Update CMakeLists.txt to avoid conflicts with upstream libs

- Support Garden and Harmonic (default). - Move extension modules into namespace gz.python to avoid conflicts. - Rename module extras to msgs_extras. - Remove Python binding generation - instead use bindings in gz-msgs. Signed-off-by: Rhys Mainwaring <[email protected]>
srmainwaring · Apr 30, 2024 · 056fb2e · 056fb2e
1 parent 3226c31
commit 056fb2e
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Showing 2 changed files with 29 additions and 161 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -58,6 +58,23 @@ set(pybind11_protobuf_INCLUDE_DIRS
   ${protobuf_SOURCE_DIR}
 )
 
+#============================================================================
+# Find Gazebo dependencies
+
+if("$ENV{GZ_VERSION}" STREQUAL "garden")
+  # Garden
+  set(GZ_MSGS_VER 9)
+  set(GZ_TRANSPORT_VER 12)
+  message(STATUS "Compiling against Gazebo Garden")
+elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic" OR NOT DEFINED "ENV{GZ_VERSION}")
+  # Harmonic (default)
+  message(STATUS "Compiling against Gazebo Harmonic")
+  set(GZ_MSGS_VER 10)
+  set(GZ_TRANSPORT_VER 13)
+endif()
+
+find_package(gz-msgs${GZ_MSGS_VER} REQUIRED)
+find_package(gz-transport${GZ_TRANSPORT_VER} REQUIRED)
 
 #============================================================================
 # gz_msgs_extras_lib C++ library
@@ -78,33 +95,33 @@ target_include_directories(gz_msgs_extras_lib
 #============================================================================
 # msgs extras Python extension module
 
-pybind11_add_module(extras MODULE
+pybind11_add_module(msgs_extras MODULE
   src/pybind11/gz/msgs/_gz_msgs_extras_pybind11.cc
 )
 
-target_link_libraries(extras
+target_link_libraries(msgs_extras
   PRIVATE
     gz_msgs_extras_lib
     gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
     protobuf::libprotobuf
     pybind11_native_proto_caster
 )
 
-target_include_directories(extras
+target_include_directories(msgs_extras
   PRIVATE
     ${PROJECT_SOURCE_DIR}/include
     ${pybind11_protobuf_INCLUDE_DIRS}
 )
 
-add_dependencies(extras
+add_dependencies(msgs_extras
   gz_msgs_extras_lib
 )
 
-set_target_properties(extras
+set_target_properties(msgs_extras
   PROPERTIES
-  ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python/gz/msgs"
-  LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python/gz/msgs"
-  RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python/gz/msgs"
+  ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python/gz/python"
+  LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python/gz/python"
+  RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python/gz/python"
 )
 
 #============================================================================
@@ -130,9 +147,9 @@ target_include_directories(transport
 
 set_target_properties(transport
   PROPERTIES
-  ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python/gz"
-  LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python/gz"
-  RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python/gz"
+  ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python/gz/python"
+  LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python/gz/python"
+  RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python/gz/python"
 )
 
 #============================================================================
@@ -213,152 +230,3 @@ target_link_libraries(gz_topic_echo
   gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
 )
 
