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Merge pull request #1369 from gazebosim/scpeters/merge_14_to_main
Merge sdf14 to main
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -14,4 +14,3 @@ jobs: | |
| with: | ||
| project-url: https://github.com/orgs/gazebosim/projects/7 | ||
| github-token: ${{ secrets.TRIAGE_TOKEN }} | ||
|
|
||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,200 @@ | ||
| load( | ||
| "@gz//bazel/skylark:build_defs.bzl", | ||
| "GZ_FEATURES", | ||
| "GZ_ROOT", | ||
| "GZ_VISIBILITY", | ||
| "add_lint_tests", | ||
| "gz_configure_file", | ||
| "gz_configure_header", | ||
| "gz_export_header", | ||
| "gz_include_header", | ||
| "gz_py_binary", | ||
| ) | ||
|
|
||
| package( | ||
| default_visibility = GZ_VISIBILITY, | ||
| features = GZ_FEATURES, | ||
| ) | ||
|
|
||
| licenses(["notice"]) | ||
|
|
||
| exports_files(["LICENSE"]) | ||
|
|
||
| gz_configure_header( | ||
| name = "config", | ||
| src = "include/sdf/config.hh.in", | ||
| cmakelists = ["CMakeLists.txt"], | ||
| defines = { | ||
| "CMAKE_INSTALL_FULL_DATAROOTDIR": "unused", | ||
| }, | ||
| package = "sdformat", | ||
| ) | ||
|
|
||
| gz_py_binary( | ||
| name = "embed_sdf", | ||
| srcs = ["sdf/embedSdf.py"], | ||
| main = "sdf/embedSdf.py", | ||
| ) | ||
|
|
||
| genrule( | ||
| name = "embed_sdf_genrule", | ||
| srcs = glob([ | ||
| "sdf/**/*.sdf", | ||
| "sdf/**/*.convert", | ||
| ]), | ||
| outs = ["EmbeddedSdf.cc"], | ||
| cmd = "$(execpath :embed_sdf) --output-file $@ --sdf-root sdformat/sdf/ --input-files $(SRCS)", # noqa | ||
| tools = [":embed_sdf"], | ||
| ) | ||
|
|
||
| public_headers_no_gen = glob([ | ||
| "include/sdf/*.h", | ||
| "include/sdf/*.hh", | ||
| ]) | ||
|
|
||
| private_headers = glob(["src/*.hh"]) | ||
|
|
||
| sources = glob( | ||
| ["src/*.cc"], | ||
| exclude = [ | ||
| "src/*_TEST.cc", | ||
| "src/gz.cc", | ||
| ], | ||
| ) | ||
|
|
||
| gz_export_header( | ||
| name = "include/sdf/Export.hh", | ||
| export_base = "GZ_SDFORMAT", | ||
| lib_name = "sdf", | ||
| visibility = ["//visibility:private"], | ||
| ) | ||
|
|
||
| gz_include_header( | ||
| name = "sdformat_hh_genrule", | ||
| out = "include/sdformat.hh", | ||
| hdrs = public_headers_no_gen + [ | ||
| "include/sdf/config.hh", | ||
| "include/sdf/Export.hh", | ||
| ], | ||
| ) | ||
|
|
||
| public_headers = public_headers_no_gen + [ | ||
| "include/sdf/Export.hh", | ||
| "include/sdf/config.hh", | ||
| "include/sdformat.hh", | ||
| ] | ||
|
|
||
| cc_library( | ||
| name = "urdf", | ||
| srcs = [ | ||
| "src/urdf/urdf_parser/joint.cpp", | ||
| "src/urdf/urdf_parser/link.cpp", | ||
| "src/urdf/urdf_parser/model.cpp", | ||
| "src/urdf/urdf_parser/pose.cpp", | ||
| "src/urdf/urdf_parser/twist.cpp", | ||
| "src/urdf/urdf_parser/urdf_model_state.cpp", | ||
| "src/urdf/urdf_parser/urdf_sensor.cpp", | ||
| "src/urdf/urdf_parser/world.cpp", | ||
| ], | ||
| hdrs = glob( | ||
| ["src/urdf/**/*.h"], | ||
| ), | ||
| copts = ["-Wno-unknown-pragmas"], | ||
| includes = ["src/urdf"], | ||
| deps = [ | ||
| "@tinyxml2", | ||
| ], | ||
| ) | ||
|
|
||
| cc_library( | ||
| name = "sdformat", | ||
| srcs = sources + private_headers + ["EmbeddedSdf.cc"], | ||
| hdrs = public_headers, | ||
| defines = [ | ||
| 'SDF_SHARE_PATH=\\".\\"', | ||
| 'SDF_VERSION_PATH=\\"sdformat\\"', | ||
| ], | ||
| includes = [ | ||
| "include", | ||
| "src", | ||
| ], | ||
| deps = [ | ||
| ":urdf", | ||
| GZ_ROOT + "math", | ||
| GZ_ROOT + "utils", | ||
| "@tinyxml2", | ||
| ], | ||
| ) | ||
|
|
||
| cc_library( | ||
| name = "sdformat_internal", | ||
| srcs = [ | ||
| "src/gz.cc", | ||
| "src/gz.hh", | ||
| ], | ||
| visibility = ["//visibility:private"], | ||
| deps = [":sdformat"], | ||
| ) | ||
|
|
||
| test_sources = glob( | ||
| ["src/*_TEST.cc"], | ||
| exclude = ["src/gz_TEST.cc"], | ||
| ) | ||
|
|
||
| [cc_test( | ||
| name = src.replace("/", "_").replace(".cc", "").replace("src_", ""), | ||
| srcs = [src], | ||
| data = [ | ||
| "sdf", | ||
| GZ_ROOT + "sdformat/test:integration", | ||
| GZ_ROOT + "sdformat/test:sdf", | ||
| ], | ||
| env = { | ||
| "GZ_BAZEL": "1", | ||
| "GZ_BAZEL_PATH": "sdformat", | ||
| }, | ||
| deps = [ | ||
| ":sdformat", | ||
| GZ_ROOT + "sdformat/test:test_utils", | ||
| "@gtest", | ||
| "@gtest//:gtest_main", | ||
| ], | ||
| ) for src in test_sources] | ||
|
|
||
| gz_configure_file( | ||
| name = "sdformat.rb", | ||
| src = "src/cmd/cmdsdformat.rb.in", | ||
| out = "cmdsdformat.rb", | ||
| cmakelists = ["CMakeLists.txt"], | ||
| defines = [ | ||
| "library_location=libgz-sdformat.so", | ||
| ], | ||
| package = "sdformat", | ||
| visibility = [GZ_ROOT + "tools:__pkg__"], | ||
| ) | ||
|
|
||
| gz_configure_file( | ||
| name = "sdformat_yaml", | ||
| src = "conf/sdformat.yaml.in", | ||
| out = "sdformat.yaml", | ||
| cmakelists = ["CMakeLists.txt"], | ||
| defines = [ | ||
| "gz_library_path=gz/sdformat/cmdsdformat.rb", | ||
| ], | ||
| package = "sdformat", | ||
| visibility = [GZ_ROOT + "tools:__pkg__"], | ||
| ) | ||
|
|
||
| cc_binary( | ||
| name = "libgz-sdformat.so", | ||
| srcs = [":sdformat_internal"], | ||
| linkshared = True, | ||
| visibility = [GZ_ROOT + "tools:__pkg__"], | ||
| deps = [ | ||
| ":sdformat", | ||
| ], | ||
| ) | ||
|
|
||
| exports_files(["sdf"]) | ||
|
|
||
| add_lint_tests() |
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