Standalone gz sdf executable

sdf/CMakeLists.txt

@@ -47,5 +47,7 @@ if (GZ_PROGRAM)
       COMMENT "Generating full description for spec ${desc_ver}"
       VERBATIM)
   endforeach()
-  add_custom_target(sdf_descriptions DEPENDS ${description_targets} ${PROJECT_LIBRARY_TARGET_NAME})
+  add_custom_target(sdf_descriptions DEPENDS ${description_targets})
+  # Add a dependency on the gz-sdformat-sdf target which is created in in ../cmd/CMakeLists
+  add_dependencies(sdf_descriptions gz-sdformat-sdf)
 endif()

src/CMakeLists.txt

@@ -70,11 +70,6 @@ target_include_directories(${PROJECT_LIBRARY_TARGET_NAME}
 )
 
 if (BUILD_TESTING)
-  # Build this test file only if Gazebo Tools is installed.
-  if (NOT GZ_PROGRAM)
-    list(REMOVE_ITEM gtest_sources gz_TEST.cc)
-  endif()
-
   add_library(library_for_tests OBJECT
       Converter.cc
       EmbeddedSdf.cc
@@ -120,13 +115,6 @@ if (BUILD_TESTING)
     ENVIRONMENT
       SDF_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
   )
-
-  if (TARGET UNIT_gz_TEST)
-    target_compile_definitions(UNIT_gz_TEST PRIVATE
-      -DGZ_PATH="${GZ_PROGRAM}"
-      -DDETAIL_GZ_CONFIG_PATH="${CMAKE_BINARY_DIR}/test/conf/$<CONFIG>"
-      -DGZ_TEST_LIBRARY_PATH="${PROJECT_BINARY_DIR}/src")
-  endif()
 endif()
 
 add_subdirectory(cmd)

src/cmd/CMakeLists.txt

@@ -1,15 +1,54 @@
+# Build sdf CLI executable
+set(sdf_executable gz-sdformat-sdf)
+add_executable(${sdf_executable} sdf_main.cc gz.cc ../FrameSemantics.cc)
+target_link_libraries(${sdf_executable}
+  gz-utils${GZ_UTILS_VER}::cli
+  ${PROJECT_LIBRARY_TARGET_NAME}
+  TINYXML2::TINYXML2
+)
+install(
+  TARGETS ${sdf_executable}
+  DESTINATION ${CMAKE_INSTALL_LIBEXECDIR}/gz/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}/
+)
+
+# Build the unit tests only if Gazebo tools is installed
+if(BUILD_TESTING AND GZ_PROGRAM)
+  gz_build_tests(TYPE UNIT
+    SOURCES
+      gz_TEST.cc
+    INCLUDE_DIRS
+      ${PROJECT_SOURCE_DIR}/test
+    TEST_LIST
+      test_list
+    LIB_DEPS
+      gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER}
+      ${EXTRA_TEST_LIB_DEPS}
+    ENVIRONMENT
+      SDF_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+  )
+
+  if(TARGET UNIT_gz_TEST)
+    target_compile_definitions(UNIT_gz_TEST
+      PRIVATE
+        "GZ_PATH=\"${GZ_PROGRAM}\""
+        "DETAIL_GZ_CONFIG_PATH=\"${CMAKE_BINARY_DIR}/test/conf/$<CONFIG>\""
+        "GZ_TEST_LIBRARY_PATH=\"$<TARGET_FILE_DIR:${PROJECT_LIBRARY_TARGET_NAME}>\""
+    )
+  endif()
+endif()
+
 #===============================================================================
 # Generate the ruby script for internal testing.
 # Note that the major version of the library is included in the name.
 # Ex: cmdsdformat0.rb
-set(cmd_script_generated_test 
+set(cmd_script_generated_test
   "${CMAKE_BINARY_DIR}/test/lib/$<CONFIG>/ruby/gz/cmd${PROJECT_NAME}.rb")
-set(cmd_script_configured_test 
+set(cmd_script_configured_test
   "${CMAKE_CURRENT_BINARY_DIR}/test_cmd${PROJECT_NAME}.rb.configured")
 
