gazebosim · mjcarroll · Apr 5, 2024 · Oct 11, 2023 · Feb 6, 2024 · Feb 6, 2024
@@ -3,28 +3,41 @@ load(
     "GZ_FEATURES",
     "GZ_ROOT",
     "GZ_VISIBILITY",
+    "gz_configure_file",
     "gz_configure_header",
     "gz_export_header",
     "gz_include_header",
 )
+load(
+    "@gz//bazel/lint:lint.bzl",
+    "add_lint_tests",
+)
 load(
     "@gz//msgs/tools:gz_msgs_generate.bzl",
-    "get_proto_headers",
-    "gz_msgs_generate",
+    "gz_proto_factory",
+    "gz_proto_library",
 )
+load("@rules_license//rules:license.bzl", "license")
 
 package(
+    default_applicable_licenses = [GZ_ROOT + "msgs:license"],
     default_visibility = GZ_VISIBILITY,
     features = GZ_FEATURES,
 )
 
-licenses(["notice"])  # Apache-2.0
+license(
+    name = "license",
+    package_name = "gz-msgs",
+)
+
+licenses(["notice"])
 
 exports_files(["LICENSE"])
 
 gz_configure_header(
     name = "msgs_config_hh",
-    src = "include/gz/msgs/config.hh.in",
+    src = "core/include/gz/msgs/config.hh.in",
+    out = "include/gz/msgs/config.hh",
     cmakelists = ["CMakeLists.txt"],
     package = "msgs",
 )
@@ -37,43 +50,29 @@ gz_export_header(
 )
 
 public_headers_no_gen = glob([
-    "include/gz/msgs/*.hh",
-    "include/gz/msgs/detail/*.hh",
+    "core/include/gz/msgs/*.hh",
+    "core/include/gz/msgs/convert/*.hh",
+    "core/include/gz/msgs/detail/*.hh",
 ])
 
 protos = glob(["proto/gz/msgs/*.proto"])
 
-gz_include_header(
-    name = "messagetypes_hh_genrule",
-    out = "include/gz/msgs/MessageTypes.hh",
-    hdrs = get_proto_headers(protos),
-    strip_prefix = ["gz_msgs"],
-)
-
 gz_include_header(
     name = "msgs_hh_genrule",
     out = "include/gz/msgs.hh",
     hdrs = public_headers_no_gen + [
         "include/gz/msgs/config.hh",
         "include/gz/msgs/Export.hh",
-        "include/gz/msgs/MessageTypes.hh",
     ],
 )
 
-public_headers = public_headers_no_gen + [
-    "include/gz/msgs/config.hh",
-    "include/gz/msgs/Export.hh",
-    "include/gz/msgs/MessageTypes.hh",
-    "include/gz/msgs.hh",
-]
-
 # Custom Gazebo Protoc plugin
 cc_binary(
     name = "gz_msgs_gen",
     srcs = [
-        "src/Generator.cc",
-        "src/Generator.hh",
-        "src/generator_main.cc",
+        "core/generator_lite/Generator.cc",
+        "core/generator_lite/Generator.hh",
+        "core/generator_lite/generator_main.cc",
     ],
     deps = [
         "@com_google_protobuf//:protobuf",
@@ -91,26 +90,51 @@ proto_library(
     ],
 )
 
-gz_msgs_generate(
+gz_proto_library(
     name = "gzmsgs_cc_proto",
+    proto_deps = [":gzmsgs_proto"],
     deps = [
-        ":gzmsgs_proto",
-        "@com_google_protobuf//:any_proto",
+        "@com_google_protobuf//:protobuf",
     ],
 )
 
