We're assuming that the library path is relative to the current
+      # location of this script.
+      exe_name = File.expand_path(File.join(File.dirname(__FILE__), LIBRARY_NAME))
+    end
+
+    # Drop command from list of arguments
+    Open3.popen2e(exe_name, *args[1..1]) do |_in, out_err, wait_thr|
+      begin
+        out_err.each do |line|
+          print line
+        end
+        exit(wait_thr.value.exitstatus)
+      rescue Interrupt => e
+        print e.message
+        exit(-1)
+      end
+    end
+  end
+end

core/src/cmd/msgs.bash_completion.sh → core/cmd/msgs.bash_completion.sh

@@ -24,8 +24,7 @@ GZ_MSGS_COMPLETION_LIST="
   -i --info
   -l --list
   -h --help
-  --force-version
-  --versions
+  --version
 "
 
 function _gz_msg

core/cmd/msgs_main.cc

@@ -0,0 +1,134 @@
+/*
+ * 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 <iostream>
+#include <string>
+#include <vector>
+
+#include <gz/utils/cli/CLI.hpp>
+#include <gz/utils/cli/GzFormatter.hpp>
+
+#include <gz/msgs/config.hh>
+#include <gz/msgs/Factory.hh>
+#include <gz/msgs/MessageTypes.hh>
+
+//////////////////////////////////////////////////
+/// \brief Enumeration of available commands
+enum class MsgCommand
+{
+  kNone,
+  kMsgInfo,
+  kMsgList,
+};
+
+//////////////////////////////////////////////////
+/// \brief Structure to hold all available message options
+struct MsgOptions
+{
+  /// \brief Command to execute
+  MsgCommand command {MsgCommand::kNone};
+
+  /// \brief List of messages for message info command
+  std::vector<std::string> msgNames;
+};
+
+//////////////////////////////////////////////////
+void runMsgInfo(const MsgOptions &_opt)
+{
+  for (const auto &msgName: _opt.msgNames)
+  {
+    auto msg = gz::msgs::Factory::New(msgName);
+    if (msg)
+    {
+      auto descriptor = msg->GetDescriptor();
+      auto fileDescriptor = descriptor->file();
+      std::cout << "Name: " << descriptor->full_name() << std::endl;
+      std::cout << "File: " << fileDescriptor->name() << std::endl << std::endl;
+      std::cout << descriptor->DebugString() << std::endl;
+    }
+    else
+    {
+      std::cerr << "Unable to create message of type[" << msgName << "]\n";
+    }
+  }
+}
+
+//////////////////////////////////////////////////
+void runMsgList(const MsgOptions &/*_opt*/)
+{
+  std::vector<std::string> types;
+  gz::msgs::Factory::Types(types);
+
+  for (auto const &type : types)
+    std::cout << type << std::endl;
+}
+
+//////////////////////////////////////////////////
+void runMsgCommand(const MsgOptions &_opt)
+{
+  switch(_opt.command)
+  {
+    case MsgCommand::kMsgInfo:
+      runMsgInfo(_opt);
+      break;
+    case MsgCommand::kMsgList:
+      runMsgList(_opt);
+      break;
+    case MsgCommand::kNone:
+    default:
+      // In the event that there is no command, display help
+      throw CLI::CallForHelp();
+      break;
+  }
+}
+
+//////////////////////////////////////////////////
+void addMsgFlags(CLI::App &_app)
+{
+  auto opt = std::make_shared<MsgOptions>();
+
+  auto listOpt = _app.add_flag_callback("-l,--list",
+     [opt](){
+       opt->command = MsgCommand::kMsgList;
+     }, "List all message types.");
+
+  auto infoOpt = _app.add_option("-i,--info",
+    opt->msgNames, "Get info about the specified message type.")
+    ->excludes(listOpt);
+
+  _app.callback([opt, infoOpt](){
+    if(infoOpt->count() > 0) {
+      opt->command = MsgCommand::kMsgInfo;
+    }
+    runMsgCommand(*opt);
+  });
+}
+
+//////////////////////////////////////////////////
+int main(int argc, char** argv)
+{
+  CLI::App app{"Print information about Gazebo messages"};
+
+  app.add_flag_callback("-v,--version", [](){
+      std::cout << GZ_MSGS_VERSION_FULL << std::endl;
+      throw CLI::Success();
+  });
+
+  addMsgFlags(app);
+  app.formatter(std::make_shared<GzFormatter>(&app));
+  CLI11_PARSE(app, argc, argv);
+}