-#============================================================================
-# generate protobuf Python bindings
-
-# Get the proto files from the installed location of gz-msgs
-set(PROTO_PATH ${gz-msgs${GZ_MSGS_VER}_INCLUDE_DIRS})
-file(GLOB PROTO_FILES ${PROTO_PATH}/gz/msgs/*.proto)
-
-#============================================================================
-# Modified from gz-msgs/src/CMakeLists.txt for Python
-#============================================================================
-# A function that calls protoc on a protobuf file
-# Options:
-#   GENERATE_RUBY       - generates ruby code for the message if specified
-#   GENERATE_CPP        - generates c++ code for the message if specified
-#   GENERATE_PY         - generates Python code for the message if specified
-# One value arguments:
-#   PROTO_PACKAGE       - Protobuf package the file belongs to (e.g. ".gz.msgs")
-#   PROTOC_EXEC         - Path to protoc
-#   INPUT_PROTO         - Path to the input .proto file
-#   OUTPUT_CPP_DIR      - Path where C++ files are saved
-#   OUTPUT_RUBY_DIR     - Path where Ruby files are saved
-#   OUTPUT_PY_DIR       - Path where Python files are saved
-#   OUTPUT_CPP_HH_VAR   - A CMake variable name containing a list that the C++ header path should be appended to
-#   OUTPUT_CPP_CC_VAR   - A CMake variable name containing a list that the C++ source path should be appended to
-#   OUTPUT_RUBY_VAR     - A CMake variable name containing a list that the ruby file should be appended to
-#   OUTPUT_PY_VAR       - A CMake variable name containing a list that the Python file should be appended to
-# Multi value arguments
-#   PROTO_PATH          - Passed to protoc --proto_path
-function(gz_msgs_protoc)
-  set(options GENERATE_RUBY GENERATE_CPP GENERATE_PY)
-  set(oneValueArgs PROTO_PACKAGE PROTOC_EXEC INPUT_PROTO OUTPUT_CPP_DIR OUTPUT_RUBY_DIR OUTPUT_PY_DIR OUTPUT_CPP_HH_VAR OUTPUT_CPP_CC_VAR OUTPUT_RUBY_VAR OUTPUT_PY_VAR)
-  set(multiValueArgs PROTO_PATH)
-
-  cmake_parse_arguments(gz_msgs_protoc "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
-
-  get_filename_component(ABS_FIL ${gz_msgs_protoc_INPUT_PROTO} ABSOLUTE)
-  get_filename_component(FIL_WE ${gz_msgs_protoc_INPUT_PROTO} NAME_WE)
-
-  set(protoc_args)
-  set(output_files)
-
-  foreach(proto_path ${gz_msgs_protoc_PROTO_PATH})
-    list(APPEND protoc_args "--proto_path=${proto_path}")
-  endforeach()
-
-  set(proto_package_dir ".")
-  if(gz_msgs_protoc_PROTO_PACKAGE)
-    string(REPLACE "." "/" proto_package_dir ${gz_msgs_protoc_PROTO_PACKAGE})
-  endif()
-
-  if(gz_msgs_protoc_GENERATE_CPP)
-    set(output_header "${gz_msgs_protoc_OUTPUT_CPP_DIR}${proto_package_dir}/${FIL_WE}.pb.h")
-    set(output_source "${gz_msgs_protoc_OUTPUT_CPP_DIR}${proto_package_dir}/${FIL_WE}.pb.cc")
-    list(APPEND ${gz_msgs_protoc_OUTPUT_CPP_HH_VAR} ${output_header})
-    list(APPEND ${gz_msgs_protoc_OUTPUT_CPP_CC_VAR} ${output_source})
-    list(APPEND output_files ${output_header})
-    list(APPEND output_files ${output_source})
-    list(APPEND protoc_args "--plugin=protoc-gen-gzmsgs=${GZ_MSGS_GEN_EXECUTABLE}")
-    list(APPEND protoc_args "--cpp_out=dllexport_decl=GZ__MSGS_VISIBLE:${gz_msgs_protoc_OUTPUT_CPP_DIR}")
