Merge: 3 -> main

.github/workflows/triage.yml

@@ -10,10 +10,8 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Add ticket to inbox
-        uses: technote-space/create-project-card-action@v1
+        uses: actions/add-to-project@v0.5.0
         with:
-          PROJECT: Core development
-          COLUMN: Inbox
-          GITHUB_TOKEN: ${{ secrets.TRIAGE_TOKEN }}
-          CHECK_ORG_PROJECT: true
+          project-url: https://github.com/orgs/gazebosim/projects/7
+          github-token: ${{ secrets.TRIAGE_TOKEN }}
 

Changelog.md

@@ -4,7 +4,36 @@
 
 ## Gazebo CMake 3.x
 
-### Gazebo CMake 3.3.0 (2023-08-10)
+### Gazebo CMake 3.4.1 (2023-09-26)
+
+1. Fixed finding Ogre2 on Windows+Conda
+    * [Pull request #384](https://github.com/gazebosim/gz-cmake/pull/384)
+
+### Gazebo CMake 3.4.0 (2023-08-25)
+
+1. Only link against DL in the case that it is needed
+    * [Pull request #380](https://github.com/gazebosim/gz-cmake/pull/380)
+    * [Pull request #382](https://github.com/gazebosim/gz-cmake/pull/382)
+
+1. Disable building examples by default
+    * [Pull request #377](https://github.com/gazebosim/gz-cmake/pull/377)
+
+1. FindIgnOgre*: fix LIBRARY_DIRS and PLUGINDIR resolution when using pkgconfig
+    * [Pull request #376](https://github.com/gazebosim/gz-cmake/pull/376)
+
+1. Use CONFIG in gz_add_benchmark to avoid Windows collisions
+    * [Pull request #341](https://github.com/gazebosim/gz-cmake/pull/341)
+
+### Gazebo CMake 3.3.1 (2023-08-03)
+
+1. Fix pkg_config_entry when version number is not specified
+    * [Pull request #374](https://github.com/gazebosim/gz-cmake/pull/374)
+
+1. Infrastructure
+    * [Pull request #372](https://github.com/gazebosim/gz-cmake/pull/372)
+    * [Pull request #371](https://github.com/gazebosim/gz-cmake/pull/371)
+
+### Gazebo CMake 3.3.0 (2023-07-10)
 
 1. GzConfigureProject: improve documentation
     * [Pull request #364](https://github.com/gazebosim/gz-cmake/pull/364)

Migration.md

@@ -7,6 +7,11 @@ release will remove the deprecated code.
 
 ## Gazebo CMake 2.X to 3.X
 
+1. **Breaking**: Examples are now built using native cmake.
+  Two targets will be generated for each set of examples: `EXAMPLES_Build_TEST` and `EXAMPLES_Configure_TEST`
+  Examples are not built by default, but instead require `BUILD_EXAMPLES:bool=True` to be set.
+  This is because examples require the package of interest to be installed via `make install`.
+
 1. **Breaking**: The project name has been changed to use the `gz-` prefix, you **must** use the `gz` prefix!
   * This also means that any generated code that use the project name (e.g. CMake variables, in-source macros) would have to be migrated.
   * Some non-exhaustive examples of this include:

cmake/FindGzOGRE.cmake

@@ -100,15 +100,12 @@ if (NOT WIN32)
         set (OGRE_FOUND false)
       else ()
         # set library dirs if the value is empty
-        if (NOT ${OGRE_LIBRARY_DIRS} OR ${OGRE_LIBRARY_DIRS} STREQUAL "")
-          execute_process(COMMAND pkg-config --variable=libdir OGRE
-                          OUTPUT_VARIABLE _pkgconfig_invoke_result
-                          RESULT_VARIABLE _pkgconfig_failed)
-          if(_pkgconfig_failed)
+        if (NOT OGRE_LIBRARY_DIRS)
+          pkg_get_variable(OGRE_LIBRARY_DIRS OGRE libdir)
+          if(NOT OGRE_LIBRARY_DIRS)
             GZ_BUILD_WARNING ("Failed to find OGRE's library directory.  The build will succeed, but there will likely be run-time errors.")
           else()
-            # set ogre library dir and strip line break
-            set(OGRE_LIBRARY_DIRS ${_pkgconfig_invoke_result})
+            # strip line break
             string(REGEX REPLACE "\n$" "" OGRE_LIBRARY_DIRS "${OGRE_LIBRARY_DIRS}")
 
             string(FIND "${OGRE_LIBRARIES}" "${OGRE_LIBRARY_DIRS}" substr_found)
@@ -148,22 +145,18 @@ if (NOT WIN32)
       endif()
     endforeach()
 
