From 44ca8ffb8346a11f444af583babdc75508723d9f Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Thu, 26 Sep 2024 23:17:26 +0200 Subject: [PATCH] Add support for building gz-sim-yarp-plugins against gz-sim9 --- .github/workflows/test-pixi.yml | 8 +- CMakeLists.txt | 32 +- pixi.lock | 3169 ++++++++++++++++++++++++++++++- pixi.toml | 29 +- 4 files changed, 3167 insertions(+), 71 deletions(-) diff --git a/.github/workflows/test-pixi.yml b/.github/workflows/test-pixi.yml index c44de32..a577985 100644 --- a/.github/workflows/test-pixi.yml +++ b/.github/workflows/test-pixi.yml @@ -6,7 +6,7 @@ on: jobs: pixi-test: - name: '[pixi:${{ matrix.os }}]' + name: '[pixi:${{ matrix.os }}:env:${{ matrix.pixi_env }}]' runs-on: ${{ matrix.os }} strategy: fail-fast: false @@ -17,6 +17,10 @@ jobs: # Disabled until https://github.com/robotology/gz-sim-yarp-plugins/issues/205 is fixed # windows-2019 ] + pixi_env: [ + default, + ionic + ] steps: - uses: actions/checkout@v4 @@ -39,4 +43,4 @@ jobs: run: pixi info - name: Run tests - run: pixi run test + run: pixi run -e ${{ matrix.pixi_env }} test diff --git a/CMakeLists.txt b/CMakeLists.txt index 54fc730..bfe254f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -4,15 +4,37 @@ project(gz-sim-yarp-plugins LANGUAGES CXX C VERSION 0.3.0) -find_package(gz-cmake3 REQUIRED) find_package(YARP REQUIRED COMPONENTS robotinterface os) find_package(YCM REQUIRED) -gz_find_package(gz-plugin2 REQUIRED COMPONENTS register) -set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR}) +# Initial value of GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION is empty, and then is set to 8 or 9 depending if gz-sim8 or gz-sim9 are available +set(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION_DOCS "Version of gz-sim used to compile gz-sim-yarp-plugins (either 8 or 9)") +set(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION "" CACHE STRING ${GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION_DOCS}) + +# If GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION is not set, try to guess a suitable value +# based on the gz-sim version that can be found in the system +if(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION STREQUAL "") + find_package(gz-sim8 QUIET) + if(gz-sim8_FOUND) + set(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION "8" CACHE STRING ${GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION_DOCS} FORCE) + else() + find_package(gz-sim9 REQUIRED) + set(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION "9" CACHE STRING ${GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION_DOCS} FORCE) + endif() +endif() -gz_find_package(gz-sim8 REQUIRED) -set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR}) +if(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION STREQUAL "8") + set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR}) + find_package(gz-plugin2 REQUIRED COMPONENTS register) + set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR}) +elseif(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION STREQUAL "9") + find_package(gz-sim9 REQUIRED) + set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR}) + find_package(gz-plugin3 REQUIRED COMPONENTS register) + set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR}) +else() + message(FATAL_ERROR "Unsupported GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION value ${GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION}, only 8 or 9 are supported.") +endif() option(GZ_SIM_YARP_PLUGINS_BUILD_TOOLS "If enabled, build command line helper tools" ON) diff --git a/pixi.lock b/pixi.lock index 0bd2988..09289da 100644 --- a/pixi.lock +++ b/pixi.lock @@ -1311,6 +1311,1317 @@ environments: - 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libgcc >=13 + - xorg-libx11 >=1.8.9,<2.0a0 + - xorg-libxext >=1.3.6,<2.0a0 + - xorg-libxrender >=0.9.11,<0.10.0a0 + license: MIT + license_family: MIT + size: 30197 + timestamp: 1727794957221 +- kind: conda + name: xorg-libxrandr + version: 1.5.4 + build: hb9d3cd8_0 + subdir: linux-64 + url: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxrandr-1.5.4-hb9d3cd8_0.conda + sha256: ac0f037e0791a620a69980914a77cb6bb40308e26db11698029d6708f5aa8e0d + md5: 2de7f99d6581a4a7adbff607b5c278ca + depends: + - __glibc >=2.17,<3.0.a0 + - libgcc >=13 + - xorg-libx11 >=1.8.10,<2.0a0 + - xorg-libxext >=1.3.6,<2.0a0 + - xorg-libxrender >=0.9.11,<0.10.0a0 + license: MIT + license_family: MIT + size: 29599 + timestamp: 1727794874300 - kind: conda name: xorg-libxrender version: 0.9.11 diff --git a/pixi.toml b/pixi.toml index cbc58d6..ee593a6 100644 --- a/pixi.toml +++ b/pixi.toml @@ -17,6 +17,12 @@ GZ_SIM_SYSTEM_PLUGIN_PATH = "$CONDA_PREFIX/lib" CMAKE_INSTALL_PREFIX = "%CONDA_PREFIX%\\Library" GZ_SIM_SYSTEM_PLUGIN_PATH = "%CONDA_PREFIX%\\Library\\bin" +[feature.harmonic.activation.env] +GSYP_BUILD_DIRECTORY_NAME = ".build_harmonic" + +[feature.ionic.activation.env] +GSYP_BUILD_DIRECTORY_NAME = ".build_ionic" + [tasks] configure = { cmd = [ @@ -30,19 +36,18 @@ configure = { cmd = [ # The source is in the root directory "-S", ".", - # We wanna build in the .build directory + # We wanna build in the $GSYP_BUILD_DIRECTORY_NAME directory "-B", - ".build", + "$GSYP_BUILD_DIRECTORY_NAME" ]} -build = { cmd = "cmake --build .build --config Release", depends_on = ["configure"] } -test = { cmd = "ctest --test-dir .build --build-config Release --output-on-failure", depends_on = ["build"] } -install = { cmd = ["cmake", "--install", ".build", "--config", "Release"], depends_on = ["build"] } -uninstall = { cmd = ["cmake", "--build", ".build", "--target", "uninstall"]} +build = { cmd = "cmake --build $GSYP_BUILD_DIRECTORY_NAME --config Release", depends_on = ["configure"] } +test = { cmd = "ctest --test-dir $GSYP_BUILD_DIRECTORY_NAME --build-config Release --output-on-failure", depends_on = ["build"] } +install = { cmd = ["cmake", "--install", "$GSYP_BUILD_DIRECTORY_NAME", "--config", "Release"], depends_on = ["build"] } +uninstall = { cmd = ["cmake", "--build", "$GSYP_BUILD_DIRECTORY_NAME", "--target", "uninstall"]} cpp-fmt = "fd --extension h --extension hh --extension hpp --extension c --extension cc --extension cpp --exec clang-format -i --verbose" [dependencies] -libgz-sim8 = "*" yarp = "*" ycm-cmake-modules = "*" cmake = "*" @@ -62,3 +67,13 @@ libegl-devel = "*" libgl-devel = "*" libopengl-devel = "*" libegl-devel = "*" + +[feature.harmonic.dependencies] +libgz-sim8 = "*" + +[feature.ionic.dependencies] +libgz-sim9 = "*" + +[environments] +default = ["harmonic"] +ionic = ["ionic"]