 # Set the library_location variable to the full path of the library file within
 # the build directory.
-set(library_location "$<TARGET_FILE:${PROJECT_NAME}>")
+set(library_location "$<TARGET_FILE:${sdf_executable}>")
 
 configure_file(
   "cmd${PROJECT_NAME_NO_VERSION_LOWER}.rb.in"
@@ -20,7 +59,6 @@ file(GENERATE
   OUTPUT "${cmd_script_generated_test}"
   INPUT  "${cmd_script_configured_test}")
 
-
 #===============================================================================
 # Used for the installed version.
 # Generate the ruby script that gets installed.
@@ -37,7 +75,7 @@ else()
   set(library_location_prefix "${CMAKE_INSTALL_LIBDIR}")
 endif()
 
-set(library_location "../../../${library_location_prefix}/$<TARGET_FILE_NAME:${PROJECT_NAME}>")
+set(library_location "../../../${CMAKE_INSTALL_LIBEXECDIR}/gz/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}/$<TARGET_FILE_NAME:${sdf_executable}>")
 
 configure_file(
   "cmd${PROJECT_NAME_NO_VERSION_LOWER}.rb.in"

src/cmd/cmdsdformat.rb.in

@@ -14,263 +14,39 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-# We use 'dl' for Ruby <= 1.9.x and 'fiddle' for Ruby >= 2.0.x
-if RUBY_VERSION.split('.')[0] < '2'
-  require 'dl'
-  require 'dl/import'
-  include DL
-else
-  require 'fiddle'
-  require 'fiddle/import'
-  include Fiddle
-end
-
-require 'optparse'
 require 'pathname'
 
-
 # Constants.
-LIBRARY_NAME = '@library_location@'
 LIBRARY_VERSION = '@PROJECT_VERSION_FULL@'
-COMMON_OPTIONS =
-               "  -h [ --help ]                     Print this help message.\n"\
-               "  --force-version <VERSION>         Use a specific library version.\n"\
-               '  --versions                        Show the available versions.'
-COMMANDS = {  'sdf' =>
-                       "Utilities for SDF files.\n\n"\
-                       "  gz sdf [options]\n\n"\
-                       "Options:\n\n"\
-                       "  -k [ --check ] arg                Check if an SDFormat file is valid.\n" +
-                       "  -d [ --describe ] [SPEC VERSION]  Print the aggregated SDFormat spec description. Default version (@SDF_PROTOCOL_VERSION@).\n" +
-                       "  -g [ --graph ] <pose, frame> arg  Print the PoseRelativeTo or FrameAttachedTo graph. (WARNING: This is for advanced\n" +
-                       "                                    use only and the output may change without any promise of stability)\n" +
-                       "  --inertial-stats arg              Prints moment of inertia, centre of mass, and total mass from a model sdf file.\n" +
-                       "  -p [ --print ] arg                Print converted arg. Note the quaternion representation of the\n" +
-                       "                                    rotational part of poses and unit vectors will be normalized.\n" +
-                       "      -i [ --preserve-includes ]    Preserve included tags when printing converted arg (does not preserve merge-includes).\n" +
-                       "      --degrees                     Pose rotation angles are printed in degrees.\n" +
-                       "      --expand-auto-inertials       Prints auto-computed inertial values for simple shapes. For meshes and other unsupported\n" +
-                       "                                    shapes, the default inertial values will be printed.\n" +
-                       "      --snap-to-degrees arg         Snap pose rotation angles to this specified interval in degrees. This value must be\n" +
-                       "                                    larger than 0, less than or equal to 360, and larger than the defined snap tolerance.\n" +
-                       "      --snap-tolerance arg          Used in conjunction with --snap-to-degrees, specifies the tolerance at which snapping\n" +
-                       "                                    occurs. This value must be larger than 0, less than 360, and less than the defined\n" +
-                       "                                    degrees value to snap to. If unspecified, its default value is 0.01.\n" +
-                       "      --precision arg               Set the output stream precision for floating point numbers. The arg must be a positive integer.\n" +
-
-                       COMMON_OPTIONS
-            }
+COMMANDS = {
+  "sdf" => "@library_location@",
+}
 
