Adding ign-tool interface

src/CMakeLists.txt

@@ -1,4 +1,5 @@
 add_subdirectory(gui)
+add_subdirectory(cmd)
 add_subdirectory(systems)
 add_subdirectory(msgs)
 
@@ -28,6 +29,16 @@ set(gui_sources
   PARENT_SCOPE
 )
 
+ign_add_component(ign SOURCES cmd/ign.cc GET_TARGET_NAME ign_lib_target)
+target_link_libraries(${ign_lib_target}
+  PRIVATE
+    ${PROJECT_LIBRARY_TARGET_NAME}
+    ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
+    ignition-gazebo${PROJECT_VERSION_MAJOR}
+    ignition-gazebo${PROJECT_VERSION_MAJOR}-gui
+)
+
+
 set (sources
   Conversions.cc
   EntityComponentManager.cc
@@ -109,48 +120,3 @@ ign_build_tests(TYPE UNIT
     ${PROJECT_LIBRARY_TARGET_NAME}
     ignition-gazebo${PROJECT_VERSION_MAJOR}
 )
-
-# Create the gazebo executable
-ign_add_executable(ign-gazebo-exec main.cc)
-set_property(TARGET ign-gazebo-exec PROPERTY OUTPUT_NAME ign-gazebo)
-target_link_libraries(ign-gazebo-exec PUBLIC ${PROJECT_LIBRARY_TARGET_NAME}
-  gflags
-  ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
-)
-
-# Create the server executable
-ign_add_executable(ign-gazebo-server server_main.cc)
-set_property(TARGET ign-gazebo-server PROPERTY OUTPUT_NAME ign-gazebo-server)
-target_link_libraries(ign-gazebo-server PUBLIC ${PROJECT_LIBRARY_TARGET_NAME}
-  gflags
-  ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
-  ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
-  ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
-)
-
-# Create the gui executable
-ign_add_executable(ign-gazebo-gui gui_main.cc)
-set_property(TARGET ign-gazebo-gui PROPERTY OUTPUT_NAME ign-gazebo-gui)
-target_link_libraries(ign-gazebo-gui PUBLIC ${PROJECT_LIBRARY_TARGET_NAME}
-  gflags
-  ignition-gazebo${PROJECT_VERSION_MAJOR}-gui
-  ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
-  ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
-  ignition-gui${IGN_GUI_VER}::ignition-gui${IGN_GUI_VER}
-  ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
-  ${Qt5Core_LIBRARIES}
-  ${Qt5Widgets_LIBRARIES}
-)
-
-# Switch to ign_install_executable when it is fixed (https://bitbucket.org/ignitionrobotics/ign-cmake/issues/29)
-set_target_properties(ign-gazebo-exec
-  PROPERTIES VERSION ${PROJECT_VERSION_FULL})
-install (TARGETS ign-gazebo-exec DESTINATION ${IGN_BIN_INSTALL_DIR})
-
-set_target_properties(ign-gazebo-server
-  PROPERTIES VERSION ${PROJECT_VERSION_FULL})
-install (TARGETS ign-gazebo-server DESTINATION ${IGN_BIN_INSTALL_DIR})
-
-set_target_properties(ign-gazebo-gui
-  PROPERTIES VERSION ${PROJECT_VERSION_FULL})
-install (TARGETS ign-gazebo-gui DESTINATION ${IGN_BIN_INSTALL_DIR})

src/SimulationRunner.cc

@@ -129,16 +129,19 @@ SimulationRunner::SimulationRunner(const sdf::World *_world,
             _config.NetworkRole(), _config.NetworkSecondaries()));
     }
 
-    if (this->networkMgr->IsPrimary())
-    {
-      ignmsg << "Network Primary, expects ["
-             << this->networkMgr->Config().numSecondariesExpected
-             << "] secondaries." << std::endl;
-    }
-    else if (this->networkMgr->IsSecondary())
+    if (this->networkMgr)
     {
-      ignmsg << "Network Secondary, with namespace ["
-             << this->networkMgr->Namespace() << "]." << std::endl;
+      if (this->networkMgr->IsPrimary())
+      {
+        ignmsg << "Network Primary, expects ["
+          << this->networkMgr->Config().numSecondariesExpected
+          << "] secondaries." << std::endl;
+      }
+      else if (this->networkMgr->IsSecondary())
+      {
+        ignmsg << "Network Secondary, with namespace ["
+          << this->networkMgr->Namespace() << "]." << std::endl;
+      }
     }
   }
 

src/cmd/CMakeLists.txt

@@ -0,0 +1,58 @@
+# Generate a the ruby script.
+# Note that the major version of the library is included in the name.
+# Ex: cmdgazebo0.rb
+if (APPLE)
+  set(IGN_LIBRARY_NAME lib${PROJECT_LIBRARY_TARGET_NAME}.dylib)
+else()
+  set(IGN_LIBRARY_NAME lib${PROJECT_LIBRARY_TARGET_NAME}.so)
+endif()
+
+configure_file(
+  "cmdgazebo.rb.in"
+  "${CMAKE_CURRENT_BINARY_DIR}/cmdgazebo${PROJECT_VERSION_MAJOR}.rb" @ONLY)
+
+# Install the ruby command line library in an unversioned location.
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/cmdgazebo${PROJECT_VERSION_MAJOR}.rb DESTINATION lib/ruby/ignition)
+
+set(ign_library_path
+  "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmdgazebo${PROJECT_VERSION_MAJOR}")
+
+# Generate a configuration file.
+# Note that the major version of the library is included in the name.
+# Ex: fuel0.yaml
+configure_file(
+  "gazebo.yaml.in"
+    "${CMAKE_CURRENT_BINARY_DIR}/gazebo${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
+
+# Install the yaml configuration files in an unversioned location.
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/gazebo${PROJECT_VERSION_MAJOR}.yaml DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/ignition/)
+
+#===============================================================================
+# Generate the ruby script for internal testing.
+# Note that the major version of the library is included in the name.
+# Ex: cmdgazebo0.rb
+set(cmd_script_generated_test "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmdgazebo${PROJECT_VERSION_MAJOR}.rb")
+set(cmd_script_configured_test "${cmd_script_generated_test}.configured")
+
+# Set the library_location variable to the full path of the library file within
+# the build directory.
+set(IGN_LIBRARY_NAME "$<TARGET_FILE:${PROJECT_LIBRARY_TARGET_NAME}>")
+
+configure_file(
+  "cmdgazebo.rb.in"
+  "${cmd_script_configured_test}"
+  @ONLY)
+
+file(GENERATE
+  OUTPUT "${cmd_script_generated_test}"
+  INPUT  "${cmd_script_configured_test}")
+
+# Used only for internal testing.
+set(ign_library_path "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmdgazebo${PROJECT_VERSION_MAJOR}")
+
+# Generate a configuration file for internal testing.
+# Note that the major version of the library is included in the name.
+# Ex: gazebo.yaml
+configure_file(
+  "gazebo.yaml.in"
+    "${CMAKE_BINARY_DIR}/test/conf/gazebo${PROJECT_VERSION_MAJOR}.yaml" @ONLY)