-    execute_process(COMMAND pkg-config --variable=plugindir OGRE
-                    OUTPUT_VARIABLE _pkgconfig_invoke_result
-                    RESULT_VARIABLE _pkgconfig_failed)
-    if(_pkgconfig_failed)
+    pkg_get_variable(OGRE_PLUGINDIR OGRE plugindir)
+    if(NOT OGRE_PLUGINDIR)
       GZ_BUILD_WARNING ("Failed to find OGRE's plugin directory.  The build will succeed, but there will likely be run-time errors.")
     else()
-      # This variable will be substituted into cmake/setup.sh.in
-      set(OGRE_PLUGINDIR ${_pkgconfig_invoke_result})
+      # Seems that OGRE_PLUGINDIR can end in a newline, which will cause problems
+      # when we pass it to the compiler later.
+      string(REPLACE "\n" "" OGRE_PLUGINDIR ${OGRE_PLUGINDIR})
     endif()
 
     gz_pkg_config_library_entry(GzOGRE OgreMain)
 
     set(OGRE_RESOURCE_PATH ${OGRE_PLUGINDIR})
-    # Seems that OGRE_PLUGINDIR can end in a newline, which will cause problems
-    # when we pass it to the compiler later.
-    string(REPLACE "\n" "" OGRE_RESOURCE_PATH ${OGRE_RESOURCE_PATH})
   endif()
 
   #reset pkg config path

cmake/FindGzOGRE2.cmake

@@ -26,7 +26,6 @@
 # to be set before calling find_package:
 #
 #  GZ_OGRE2_PROJECT_NAME    Possible values: OGRE2 (default) or OGRE-Next
-#                            (Only on UNIX, not in use for Windows)
 #                            Specify the project name used in the packaging.
 #                            It will impact directly in the name of the
 #                            CMake/pkg-config modules being used.
@@ -43,9 +42,6 @@
 #  OGRE2_RESOURCE_PATH      Path to ogre plugins directory
 #  GzOGRE2::GzOGRE2       Imported target for OGRE2
 #
-# On Windows, we assume that all the OGRE* defines are passed in manually
-# to CMake.
-#
 # Supports finding the following OGRE2 components: HlmsPbs, HlmsUnlit, Overlay,
 #  PlanarReflections
 #
@@ -147,7 +143,8 @@ macro(get_preprocessor_entry CONTENTS KEYWORD VARIABLE)
   endif ()
 endmacro()
 
-if (NOT WIN32)
+find_package(PkgConfig QUIET)
+if (PkgConfig_FOUND)
   set(PKG_CONFIG_PATH_ORIGINAL $ENV{PKG_CONFIG_PATH})
   foreach (GZ_OGRE2_PROJECT_NAME "OGRE2" "OGRE-Next")
     message(STATUS "Looking for OGRE using the name: ${GZ_OGRE2_PROJECT_NAME}")
@@ -234,20 +231,21 @@ if (NOT WIN32)
 
     # use pkg-config to find ogre plugin path
     # do it here before resetting the pkg-config paths
-    execute_process(COMMAND pkg-config --variable=plugindir ${GZ_PKG_NAME}
-                    OUTPUT_VARIABLE _pkgconfig_invoke_result
-                    RESULT_VARIABLE _pkgconfig_failed)
-    if(_pkgconfig_failed)
+    pkg_get_variable(OGRE2_PLUGINDIR ${GZ_PKG_NAME} plugindir)
+
+    if(NOT OGRE2_PLUGINDIR)
       GZ_BUILD_WARNING ("Failed to find OGRE's plugin directory. The build will succeed, but there will likely be run-time errors.")
     else()
-      fix_pkgconfig_prefix_jammy_bug("${_pkgconfig_invoke_result}" OGRE2_PLUGINDIR)
+      fix_pkgconfig_prefix_jammy_bug("${OGRE2_PLUGINDIR}" OGRE2_PLUGINDIR)
     endif()
 
     # reset pkg config path
     set(ENV{PKG_CONFIG_PATH} ${PKG_CONFIG_PATH_ORIGINAL})
 
     set(OGRE2_INCLUDE_DIRS ${${GZ_OGRE2_PROJECT_NAME}_INCLUDE_DIRS})  # sync possible OGRE-Next to OGRE2
 