+gz_proto_factory(
+    name = "gzmsgs_proto_factory",
+    cc_output = "core/src/RegisterMsgs.cc",
+    hh_output = "include/gz/msgs/MessageTypes.hh",
+    deps = [":gzmsgs_proto"],
+)
+
+public_headers = public_headers_no_gen + [
+    "include/gz/msgs/config.hh",
+    "include/gz/msgs/Export.hh",
+    "include/gz/msgs.hh",
+    "include/gz/msgs/MessageTypes.hh",
+]
+
 cc_library(
     name = "msgs",
     srcs = [
-        "src/Factory.cc",
-        "src/Filesystem.cc",
-        "src/Utility.cc",
-        ":gzmsgs_cc_proto",
+        "core/src/DynamicFactory.cc",
+        "core/src/DynamicFactory.hh",
+        "core/src/Factory.cc",
+        "core/src/MessageFactory.cc",
+        "core/src/RegisterMsgs.cc",
+        "core/src/impl/InstallationDirectories.cc",
+    ],
+    copts = [
+      "-Wno-duplicate-decl-specifier",
+      "-fexceptions",
     ],
     hdrs = public_headers,
-    includes = ["include"],
+    includes = [
+        "core/include",
+        "core/src",
+        "include",
+    ],
     deps = [
         ":gzmsgs_cc_proto",
+        ":gzmsgs_proto_factory",
         GZ_ROOT + "math",
         "@com_google_protobuf//:protobuf",
         "@tinyxml2",
@@ -138,3 +162,100 @@ test_sources = glob(
         "@gtest//:gtest_main",
     ],
 ) for src in test_sources]
+
+cc_test(
+    name = "INTEGRATION_headers",
+    srcs = ["test/integration/headers.cc"],
+    deps = [
+        ":gzmsgs_cc_proto",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "INTEGRATION_image_msg",
+    srcs = ["test/integration/image_msg.cc"],
+    deps = [
+        ":gzmsgs_cc_proto",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "INTEGRATION_Utility",
+    srcs = ["test/integration/Utility_TEST.cc"],
+    deps = [
+        ":msgs",
+        GZ_ROOT + "common/testing",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "INTEGRATION_Factory",
+    srcs = ["test/integration/Factory_TEST.cc"],
+    data = ["test/desc/stringmsg.desc"],
+    defines = [
+        'GZ_MSGS_TEST_PATH=\\"msgs/test\\"',
+    ],
+    deps = [
+        ":msgs",
+        GZ_ROOT + "common/testing",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "INTEGRATION_descriptors",
+    srcs = ["test/integration/descriptors.cc"],
+    data = ["test/desc"],
+    defines = [
+        'GZ_MSGS_TEST_PATH=\\"msgs/test\\"',
+    ],
+    deps = [
+        ":msgs",
+        GZ_ROOT + "common/testing",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+)
+
+gz_configure_file(
+    name = "msgs_yaml",
+    src = "conf/msgs.yaml.in",
+    out = "msgs.yaml",
+    defines = [
+        "PROJECT_NAME_NO_VERSION_LOWER=msgs",
+        "gz_library_path=msgs/cmdmsgs",
+    ],
+    package = "msgs",
+)
+
+gz_configure_file(
+    name = "msgs_rb",
+    src = "core/src/cmd/cmdmsgs.rb.in",
+    out = "cmdmsgs.rb",
+    defines = [
+        "library_location=libgz-msgs.so",
+    ],
+    package = "msgs",
+)
+
+cc_binary(
+    name = "gz-msgs",
+    srcs = ["core/src/gz.cc"],
+    data = [
+        "cmdmsgs.rb",
+        "msgs.yaml",
+        ":gzmsgs_proto",
+    ],
+    linkshared = True,
+    linkstatic = True,
+    deps = [":msgs"],
+)
+
+add_lint_tests()
@@ -0,0 +1,116 @@
+/*
+ * Copyright 2016 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 <algorithm>
+#include <filesystem>
+#include <iostream>
+#include <fstream>
+#include <map>
+#include <memory>
+#include <sstream>
+#include <string>
+#include <utility>
+#include <vector>
+
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4100 4512 4127 4068 4244 4267 4251 4146)
+#endif
+
+#include <google/protobuf/descriptor.h>
+#include <google/protobuf/compiler/code_generator.h>
+#include <google/protobuf/io/printer.h>
+#include <google/protobuf/io/zero_copy_stream.h>
+#include <google/protobuf/descriptor.pb.h>
+
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+#include "Generator.hh"
+
+namespace google::protobuf::compiler::cpp {
+
+/////////////////////////////////////////////////
+Generator::Generator(const std::string &/*_name*/)
+{
+}
+
+/////////////////////////////////////////////////
+Generator::~Generator() = default;
+
+/////////////////////////////////////////////////
+bool Generator::Generate(const FileDescriptor *_file,
+                               const std::string &/*_parameter*/,
+                               OutputDirectory *_generatorContext,
+                               std::string * /*_error*/) const
+{
+  std::string delim = ".proto";
+  auto headerFilename = _file->name();
+  auto sourceFilename = _file->name();
+
+  {
+    auto pos = headerFilename.rfind(delim);
+    headerFilename.replace(pos, delim.size(), ".pb.h");
+  }
+  {
+    auto pos = sourceFilename.rfind(delim);
+    sourceFilename.replace(pos, delim.size(), ".pb.h");
+  }
+
+  {
+    auto *output = _generatorContext->OpenForInsert(headerFilename, "includes");
+    auto printer = io::Printer(output, '$');
+    printer.Print("#include <memory>\n", "name", "includes");
+  }
+
+  {
+    auto *output = _generatorContext->OpenForInsert(
+      headerFilename, "namespace_scope");
+    auto printer = io::Printer(output, '$');
+
+    for (auto i = 0; i < _file->message_type_count(); ++i)
+    {
+      const auto *desc = _file->message_type(i);
+      std::string ptrTypes;
+
+      // Define std::unique_ptr types for our messages
+      ptrTypes += "typedef std::unique_ptr<"
+        + desc->name() + "> "
+        + desc->name() + "UniquePtr;\n";
+
+      // Define const std::unique_ptr types for our messages
+      ptrTypes += "typedef std::unique_ptr<const "
+        + desc->name() + "> Const"
+        + desc->name() + "UniquePtr;\n";
+
+      // Define std::shared_ptr types for our messages
+      ptrTypes += "typedef std::shared_ptr<"
+        + desc->name() + "> "
+        + desc->name() + "SharedPtr;\n";
+
+      // Define const std::shared_ptr types for our messages
+      ptrTypes += "typedef std::shared_ptr<const "
+        + desc->name() + "> Const"
+        + desc->name() + "SharedPtr;\n";
+
+      printer.PrintRaw(ptrTypes.c_str());
+    }
+  }
+  return true;
+}
+}  // namespace google::protobuf::compiler::cpp