Merge branch 'gazebosim:gz-msgs10' into pr-camtrack-gz-msgs9

.github/ci/after_make.sh

@@ -0,0 +1,2 @@
+# It's necessary to install the python modules for the test.
+make install

.github/ci/packages.apt

@@ -6,3 +6,5 @@ libprotoc-dev
 libtinyxml2-dev
 protobuf-compiler
 ruby
+python3-pytest
+python3-protobuf

.github/workflows/ci.yml

@@ -3,26 +3,17 @@ name: Ubuntu CI
 on: [push, pull_request]
 
 jobs:
-  focal-ci:
+  jammy-ci:
     runs-on: ubuntu-latest
-    name: Ubuntu Focal CI
+    name: Ubuntu Jammy CI
     steps:
       - name: Checkout
         uses: actions/checkout@v3
       - name: Compile and test
         id: ci
-        uses: gazebo-tooling/action-gz-ci@focal
+        uses: gazebo-tooling/action-gz-ci@jammy
         with:
           codecov-enabled: true
           cppcheck-enabled: true
           cpplint-enabled: true
           doxygen-enabled: true
-  jammy-ci:
-    runs-on: ubuntu-latest
-    name: Ubuntu Jammy CI
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Compile and test
-        id: ci
-        uses: gazebo-tooling/action-gz-ci@jammy

.github/workflows/package_xml.yml

@@ -0,0 +1,11 @@
+name: Validate package.xml
+
+on:
+  pull_request:
+
+jobs:
+  package-xml:
+    runs-on: ubuntu-latest
+    name: Validate package.xml
+    steps:
+      - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy

.gitignore

@@ -6,3 +6,6 @@ build_*
 .DS_Store
 *.swp
 *.orig
+
+# Python generated files 
+__pycache__

BUILD.bazel

@@ -3,28 +3,41 @@ load(
     "GZ_FEATURES",
     "GZ_ROOT",
     "GZ_VISIBILITY",
+    "gz_configure_file",
     "gz_configure_header",
     "gz_export_header",
     "gz_include_header",
 )
+load(
+    "@gz//bazel/lint:lint.bzl",
+    "add_lint_tests",
+)
 load(
     "@gz//msgs/tools:gz_msgs_generate.bzl",
-    "get_proto_headers",
-    "gz_msgs_generate",
+    "gz_proto_factory",
+    "gz_proto_library",
 )
+load("@rules_license//rules:license.bzl", "license")
 
 package(
+    default_applicable_licenses = [GZ_ROOT + "msgs:license"],
     default_visibility = GZ_VISIBILITY,
     features = GZ_FEATURES,
 )
 
-licenses(["notice"])  # Apache-2.0
+license(
+    name = "license",
+    package_name = "gz-msgs",
+)
+
+licenses(["notice"])
 
 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",
+    out = "include/gz/msgs/config.hh",
     cmakelists = ["CMakeLists.txt"],
     package = "msgs",
 )
@@ -37,43 +50,29 @@ gz_export_header(
 )
 
 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",
     ],
 )
 
-public_headers = public_headers_no_gen + [
-    "include/gz/msgs/config.hh",
-    "include/gz/msgs/Export.hh",
-    "include/gz/msgs/MessageTypes.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 +90,51 @@ proto_library(
     ],
 )
 
-gz_msgs_generate(
+gz_proto_library(
     name = "gzmsgs_cc_proto",
+    proto_deps = [":gzmsgs_proto"],
     deps = [
-        ":gzmsgs_proto",
-        "@com_google_protobuf//:any_proto",
+        "@com_google_protobuf//:protobuf",
     ],
 )
 
+gz_proto_factory(
+    name = "gzmsgs_proto_factory",
+    cc_output = "core/src/RegisterMsgs.cc",
+    hh_output = "include/gz/msgs/MessageTypes.hh",
+    deps = [":gzmsgs_proto"],
+)
+
+public_headers = public_headers_no_gen + [
+    "include/gz/msgs/config.hh",
+    "include/gz/msgs/Export.hh",
+    "include/gz/msgs.hh",
+    "include/gz/msgs/MessageTypes.hh",
+]
+
 cc_library(
     name = "msgs",
     srcs = [
-        "src/Factory.cc",
-        "src/Filesystem.cc",
-        "src/Utility.cc",
-        ":gzmsgs_cc_proto",
+        "core/src/DynamicFactory.cc",
+        "core/src/DynamicFactory.hh",
+        "core/src/Factory.cc",
+        "core/src/MessageFactory.cc",
+        "core/src/RegisterMsgs.cc",
+        "core/src/impl/InstallationDirectories.cc",
     ],
     hdrs = public_headers,
-    includes = ["include"],
+    copts = [
+        "-Wno-duplicate-decl-specifier",
+        "-fexceptions",
+    ],
+    includes = [
+        "core/include",
+        "core/src",
+        "include",
+    ],
     deps = [
         ":gzmsgs_cc_proto",
+        ":gzmsgs_proto_factory",
         GZ_ROOT + "math",
         "@com_google_protobuf//:protobuf",
         "@tinyxml2",
@@ -138,3 +162,100 @@ 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"],
+    defines = [
+        'GZ_MSGS_TEST_PATH=\\"msgs/test\\"',
+    ],
+    deps = [
+        ":msgs",
+        GZ_ROOT + "common/testing",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "INTEGRATION_descriptors",
+    srcs = ["test/integration/descriptors.cc"],
+    data = ["test/desc"],
+    defines = [
+        'GZ_MSGS_TEST_PATH=\\"msgs/test\\"',
+    ],
+    deps = [
+        ":msgs",
+        GZ_ROOT + "common/testing",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+)
+
+gz_configure_file(
+    name = "msgs_yaml",
+    src = "conf/msgs.yaml.in",
+    out = "msgs.yaml",
+    defines = [
+        "PROJECT_NAME_NO_VERSION_LOWER=msgs",
+        "gz_library_path=msgs/cmdmsgs",
+    ],
+    package = "msgs",
+)
+
+gz_configure_file(
+    name = "msgs_rb",
+    src = "core/src/cmd/cmdmsgs.rb.in",
+    out = "cmdmsgs.rb",
+    defines = [
+        "library_location=libgz-msgs.so",
+    ],
+    package = "msgs",
+)
+
+cc_binary(
+    name = "gz-msgs",
+    srcs = ["core/src/gz.cc"],
+    data = [
+        "cmdmsgs.rb",
+        "msgs.yaml",
+        ":gzmsgs_proto",
+    ],
+    linkshared = True,
+    linkstatic = True,
+    deps = [":msgs"],
+)
+
+add_lint_tests()