+    unset(OGRE2_INCLUDE CACHE)
+    unset(OGRE2_INCLUDE)
     # verify ogre header can be found in the include path
     find_path(OGRE2_INCLUDE
       NAMES Ogre.h
@@ -393,7 +391,7 @@ if (NOT WIN32)
   # because gz_pkg_check_modules does not work for it.
   include(GzPkgConfig)
   gz_pkg_config_library_entry(GzOGRE2 OgreMain)
-else() #WIN32
+else() #PkgConfig_FOUND
 
   set(OGRE2_FOUND TRUE)
   set(OGRE_LIBRARIES "")

cmake/GzBuildExamples.cmake

@@ -40,46 +40,52 @@
 #             For example ${CMAKE_CURRENT_BINARY_DIR}/examples
 #
 macro(gz_build_examples)
-  #------------------------------------
-  # Define the expected arguments
-  set(options)
-  set(oneValueArgs SOURCE_DIR BINARY_DIR)
+  option(BUILD_EXAMPLES "Build examples (requires a system installation of the software first)" OFF)
 
-  #------------------------------------
-  # Parse the arguments
-  _gz_cmake_parse_arguments(gz_build_examples "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+  if(NOT ${BUILD_EXAMPLES})
+    message(STATUS "Building examples disabled")
+  else()
+    #------------------------------------
+    # Define the expected arguments
+    set(options)
+    set(oneValueArgs SOURCE_DIR BINARY_DIR)
 
-  set(gz_build_examples_CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+    #------------------------------------
+    # Parse the arguments
+    _gz_cmake_parse_arguments(gz_build_examples "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
-  if (gz_build_examples_CMAKE_PREFIX_PATH)
-    # Replace colons from environment variable with semicolon cmake list delimiter
-    # Only perform if string has contents, otherwise cmake will complain about REPLACE command
-    string(REPLACE ":" ";" gz_build_examples_CMAKE_PREFIX_PATH ${gz_build_examples_CMAKE_PREFIX_PATH})
-  endif()
+    set(gz_build_examples_CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
 
-  if (CMAKE_INSTALL_PREFIX)
-    list(APPEND gz_build_examples_CMAKE_PREFIX_PATH ${CMAKE_INSTALL_PREFIX})
-  endif()
+    if (gz_build_examples_CMAKE_PREFIX_PATH)
+      # Replace colons from environment variable with semicolon cmake list delimiter
+      # Only perform if string has contents, otherwise cmake will complain about REPLACE command
+      string(REPLACE ":" ";" gz_build_examples_CMAKE_PREFIX_PATH ${gz_build_examples_CMAKE_PREFIX_PATH})
+    endif()
 
-  add_test(
-    NAME EXAMPLES_Configure_TEST
-    COMMAND ${CMAKE_COMMAND} -G${CMAKE_GENERATOR}
-                             --no-warn-unused-cli
-                             -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
-                             -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}
-                             -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}
-                             -DCMAKE_C_FLAGS=${CMAKE_C_FLAGS}
-                             -DCMAKE_CXX_FLAGS=${CMAKE_CXX_FLAGS}
-                             "-DCMAKE_PREFIX_PATH=${gz_build_examples_CMAKE_PREFIX_PATH}"
-                             -S ${gz_build_examples_SOURCE_DIR}
-                             -B ${gz_build_examples_BINARY_DIR}
-  )
+    if (CMAKE_INSTALL_PREFIX)
+      list(APPEND gz_build_examples_CMAKE_PREFIX_PATH ${CMAKE_INSTALL_PREFIX})
+    endif()
 
-  add_test(
-    NAME EXAMPLES_Build_TEST
-    COMMAND ${CMAKE_COMMAND} --build ${gz_build_examples_BINARY_DIR}
-                             --config $<CONFIG>
-  )
-  set_tests_properties(EXAMPLES_Build_TEST
-    PROPERTIES DEPENDS "EXAMPLES_Configure_TEST")
+    add_test(
+      NAME EXAMPLES_Configure_TEST
+      COMMAND ${CMAKE_COMMAND} -G${CMAKE_GENERATOR}
+                               --no-warn-unused-cli
+                               -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+                               -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}
+                               -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}
+                               -DCMAKE_C_FLAGS=${CMAKE_C_FLAGS}
+                               -DCMAKE_CXX_FLAGS=${CMAKE_CXX_FLAGS}
+                               "-DCMAKE_PREFIX_PATH=${gz_build_examples_CMAKE_PREFIX_PATH}"
+                               -S ${gz_build_examples_SOURCE_DIR}
+                               -B ${gz_build_examples_BINARY_DIR}
+    )
+
+    add_test(
+      NAME EXAMPLES_Build_TEST
+      COMMAND ${CMAKE_COMMAND} --build ${gz_build_examples_BINARY_DIR}
+                               --config $<CONFIG>
+    )
+    set_tests_properties(EXAMPLES_Build_TEST
+      PROPERTIES DEPENDS "EXAMPLES_Configure_TEST")
+  endif()
 endmacro()

