BUILD.bazel

# -*- python -*-

load(
    "@drake//tools/skylark:drake_cc.bzl",
    "drake_cc_googletest",
    "drake_cc_library",
    "drake_cc_package_library",
)
load("//tools/lint:lint.bzl", "add_lint_tests")

filegroup(
    name = "test_models",
    testonly = 1,
    srcs = glob([
        "test/**/*.config",
        "test/**/*.obj",
        "test/**/*.sdf",
        "test/**/*.urdf",
        "test/**/*.xml",
        "test/**/*.png",
    ]),
    visibility = [
        "//visibility:public",
    ],
)

filegroup(
    name = "interface_api_test_models",
    testonly = True,
    data = glob(["test/sdf_parser_test/interface_api_test/**"]),
    visibility = [
        "//visibility:public",
    ],
)

drake_cc_package_library(
    name = "parsing",
    visibility = [
        "//visibility:public",
    ],
    deps = [
        ":detail_misc",
        ":detail_scene_graph",
        ":detail_sdf_parser",
        ":detail_urdf_parser",
        ":model_directives",
        ":package_map",
        ":parser",
        ":process_model_directives",
        ":scoped_names",
    ],
)

drake_cc_library(
    name = "package_map",
    srcs = [
        "package_map.cc",
    ],
    hdrs = [
        "package_map.h",
    ],
    visibility = [
        "//visibility:public",
    ],
    deps = [
        "//common",
        "@tinyxml2",
    ],
)

drake_cc_library(
    name = "detail_misc",
    srcs = [
        "detail_common.cc",
        "detail_ignition.cc",
        "detail_path_utils.cc",
        "detail_tinyxml.cc",
    ],
    hdrs = [
        "detail_common.h",
        "detail_ignition.h",
        "detail_path_utils.h",
        "detail_tinyxml.h",
    ],
    install_hdrs_exclude = [
        # This header includes `ignition` directly, which we do not
        # want to expose externally.
        "detail_ignition.h",
    ],
    deps = [
        ":package_map",
        "//common:essential",
        "//geometry:proximity_properties",
        "//math:geometric_transform",
        "//multibody/plant",
        "@sdformat",
        "@tinyxml2",
    ],
)

drake_cc_library(
    name = "detail_scene_graph",
    srcs = [
        "detail_scene_graph.cc",
    ],
    hdrs = [
        "detail_scene_graph.h",
    ],
    install_hdrs_exclude = [
        # This header includes `sdformat` directly, which we do not want to
        # expose externally.
        "detail_scene_graph.h",
    ],
    visibility = [
        "//visibility:private",
    ],
    deps = [
        ":detail_misc",
        ":package_map",
        "//geometry:geometry_roles",
        "//geometry:scene_graph",
        "//multibody/plant:coulomb_friction",
        "@sdformat",
    ],
)

drake_cc_library(
    name = "detail_sdf_parser",
    srcs = [
        "detail_sdf_parser.cc",
    ],
    hdrs = [
        "detail_sdf_parser.h",
    ],
    visibility = [
        "//visibility:private",
    ],
    deps = [
        ":detail_misc",
        ":detail_scene_graph",
        ":detail_urdf_parser",
        ":scoped_names",
        "//multibody/plant",
        "@sdformat",
    ],
)

drake_cc_library(
    name = "detail_urdf_parser",
    srcs = [
        "detail_urdf_geometry.cc",
        "detail_urdf_parser.cc",
    ],
    hdrs = [
        "detail_urdf_geometry.h",
        "detail_urdf_parser.h",
    ],
    visibility = [
        "//visibility:private",
    ],
    deps = [
        ":detail_misc",
        ":package_map",
        ":scoped_names",
        "//multibody/plant",
        "@fmt",
        "@tinyxml2",
    ],
)

drake_cc_library(
    name = "parser",
    srcs = [
        "parser.cc",
    ],
    hdrs = [
        "parser.h",
    ],
    visibility = [
        "//visibility:public",
    ],
    deps = [
        ":detail_sdf_parser",
        ":detail_urdf_parser",
        "//common:filesystem",
    ],
)

drake_cc_library(
    name = "model_directives",
    hdrs = [
        "model_directives.h",
    ],
    visibility = [
        "//visibility:public",
    ],
    deps = [
        "//common:essential",
        "//common:name_value",
        "//common/schema:transform",
        "//math:geometric_transform",
    ],
)

