Standalone gz sdf executable (#1539)

Signed-off-by: Steve Peters <[email protected]> Signed-off-by: Saurabh Kamat <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Steve Peters <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Jose Luis Rivero <[email protected]>
gazebosim · Mar 5, 2025 · 1668f31 · 1668f31
1 parent bf054f0
commit 1668f31
Show file tree

Hide file tree

Showing 11 changed files with 717 additions and 672 deletions.
diff --git a/sdf/CMakeLists.txt b/sdf/CMakeLists.txt
@@ -44,23 +44,23 @@ endif()
 # Generate aggregated SDF description files for use by the sdformat.org
 # website. If the description files change, the generated full*.sdf files need
 # to be removed before running this target.
-if (GZ_PROGRAM)
 
-  # Update this list as new sdformat spec versions are added.
-  set(sdf_desc_versions 1.4 1.5 1.6 1.7 1.8 1.9 1.10 1.11 1.12)
+# Update this list as new sdformat spec versions are added.
+set(sdf_desc_versions 1.4 1.5 1.6 1.7 1.8 1.9 1.10 1.11 1.12)
 
-  set(description_targets)
-  foreach(desc_ver ${sdf_desc_versions})
-    string(REPLACE "." "-" desc_ver_dash ${desc_ver})
-    list(APPEND description_targets ${CMAKE_CURRENT_BINARY_DIR}/full_${desc_ver_dash}.sdf)
-    add_custom_command(
-      OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/full_${desc_ver_dash}.sdf
-      COMMAND
-        ${CMAKE_COMMAND} -E env GZ_CONFIG_PATH=${CMAKE_BINARY_DIR}/test/conf/$<CONFIG>
-        ${GZ_PROGRAM}
-      ARGS sdf -d ${desc_ver} > ${CMAKE_CURRENT_BINARY_DIR}/full_${desc_ver_dash}.sdf
-      COMMENT "Generating full description for spec ${desc_ver}"
-      VERBATIM)
-  endforeach()
-  add_custom_target(sdf_descriptions DEPENDS ${description_targets} ${PROJECT_LIBRARY_TARGET_NAME})
-endif()
+set(description_targets)
+foreach(desc_ver ${sdf_desc_versions})
+  string(REPLACE "." "-" desc_ver_dash ${desc_ver})
+  list(APPEND description_targets ${CMAKE_CURRENT_BINARY_DIR}/full_${desc_ver_dash}.sdf)
+  add_custom_command(
+    OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/full_${desc_ver_dash}.sdf
+    COMMAND
+      ${CMAKE_COMMAND} -E env GZ_CONFIG_PATH=${CMAKE_BINARY_DIR}/test/conf/$<CONFIG>
+      $<TARGET_FILE:gz-sdformat-sdf>
+    ARGS sdf -d ${desc_ver} > ${CMAKE_CURRENT_BINARY_DIR}/full_${desc_ver_dash}.sdf
+    COMMENT "Generating full description for spec ${desc_ver}"
+    VERBATIM)
+endforeach()
+add_custom_target(sdf_descriptions DEPENDS ${description_targets})
+# Add a dependency on the gz-sdformat-sdf target which is created in in ../cmd/CMakeLists
+add_dependencies(sdf_descriptions gz-sdformat-sdf)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -70,11 +70,6 @@ target_include_directories(${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)
diff --git a/src/cmd/CMakeLists.txt b/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"