diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index c379a6ef4..737079bbf 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -2,3 +2,4 @@ # https://help.github.com/en/github/creating-cloning-and-archiving-repositories/about-code-owners * @mjcarroll +* @marcoag diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 955a64f35..329049cc6 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -8,7 +8,7 @@ jobs: name: Ubuntu Focal CI steps: - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v3 - name: Compile and test id: ci uses: gazebo-tooling/action-gz-ci@focal @@ -19,7 +19,7 @@ jobs: name: Ubuntu Jammy CI steps: - name: Checkout - uses: actions/checkout@v2 + uses: actions/checkout@v3 - name: Compile and test id: ci uses: gazebo-tooling/action-gz-ci@jammy diff --git a/BUILD.bazel b/BUILD.bazel index 383d3249e..33ac2dac8 100644 --- a/BUILD.bazel +++ b/BUILD.bazel @@ -1,11 +1,11 @@ load( - "//gz_bazel:build_defs.bzl", + "@gz//bazel/skylark:build_defs.bzl", "GZ_FEATURES", "GZ_ROOT", "GZ_VISIBILITY", - "generate_include_header", - "gz_config_header", + "gz_configure_header", "gz_export_header", + "gz_include_header", ) package( @@ -13,25 +13,15 @@ package( features = GZ_FEATURES, ) -licenses(["notice"]) +licenses(["notice"]) # Apache-2.0 exports_files(["LICENSE"]) -PROJECT_NAME = "gz-common" - -PROJECT_MAJOR = 6 - -PROJECT_MINOR = 0 - -PROJECT_PATCH = 0 - -# Generates config.hh based on the version numbers in CMake code. -gz_config_header( +gz_configure_header( name = "config", src = "include/gz/common/config.hh.in", cmakelists = ["CMakeLists.txt"], - project_name = PROJECT_NAME, - project_version = (PROJECT_MAJOR, PROJECT_MINOR, PROJECT_PATCH), + package = "common", ) gz_export_header( @@ -44,19 +34,21 @@ gz_export_header( public_headers_no_gen = glob([ "include/gz/common/*.hh", "include/gz/common/detail/*.hh", + "include/gz/common/graph/*.hh", ]) -private_headers = [ - "src/PluginUtils.hh", - "src/PrintWindowsSystemWarning.hh", -] +private_headers = glob(["src/*.hh"]) sources = glob( ["src/*.cc"], - exclude = ["src/*_TEST.cc"], + exclude = [ + "src/Plugin.cc", + "src/PluginLoader.cc", + "src/*_TEST.cc", + ], ) -generate_include_header( +gz_include_header( name = "commonhh_genrule", out = "include/gz/common.hh", hdrs = public_headers_no_gen + [ @@ -72,39 +64,32 @@ public_headers = public_headers_no_gen + [ ] cc_library( - name = "gz_common", + name = "common", srcs = sources + private_headers, hdrs = public_headers, includes = ["include"], - linkopts = ["-ldl"], deps = [ + GZ_ROOT + "utils", + GZ_ROOT + "math", "@uuid", - GZ_ROOT + "gz_math", ], ) -cc_binary( - name = "libgz-common6.so", - includes = ["include"], - linkopts = ["-Wl,-soname,libgz-common6.so"], - linkshared = True, - deps = [":gz_common"], -) - -test_srcs = glob( - ["src/*_TEST.cc"], - exclude = ["src/PluginLoader_TEST.cc"], +test_sources = glob( + include = ["src/*_TEST.cc"], + exclude = [ + "src/PluginUtils_TEST.cc", + "src/PluginLoader_TEST.cc", + ], ) [cc_test( name = src.replace("/", "_").replace(".cc", "").replace("src_", ""), srcs = [src], - data = [":libgz-common6.so"], deps = [ - ":gz_common", - GZ_ROOT + "gz_bazel:utilities", - GZ_ROOT + "gz_common/test:test_utils", + ":common", + GZ_ROOT + "common/testing", "@gtest", "@gtest//:gtest_main", ], -) for src in test_srcs] +) for src in test_sources] diff --git a/COPYING b/COPYING deleted file mode 100644 index 4909afd04..000000000 --- a/COPYING +++ /dev/null @@ -1,178 +0,0 @@ - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - - 1. Definitions. - - "License" shall mean the terms and conditions for use, reproduction, - and distribution as defined by Sections 1 through 9 of this document. - - "Licensor" shall mean the copyright owner or entity authorized by - the copyright owner that is granting the License. - - "Legal Entity" shall mean the union of the acting entity and all - other entities that control, are controlled by, or are under common - control with that entity. For the purposes of this definition, - "control" means (i) the power, direct or indirect, to cause the - direction or management of such entity, whether by contract or - otherwise, or (ii) ownership of fifty percent (50%) or more of the - outstanding shares, or (iii) beneficial ownership of such entity. - - "You" (or "Your") shall mean an individual or Legal Entity - exercising permissions granted by this License. - - "Source" form shall mean the preferred form for making modifications, - including but not limited to software source code, documentation - source, and configuration files. - - "Object" form shall mean any form resulting from mechanical - transformation or translation of a Source form, including but - not limited to compiled object code, generated documentation, - and conversions to other media types. - - "Work" shall mean the work of authorship, whether in Source or - Object form, made available under the License, as indicated by a - copyright notice that is included in or attached to the work - (an example is provided in the Appendix below). - - "Derivative Works" shall mean any work, whether in Source or Object - form, that is based on (or derived from) the Work and for which the - editorial revisions, annotations, elaborations, or other modifications - represent, as a whole, an original work of authorship. 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If You - institute patent litigation against any entity (including a - cross-claim or counterclaim in a lawsuit) alleging that the Work - or a Contribution incorporated within the Work constitutes direct - or contributory patent infringement, then any patent licenses - granted to You under this License for that Work shall terminate - as of the date such litigation is filed. - - 4. Redistribution. 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The contents - of the NOTICE file are for informational purposes only and - do not modify the License. You may add Your own attribution - notices within Derivative Works that You distribute, alongside - or as an addendum to the NOTICE text from the Work, provided - that such additional attribution notices cannot be construed - as modifying the License. - - You may add Your own copyright statement to Your modifications and - may provide additional or different license terms and conditions - for use, reproduction, or distribution of Your modifications, or - for any such Derivative Works as a whole, provided Your use, - reproduction, and distribution of the Work otherwise complies with - the conditions stated in this License. - - 5. Submission of Contributions. Unless You explicitly state otherwise, - any Contribution intentionally submitted for inclusion in the Work - by You to the Licensor shall be under the terms and conditions of - this License, without any additional terms or conditions. - Notwithstanding the above, nothing herein shall supersede or modify - the terms of any separate license agreement you may have executed - with Licensor regarding such Contributions. - - 6. Trademarks. This License does not grant permission to use the trade - names, trademarks, service marks, or product names of the Licensor, - except as required for reasonable and customary use in describing the - origin of the Work and reproducing the content of the NOTICE file. - - 7. Disclaimer of Warranty. Unless required by applicable law or - agreed to in writing, Licensor provides the Work (and each - Contributor provides its Contributions) on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or - implied, including, without limitation, any warranties or conditions - of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A - PARTICULAR PURPOSE. You are solely responsible for determining the - appropriateness of using or redistributing the Work and assume any - risks associated with Your exercise of permissions under this License. - - 8. Limitation of Liability. In no event and under no legal theory, - whether in tort (including negligence), contract, or otherwise, - unless required by applicable law (such as deliberate and grossly - negligent acts) or agreed to in writing, shall any Contributor be - liable to You for damages, including any direct, indirect, special, - incidental, or consequential damages of any character arising as a - result of this License or out of the use or inability to use the - Work (including but not limited to damages for loss of goodwill, - work stoppage, computer failure or malfunction, or any and all - other commercial damages or losses), even if such Contributor - has been advised of the possibility of such damages. - - 9. Accepting Warranty or Additional Liability. While redistributing - the Work or Derivative Works thereof, You may choose to offer, - and charge a fee for, acceptance of support, warranty, indemnity, - or other liability obligations and/or rights consistent with this - License. However, in accepting such obligations, You may act only - on Your own behalf and on Your sole responsibility, not on behalf - of any other Contributor, and only if You agree to indemnify, - defend, and hold each Contributor harmless for any liability - incurred by, or claims asserted against, such Contributor by reason - of your accepting any such warranty or additional liability. - - END OF TERMS AND CONDITIONS - - diff --git a/Changelog.md b/Changelog.md index a6c727256..7e28b6c05 100644 --- a/Changelog.md +++ b/Changelog.md @@ -4,6 +4,64 @@ ## Gazebo Common 5.x +## Gazebo Common 5.4.0 (2023-04-28) + +1. Add support for bayer images to be saved in a directory + * [Pull request #498](https://github.com/gazebosim/gz-common/pull/498) + +1. Fix