Enable use of ign gazebo -s on Windows

src/CMakeLists.txt

@@ -224,7 +224,4 @@ foreach(CMD_TEST
 
 endforeach()
 
-if(NOT WIN32)
-  add_subdirectory(cmd)
-endif()
-
+add_subdirectory(cmd)

src/cmd/CMakeLists.txt

@@ -7,7 +7,13 @@ set(cmd_script_configured "${cmd_script_generated}.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"

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);

src/cmd/cmdgazebo.rb.in

@@ -455,6 +455,12 @@ 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)
@@ -512,6 +518,12 @@ 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['render_engine_gui'])
       end

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.
@@ -56,7 +56,7 @@ extern "C" const char *worldInstallDir();
 /// null to record the default topics.
 /// \param[in] _headless True if server rendering should run headless
 /// \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,
@@ -69,13 +69,13 @@ extern "C" int runServer(const char *_sdfString,
 /// \param[in] _guiConfig Path to Ignition GUI configuration file.
 /// \param[in] _renderEngine --render-engine-gui option
 /// \return 0 if successful, 1 if not.
-extern "C" int runGui(const char *_guiConfig, const char *_renderEngine);
+extern "C" IGNITION_GAZEBO_VISIBLE int runGui(const char *_guiConfig, 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

src/systems/CMakeLists.txt

@@ -82,10 +82,9 @@ function(gz_add_system system_name)
   set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${system_name}${CMAKE_SHARED_LIBRARY_SUFFIX})
   if(WIN32)
     # symlinks on Windows require admin priviledges, fallback to copy
-    ADD_CUSTOM_COMMAND(TARGET ${system_target} POST_BUILD
-      COMMAND "${CMAKE_COMMAND}" -E copy
-        "$<TARGET_FILE:${system_target}>"
-        "$<TARGET_FILE_DIR:${system_target}>/${unversioned}")
+    INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E copy
+      ${IGNITION_GAZEBO_PLUGIN_INSTALL_DIR}\/${versioned}
+      ${IGNITION_GAZEBO_PLUGIN_INSTALL_DIR}\/${unversioned})")
   else()
     file(MAKE_DIRECTORY "${PROJECT_BINARY_DIR}/lib")
     EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned} WORKING_DIRECTORY "${PROJECT_BINARY_DIR}/lib")