-    list(APPEND protoc_args "--gzmsgs_out" "${gz_msgs_protoc_OUTPUT_CPP_DIR}")
-    set(${gz_msgs_protoc_OUTPUT_CPP_HH_VAR} ${${gz_msgs_protoc_OUTPUT_CPP_HH_VAR}} PARENT_SCOPE)
-    set(${gz_msgs_protoc_OUTPUT_CPP_CC_VAR} ${${gz_msgs_protoc_OUTPUT_CPP_CC_VAR}} PARENT_SCOPE)
-  endif()
-
-  if(gz_msgs_protoc_GENERATE_RUBY)
-    file(MAKE_DIRECTORY ${gz_msgs_protoc_OUTPUT_RUBY_DIR})
-    set(output_ruby "${gz_msgs_protoc_OUTPUT_RUBY_DIR}${proto_package_dir}/${FIL_WE}_pb.rb")
-    list(APPEND ${gz_msgs_protoc_OUTPUT_RUBY_VAR} ${output_ruby})
-    list(APPEND output_files ${output_ruby})
-    list(APPEND protoc_args "--ruby_out=${gz_msgs_protoc_OUTPUT_RUBY_DIR}")
-    set(${gz_msgs_protoc_OUTPUT_RUBY_VAR} ${${gz_msgs_protoc_OUTPUT_RUBY_VAR}} PARENT_SCOPE)
-  endif()
-
-  if(gz_msgs_protoc_GENERATE_PY)
-    file(MAKE_DIRECTORY ${gz_msgs_protoc_OUTPUT_PY_DIR})
-    set(output_py "${gz_msgs_protoc_OUTPUT_PY_DIR}${proto_package_dir}/${FIL_WE}_pb2.py")
-    list(APPEND ${gz_msgs_protoc_OUTPUT_PY_VAR} ${output_py})
-    list(APPEND output_files ${output_py})
-    list(APPEND protoc_args "--python_out=${gz_msgs_protoc_OUTPUT_PY_DIR}")
-    set(${gz_msgs_protoc_OUTPUT_PY_VAR} ${${gz_msgs_protoc_OUTPUT_PY_VAR}} PARENT_SCOPE)
-  endif()
-
-  #get_cmake_property(_variableNames VARIABLES)
-  #foreach (_variableName ${_variableNames})
-  #    message(STATUS "${_variableName}=${${_variableName}}")
-  #endforeach()
-
-  add_custom_command(
-    OUTPUT
-      ${output_files}
-    COMMAND
-      ${gz_msgs_protoc_PROTOC_EXEC}
-    ARGS
-      ${protoc_args}
-      ${ABS_FIL}
-    DEPENDS
-      ${ABS_FIL}
-      # gz_msgs_gen
-    COMMENT "Running protoc on ${gz_msgs_protoc_INPUT_PROTO}"
-    VERBATIM)
-endfunction()
-
-#============================================================================
-# run the code generation
-foreach(proto_file ${PROTO_FILES})
-  gz_msgs_protoc(
-    PROTO_PACKAGE
-      .gz.msgs
-    # GENERATE_CPP
-    # GENERATE_RUBY
-    GENERATE_PY
-    INPUT_PROTO
-      ${proto_file}
-    PROTOC_EXEC
-      protobuf::protoc
-    OUTPUT_CPP_DIR
-      "${PROJECT_BINARY_DIR}/include"
-    OUTPUT_RUBY_DIR
-      "${PROJECT_BINARY_DIR}/ruby"
-    OUTPUT_PY_DIR
-      "${PROJECT_BINARY_DIR}/python"
-    OUTPUT_CPP_HH_VAR
-      gen_headers
-    OUTPUT_CPP_CC_VAR
-      gen_sources
-    OUTPUT_RUBY_VAR
-      gen_ruby_scripts
-    OUTPUT_PY_VAR
-      gen_py_scripts
-    PROTO_PATH
-      "${PROTO_PATH}")
-
-endforeach()
-
-#============================================================================
-# add custom target to force .proto compilation
-
-set_source_files_properties(
-  ${gen_headers}
-  ${gen_sources}
-  ${gen_ruby_scripts}
-  ${gen_py_scripts}
-  PROPERTIES GENERATED TRUE
-)
-
-foreach(gen_py_script ${gen_py_scripts})
-  get_filename_component(FIL_WE ${gen_py_script} NAME_WE)
-  add_custom_target(${FIL_WE} ALL DEPENDS ${gen_py_script})
-endforeach()
diff --git a/src/pybind11/gz/msgs/_gz_msgs_extras_pybind11.cc b/src/pybind11/gz/msgs/_gz_msgs_extras_pybind11.cc
@@ -23,7 +23,7 @@
 
 namespace py = pybind11;
 
-PYBIND11_MODULE(extras, m)
+PYBIND11_MODULE(msgs_extras, m)
 {
   using namespace gz;
   using namespace msgs;