for ffmpeg v6 + * [Pull request #497](https://github.com/gazebosim/gz-common/pull/497) + +1. Include cstring for memcpy + * [Pull request #501](https://github.com/gazebosim/gz-common/pull/501) + +1. Fixed MeshManager Singleton + * [Pull request #451](https://github.com/gazebosim/gz-common/pull/451) + +1. Fix for ffmpeg v6 + * [Pull request #497](https://github.com/gazebosim/gz-common/pull/497) + +1. Rename COPYING to LICENSE + * [Pull request #494](https://github.com/gazebosim/gz-common/pull/494) + +1. Add marcoag as codeowner + * [Pull request #493](https://github.com/gazebosim/gz-common/pull/493) + +1. CI workflow: use checkout v3 + * [Pull request #490](https://github.com/gazebosim/gz-common/pull/490) + +1. Update common5 for bazel builds + * [Pull request #488](https://github.com/gazebosim/gz-common/pull/488) + +1. Fix profile tutorial + * [Pull request #487](https://github.com/gazebosim/gz-common/pull/487) + +1. Update version in Changelog + * [Pull request #486](https://github.com/gazebosim/gz-common/pull/486) + +1. Fixed metalness/roughness in ASSIMP loader + * [Pull request #485](https://github.com/gazebosim/gz-common/pull/485) + +1. Fix Capsule mesh generation + * [Pull request #475](https://github.com/gazebosim/gz-common/pull/475) + +1. Improved coverage remotery + * [Pull request #467](https://github.com/gazebosim/gz-common/pull/467) + +1. Added BVH and STL loader tests + * [Pull request #466](https://github.com/gazebosim/gz-common/pull/466) + +1. Increased Image coverage + * [Pull request #465](https://github.com/gazebosim/gz-common/pull/465) + +## Gazebo Common 5.3.1 (2022-11-17) + +1. Fix out of bounds access to rotation array in assimp loader + * [Pull request #479](https://github.com/gazebosim/ign-common/pull/479) + +1. Fix issues detected by ASAN + * [Pull request #480](https://github.com/gazebosim/ign-common/pull/480) + ## Gazebo Common 5.3.0 (2022-11-14) 1. Expose Vertex & Index raw ptrs for efficient reading @@ -11,7 +69,7 @@ ## Gazebo Common 5.2.2 (2022-10-26) -1. [Backport] Avoid Io.hh header name clash (#471) +1. [Backport] Avoid Io.hh header name clash (#471) * [Pull request #472](https://github.com/gazebosim/gz-common/pull/472) ## Gazebo Common 5.2.1 (2022-10-19) @@ -120,7 +178,7 @@ 1. Add API for getting Image bytes as std::vector * [Pull request #372](https://github.com/gazebosim/gz-common/pull/372) -1. Support lunar coordinate transformations +1. Support lunar coordinate transformations * [Pull request #377](https://github.com/gazebosim/gz-common/pull/377) 1. Remove configure.bat, export CXX_STANDARD @@ -141,8 +199,8 @@ 1. Test updates for common::testing module. * [Pull request #315](https://github.com/gazebosim/gz-common/pull/315) -1. Ignition -> Gz Renaming - * Move header files with git mv +1. Ignition -> Gz Renaming + * Move header files with git mv * Create redirection aliases * Migrate sources in src, test, examples, and include * Remove ignition redirection headers for Plugin [Pull request #350](https://github.com/gazebosim/gz-common/pull/350) @@ -275,15 +333,58 @@ ## Gazebo Common 4.x +## Gazebo Common 4.7.0 (2023-05-17) + +1. Forward Ports: 3 -> 4 (#506) + * [Pull request #506](https://github.com/gazebosim/gz-common/pull/506) + * [Pull request #500](https://github.com/gazebosim/gz-common/pull/500) + * [Pull request #495](https://github.com/gazebosim/gz-common/pull/495) + * [Pull request #491](https://github.com/gazebosim/gz-common/pull/491) + +1. Fix build error when using gz:: with ign-common4 + * [Pull request #489](https://github.com/gazebosim/gz-common/pull/489) + +1. Fix for ffmpeg v6 + * [Pull request #497](https://github.com/gazebosim/gz-common/pull/497) + +1. Include cstring for memcpy + * [Pull request #501](https://github.com/gazebosim/gz-common/pull/501) + +1. Fixed MeshManager Singleton + * [Pull request #451](https://github.com/gazebosim/gz-common/pull/451) + +1. Rename COPYING to LICENSE + * [Pull request #494](https://github.com/gazebosim/gz-common/pull/494) + +1. Add marcoag as codeowner + * [Pull request #493](https://github.com/gazebosim/gz-common/pull/493) + +1. CI workflow: use checkout v3 + * [Pull request #490](https://github.com/gazebosim/gz-common/pull/490) + +1. Improved coverage remotery + * [Pull request #467](https://github.com/gazebosim/gz-common/pull/467) + +1. Added BVH and STL loader tests + * [Pull request #466](https://github.com/gazebosim/gz-common/pull/466) + +1. Increased Image coverage + * [Pull request #465](https://github.com/gazebosim/gz-common/pull/465) + +## Gazebo Common 4.6.2 (2022-11-17) + +1. Fix Capsule mesh generation. + * [Pull request #475](https://github.com/gazebosim/gz-common/pull/475) + ## Gazebo Common 4.6.1 (2022-10-11) -1. All common3 changes up to 3.15.1 release +1. All common3 changes up to 3.15.1 release ## Gazebo Common 4.6.0 (2022-10-11) -1. All common3 changes up to 3.15.0 release +1. All common3 changes up to 3.15.0 release -1. Include cstring for memcpy +1. Include cstring for memcpy * [Pull request #437](https://github.com/gazebosim/gz-common/pull/437) ## Gazebo Common 4.5.2 (2022-08-16) @@ -529,7 +630,7 @@ 1. Fix build on case-insensitive filesystems * [Pull request #453](https://github.com/gazebosim/gz-common/pull/453) -1. Don't install CMakeLists.txt +1. Don't install CMakeLists.txt * [Pull request #449](https://github.com/gazebosim/gz-common/pull/449) ## Gazebo Common 3.15.0 (2022-10-06) diff --git a/LICENSE b/LICENSE index 5f63c8824..4909afd04 100644 --- a/LICENSE +++ b/LICENSE @@ -1,15 +1,178 @@ -Software License Agreement (Apache License) + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ -Copyright 2014 Open Source Robotics Foundation + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION -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 + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. 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If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. 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In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS - 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. diff --git a/av/BUILD.bazel b/av/BUILD.bazel index 8ca6ffef5..93fb8a6a6 100644 --- a/av/BUILD.bazel +++ b/av/BUILD.bazel @@ -1,17 +1,9 @@ load( - "//gz_bazel:build_defs.bzl", + "@gz//bazel/skylark:build_defs.bzl", "GZ_ROOT", "GZ_VISIBILITY", - "generate_include_header", "gz_export_header", -) - -package( - default_visibility = GZ_VISIBILITY, - features = [ - "-parse_headers", - "-layering_check", - ], + "gz_include_header", ) public_headers_no_gen = glob([ @@ -21,10 +13,7 @@ public_headers_no_gen = glob([ sources = glob( ["src/*.cc"], - exclude = [ - "src/*_TEST.cc", - "src/HWEncoder.cc", - ], + exclude = ["src/*_TEST.cc"], ) test_sources = glob(["src/*_TEST.cc"]) @@ -36,8 +25,8 @@ gz_export_header( visibility = ["//visibility:private"], ) -generate_include_header( - name = "eventshh_genrule", +gz_include_header( + name = "av_hh_genrule", out = "include/gz/common/av.hh", hdrs = public_headers_no_gen + [ "include/gz/common/av/Export.hh", @@ -54,35 +43,28 @@ cc_library( srcs = sources, hdrs = public_headers, includes = ["include"], + visibility = GZ_VISIBILITY, deps = [ - GZ_ROOT + "gz_common", - "@ffmpeg//:avcodec", - "@ffmpeg//:avdevice", - "@ffmpeg//:avformat", - "@ffmpeg//:avutil", - "@ffmpeg//:swscale", + GZ_ROOT + "common", + GZ_ROOT + "utils", + "@ffmpeg//:libavcodec", + "@ffmpeg//:libavformat", + "@ffmpeg//:libavutil", + "@ffmpeg//:libswscale", ], ) -cc_binary( - name = "libgz-common6-av.so", - includes = ["include"], - linkopts = ["-Wl,-soname,libgz-common6-av.so"], - linkshared = True, - deps = [":av"], -) - [cc_test( name = src.replace("/", "_").replace(".cc", "").replace("src_", ""), srcs = [src], - data = [ - GZ_ROOT + "gz_common/test:data", - ], + data = [GZ_ROOT + "common/test:data"], + env = { + "GZ_BAZEL": "1", + "GZ_BAZEL_PATH": "common", + }, deps = [ ":av", - GZ_ROOT + "gz_common/test:test_utils", - GZ_ROOT + "gz_bazel:utilities", - "@gtest", + GZ_ROOT + "common/testing", "@gtest//:gtest_main", ], ) for src in test_sources] diff --git a/av/src/AudioDecoder.cc b/av/src/AudioDecoder.cc index 71d68d3b9..a1f7b29c4 100644 --- a/av/src/AudioDecoder.cc +++ b/av/src/AudioDecoder.cc @@ -264,8 +264,10 @@ bool AudioDecoder::SetFile(const std::string &_filename) return false; } +#if LIBAVCODEC_VERSION_MAJOR < 60 if (this->dataPtr->codec->capabilities & AV_CODEC_CAP_TRUNCATED) this->dataPtr->codecCtx->flags |= AV_CODEC_FLAG_TRUNCATED; +#endif // Open codec if (avcodec_open2(this->dataPtr->codecCtx, diff --git a/av/src/Video.cc b/av/src/Video.cc index fba8c6d04..4958b85ef 100644 --- a/av/src/Video.cc +++ b/av/src/Video.cc @@ -196,8 +196,10 @@ bool Video::Load(const std::string &_filename) // Inform the codec that we can handle truncated bitstreams -- i.e., // bitstreams where frame boundaries can fall in the middle of packets +#if LIBAVCODEC_VERSION_MAJOR < 60 if (codec->capabilities & AV_CODEC_CAP_TRUNCATED) this->dataPtr->codecCtx->flags |= AV_CODEC_FLAG_TRUNCATED; +#endif // Open codec if (avcodec_open2(this->dataPtr->codecCtx, codec, nullptr) < 0) diff --git a/av/src/VideoEncoder.cc b/av/src/VideoEncoder.cc index 89b3be57c..e5518e479 100644 --- a/av/src/VideoEncoder.cc +++ b/av/src/VideoEncoder.cc @@ -359,20 +359,19 @@ bool VideoEncoder::Start( if (this->dataPtr->format.compare(outputFormat->name) == 0) { // Allocate the context using the correct outputFormat - auto result = avformat_alloc_output_context2(&this->dataPtr->formatCtx, + auto result = avformat_alloc_output_context2( + &this->dataPtr->formatCtx, outputFormat, nullptr, this->dataPtr->filename.c_str()); if (result < 0) { - gzerr << "Failed to allocate AV context [" << av_err2str_cpp(result) - << "]" << std::endl; + gzerr << "Failed to allocate AV context [" + << av_err2str_cpp(result) + << "]" << std::endl; } break; } } - } - while (outputFormat); - - + } while (outputFormat); #endif } else @@ -804,7 +803,7 @@ bool VideoEncoder::Stop() if (ret >= 0) ret = this->dataPtr->ProcessPacket(avPacket); } - av_packet_unref(avPacket); + av_packet_free(&avPacket); } } diff --git a/events/BUILD.bazel b/events/BUILD.bazel index deca01dc3..4d6936b99 100644 --- a/events/BUILD.bazel +++ b/events/BUILD.bazel @@ -1,22 +1,14 @@ load( - "//gz_bazel:build_defs.bzl", + "@gz//bazel/skylark:build_defs.bzl", "GZ_ROOT", "GZ_VISIBILITY", - "generate_include_header", "gz_export_header", -) - -package( - default_visibility = GZ_VISIBILITY, - features = [ - "-parse_headers", - "-layering_check", - ], + "gz_include_header", ) public_headers_no_gen = glob([ "include/gz/common/*.hh", - "include/gz/common/events/*.hh", + "include/gz/common/**/*.hh", ]) sources = glob( @@ -33,8 +25,8 @@ gz_export_header( visibility = ["//visibility:private"], ) -generate_include_header( - name = "eventshh_genrule", +gz_include_header( + name = "events_hh_genrule", out = "include/gz/common/events.hh", hdrs = public_headers_no_gen + [ "include/gz/common/events/Export.hh", @@ -51,26 +43,19 @@ cc_library( srcs = sources, hdrs = public_headers, includes = ["include"], + visibility = GZ_VISIBILITY, deps = [ - GZ_ROOT + "gz_common", + GZ_ROOT + "common", + GZ_ROOT + "utils", ], ) -cc_binary( - name = "libgz-common6-events.so", - includes = ["include"], - linkopts = ["-Wl,-soname,libgz-common6-events.so"], - linkshared = True, - deps = [":events"], -) - [cc_test( name = src.replace("/", "_").replace(".cc", "").replace("src_", ""), srcs = [src], deps = [ ":events", - GZ_ROOT + "gz_common/test:test_utils", - "@gtest", + GZ_ROOT + "common/testing", "@gtest//:gtest_main", ], ) for src in test_sources] diff --git a/events/src/Event.cc b/events/src/Event.cc index b8bcb32fd..3a079f868 100644 --- a/events/src/Event.cc +++ b/events/src/Event.cc @@ -17,6 +17,7 @@ #include "gz/common/Console.hh" #include "gz/common/Event.hh" +#include "gz/common/Util.hh" using namespace gz; using namespace common; diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index dad57e8d4..7eaaba7c6 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -20,3 +20,5 @@ target_compile_definitions(profiler_example PUBLIC "GZ_PROFILER_ENABLE=1") add_executable(logging_performance logging_performance.cc) target_link_libraries(logging_performance gz-common${GZ_COMMON_VER}::core) +add_executable(util_example util.cc) +target_link_libraries(util_example gz-common${GZ_COMMON_VER}::core) diff --git a/examples/logging_performance.cc b/examples/logging_performance.cc index b06f58490..fca7f0b45 100644 --- a/examples/logging_performance.cc +++ b/examples/logging_performance.cc @@ -17,13 +17,15 @@ /* This code is originally from: * https://gist.github.com/KjellKod/0fde0d2564e2eb1b3560 - * For testing worst-case console logging latency with a variable number of + * For testing worst-case console logging latency with a variable number of * threads. */ +#include #include #include #include +#include #include diff --git a/examples/util.cc b/examples/util.cc new file mode 100644 index 000000000..cb1715813 --- /dev/null +++ b/examples/util.cc @@ -0,0 +1,23 @@ +/* + * 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 + +int main(int argc, char **argv) +{ + gz::common::setenv("TEST", "0"); + return 0; +} diff --git a/geospatial/BUILD.bazel b/geospatial/BUILD.bazel new file mode 100644 index 000000000..b01923fa8 --- /dev/null +++ b/geospatial/BUILD.bazel @@ -0,0 +1,68 @@ +load( + "@gz//bazel/skylark:build_defs.bzl", + "GZ_ROOT", + "GZ_VISIBILITY", + "gz_export_header", + "gz_include_header", +) + +public_headers_no_gen = glob([ + "include/gz/common/*.hh", + "include/gz/common/**/*.hh", +]) + +sources = glob( + ["src/*.cc"], + exclude = ["src/*_TEST.cc"], +) + +test_sources = glob(["src/*_TEST.cc"]) + +gz_export_header( + name = "include/gz/common/geospatial/Export.hh", + export_base = "GZ_COMMON_GEOSPATIAL", + lib_name = "gz-common-geospatial", + visibility = ["//visibility:private"], +) + +gz_include_header( + name = "geospatial_hh_genrule", + out = "include/gz/common/geospatial.hh", + hdrs = public_headers_no_gen + [ + "include/gz/common/geospatial/Export.hh", + ], +) + +public_headers = public_headers_no_gen + [ + "include/gz/common/geospatial/Export.hh", + "include/gz/common/geospatial.hh", +] + +cc_library( + name = "geospatial", + srcs = sources, + hdrs = public_headers, + includes = ["include"], + visibility = GZ_VISIBILITY, + deps = [ + GZ_ROOT + "common", + GZ_ROOT + "common/graphics", + GZ_ROOT + "utils", + "@gdal", + ], +) + +[cc_test( + name = src.replace("/", "_").replace(".cc", "").replace("src_", ""), + srcs = [src], + data = [GZ_ROOT + "common/test:data"], + env = { + "GZ_BAZEL": "1", + "GZ_BAZEL_PATH": "common", + }, + deps = [ + ":geospatial", + GZ_ROOT + "common/testing", + "@gtest//:gtest_main", + ], +) for src in test_sources] diff --git a/geospatial/src/Dem.cc b/geospatial/src/Dem.cc index 4595f3baa..a49d28785 100644 --- a/geospatial/src/Dem.cc +++ b/geospatial/src/Dem.cc @@ -22,6 +22,7 @@ #include "gz/common/Console.hh" #include "gz/common/geospatial/Dem.hh" +#include "gz/common/Util.hh" using namespace gz; using namespace common; @@ -89,7 +90,7 @@ Dem::~Dem() void Dem::SetSphericalCoordinates( const math::SphericalCoordinates &_worldSphericalCoordinates) { - this->dataPtr->sphericalCoordinates =_worldSphericalCoordinates; + this->dataPtr->sphericalCoordinates = _worldSphericalCoordinates; } ////////////////////////////////////////////////// @@ -290,17 +291,7 @@ bool Dem::GeoReference(double _x, double _y, if (this->dataPtr->sphericalCoordinates.Surface() == math::SphericalCoordinates::EARTH_WGS84) { - // Transform the terrain's coordinate system to WGS84 - const char *importString - = strdup(this->dataPtr->dataSet->GetProjectionRef()); - if (importString == nullptr || importString[0] == '\0') - { - // LCOV_EXCL_START - gzdbg << "Projection coordinate system undefined." << std::endl; - return false; - // LCOV_EXCL_STOP - } - sourceCs.importFromWkt(&importString); + sourceCs.importFromWkt(this->dataPtr->dataSet->GetProjectionRef()); targetCs.SetWellKnownGeogCS("WGS84"); } else if ((this->dataPtr->sphericalCoordinates.Surface() == diff --git a/geospatial/src/ImageHeightmap.cc b/geospatial/src/ImageHeightmap.cc index 5ab6958c5..35987e6ba 100644 --- a/geospatial/src/ImageHeightmap.cc +++ b/geospatial/src/ImageHeightmap.cc @@ -16,6 +16,7 @@ */ #include "gz/common/Console.hh" #include "gz/common/geospatial/ImageHeightmap.hh" +#include "gz/common/Util.hh" using namespace gz; using namespace common; diff --git a/graphics/BUILD.bazel b/graphics/BUILD.bazel index 3d23f250a..6d7b8822a 100644 --- a/graphics/BUILD.bazel +++ b/graphics/BUILD.bazel @@ -1,17 +1,9 @@ load( - "//gz_bazel:build_defs.bzl", + "@gz//bazel/skylark:build_defs.bzl", "GZ_ROOT", "GZ_VISIBILITY", - "generate_include_header", "gz_export_header", -) - -package( - default_visibility = GZ_VISIBILITY, - features = [ - "-parse_headers", - "-layering_check", - ], + "gz_include_header", ) public_headers_no_gen = glob([ @@ -33,7 +25,7 @@ gz_export_header( visibility = ["//visibility:private"], ) -generate_include_header( +gz_include_header( name = "graphics_hh_genrule", out = "include/gz/common/graphics.hh", hdrs = public_headers_no_gen + [ @@ -52,34 +44,29 @@ cc_library( srcs = sources, hdrs = public_headers, includes = ["include"], + visibility = GZ_VISIBILITY, deps = [ + "@assimp", "@freeimage", "@glib", "@gts", "@tinyxml2", - GZ_ROOT + "gz_common", - GZ_ROOT + "gz_utils", + GZ_ROOT + "common", + GZ_ROOT + "utils", ], ) -cc_binary( - name = "libgz-common6-graphics.so", - includes = ["include"], - linkopts = ["-Wl,-soname,libgz-common6-graphics.so"], - linkshared = True, - deps = [":graphics"], -) - [cc_test( name = src.replace("/", "_").replace(".cc", "").replace("src_", ""), srcs = [src], - data = [ - GZ_ROOT + "gz_common/test:data", - ], + data = [GZ_ROOT + "common/test:data"], + env = { + "GZ_BAZEL": "1", + "GZ_BAZEL_PATH": "common", + }, deps = [ ":graphics", - GZ_ROOT + "gz_common/test:test_utils", - "@gtest", + GZ_ROOT + "common/testing", "@gtest//:gtest_main", ], ) for src in test_sources] diff --git a/graphics/include/gz/common/ColladaLoader.hh b/graphics/include/gz/common/ColladaLoader.hh index c9cb05c2f..8b30e51fc 100644 --- a/graphics/include/gz/common/ColladaLoader.hh +++ b/graphics/include/gz/common/ColladaLoader.hh @@ -18,6 +18,7 @@ #define GZ_COMMON_COLLADALOADER_HH_ #include + #include #include diff --git a/graphics/include/gz/common/GTSMeshUtils.hh b/graphics/include/gz/common/GTSMeshUtils.hh index 59c320a89..fedab7a29 100644 --- a/graphics/include/gz/common/GTSMeshUtils.hh +++ b/graphics/include/gz/common/GTSMeshUtils.hh @@ -21,6 +21,7 @@ #include #include + #include diff --git a/graphics/include/gz/common/Image.hh b/graphics/include/gz/common/Image.hh index 442e5cb32..6a73d92ee 100644 --- a/graphics/include/gz/common/Image.hh +++ b/graphics/include/gz/common/Image.hh @@ -23,6 +23,7 @@ #include #include #include + #include #include @@ -53,7 +54,8 @@ namespace gz "BAYER_RGGB8", "BAYER_BGGR8", "BAYER_GBRG8", - "BAYER_GRBG8" + "BAYER_GRBG8", + "COMPRESSED_PNG" }; /// \class Image Image.hh gz/common/common.hh @@ -109,8 +111,8 @@ namespace gz /// \param[in] _filename The name of the saved image public: void