drake_cc_library(
    name = "process_model_directives",
    srcs = ["process_model_directives.cc"],
    hdrs = ["process_model_directives.h"],
    visibility = [
        "//visibility:public",
    ],
    deps = [
        ":model_directives",
        ":parser",
        ":scoped_names",
        "//common:filesystem",
        "//common:find_resource",
        "//common/yaml:yaml_read_archive",
        "//multibody/plant",
    ],
)

drake_cc_library(
    name = "scoped_names",
    srcs = ["scoped_names.cc"],
    hdrs = ["scoped_names.h"],
    deps = [
        "//multibody/plant",
    ],
)

drake_cc_library(
    name = "test_loaders",
    testonly = 1,
    srcs = [
        "test/test_loaders.cc",
    ],
    hdrs = [
        "test/test_loaders.h",
    ],
    visibility = [
        "//visibility:private",
    ],
    deps = [
        ":detail_misc",
        ":parser",
        "//common:find_resource",
    ],
)

drake_cc_googletest(
    name = "acrobot_parser_test",
    data = [
        ":test_models",
        "//multibody/benchmarks/acrobot:models",
    ],
    deps = [
        ":test_loaders",
        "//common/test_utilities",
        "//multibody/benchmarks/acrobot",
        "//multibody/benchmarks/acrobot:make_acrobot_plant",
    ],
)

drake_cc_googletest(
    name = "common_parser_test",
    data = [
        ":test_models",
    ],
    deps = [
        ":test_loaders",
        "//common/test_utilities",
    ],
)

drake_cc_googletest(
    name = "parser_test",
    data = [
        ":test_models",
        "//multibody/benchmarks/acrobot:models",
    ],
    deps = [
        ":parser",
        "//common:filesystem",
        "//common:find_resource",
        "//common/test_utilities",
    ],
)

filegroup(
    name = "process_model_directives_test_models",
    testonly = True,
    data = glob(["test/process_model_directives_test/**"]),
    visibility = [
        "//bindings/pydrake/multibody:__pkg__",
    ],
)

drake_cc_googletest(
    name = "process_model_directives_test",
    data = [
        ":process_model_directives_test_models",
    ],
    deps = [
        ":process_model_directives",
        "//common/test_utilities:expect_throws_message",
    ],
)

drake_cc_googletest(
    name = "model_directives_test",
    deps = [
        ":model_directives",
        "//common/yaml:yaml_read_archive",
    ],
)

drake_cc_googletest(
    name = "detail_common_test",
    deps = [
        ":detail_misc",
    ],
)

drake_cc_googletest(
    name = "detail_sdf_parser_test",
    data = [
        ":interface_api_test_models",
        ":test_models",
        "//manipulation/models/iiwa_description:models",
        "//multibody/benchmarks/acrobot:models",
    ],
    deps = [
        ":detail_sdf_parser",
        "//common:filesystem",
        "//common:find_resource",
        "//common/test_utilities",
    ],
)

drake_cc_googletest(
    name = "detail_urdf_parser_test",
    data = [
        ":test_models",
        "//examples/atlas:models",
        "//manipulation/models/iiwa_description:models",
        "//multibody/benchmarks/acrobot:models",
    ],
    deps = [
        ":detail_urdf_parser",
        "//common:filesystem",
        "//common:find_resource",
        "//common/test_utilities",
        "//multibody/benchmarks/acrobot",
        "//multibody/benchmarks/acrobot:make_acrobot_plant",
    ],
)

drake_cc_googletest(
    name = "detail_scene_graph_test",
    data = [
        ":test_models",
    ],
    deps = [
        ":detail_scene_graph",
        "//common/test_utilities:eigen_matrix_compare",
        "//common/test_utilities:expect_throws_message",
        "//math:geometric_transform",
    ],
)

drake_cc_googletest(
    name = "detail_urdf_geometry_test",
    data = [
        ":test_models",
    ],
    deps = [
        ":detail_urdf_parser",
        "//common:find_resource",
        "//common/test_utilities",
    ],
)

drake_cc_googletest(
    name = "package_map_test",
    data = [
        ":test_models",
    ],
    deps = [
        ":package_map",
        "//common:filesystem",
        "//common:find_resource",
        "//common/test_utilities:expect_throws_message",
    ],
)

drake_cc_googletest(
    name = "detail_path_utils_test",
    data = [
        ":test_models",
    ],
    deps = [
        ":detail_misc",
        "//common:filesystem",
        "//common/test_utilities",
    ],
)

drake_cc_googletest(
    name = "detail_tinyxml_test",
    deps = [
        ":detail_misc",
        "//common/test_utilities:eigen_matrix_compare",
    ],
)

add_lint_tests()