cmake/GzPkgConfig.cmake

@@ -178,8 +178,11 @@ endmacro()
 # use the cmake config-file to retrieve the package information, and then use
 # this macro to generate the relevant pkg-config information.
 macro(gz_pkg_config_entry package string)
-
-  set(${package}_PKGCONFIG_ENTRY "${string}")
+  # The input string may contain an operator without a version,
+  # e.g "protobuf >= ". But this is not valid pkg-config syntax. This regex
+  # search/replace will remove the operator if the version is empty.
+  string(REGEX REPLACE " *[<>=]+ *$" "" entry ${string})
+  set(${package}_PKGCONFIG_ENTRY "${entry}")
   set(${package}_PKGCONFIG_TYPE PKGCONFIG_REQUIRES)
 
 endmacro()

cmake/GzRelocatableBinaries.cmake

@@ -74,19 +74,12 @@ macro(gz_add_get_install_prefix_impl)
       "gz_add_get_install_prefix_impl: missing parameter OVERRIDE_INSTALL_PREFIX_ENV_VARIABLE")
   endif()
 
-
   if(NOT TARGET ${PROJECT_LIBRARY_TARGET_NAME})
     message(FATAL_ERROR
       "Target ${PROJECT_LIBRARY_TARGET_NAME} required by gz_add_get_install_prefix_impl\n"
       "does not exist.")
   endif()
 
-  if(NOT TARGET ${DL_TARGET})
-    message(FATAL_ERROR
-      "gz_add_get_install_prefix_impl called without DL_TARGET defined,\n"
-      "please add gz_find_package(DL) if you want to use gz_add_get_install_prefix_impl.")
-  endif()
-
   get_target_property(target_type ${PROJECT_LIBRARY_TARGET_NAME} TYPE)
   if(NOT (target_type STREQUAL "STATIC_LIBRARY" OR target_type STREQUAL "MODULE_LIBRARY" OR target_type STREQUAL "SHARED_LIBRARY"))
     message(FATAL_ERROR "gz_add_get_install_prefix_impl: library ${_library} is of unsupported type ${target_type}")
@@ -98,7 +91,14 @@ macro(gz_add_get_install_prefix_impl)
 
   # Write cpp for shared or module library type
   option(GZ_ENABLE_RELOCATABLE_INSTALL "If ON, enable the feature of providing a relocatable install prefix in shared library." OFF)
+
   if ((target_type STREQUAL "MODULE_LIBRARY" OR target_type STREQUAL "SHARED_LIBRARY") AND GZ_ENABLE_RELOCATABLE_INSTALL)
+    if(NOT TARGET ${DL_TARGET})
+      message(FATAL_ERROR
+        "gz_add_get_install_prefix_impl called without DL_TARGET defined,\n"
+        "please add gz_find_package(DL) if you want to use gz_add_get_install_prefix_impl.")
+    endif()
+
     # We can't query the LOCATION property of the target due to https://cmake.org/cmake/help/v3.25/policy/CMP0026.html
     # We can only access the directory of the library at generation time via $<TARGET_FILE_DIR:tgt>
     file(GENERATE OUTPUT "${gz_add_get_install_prefix_impl_GENERATED_CPP}"
@@ -208,7 +208,10 @@ endif()
   # Add cpp to library
   target_sources(${PROJECT_LIBRARY_TARGET_NAME} PRIVATE ${gz_add_get_install_prefix_impl_GENERATED_CPP})
 
+# Only link DL in the case that it is needed.
+if ((target_type STREQUAL "MODULE_LIBRARY" OR target_type STREQUAL "SHARED_LIBRARY") AND GZ_ENABLE_RELOCATABLE_INSTALL)
   # Link DL_TARGET that provides dladdr
   target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME} PRIVATE ${DL_TARGET})
+endif()
 
 endmacro()