SavePNG(const std::string &_filename); - /// \brief Save the image in PNG format - /// \param[in] _filename The name of the saved image + /// \brief Get the PNG image in a buffer + /// \param[out] _buffer Buffer with the data public: void SavePNGToBuffer(std::vector &_buffer); /// \brief Set the image from raw data diff --git a/graphics/include/gz/common/Material.hh b/graphics/include/gz/common/Material.hh index e90e793f1..5f4a01c88 100644 --- a/graphics/include/gz/common/Material.hh +++ b/graphics/include/gz/common/Material.hh @@ -22,6 +22,7 @@ #include #include + #include #include #include diff --git a/graphics/include/gz/common/MeshExporter.hh b/graphics/include/gz/common/MeshExporter.hh index 476046247..b28eaee1a 100644 --- a/graphics/include/gz/common/MeshExporter.hh +++ b/graphics/include/gz/common/MeshExporter.hh @@ -18,6 +18,7 @@ #define GZ_COMMON_MESHEXPORTER_HH_ #include + #include namespace gz diff --git a/graphics/include/gz/common/STLLoader.hh b/graphics/include/gz/common/STLLoader.hh index 2f9a28aab..419de314e 100644 --- a/graphics/include/gz/common/STLLoader.hh +++ b/graphics/include/gz/common/STLLoader.hh @@ -97,4 +97,3 @@ namespace gz } } #endif - diff --git a/graphics/src/AssimpLoader.cc b/graphics/src/AssimpLoader.cc index ac8abe412..4dd01de0a 100644 --- a/graphics/src/AssimpLoader.cc +++ b/graphics/src/AssimpLoader.cc @@ -315,6 +315,9 @@ MaterialPtr AssimpLoader::Implementation::CreateMaterial( { MaterialPtr mat = std::make_shared(); aiColor4D color; + bool specularDefine = false; + // gcc is complaining about this variable not being used. + (void) specularDefine; auto& assimpMat = _scene->mMaterials[_matIdx]; auto ret = assimpMat->Get(AI_MATKEY_COLOR_DIFFUSE, color); if (ret == AI_SUCCESS) @@ -324,6 +327,7 @@ MaterialPtr AssimpLoader::Implementation::CreateMaterial( ret = assimpMat->Get(AI_MATKEY_COLOR_AMBIENT, color); if (ret == AI_SUCCESS) { + specularDefine = true; mat->SetAmbient(this->ConvertColor(color)); } ret = assimpMat->Get(AI_MATKEY_COLOR_SPECULAR, color); @@ -448,10 +452,14 @@ MaterialPtr AssimpLoader::Implementation::CreateMaterial( pbr.SetLightMap(texName, uvIdx, texData); } #ifndef GZ_ASSIMP_PRE_5_2_0 - double value; + float value; ret = assimpMat->Get(AI_MATKEY_METALLIC_FACTOR, value); if (ret == AI_SUCCESS) { + if (!specularDefine) + { + mat->SetSpecular(math::Color(value, value, value)); + } pbr.SetMetalness(value); } ret = assimpMat->Get(AI_MATKEY_ROUGHNESS_FACTOR, value); diff --git a/graphics/src/BVHLoader_TEST.cc b/graphics/src/BVHLoader_TEST.cc new file mode 100644 index 000000000..bfd267e6a --- /dev/null +++ b/graphics/src/BVHLoader_TEST.cc @@ -0,0 +1,43 @@ +/* + * Copyright (C) 2022 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 "gz/common/BVHLoader.hh" +#include "gz/common/Skeleton.hh" +#include "gz/common/SkeletonAnimation.hh" +#include "gz/common/testing/AutoLogFixture.hh" +#include "gz/common/testing/TestPaths.hh" + +using namespace gz; + +class BHVLoaderTest : public common::testing::AutoLogFixture { }; + +///////////////////////////////////////////////// +TEST_F(BHVLoaderTest, LoadBVH) +{ + common::BVHLoader loader; + auto skel = loader.Load("", 1); + EXPECT_EQ(nullptr, skel); + + skel = loader.Load( + common::testing::TestFile("data", "cmu-13_26.bvh"), 1); + EXPECT_NE(nullptr, skel->RootNode()); + + EXPECT_EQ(skel->RootNode()->Name(), std::string("Hips")); + EXPECT_EQ(31u, skel->NodeCount()); +} diff --git a/graphics/src/Image.cc b/graphics/src/Image.cc index f6c156f42..a8f77d68b 100644 --- a/graphics/src/Image.cc +++ b/graphics/src/Image.cc @@ -233,6 +233,14 @@ void Image::SetFromData(const unsigned char *_data, bluemask = 0xff0000; scanlineBytes = _width * 3; } + else if ((_format == BAYER_RGGB8) || + (_format == BAYER_BGGR8) || + (_format == BAYER_GBRG8) || + (_format == BAYER_GRBG8)) + { + bpp = 8; + scanlineBytes = _width; + } else { gzerr << "Unable to handle format[" << _format << "]\n"; @@ -499,7 +507,6 @@ math::Color Image::MaxColor() const if (this->dataPtr->PixelIndex( this->dataPtr->bitmap, x, y, clr) == FALSE) - { gzerr << "Image: Coordinates out of range [" << x << " " << y << "] \n"; @@ -616,17 +623,11 @@ Image::PixelFormatType Image::PixelFormat() const Image::PixelFormatType Image::ConvertPixelFormat(const std::string &_format) { // Handle old format strings - if (_format == "L8" || _format == "L_INT8") + if (_format == "L8") return L_INT8; - else if (_format == "R8G8B8" || _format == "RGB_INT8") + else if (_format == "R8G8B8") return RGB_INT8; - // Handle BAYER_BGGR8 since it is after PIXEL_FORMAT_COUNT in the enum - if (_format == "BAYER_BGGR8") - { - return BAYER_BGGR8; - } - for (unsigned int i = 0; i < PIXEL_FORMAT_COUNT; ++i) if (PixelFormatNames[i] == _format) return static_cast(i); diff --git a/graphics/src/Image_TEST.cc b/graphics/src/Image_TEST.cc index cd7f81a24..645f25926 100644 --- a/graphics/src/Image_TEST.cc +++ b/graphics/src/Image_TEST.cc @@ -14,6 +14,7 @@ * limitations under the License. * */ +#include #include @@ -26,7 +27,10 @@ using namespace gz; class ImageTest : public common::testing::AutoLogFixture { }; - +const std::string kTestDataGazeboJpeg = // NOLINT(*) + common::testing::TestFile("data", "gazebo_logo.jpeg"); +const std::string kTestDataGazeboBmp = // NOLINT(*) + common::testing::TestFile("data", "gazebo_logo.bmp"); const std::string kTestData = // NOLINT(*) common::testing::TestFile("data", "red_blue_colors.png"); @@ -73,6 +77,50 @@ TEST_F(ImageTest, InvalidImage) ASSERT_EQ(-1, img.Load("/file/shouldn/never/exist.png")); } +///////////////////////////////////////////////// +TEST_F(ImageTest, ImageConstructorProperties) +{ + common::Image imgInvalid("invalid"); + ASSERT_FALSE(imgInvalid.Valid()); + + common::Image img(kTestData); + CheckImageRGBA(img); + + ASSERT_EQ(img.Pixel(0, 0), math::Color::Red); + ASSERT_EQ(img.Pixel(85, 0), math::Color::Blue); + ASSERT_EQ(kAvgColor, img.AvgColor()); + ASSERT_EQ(kMaxColor, img.MaxColor()); + + ASSERT_TRUE(img.Filename().find("red_blue_colors.png") != + std::string::npos); +} + +///////////////////////////////////////////////// +TEST_F(ImageTest, ImageConstructorPropertiesDifferentFormats) +{ + common::Image imgBmp(kTestDataGazeboBmp); + + ASSERT_EQ(554u, imgBmp.Width()); + ASSERT_EQ(234u, imgBmp.Height()); + ASSERT_EQ(24u, imgBmp.BPP()); + ASSERT_EQ(1662, imgBmp.Pitch()); + ASSERT_EQ(common::Image::PixelFormatType::RGB_INT8, imgBmp.PixelFormat()); + + ASSERT_TRUE(imgBmp.Filename().find("gazebo_logo.bmp") != + std::string::npos); + + common::Image imgJpeg(kTestDataGazeboJpeg); + + ASSERT_EQ(554u, imgJpeg.Width()); + ASSERT_EQ(234u, imgJpeg.Height()); + ASSERT_EQ(24u, imgJpeg.BPP()); + ASSERT_EQ(1662, imgJpeg.Pitch()); + ASSERT_EQ(common::Image::PixelFormatType::RGB_INT8, imgJpeg.PixelFormat()); + + ASSERT_TRUE(imgJpeg.Filename().find("gazebo_logo.jpeg") != + std::string::npos); +} + ///////////////////////////////////////////////// TEST_F(ImageTest, ImageProperties) { @@ -93,6 +141,43 @@ TEST_F(ImageTest, ImageProperties) std::string::npos); } +TEST_F(ImageTest, ImageSavePng) +{ + std::string pathOut = common::testing::TempPath(); + common::createDirectories(pathOut); + + std::string imagePath = common::joinPaths(pathOut, "image.png"); + + common::Image imgJpeg(kTestDataGazeboJpeg); + imgJpeg.SavePNG(imagePath); + common::Image img(imagePath); + ASSERT_TRUE(img.Valid()); + + std::vector values; + img.SavePNGToBuffer(values); + EXPECT_LT(0u, values.size()); +} + +TEST_F(ImageTest, ImageGetterInvalid) +{ + common::Image img; + EXPECT_EQ(0u, img.Width()); + EXPECT_EQ(0u, img.Height()); + EXPECT_EQ(0u, img.BPP()); + EXPECT_EQ(math::Color(), img.Pixel(0, 0)); + EXPECT_EQ(math::Color(), img.MaxColor()); + + common::Image imgBmp(kTestDataGazeboBmp); + EXPECT_EQ(math::Color(), imgBmp.Pixel(2000, 0)); + + unsigned int width = imgBmp.Width(); + unsigned int height = imgBmp.Height(); + imgBmp.Rescale(static_cast(width / 2), static_cast(height / 2)); + + EXPECT_EQ(static_cast(width / 2), imgBmp.Width()); + EXPECT_EQ(static_cast(height / 2), imgBmp.Height()); +} + ///////////////////////////////////////////////// TEST_F(ImageTest, RGBData) { @@ -246,7 +331,8 @@ TEST_F(ImageTest, SetFromCompressedData) common::testing::TempPath("test_red_blue_save.png"); img.SavePNG(testSaveImage); - common::Image img2; + common::Image img2; common::Image img; + img2.Load(testSaveImage); ASSERT_TRUE(img2.Valid()); ASSERT_EQ(common::Image::PixelFormatType::RGB_INT8, img2.PixelFormat()); @@ -353,6 +439,8 @@ TEST_F(ImageTest, ConvertPixelFormat) Image::ConvertPixelFormat("BAYER_GRBG8")); EXPECT_EQ(Image::PixelFormatType::BAYER_BGGR8, Image::ConvertPixelFormat("BAYER_BGGR8")); + EXPECT_EQ(Image::PixelFormatType::COMPRESSED_PNG, + Image::ConvertPixelFormat("COMPRESSED_PNG")); } ///////////////////////////////////////////////// diff --git a/graphics/src/MeshManager.cc b/graphics/src/MeshManager.cc index c204a2c15..a8569dc41 100644 --- a/graphics/src/MeshManager.cc +++ b/graphics/src/MeshManager.cc @@ -35,6 +35,7 @@ #include "gz/common/ColladaExporter.hh" #include "gz/common/OBJLoader.hh" #include "gz/common/STLLoader.hh" +#include "gz/common/Util.hh" #include "gz/common/config.hh" #include "gz/common/MeshManager.hh" diff --git a/graphics/src/Mesh_TEST.cc b/graphics/src/Mesh_TEST.cc index cd7507167..83ffc0584 100644 --- a/graphics/src/Mesh_TEST.cc +++ b/graphics/src/Mesh_TEST.cc @@ -32,8 +32,8 @@ class MeshTest : public common::testing::AutoLogFixture { }; ///////////////////////////////////////////////// TEST_F(MeshTest, Mesh) { - common::MeshPtr mesh(new common::Mesh()); - EXPECT_TRUE(mesh != NULL); + auto mesh = std::make_shared(); + EXPECT_TRUE(mesh != nullptr); mesh->SetName("new_mesh"); EXPECT_EQ(mesh->Name(), "new_mesh"); @@ -155,4 +155,7 @@ TEST_F(MeshTest, Mesh) EXPECT_TRUE(math::equal(vertices[2], submesh.lock()->Vertex(0).Z())); EXPECT_EQ(indices[0], submesh.lock()->Index(0)); EXPECT_EQ(indices[0], submesh.lock()->IndexPtr()[0]); + + delete [] vertices; + delete [] indices; } diff --git a/graphics/src/STLLoader_TEST.cc b/graphics/src/STLLoader_TEST.cc new file mode 100644 index 000000000..7fd1e1d59 --- /dev/null +++ b/graphics/src/STLLoader_TEST.cc @@ -0,0 +1,91 @@ +/* + * Copyright (C) 2022 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 "gz/common/Mesh.hh" +#include "gz/common/SubMesh.hh" +#include "gz/common/Material.hh" +#include "gz/common/STLLoader.hh" +#include "gz/common/testing/AutoLogFixture.hh" +#include "gz/common/testing/TestPaths.hh" + +using namespace gz; + +class STLLoaderTest : public common::testing::AutoLogFixture { }; + +///////////////////////////////////////////////// +TEST_F(STLLoaderTest, LoadSTL) +{ + common::STLLoader loader; + auto mesh = loader.Load(""); + EXPECT_EQ(nullptr, mesh); + + mesh = loader.Load( + common::testing::TestFile("data", "cube.stl")); + EXPECT_NE(nullptr, mesh); + + EXPECT_STREQ("unknown", mesh->Name().c_str()); + EXPECT_EQ(math::Vector3d(20, 0, 20), mesh->Max()); + EXPECT_EQ(math::Vector3d(0, -20, 0), mesh->Min()); + // 36 vertices, 24 unique, 12 shared. + EXPECT_EQ(36u, mesh->VertexCount()); + EXPECT_EQ(36u, mesh->NormalCount()); + EXPECT_EQ(36u, mesh->IndexCount()); + EXPECT_EQ(0u, mesh->TexCoordCount()); + EXPECT_EQ(1u, mesh->SubMeshCount()); + EXPECT_EQ(0u, mesh->MaterialCount()); + + auto sm = mesh->SubMeshByIndex(0u); + auto subMesh = sm.lock(); + EXPECT_NE(nullptr, subMesh); + EXPECT_EQ(math::Vector3d(20, 0, 0), subMesh->Vertex(0u)); + EXPECT_EQ(math::Vector3d(0, -20, 0), subMesh->Vertex(1u)); + EXPECT_EQ(math::Vector3d(0, 0, 0), subMesh->Vertex(2u)); + EXPECT_EQ(math::Vector3d(0, 0, -1), subMesh->Normal(0u)); + EXPECT_EQ(math::Vector3d(0, 0, -1), subMesh->Normal(1u)); + EXPECT_EQ(math::Vector3d(0, 0, -1), subMesh->Normal(2u)); + + EXPECT_STREQ("", mesh->SubMeshByIndex(0).lock()->Name().c_str()); + + mesh = loader.Load( + common::testing::TestFile("data", "cube_binary.stl")); + EXPECT_NE(nullptr, mesh); + + EXPECT_STREQ("unknown", mesh->Name().c_str()); + EXPECT_EQ(math::Vector3d(20, 0, 20), mesh->Max()); + EXPECT_EQ(math::Vector3d(0, -20, 0), mesh->Min()); + // 36 vertices, 24 unique, 12 shared. + EXPECT_EQ(36u, mesh->VertexCount()); + EXPECT_EQ(36u, mesh->NormalCount()); + EXPECT_EQ(36u, mesh->IndexCount()); + EXPECT_EQ(0u, mesh->TexCoordCount()); + EXPECT_EQ(1u, mesh->SubMeshCount()); + EXPECT_EQ(0u, mesh->MaterialCount()); + + sm = mesh->SubMeshByIndex(0u); + subMesh = sm.lock(); + EXPECT_NE(nullptr, subMesh); + EXPECT_EQ(math::Vector3d(20, 0, 0), subMesh->Vertex(0u)); + EXPECT_EQ(math::Vector3d(0, -20, 0), subMesh->Vertex(1u)); + EXPECT_EQ(math::Vector3d(0, 0, 0), subMesh->Vertex(2u)); + EXPECT_EQ(math::Vector3d(0, 0, -1), subMesh->Normal(0u)); + EXPECT_EQ(math::Vector3d(0, 0, -1), subMesh->Normal(1u)); + EXPECT_EQ(math::Vector3d(0, 0, -1), subMesh->Normal(2u)); + + EXPECT_STREQ("", mesh->SubMeshByIndex(0).lock()->Name().c_str()); +} diff --git a/graphics/src/SubMesh_TEST.cc b/graphics/src/SubMesh_TEST.cc index c0d348cf1..112ca5721 100644 --- a/graphics/src/SubMesh_TEST.cc +++ b/graphics/src/SubMesh_TEST.cc @@ -31,7 +31,7 @@ class SubMeshTest : public common::testing::AutoLogFixture { }; ///////////////////////////////////////////////// TEST_F(SubMeshTest, SubMesh) { - common::SubMeshPtr submesh(new common::SubMesh()); + auto submesh = std::make_shared(); ASSERT_NE(nullptr, submesh); submesh->SetName("new_submesh"); @@ -268,7 +268,7 @@ TEST_F(SubMeshTest, SubMesh) EXPECT_EQ(submesh->VertexPtr()[2], v2 + t0 + t); // copy constructor - common::SubMeshPtr submeshCopy(new common::SubMesh(*(submesh.get()))); + auto submeshCopy = std::make_shared(*submesh.get()); ASSERT_NE(nullptr, submeshCopy); EXPECT_EQ(submeshCopy->Name(), submesh->Name()); EXPECT_EQ(submeshCopy->GetMaterialIndex(), submesh->GetMaterialIndex()); @@ -307,7 +307,7 @@ TEST_F(SubMeshTest, SubMesh) // fill array double *vertices = NULL; int *indices = NULL; - common::SubMeshPtr submeshEmpty(new common::SubMesh()); + auto submeshEmpty = std::make_shared(); submeshEmpty->FillArrays(&vertices, &indices); EXPECT_TRUE(vertices == NULL); EXPECT_TRUE(indices == NULL); @@ -331,6 +331,9 @@ TEST_F(SubMeshTest, SubMesh) EXPECT_EQ(indices[i], submesh->IndexPtr()[i]); } + delete[] vertices; + delete[] indices; + // recalculate normal and verify they are different submesh->RecalculateNormals(); diff --git a/include/gz/common/Base64.hh b/include/gz/common/Base64.hh index bb9484189..c567b07dc 100644 --- a/include/gz/common/Base64.hh +++ b/include/gz/common/Base64.hh @@ -18,6 +18,7 @@ #define GZ_COMMON_BASE64_HH_ #include + #include namespace gz diff --git a/include/gz/common/Console.hh b/include/gz/common/Console.hh index e12a98e18..229880c26 100644 --- a/include/gz/common/Console.hh +++ b/include/gz/common/Console.hh @@ -20,12 +20,13 @@ #include #include #include +#include #include #include -#include #include #include +#include namespace gz { diff --git a/include/gz/common/EnumIface.hh b/include/gz/common/EnumIface.hh index 41c8ae358..2b0fe1dd8 100644 --- a/include/gz/common/EnumIface.hh +++ b/include/gz/common/EnumIface.hh @@ -20,8 +20,9 @@ #include #include #include -#include + #include +#include namespace gz { diff --git a/include/gz/common/TemplateHelpers.hh b/include/gz/common/TemplateHelpers.hh index 74f926c1d..baa177dd2 100644 --- a/include/gz/common/TemplateHelpers.hh +++ b/include/gz/common/TemplateHelpers.hh @@ -19,7 +19,6 @@ #ifndef GZ_COMMON_TEMPLATEHELPERS_HH_ #define GZ_COMMON_TEMPLATEHELPERS_HH_ - #include "gz/common/detail/TemplateHelpers.hh" namespace gz diff --git a/io/BUILD.bazel b/io/BUILD.bazel index 89a00dbed..a3371a451 100644 --- a/io/BUILD.bazel +++ b/io/BUILD.bazel @@ -1,21 +1,14 @@ load( - "//gz_bazel:build_defs.bzl", + "@gz//bazel/skylark:build_defs.bzl", "GZ_ROOT", "GZ_VISIBILITY", - "generate_include_header", "gz_export_header", -) - -package( - default_visibility = GZ_VISIBILITY, - features = [ - "-parse_headers", - "-layering_check", - ], + "gz_include_header", ) public_headers_no_gen = glob([ "include/gz/common/*.hh", + "include/gz/common/**/*.hh", ]) sources = glob( @@ -32,8 +25,8 @@ gz_export_header( visibility = ["//visibility:private"], ) -generate_include_header( - name = "iohh_genrule", +gz_include_header( + name = "io_hh_genrule", out = "include/gz/common/io.hh", hdrs = public_headers_no_gen + [ "include/gz/common/io/Export.hh", @@ -50,27 +43,23 @@ cc_library( srcs = sources, hdrs = public_headers, includes = ["include"], + visibility = GZ_VISIBILITY, deps = [ - GZ_ROOT + "gz_common", - GZ_ROOT + "gz_math", + GZ_ROOT + "common", + GZ_ROOT + "utils", ], ) -cc_binary( - name = "libgz-common5-io.so", - includes = ["include"], - linkopts = ["-Wl,-soname,libgz-common5-io.so"], - linkshared = True, - deps = [":events"], -) - [cc_test( name = src.replace("/", "_").replace(".cc", "").replace("src_", ""), srcs = [src], + env = { + "GZ_BAZEL": "1", + "GZ_BAZEL_PATH": "common", + }, deps = [ ":io", - GZ_ROOT + "gz_common/test:test_utils", - "@gtest", + GZ_ROOT + "common/testing", "@gtest//:gtest_main", ], ) for src in test_sources] diff --git a/io/include/gz/common/DataFrame.hh b/io/include/gz/common/DataFrame.hh index 70b7b85fa..444251175 100644 --- a/io/include/gz/common/DataFrame.hh +++ b/io/include/gz/common/DataFrame.hh @@ -73,7 +73,7 @@ namespace gz public: const std::vector Keys() const { std::vector keyList; - for (auto &[k, _]: this->storage) + for (auto &[k, _] : this->storage) { keyList.push_back(k); } @@ -84,7 +84,8 @@ namespace gz private: std::unordered_map storage; }; - /// \brief Traits for IO of data frames comprised of time varying volumetric grids. + /// \brief Traits for IO of data frames comprised of time varying + /// volumetric grids. /// /// \tparam K Data frame key type. /// \tparam T Time coordinate type. diff --git a/profiler/BUILD.bazel b/profiler/BUILD.bazel index 403424bf9..8d9a6dd21 100644 --- a/profiler/BUILD.bazel +++ b/profiler/BUILD.bazel @@ -1,29 +1,12 @@ load( - "//gz_bazel:build_defs.bzl", + "@gz//bazel/skylark:build_defs.bzl", "GZ_ROOT", "GZ_VISIBILITY", "cmake_configure_file", - "generate_include_header", "gz_export_header", + "gz_include_header", ) -package( - default_visibility = GZ_VISIBILITY, - features = [ - "-parse_headers", - "-layering_check", - ], -) - -public_headers_no_gen = [ - "include/gz/common/Profiler.hh", -] - -sources = [ - "src/Profiler.cc", - "src/RemoteryProfilerImpl.cc", -] - # Configuration for UNIX RMT_ENABLED = 1 @@ -53,6 +36,15 @@ cmake_configure_file( visibility = ["//visibility:private"], ) +public_headers_no_gen = [ + "include/gz/common/Profiler.hh", +] + +sources = [ + "src/Profiler.cc", + "src/RemoteryProfilerImpl.cc", +] + gz_export_header( name = "include/gz/common/profiler/Export.hh", export_base = "GZ_COMMON_PROFILER", @@ -60,18 +52,20 @@ gz_export_header( visibility = ["//visibility:private"], ) -generate_include_header( +gz_include_header( name = "profiler_hh_genrule", out = "include/gz/common/profiler.hh", hdrs = public_headers_no_gen + [ "include/gz/common/profiler/Export.hh", - "include/RemoteryConfig.h", ], ) public_headers = public_headers_no_gen + [ "include/gz/common/profiler/Export.hh", "include/gz/common/profiler.hh", +] + +private_headers = [ "src/ProfilerImpl.hh", "src/RemoteryProfilerImpl.hh", "include/RemoteryConfig.h", @@ -87,26 +81,19 @@ cc_library( cc_library( name = "profiler", srcs = sources, - hdrs = public_headers, + hdrs = public_headers + private_headers, defines = [ "GZ_PROFILER_ENABLE=1", "GZ_PROFILER_REMOTERY=1", ], includes = ["include"], + visibility = GZ_VISIBILITY, deps = [ - GZ_ROOT + "gz_common", + GZ_ROOT + "common", ":remotery", ], ) -cc_binary( - name = "libgz-common6-profiler.so", - includes = ["include"], - linkopts = ["-Wl,-soname,libgz-common6-profiler.so"], - linkshared = True, - deps = [":profiler"], -) - cc_test( name = "Profiler_Disabled_TEST", srcs = ["src/Profiler_Disabled_TEST.cc"], diff --git a/profiler/include/gz/common/Profiler.hh b/profiler/include/gz/common/Profiler.hh index 4ee84b2b1..4ac856c89 100644 --- a/profiler/include/gz/common/Profiler.hh +++ b/profiler/include/gz/common/Profiler.hh @@ -21,9 +21,9 @@ #include #include +#include #include #include -#include namespace gz { diff --git a/profiler/src/CMakeLists.txt b/profiler/src/CMakeLists.txt index 2a418554c..cfb4b4f6b 100644 --- a/profiler/src/CMakeLists.txt +++ b/profiler/src/CMakeLists.txt @@ -1,5 +1,4 @@ -option(GZ_PROFILER_REMOTERY "Enable the Remotery profiler" - ${IGN_PROFILER_REMOTERY}) +option(GZ_PROFILER_REMOTERY "Enable the Remotery profiler" TRUE) set( PROFILER_SRCS @@ -18,6 +17,7 @@ if(GZ_PROFILER_REMOTERY) ./Remotery/lib/Remotery.h ) + if(APPLE) set( Remotery_SRC @@ -52,6 +52,10 @@ if(GZ_PROFILER_REMOTERY) list(APPEND PROFILER_SRCS ${Remotery_SRC} RemoteryProfilerImpl.cc) list(APPEND PROFILER_TESTS Profiler_Remotery_TEST.cc) + + if(NOT WIN32) + list(APPEND PROFILER_TESTS Profiler_Error_TEST.cc) + endif() endif() gz_add_component(profiler SOURCES ${PROFILER_SRCS} GET_TARGET_NAME profiler_target) diff --git a/profiler/src/Profiler_Error_TEST.cc b/profiler/src/Profiler_Error_TEST.cc new file mode 100644 index 000000000..c851015d0 --- /dev/null +++ b/profiler/src/Profiler_Error_TEST.cc @@ -0,0 +1,129 @@ +/* + * Copyright (C) 2022 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 "gz/common/Profiler.hh" // NOLINT(*) +#include // NOLINT(*) +#include "Remotery/lib/Remotery.h" + +#include + +/// Return the string error message +/// param[in] error the remotery error +std::string rmtErrorToString(rmtError error); + +///////////////////////////////////////////////// +TEST(Profiler, ProfilerErrorCodes) +{ + EXPECT_EQ("none", rmtErrorToString(RMT_ERROR_NONE)); + EXPECT_EQ("Not an error but an internal message to calling code", + rmtErrorToString(RMT_ERROR_RECURSIVE_SAMPLE)); + + EXPECT_EQ("Malloc call within remotery failed", + rmtErrorToString(RMT_ERROR_MALLOC_FAIL)); + EXPECT_EQ("Attempt to allocate thread local storage failed", + rmtErrorToString(RMT_ERROR_TLS_ALLOC_FAIL)); + EXPECT_EQ("Failed to create a virtual memory mirror buffer", + rmtErrorToString(RMT_ERROR_VIRTUAL_MEMORY_BUFFER_FAIL)); + EXPECT_EQ("Failed to create a thread for the server", + rmtErrorToString(RMT_ERROR_CREATE_THREAD_FAIL)); + + EXPECT_EQ("Network initialisation failure (e.g. on Win32, WSAStartup fails)", + rmtErrorToString(RMT_ERROR_SOCKET_INIT_NETWORK_FAIL)); + EXPECT_EQ("Can't create a socket for connection to the remote viewer", + rmtErrorToString(RMT_ERROR_SOCKET_CREATE_FAIL)); + EXPECT_EQ("Can't bind a socket for the server", + rmtErrorToString(RMT_ERROR_SOCKET_BIND_FAIL)); + EXPECT_EQ("Created server socket failed to enter a listen state", + rmtErrorToString(RMT_ERROR_SOCKET_LISTEN_FAIL)); + EXPECT_EQ("Created server socket failed to switch to a non-blocking state", + rmtErrorToString(RMT_ERROR_SOCKET_SET_NON_BLOCKING_FAIL)); + EXPECT_EQ("Poll attempt on an invalid socket", + rmtErrorToString(RMT_ERROR_SOCKET_INVALID_POLL)); + EXPECT_EQ("Server failed to call select on socket", + rmtErrorToString(RMT_ERROR_SOCKET_SELECT_FAIL)); + EXPECT_EQ("Poll notified that the socket has errors", + rmtErrorToString(RMT_ERROR_SOCKET_POLL_ERRORS)); + EXPECT_EQ("Server failed to accept connection from client", + rmtErrorToString(RMT_ERROR_SOCKET_ACCEPT_FAIL)); + EXPECT_EQ("Timed out trying to send data", + rmtErrorToString(RMT_ERROR_SOCKET_SEND_TIMEOUT)); + EXPECT_EQ("Unrecoverable error occured while client/server tried to send data", //NOLINT + rmtErrorToString(RMT_ERROR_SOCKET_SEND_FAIL)); + EXPECT_EQ("No data available when attempting a receive", + rmtErrorToString(RMT_ERROR_SOCKET_RECV_NO_DATA)); + EXPECT_EQ("Timed out trying to receive data", + rmtErrorToString(RMT_ERROR_SOCKET_RECV_TIMEOUT)); + EXPECT_EQ("Unrecoverable error occured while client/server tried to receive data", //NOLINT + rmtErrorToString(RMT_ERROR_SOCKET_RECV_FAILED)); + + EXPECT_EQ("WebSocket server handshake failed, not HTTP GET", + rmtErrorToString(RMT_ERROR_WEBSOCKET_HANDSHAKE_NOT_GET)); + EXPECT_EQ("WebSocket server handshake failed, can't locate WebSocket version", + rmtErrorToString(RMT_ERROR_WEBSOCKET_HANDSHAKE_NO_VERSION)); + EXPECT_EQ("WebSocket server handshake failed, unsupported WebSocket version", + rmtErrorToString(RMT_ERROR_WEBSOCKET_HANDSHAKE_BAD_VERSION)); + EXPECT_EQ("WebSocket server handshake failed, can't locate host", + rmtErrorToString(RMT_ERROR_WEBSOCKET_HANDSHAKE_NO_HOST)); + EXPECT_EQ("WebSocket server handshake failed, host is not allowed to connect", + rmtErrorToString(RMT_ERROR_WEBSOCKET_HANDSHAKE_BAD_HOST)); + EXPECT_EQ("WebSocket server handshake failed, can't locate WebSocket key", + rmtErrorToString(RMT_ERROR_WEBSOCKET_HANDSHAKE_NO_KEY)); + EXPECT_EQ("WebSocket server handshake failed, WebSocket key is ill-formed", + rmtErrorToString(RMT_ERROR_WEBSOCKET_HANDSHAKE_BAD_KEY)); + EXPECT_EQ("WebSocket server handshake failed, internal error, bad string code", //NOLINT + rmtErrorToString(RMT_ERROR_WEBSOCKET_HANDSHAKE_STRING_FAIL)); + EXPECT_EQ("WebSocket server received a disconnect request and closed the socket", //NOLINT + rmtErrorToString(RMT_ERROR_WEBSOCKET_DISCONNECTED)); + EXPECT_EQ("Couldn't parse WebSocket frame header", + rmtErrorToString(RMT_ERROR_WEBSOCKET_BAD_FRAME_HEADER)); + EXPECT_EQ("Partially received wide frame header size", + rmtErrorToString(RMT_ERROR_WEBSOCKET_BAD_FRAME_HEADER_SIZE)); + EXPECT_EQ("Partially received frame header data mask", + rmtErrorToString(RMT_ERROR_WEBSOCKET_BAD_FRAME_HEADER_MASK)); + EXPECT_EQ("Timeout receiving frame header", + rmtErrorToString(RMT_ERROR_WEBSOCKET_RECEIVE_TIMEOUT)); + + EXPECT_EQ("Remotery object has not been created", + rmtErrorToString(RMT_ERROR_REMOTERY_NOT_CREATED)); + EXPECT_EQ("An attempt was made to send an incomplete profile tree to the client", //NOLINT + rmtErrorToString(RMT_ERROR_SEND_ON_INCOMPLETE_PROFILE)); + + EXPECT_EQ("This indicates that the CUDA driver is in the process of shutting down", //NOLINT + rmtErrorToString(RMT_ERROR_CUDA_DEINITIALIZED)); + EXPECT_EQ("This indicates that the CUDA driver has not been initialized with cuInit() or that initialization has failed", //NOLINT + rmtErrorToString(RMT_ERROR_CUDA_NOT_INITIALIZED)); + EXPECT_EQ("This most frequently indicates that there is no context bound to the current thread", //NOLINT + rmtErrorToString(RMT_ERROR_CUDA_INVALID_CONTEXT)); + EXPECT_EQ("This indicates that one or more of the parameters passed to the API call is not within an acceptable range of values", //NOLINT + rmtErrorToString(RMT_ERROR_CUDA_INVALID_VALUE)); + EXPECT_EQ("This indicates that a resource handle passed to the API call was not valid", //NOLINT + rmtErrorToString(RMT_ERROR_CUDA_INVALID_HANDLE)); + EXPECT_EQ("The API call failed because it was unable to allocate enough memory to perform the requested operation", //NOLINT + rmtErrorToString(RMT_ERROR_CUDA_OUT_OF_MEMORY)); + EXPECT_EQ("This indicates that a resource handle passed to the API call was not valid", //NOLINT + rmtErrorToString(RMT_ERROR_ERROR_NOT_READY)); + + EXPECT_EQ("Failed to create query for sample", + rmtErrorToString(RMT_ERROR_D3D11_FAILED_TO_CREATE_QUERY)); + + EXPECT_EQ("Generic OpenGL error, no need to expose detail since app will need an OpenGL error callback registered", //NOLINT + rmtErrorToString(RMT_ERROR_OPENGL_ERROR)); + EXPECT_EQ("Unknown CUDA error", + rmtErrorToString(RMT_ERROR_CUDA_UNKNOWN)); + EXPECT_EQ("Unknown remotery error", + rmtErrorToString(static_cast(1000))); +} diff --git a/profiler/src/RemoteryProfilerImpl.hh b/profiler/src/RemoteryProfilerImpl.hh index bc262be5b..a3b574b4f 100644 --- a/profiler/src/RemoteryProfilerImpl.hh +++ b/profiler/src/RemoteryProfilerImpl.hh @@ -19,6 +19,7 @@ #define GZ_COMMON_REMOTERYPROFILERIMPL_HH_ #include +#include #include "RemoteryConfig.h" #include "Remotery.h" diff --git a/src/Console.cc b/src/Console.cc index 233bf9cc3..238e37e62 100644 --- a/src/Console.cc +++ b/src/Console.cc @@ -19,6 +19,7 @@ #include #include +#include #ifdef _WIN32 #include diff --git a/src/SignalHandler.cc b/src/SignalHandler.cc index 35d1cce9d..7ad81d815 100644 --- a/src/SignalHandler.cc +++ b/src/SignalHandler.cc @@ -18,6 +18,7 @@ // Suppressing cpplint.py because tools/cpplint.py is old. Remove the NOLINT // comments when upgrading to gz-cmake's "make codecheck" #include "gz/common/SignalHandler.hh" // NOLINT(*) +#include #include // NOLINT(*) #include // NOLINT(*) #include // NOLINT(*) diff --git a/src/URI.cc b/src/URI.cc index 7f89cac31..a5cf607d8 100644 --- a/src/URI.cc +++ b/src/URI.cc @@ -24,6 +24,7 @@ #include "gz/common/Console.hh" #include "gz/common/URI.hh" +#include "gz/common/Util.hh" using namespace gz; using namespace common; diff --git a/src/WorkerPool_TEST.cc b/src/WorkerPool_TEST.cc index 476b18b4c..9b45488c7 100644 --- a/src/WorkerPool_TEST.cc +++ b/src/WorkerPool_TEST.cc @@ -18,6 +18,7 @@ #include #include +#include #include "gz/common/Console.hh" #include "gz/common/WorkerPool.hh" diff --git a/test/BUILD.bazel b/test/BUILD.bazel index f499aa249..d62c70a6b 100644 --- a/test/BUILD.bazel +++ b/test/BUILD.bazel @@ -1,32 +1,42 @@ load( - "//gz_bazel:cmake_configure_file.bzl", - "cmake_configure_file", + "@gz//bazel/skylark:build_defs.bzl", + "GZ_ROOT", ) -BINARY_DIR = "./gz_common" - -SOURCE_DIR = "./gz_common" - -# Generates config.hh based on the version numbers in CMake code. -cmake_configure_file( - name = "test_config", - src = "test_config.h.in", - out = "test_config.h", - cmakelists = ["CMakeLists.txt"], - defines = [ - "PROJECT_BINARY_DIR=%s" % BINARY_DIR, - "PROJECT_SOURCE_DIR=%s" % SOURCE_DIR, +cc_test( + name = "INTEGRATION_console", + srcs = ["integration/console.cc"], + env = { + "GZ_BAZEL": "1", + "GZ_BAZEL_PATH": "common", + }, + deps = [ + GZ_ROOT + "common", + GZ_ROOT + "common/testing", + "@gtest//:gtest_main", ], - visibility = ["//visibility:private"], ) -cc_library( - name = "test_utils", - srcs = [ - "test_config.h", +cc_test( + name = "INTEGRATION_mesh", + srcs = ["integration/mesh.cc"], + data = [ + "data/box.dae", + "data/box.fbx", + "data/box.glb", + "data/box.mtl", + "data/box.obj", + ], + env = { + "GZ_BAZEL": "1", + "GZ_BAZEL_PATH": "common", + }, + deps = [ + GZ_ROOT + "common", + GZ_ROOT + "common/graphics", + GZ_ROOT + "common/testing", + "@gtest//:gtest_main", ], - includes = ["."], - visibility = ["//visibility:public"], ) exports_files(["data"]) diff --git a/test/data/cmu-13_26.bvh b/test/data/cmu-13_26.bvh new file mode 100644 index 000000000..aa94f23e8 --- /dev/null +++ b/test/data/cmu-13_26.bvh @@ -0,0 +1,3216 @@ +HIERARCHY +ROOT Hips +{ + OFFSET 0.00000 0.00000 0.00000 + CHANNELS 6 Xposition Yposition Zposition Zrotation Yrotation Xrotation + JOINT LHipJoint + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftUpLeg + { + OFFSET 1.57338 -1.94743 0.52196 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftLeg + { + OFFSET 2.60333 -7.15259 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftFoot + { + OFFSET 2.77855 -7.63400 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftToeBase + { + OFFSET 0.19847 -0.54529 2.28466 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET 0.00000 -0.00000 1.17993 + } + } + } + } + } + } + JOINT RHipJoint + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightUpLeg + { + OFFSET -1.61527 -1.94743 0.52196 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightLeg + { + OFFSET -2.53829 -6.97390 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightFoot + { + OFFSET -2.80762 -7.71387 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightToeBase + { + OFFSET -0.30536 -0.83898 2.28801 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET -0.00000 -0.00000 1.21323 + } + } + } + } + } + } + JOINT LowerBack + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT Spine + { + OFFSET -0.04381 1.99497 -0.19778 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT Spine1 + { + OFFSET -0.01959 2.01295 -0.04372 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT Neck + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT Neck1 + { + OFFSET -0.05459 1.76913 0.09708 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT Head + { + OFFSET 0.09461 1.77368 -0.11172 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET 0.03812 1.78157 -0.04834 + } + } + } + } + JOINT LeftShoulder + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftArm + { + OFFSET 3.50922 1.24034 -0.28866 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftForeArm + { + OFFSET 5.40188 -0.00000 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftHand + { + OFFSET 3.68559 -0.00000 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftFingerBase + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftHandIndex1 + { + OFFSET 0.61753 -0.00000 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET 0.49787 -0.00000 0.00000 + } + } + } + JOINT LThumb + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET 0.50547 -0.00000 0.50547 + } + } + } + } + } + } + JOINT RightShoulder + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightArm + { + OFFSET -2.95373 1.39649 -0.27346 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightForeArm + { + OFFSET -6.10670 -0.00000 -0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightHand + { + OFFSET -3.63052 -0.00000 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightFingerBase + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightHandIndex1 + { + OFFSET -0.58385 -0.00000 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET -0.47071 -0.00000 0.00000 + } + } + } + JOINT RThumb + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET -0.47790 -0.00000 0.47790 + } + } + } + } + } + } + } + } + } +} +MOTION +Frames: 3029 +Frame Time: .0083333 +-0.2009 18.6574 0.9823 0 0 0 0 0 0 -21 0 0 0 0 0 0 0 0 0 0 0 0 0 0 21 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -16 0 0 21 0 0 11 0 0 0 -8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 8 0 0 0 0 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0.2910 6.2552 -2.8806 -0.1517 2.7530 2.1092 -0.1196 -0.6266 -10.0010 -5.6513 -8.0021 8.9545 -7.6082 13.0863 3.8701 -3.5931 5.9961 0.0000 -0.0000 0.0000 -78.7026 -3.4854 52.8609 73.8005 -58.9848 -46.0187 -0.0000 0.0000 -42.1897 8.6281 23.8559 3.5118 -7.1250 0.0000 -0.0000 -21.2124 52.8072 -4.2276 0.0000 -0.0000 0.0000 79.3133 -4.2861 21.8406 -102.3273 59.4179 -70.6549 0.0000 -0.0000 -21.6522 -37.2157 3.2980 -2.5018 7.1250 -0.0000 -0.0000 -8.0071 -25.8300 -3.7530 +-0.0561 18.2221 -3.9938 -176.3590 170.8150 -184.1650 0.0000 0.0000 0.0000 -20.0190 0.8851 -1.3769 2.7207 10.2286 29.7201 1.4793 5.6023 -25.5949 0.3184 -3.6270 -10.0295 0.0000 0.0000 0.0000 7.9738 9.1483 -15.4617 -8.7920 -16.6720 55.3679 1.4714 -23.7793 -21.3976 -0.0464 -1.3899 3.8222 -9.2064 0.4156 6.2440 -2.9050 0.0097 2.7744 2.1441 -0.0408 -0.6137 -9.9009 -5.7202 -7.8674 9.0139 -7.7515 13.3194 3.8631 -3.6560 6.0584 0.0000 0.0000 0.0000 -78.1939 -3.0530 51.9858 73.2999 -58.9195 -45.5898 -0.0000 0.0000 -43.0344 9.2058 24.3793 3.8272 -7.1250 0.0000 -0.0000 -20.9454 53.3968 -4.4799 0.0000 0.0000 0.0000 79.4667 -4.3041 21.2662 -100.6073 59.5706 -69.1730 0.0000 -0.0000 -24.5654 -36.7359 2.7324 -2.0377 7.1250 -0.0000 -0.0000 -7.7114 -26.5551 -3.4799 +-0.0288 18.2424 -3.9960 -176.5280 170.2940 -184.2300 0.0000 0.0000 0.0000 -19.9298 0.6690 -1.3920 2.7019 10.1961 29.6140 1.3898 6.0139 -25.1663 0.3953 -4.0371 -11.1811 0.0000 0.0000 0.0000 7.9754 9.3247 -15.4856 -8.7033 -16.6130 55.0584 1.2008 -22.0315 -20.4270 -0.0278 -1.0767 2.9600 -9.1697 0.4813 6.3383 -2.8780 0.0931 2.8323 2.1460 -0.0003 -0.6146 -9.6859 -5.7999 -7.8544 8.9726 -7.9033 13.6160 3.8011 -3.7202 6.1538 -0.0000 -0.0000 0.0000 -77.6620 -2.5860 51.0829 72.8491 -58.8588 -45.2038 -0.0000 0.0000 -44.1005 10.2211 24.6356 4.2983 -7.1250 0.0000 -0.0000 -20.1028 53.8201 -4.4998 -0.0000 -0.0000 0.0000 79.5056 -4.2134 20.7921 -98.7084 59.7115 -67.5344 0.0000 -0.0000 -27.5158 -36.4418 1.9543 -1.4424 7.1250 -0.0000 -0.0000 -7.5721 -27.5269 -3.2415 +-0.0030 18.2553 -3.9996 -176.6170 169.6460 -184.2970 0.0000 0.0000 0.0000 -19.9217 0.3675 -1.2592 2.6843 10.1656 29.5146 1.3756 5.8319 -24.9471 0.3867 -3.9934 -11.0581 0.0000 0.0000 0.0000 7.8865 9.4830 -15.4157 -8.5571 -16.5141 54.5454 0.9431 -20.2030 -19.4800 -0.0052 -0.4646 1.2765 -9.2359 0.4726 6.5015 -2.8375 0.0624 2.8742 2.2264 -0.0153 -0.6580 -9.5534 -5.8462 -7.8852 8.8875 -7.9901 13.9503 3.7434 -3.7583 6.2639 -0.0000 0.0000 0.0000 -77.2174 -2.1720 50.1455 72.0738 -58.7503 -44.5406 -0.0000 0.0000 -45.3404 10.2788 24.0590 4.2283 -7.1250 0.0000 -0.0000 -19.7304 53.2879 -4.1495 -0.0000 0.0000 0.0000 79.2649 -3.8165 20.4645 -96.1483 59.8567 -65.3220 0.0000 -0.0000 -30.5832 -36.0765 1.2293 -0.8955 7.1250 -0.0000 -0.0000 -7.3656 -28.4292 -2.9935 +0.0264 18.2571 -4.0032 -176.4940 169.0760 -184.3250 0.0000 0.0000 0.0000 -20.1652 0.0933 -0.9463 2.6549 10.1142 29.3474 1.4371 5.1594 -25.0229 0.2976 -3.5076 -9.6953 0.0000 0.0000 0.0000 7.4963 9.6703 -15.3390 -8.3883 -16.3976 53.9497 0.6790 -18.1692 -18.5945 -0.0034 0.3759 -1.0328 -9.4089 0.4761 6.5826 -2.8891 0.0529 2.9426 2.2688 -0.0234 -0.6294 -9.5340 -5.8866 -7.8472 8.9778 -8.0784 14.1519 3.7622 -3.7932 6.3323 -0.0000 0.0000 0.0000 -76.8219 -1.9885 49.1573 70.7488 -58.5523 -43.4090 -0.0000 0.0000 -46.8470 9.9169 24.0310 4.0724 -7.1250 0.0000 -0.0000 -20.0661 53.1973 -4.1793 -0.0000 0.0000 0.0000 78.9183 -3.0922 20.1174 -92.8464 59.9694 -62.4648 0.0000 -0.0000 -33.6116 -35.4741 0.4663 -0.3323 7.1250 -0.0000 -0.0000 -6.9700 -29.3743 -2.6729 +0.0556 18.2646 -4.0065 -176.4580 168.7080 -184.4020 0.0000 0.0000 0.0000 -20.3325 0.0698 -0.8041 2.6399 10.0879 29.2618 1.4018 5.2788 -24.8222 0.3501 -3.8019 -10.5199 0.0000 0.0000 0.0000 7.2586 10.0711 -15.0983 -8.1648 -16.2391 53.1542 0.4596 -16.2692 -17.8264 -0.0328 1.1682 -3.2117 -9.4596 0.5433 6.6385 -2.9325 0.1382 3.0158 2.2456 0.0159 -0.5927 -9.5154 -5.9980 -7.7677 9.0231 -8.2636 14.3950 3.7582 -3.8788 6.4145 -0.0000 -0.0000 0.0000 -76.4393 -1.8887 48.2020 69.1935 -58.2993 -42.0839 -0.0000 0.0000 -48.3986 11.4191 25.9769 5.0558 -7.1250 0.0000 -0.0000 -19.6956 55.3067 -5.1289 -0.0000 -0.0000 0.0000 78.5289 -2.4571 19.6751 -89.5952 59.9994 -59.6494 0.0000 -0.0000 -36.5612 -34.6825 -0.3192 0.2209 7.1250 -0.0000 -0.0000 -6.4146 -30.3346 -2.3096 diff --git a/test/data/cube.stl b/test/data/cube.stl new file mode 100644 index 000000000..4030ac997 --- /dev/null +++ b/test/data/cube.stl @@ -0,0 +1,86 @@ +solid model +facet normal 0.0 0.0 -1.0 +outer loop +vertex 20.0 0.0 0.0 +vertex 0.0 -20.0 0.0 +vertex 0.0 0.0 0.0 +endloop +endfacet +facet normal 0.0 0.0 -1.0 +outer loop +vertex 0.0 -20.0 0.0 +vertex 20.0 0.0 0.0 +vertex 20.0 -20.0 0.0 +endloop +endfacet +facet normal -0.0 -1.0 -0.0 +outer loop +vertex 20.0 -20.0 20.0 +vertex 0.0 -20.0 0.0 +vertex 20.0 -20.0 0.0 +endloop +endfacet +facet normal -0.0 -1.0 -0.0 +outer loop +vertex 0.0 -20.0 0.0 +vertex 20.0 -20.0 20.0 +vertex 0.0 -20.0 20.0 +endloop +endfacet +facet normal 1.0 0.0 0.0 +outer loop +vertex 20.0 0.0 0.0 +vertex 20.0 -20.0 20.0 +vertex 20.0 -20.0 0.0 +endloop +endfacet +facet normal 1.0 0.0 0.0 +outer loop +vertex 20.0 -20.0 20.0 +vertex 20.0 0.0 0.0 +vertex 20.0 0.0 20.0 +endloop +endfacet +facet normal -0.0 -0.0 1.0 +outer loop +vertex 20.0 -20.0 20.0 +vertex 0.0 0.0 20.0 +vertex 0.0 -20.0 20.0 +endloop +endfacet +facet normal -0.0 -0.0 1.0 +outer loop +vertex 0.0 0.0 20.0 +vertex 20.0 -20.0 20.0 +vertex 20.0 0.0 20.0 +endloop +endfacet +facet normal -1.0 0.0 0.0 +outer loop +vertex 0.0 0.0 20.0 +vertex 0.0 -20.0 0.0 +vertex 0.0 -20.0 20.0 +endloop +endfacet +facet normal -1.0 0.0 0.0 +outer loop +vertex 0.0 -20.0 0.0 +vertex 0.0 0.0 20.0 +vertex 0.0 0.0 0.0 +endloop +endfacet +facet normal -0.0 1.0 0.0 +outer loop +vertex 0.0 0.0 20.0 +vertex 20.0 0.0 0.0 +vertex 0.0 0.0 0.0 +endloop +endfacet +facet normal -0.0 1.0 0.0 +outer loop +vertex 20.0 0.0 0.0 +vertex 0.0 0.0 20.0 +vertex 20.0 0.0 20.0 +endloop +endfacet +endsolid model diff --git a/test/data/cube_binary.stl b/test/data/cube_binary.stl new file mode 100644 index 000000000..6b6358be4 Binary files /dev/null and b/test/data/cube_binary.stl differ diff --git a/test/data/gazebo_logo.bmp b/test/data/gazebo_logo.bmp new file mode 100644 index 000000000..5b9077ec0 Binary files /dev/null and b/test/data/gazebo_logo.bmp differ diff --git a/test/data/gazebo_logo.jpeg b/test/data/gazebo_logo.jpeg new file mode 100644 index 000000000..081973eda Binary files /dev/null and b/test/data/gazebo_logo.jpeg differ diff --git a/test/integration/mesh.cc b/test/integration/mesh.cc index bda648333..eca02ea64 100644 --- a/test/integration/mesh.cc +++ b/test/integration/mesh.cc @@ -14,6 +14,7 @@ * limitations under the License. * */ +#include #include @@ -215,8 +216,8 @@ TEST_F(MeshTest, Access) EXPECT_FLOAT_EQ(.5, vertArray[i++]); EXPECT_FLOAT_EQ(-.5, vertArray[i++]); - delete vertArray; - delete indArray; + delete [] indArray; + delete [] vertArray; EXPECT_FALSE(common::MeshManager::Instance()->HasMesh("")); EXPECT_TRUE(common::MeshManager::Instance()->HasMesh("unit_box")); @@ -259,8 +260,8 @@ TEST_F(MeshTest, Export) common::systemPaths()->AddFilePaths(common::cwd()); auto mesh = common::MeshManager::Instance()->Load("gz_stl_test.stl"); - ASSERT_NE(nullptr, mesh); + common::MeshManager::Instance()->Export(mesh, common::joinPaths(common::cwd(), "gz_stl_test2"), "stl", false); common::MeshManager::Instance()->Export(mesh, diff --git a/testing/BUILD.bazel b/testing/BUILD.bazel new file mode 100644 index 000000000..ac9111cd3 --- /dev/null +++ b/testing/BUILD.bazel @@ -0,0 +1,69 @@ +load( + "@gz//bazel/skylark:build_defs.bzl", + "GZ_ROOT", + "gz_export_header", +) + +gz_export_header( + name = "include/gz/common/testing/Export.hh", + export_base = "GZ_COMMON_TESTING", + lib_name = "gz-common-testing", + visibility = ["//visibility:private"], +) + +public_headers = glob([ + "include/gz/common/testing/*.hh", + "include/gz/common/testing/detail/*.hh", +]) + ["include/gz/common/testing/Export.hh"] + +cc_library( + name = "testing", + srcs = [ + "src/BazelTestPaths.cc", + "src/CMakeTestPaths.cc", + "src/TestPaths.cc", + "src/Utils.cc", + ], + hdrs = public_headers, + includes = ["include"], + visibility = ["//visibility:public"], + deps = [ + GZ_ROOT + "common", + ], +) + +cc_test( + name = "AutoLogFixture_TEST", + srcs = ["src/AutoLogFixture_TEST.cc"], + deps = [ + ":testing", + "@gtest//:gtest_main", + ], +) + +cc_test( + name = "BazelTestPaths_TEST", + srcs = ["src/BazelTestPaths_TEST.cc"], + data = glob(["test_files/**"]), + env = { + "GZ_BAZEL": "1", + "GZ_BAZEL_PATH": "common", + }, + deps = [ + ":testing", + "@gtest//:gtest_main", + ], +) + +cc_test( + name = "Utils_TEST", + srcs = ["src/Utils_TEST.cc"], + env = { + "GZ_BAZEL": "1", + "GZ_BAZEL_PATH": "common", + }, + deps = [ + ":testing", + "@gtest//:gtest_main", + ], +) diff --git a/testing/include/gz/common/testing/AutoLogFixture.hh b/testing/include/gz/common/testing/AutoLogFixture.hh index dad019788..6e7e6fa85 100644 --- a/testing/include/gz/common/testing/AutoLogFixture.hh +++ b/testing/include/gz/common/testing/AutoLogFixture.hh @@ -17,12 +17,12 @@ #ifndef GZ_COMMON_TESTING_AUTOLOGFIXTURE_HH_ #define GZ_COMMON_TESTING_AUTOLOGFIXTURE_HH_ -/// Protect to guarantee that gtest is included before this header. -#ifdef GTEST_API_ - #include #include +/// Protect to guarantee that gtest is included before this header. +#ifdef GTEST_API_ + #include namespace gz::common::testing diff --git a/testing/include/gz/common/testing/RedirectConsoleStream.hh b/testing/include/gz/common/testing/RedirectConsoleStream.hh index 793c76367..9fa45456f 100644 --- a/testing/include/gz/common/testing/RedirectConsoleStream.hh +++ b/testing/include/gz/common/testing/RedirectConsoleStream.hh @@ -35,7 +35,7 @@ enum class StreamSource class GZ_COMMON_TESTING_VISIBLE RedirectConsoleStream { - /// \brief Constructor + /// \brief Constructor /// /// Redirect a choosen stream to a temporary file that can be read back. /// Upon destruction, any redirection will be removed. @@ -43,8 +43,8 @@ class GZ_COMMON_TESTING_VISIBLE RedirectConsoleStream /// Access contents before destruction using GetString /// /// \param[in] _source Console source to redirect (eg stdout or stderr) - /// \param[in] _destination Destination filename - public: RedirectConsoleStream(const StreamSource &_source, + /// \param[in] _destination Destination filename + public: RedirectConsoleStream(const StreamSource &_source, const std::string &_destination); /// \brief Get the contents of the redirected console output @@ -60,14 +60,14 @@ class GZ_COMMON_TESTING_VISIBLE RedirectConsoleStream }; /// \brief Redirect standard out to a test-specific temporary path -inline RedirectConsoleStream RedirectStdout() +inline RedirectConsoleStream RedirectStdout() { auto path = gz::common::testing::TempPath("stdout.out"); return RedirectConsoleStream(StreamSource::STDOUT, path); } /// \brief Redirect standard error to a test-specific temporary path -inline RedirectConsoleStream RedirectStderr() +inline RedirectConsoleStream RedirectStderr() { auto path = gz::common::testing::TempPath("stderr.out"); return RedirectConsoleStream(StreamSource::STDERR, path); diff --git a/testing/include/gz/common/testing/detail/AutoLogFixture.hh b/testing/include/gz/common/testing/detail/AutoLogFixture.hh index 56aae04d8..658d3ba83 100644 --- a/testing/include/gz/common/testing/detail/AutoLogFixture.hh +++ b/testing/include/gz/common/testing/detail/AutoLogFixture.hh @@ -17,6 +17,9 @@ #ifndef GZ_COMMON_TESTING_DETAIL_AUTOLOGFIXTURE_HH_ #define GZ_COMMON_TESTING_DETAIL_AUTOLOGFIXTURE_HH_ +#include +#include + /// Protect to guarantee that gtest is included before this header. /// /// While downstream users should never directly include the detail @@ -25,9 +28,6 @@ #include "gz/common/testing/AutoLogFixture.hh" -#include -#include - #include #include #include diff --git a/testing/src/RedirectConsoleStream.cc b/testing/src/RedirectConsoleStream.cc index 70529cf75..ba4ae9cb2 100644 --- a/testing/src/RedirectConsoleStream.cc +++ b/testing/src/RedirectConsoleStream.cc @@ -41,7 +41,7 @@ namespace gz::common::testing class RedirectConsoleStream::Implementation { - /// \brief Console source being redirected + /// \brief Console source being redirected public: StreamSource source; /// \brief Filename to write console output to @@ -129,14 +129,14 @@ RedirectConsoleStream::RedirectConsoleStream(const StreamSource &_source, } this->dataPtr->fd = GetSourceFd(_source); - + // Store the fd so that it can be restored upon destruction this->dataPtr->originalFd = dup(this->dataPtr->fd); int sinkFd; // Create a file with read/write permissions and exclusive access - if ((sinkFd = open(this->dataPtr->sink.c_str(), - O_EXCL | O_RDWR | O_CREAT, + if ((sinkFd = open(this->dataPtr->sink.c_str(), + O_EXCL | O_RDWR | O_CREAT, S_IREAD | S_IWRITE)) < 0) { gzerr << "Failed to open sink file, console redirection disabled" @@ -153,7 +153,7 @@ RedirectConsoleStream::RedirectConsoleStream(const StreamSource &_source, } ////////////////////////////////////////////////// -std::string RedirectConsoleStream::GetString() +std::string RedirectConsoleStream::GetString() { this->dataPtr->RemoveRedirection(); diff --git a/testing/src/RedirectConsoleStream_TEST.cc b/testing/src/RedirectConsoleStream_TEST.cc index e862e345e..c41ffa75c 100644 --- a/testing/src/RedirectConsoleStream_TEST.cc +++ b/testing/src/RedirectConsoleStream_TEST.cc @@ -186,4 +186,3 @@ TEST(RedirectConsoleStream, Console) EXPECT_EQ(err.find("message"), std::string::npos); EXPECT_EQ(err.find("debug"), std::string::npos); } - diff --git a/tutorials/profiler.md b/tutorials/profiler.md index f3aff918d..65498ddad 100644 --- a/tutorials/profiler.md +++ b/tutorials/profiler.md @@ -105,7 +105,7 @@ xdg-open /usr/share/gz/gz-common6/profiler_vis/index.html open /usr/share/gz/gz-common6/profiler_vis/index.html # Inside a Docker container with port 8000 exposed -# 1. Find your container's IP with `ifconfig` +# 1. Find your container's IP with 'ifconfig' # 2. Start a basic web server: python3 -m http.server $SOURCE_DIR/gz-common/profiler/src/Remotery/vis/index.html # 3. Open URL "http://:8000/" with a browser on the host.