 #
 # Class for the SDF command line tools.
 #
 class Cmd
-
-  #
-  # Return a structure describing the options.
-  #
-  def parse(args)
-    options = {}
-    options['degrees'] = 0
-    options['expand_auto_inertials'] = 0
-    options['snap_tolerance'] = 0.01
-    options['preserve_includes'] = 0
-
-    usage = COMMANDS[args[0]]
-
-    # Read the command line arguments.
-    opt_parser = OptionParser.new do |opts|
-      opts.banner = usage
-
-      opts.on('-h', '--help", "Print this help message') do
-        puts usage
-        exit(0)
-      end
-
-      opts.on('-k arg', '--check arg', String,
-              'Check if an SDFormat file is valid.') do |arg|
-        options['check'] = arg
-      end
-      opts.on('--inertial-stats arg', String,
-              'Prints moment of inertia, centre of mass, and total mass from a model sdf file.') do |arg|
-        options['inertial_stats'] = arg
-      end
-      opts.on('-d', '--describe [VERSION]', 'Print the aggregated SDFormat spec description. Default version (@SDF_PROTOCOL_VERSION@)') do |v|
-        options['describe'] = v
-      end
-      opts.on('-p', '--print', 'Print converted arg') do
-        options['print'] = 1
-      end
-      opts.on('-i', '--preserve-includes', 'Preserve included tags when printing converted arg (does not preserve merge-includes)') do
-        options['preserve_includes'] = 1
-      end
-      opts.on('--degrees', 'Printed pose rotations are will be in degrees') do |degrees|
-        options['degrees'] = 1
-      end
-      opts.on('--expand-auto-inertials', 'Auto-computed inertial values will be printed') do
-        options['expand_auto_inertials'] = 1
-      end
-      opts.on('--snap-to-degrees arg', Integer,
-              'Printed rotations are snapped to specified degree intervals') do |arg|
-        if arg == 0 || arg > 360
-          puts "Degree interval to snap to must be more than 0, and less than or equal to 360."
-          exit(-1)
-        end
-        options['snap_to_degrees'] = arg
-      end
-      opts.on('--snap-tolerance arg', Float,
-              'Printed rotations are snapped if they are within this specified tolerance') do |arg|
-        if arg < 0 || arg > 360
-          puts "Rotation snapping tolerance must be more than 0, and less than 360."
-          exit(-1)
-        end
-        options['snap_tolerance'] = arg
-      end
-      opts.on('--precision arg', Integer,
-              'Set the output stream precision for floating point numbers.') do |arg|
-        options['precision'] = arg
-      end
-      opts.on('-g arg', '--graph type', String,
-              'Print PoseRelativeTo or FrameAttachedTo graph') do |graph_type|
-        options['graph'] = {:type => graph_type}
-      end
-    end
-    begin
-      opt_parser.parse!(args)
-    rescue
-      puts usage
-      exit(-1)
-    end
-
-    # Check that there is at least one command and there is a plugin that knows
-    # how to handle it.
-    if ARGV.empty? || !COMMANDS.key?(ARGV[0]) ||
-       options.empty?
-      puts usage
-      exit(-1)
-    end
-
-    options['command'] = ARGV[0]
-
-    if (options['preserve_includes'] != 0 and not options['print']) ||
-        (options['precision'] and not options['print'])
-      puts usage
-      exit(-1)
-    end
-
-    if options['print']
-      filename = args.pop
-      if filename
-        options['print'] = filename
-      else
-        puts usage
-        exit(-1)
-      end
-    end
-
-    options
-  end
-
-  #
-  # Execute the command
-  #
   def execute(args)
-    options = parse(args)
+    command = args[0]
+    exe_name = COMMANDS[command]
 
