gazebosim · mjcarroll · Apr 5, 2024 · Oct 11, 2023 · Feb 6, 2024 · Feb 6, 2024
@@ -9,8 +9,8 @@ load(
 )
 load(
     "@gz//msgs/tools:gz_msgs_generate.bzl",
-    "get_proto_headers",
-    "gz_msgs_generate",
+    "gz_proto_library",
+    "gz_proto_factory",
 )
 
 package(
@@ -24,56 +24,48 @@ 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",
     cmakelists = ["CMakeLists.txt"],
     package = "msgs",
 )
 
 gz_export_header(
-    name = "include/gz/msgs/Export.hh",
+    name = "core/include/gz/msgs/Export.hh",
     export_base = "GZ_MSGS",
     lib_name = "gz-msgs",
     visibility = ["//visibility:private"],
 )
 
 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",
+        "core/include/gz/msgs/config.hh",
+        "core/include/gz/msgs/Export.hh",
     ],
 )
 
 public_headers = public_headers_no_gen + [
-    "include/gz/msgs/config.hh",
-    "include/gz/msgs/Export.hh",
-    "include/gz/msgs/MessageTypes.hh",
+    "core/include/gz/msgs/config.hh",
+    "core/include/gz/msgs/Export.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 +83,37 @@ proto_library(
     ],
 )
 
-gz_msgs_generate(
-    name = "gzmsgs_cc_proto",
-    deps = [
-        ":gzmsgs_proto",
-        "@com_google_protobuf//:any_proto",
-    ],
+gz_proto_library(
+  name = "gzmsgs_cc_proto",
+  proto_deps = [":gzmsgs_proto"],
+  deps = [
+    "@com_google_protobuf//:protobuf",
+  ]
+)
+
+gz_proto_factory(
+  name = "gzmsgs_proto_factory",
+  deps = [":gzmsgs_proto"],
+  namespace = "gz::msgs",
+  cc_output = "core/src/RegisterMsgs.cc",
+  hh_output = "core/src/MessageTypes.hh"
 )
 
 cc_library(
     name = "msgs",
     srcs = [
-        "src/Factory.cc",
-        "src/Filesystem.cc",
-        "src/Utility.cc",
-        ":gzmsgs_cc_proto",
+        "core/src/Factory.cc",
+        "core/src/DynamicFactory.cc",
+        "core/src/DynamicFactory.hh",
+        "core/src/MessageFactory.cc",
+        "core/src/impl/InstallationDirectories.cc",
+        "core/src/RegisterMsgs.cc"
     ],
     hdrs = public_headers,
-    includes = ["include"],
+    includes = ["core/include", "core/src"],
     deps = [
         ":gzmsgs_cc_proto",
+        ":gzmsgs_proto_factory",
         GZ_ROOT + "math",
         "@com_google_protobuf//:protobuf",
         "@tinyxml2",
@@ -138,3 +141,50 @@ 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"],
+  deps = [
+      ":msgs",
+      GZ_ROOT + "common/testing",
+      "@gtest",
+      "@gtest//:gtest_main",
+  ],
+  defines = [
+      'GZ_MSGS_TEST_PATH=\\"msgs/test\\"',
+    ],
+)
@@ -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
@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) 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.
+ *
+*/
+
+#ifndef GZ_MSGS_GENERATOR_HH_
+#define GZ_MSGS_GENERATOR_HH_
+
+#include <google/protobuf/compiler/code_generator.h>
+#include <string>
+
+namespace google {
+namespace protobuf {
+namespace compiler {
+namespace cpp {
+/// \cond
+/// \brief Google protobuf message generator for igntion::msgs
+class Generator : public CodeGenerator
+{
+  /// \brief Constructor
+  /// \param[in] _name Name value (currently unused)
+  public: explicit Generator(const std::string &_name);
+
+  /// \brief Destructor
+  public: virtual ~Generator();
+
+  /// \brief Generate a message.
+  /// \param[in] _file File descriptor of the message.
+  /// \param[in] _parameter Unused string value
+  /// \param[in] _generatorContext Output directory.
+  /// \param[in] _error Unused string value
+  /// \return true if successful, otherwise sets _error and returns false
+  public: virtual bool Generate(const FileDescriptor *_file,
+              const std::string &_parameter,
+              OutputDirectory *_generatorContext,
+              std::string *_error) const;
+
+  // private: GOOGLE_DISALLOW_EVIL_CONSTRUCTORS(Generator);
+};
+/// \endcond
+}
+}
+}
+}
+#endif
@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 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.
+ *
+*/
+
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4251)
+#endif
+
+#include <google/protobuf/compiler/plugin.h>
+
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+#include "Generator.hh"
+
+int main(int _argc, char *_argv[])
+{
+#ifdef _MSC_VER
+  // Don't print a silly message or stick a modal dialog box in my face,
+  // please.
+  _set_abort_behavior(0, ~0);
+#endif  // !_MSC_VER
+
+  google::protobuf::compiler::cpp::Generator
+    generator("gz-msgs-plugin");
+  return google::protobuf::compiler::PluginMain(_argc, _argv, &generator);
+}