-    # Debugging:
-    # puts 'Parsed:'
-    # puts options
-
-    # Read the plugin that handles the command.
-    if Pathname.new(LIBRARY_NAME).absolute?
-      plugin = LIBRARY_NAME
-    else
+    unless Pathname.new(exe_name).absolute?
       # We're assuming that the library path is relative to the current
       # location of this script.
-      plugin = File.expand_path(File.join(File.dirname(__FILE__), LIBRARY_NAME))
+      exe_name = File.expand_path(File.join(File.dirname(__FILE__), exe_name))
     end
     conf_version = LIBRARY_VERSION
-
-    if defined? RubyInstaller
-      # RubyInstaller does not search for dlls in PATH or the directory that tests are running from,
-      # so we'll add the parent directory of the plugin to the search path.
-      # https://github.com/oneclick/rubyinstaller2/wiki/For-gem-developers#-dll-loading
-      RubyInstaller::Runtime.add_dll_directory(File.dirname(plugin))
-    end
-
-    begin
-      Importer.dlload plugin
-    rescue DLError => error
-      puts "Library error: [#{plugin}] not found."
-      puts "DLError: #{error.message}"
-      exit(-1)
-    end
-
-    # Read the library version.
-    Importer.extern 'char* gzVersion()'
-    begin
-      plugin_version = Importer.gzVersion.to_s
-    rescue DLError
-        puts "Library error: Problem running 'gzVersion()' from #{plugin}."
-        exit(-1)
-    end
+    exe_version = `#{exe_name} --version`.strip
 
     # Sanity check: Verify that the version of the yaml file matches the version
     # of the library that we are using.
-    unless plugin_version.eql? conf_version
+    unless exe_version.eql? conf_version
       puts "Error: Version mismatch. Your configuration file version is
-            [#{conf_version}] but #{plugin} version is [#{plugin_version}]."
+            [#{conf_version}] but #{exe_name} version is [#{exe_version}]."
       exit(-1)
     end
 
-    begin
-      case options['command']
-      when 'sdf'
-        if options.key?('check')
-          Importer.extern 'int cmdCheck(const char *)'
-          exit(Importer.cmdCheck(File.expand_path(options['check'])))
-        elsif options.key?('inertial_stats')
-          Importer.extern 'int cmdInertialStats(const char *)'
-          exit(Importer.cmdInertialStats(options['inertial_stats']))
-        elsif options.key?('describe')
-          Importer.extern 'int cmdDescribe(const char *)'
-          exit(Importer.cmdDescribe(options['describe']))
-        elsif options.key?('print')
-          snap_to_degrees = 0
-          precision = 0
-
-          if options.key?('snap_to_degrees')
-            if options['snap_to_degrees'] < options['snap_tolerance']
-              puts "Rotation snapping tolerance must be larger than the snapping tolerance."
-              exit(-1)
-            end
-            snap_to_degrees = options['snap_to_degrees']
-          end
-          if options.key?('precision')
-            precision = options['precision']
-          end
-          Importer.extern 'int cmdPrint(const char *, int in_degrees, int snap_to_degrees, float snap_tolerance, int, int, int)'
-          exit(Importer.cmdPrint(File.expand_path(options['print']),
-                                 options['degrees'],
-                                 snap_to_degrees,
-                                 options['snap_tolerance'],
-                                 options['preserve_includes'],
-                                 precision,
-                                 options['expand_auto_inertials']))
-        elsif options.key?('graph')
-          Importer.extern 'int cmdGraph(const char *, const char *)'
-          exit(Importer.cmdGraph(options['graph'][:type], File.expand_path(ARGV[1])))
-        else
-          puts 'Command error: I do not have an implementation '\
-               'for this command.'
-        end
-      else
-        puts 'Command error: I do not have an implementation for '\
-             "command [gz #{options['command']}]."
-      end
-    rescue
-      puts "Library error: Problem running [#{options['command']}]() "\
-           "from #{plugin}."
-    end
+    # Drop command from list of arguments
+    exec(exe_name, *args[1..-1])
   end
 end