Make systems and tests include headers they use (#2100)

* Update for new message generation and iwyu (#2087) Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
gazebosim · Aug 31, 2023 · 5846393 · 5846393
1 parent 8614184
commit 5846393
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Showing 50 changed files with 237 additions and 55 deletions.
diff --git a/src/AddedMass_TEST.cc b/src/AddedMass_TEST.cc
@@ -17,6 +17,9 @@
 
 #include <gtest/gtest.h>
 
+#include <gz/msgs/boolean.pb.h>
+#include <gz/msgs/world_control.pb.h>
+
 #include <gz/transport/Node.hh>
 #include <gz/sim/components/AngularVelocity.hh>
 #include <gz/sim/components/AngularVelocityCmd.hh>

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -1,21 +1,39 @@
 add_subdirectory(rendering)
 add_subdirectory(gui)
 add_subdirectory(systems)
-add_subdirectory(msgs)
 
-set_source_files_properties(
-  ${PROTO_PRIVATE_SRC}
-  ${PROTO_PRIVATE_HEADERS}
-  PROPERTIES GENERATED TRUE
+file(GLOB gz_msgs_proto_files
+  ${CMAKE_CURRENT_SOURCE_DIR}/proto/gz/sim/private_msgs/*.proto
 )
 
-# Suppress compiler warnings in generated protobuf C++ code.
-if(NOT MSVC)
-  set_source_files_properties(
-    ${PROTO_PRIVATE_SRC}
-    COMPILE_FLAGS -Wno-unused-parameter
-  )
-endif()
+get_target_property(msgs_desc_file
+  gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER} GZ_MSGS_DESC_FILE)
+
+gz_msgs_generate_messages_impl(
+  MSGS_GEN_SCRIPT
+    ${gz-msgs10_PROTO_GENERATOR_SCRIPT}
+  FACTORY_GEN_SCRIPT
+    ${gz-msgs10_FACTORY_GENERATOR_SCRIPT}
+  GZ_PROTOC_PLUGIN
+    ${gz-msgs10_PROTO_GENERATOR_PLUGIN}
+  INPUT_PROTOS
+    ${gz_msgs_proto_files}
+  PROTO_PACKAGE
+    "gz.sim.private_msgs"
+  PROTO_PATH
+    ${CMAKE_CURRENT_SOURCE_DIR}/proto
+  OUTPUT_DIRECTORY
+    ${PROJECT_BINARY_DIR}/gz_msgs_gen
+  OUTPUT_SOURCES
+    msgs_sources
+  OUTPUT_HEADERS
+    msgs_headers
+  OUTPUT_DETAIL_HEADERS
+    msgs_detail_headers
+  OUTPUT_PYTHON
+    msgs_python
+  DEPENDENCY_DESCRIPTIONS ${msgs_desc_file}
+)
 
 set(network_sources
   network/NetworkConfig.cc
@@ -70,9 +88,9 @@ set (sources
   Util.cc
   View.cc
   World.cc
-  ${PROTO_PRIVATE_SRC}
   ${network_sources}
   ${comms_sources}
+  ${msgs_sources}
 )
 
 set (gtest_sources
@@ -204,10 +222,7 @@ endif()
 target_include_directories(${PROJECT_LIBRARY_TARGET_NAME}
   PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
-)
-
-add_dependencies(${PROJECT_LIBRARY_TARGET_NAME}
-  gz-sim_private_msgs
+  $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/gz_msgs_gen>
 )
 
 set(GZ_SIM_PLUGIN_INSTALL_DIR

diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc
@@ -16,6 +16,12 @@
 */
 
 #include <gtest/gtest.h>
+
+#include <gz/msgs/boolean.pb.h>
+#include <gz/msgs/server_control.pb.h>
+#include <gz/msgs/stringmsg.pb.h>
+#include <gz/msgs/stringmsg_v.pb.h>
+
 #include <csignal>
 #include <vector>
 #include <gz/common/StringUtils.hh>

diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc
@@ -16,8 +16,14 @@
 */
 
 #include <gtest/gtest.h>
+
 #include <tinyxml2.h>
 
+#include <gz/msgs/clock.pb.h>
+#include <gz/msgs/gui.pb.h>
+#include <gz/msgs/sdf_generator_config.pb.h>
+#include <gz/msgs/stringmsg.pb.h>
+
 #include <gz/common/Console.hh>
 #include <gz/common/Util.hh>
 #include <gz/transport/Node.hh>
@@ -32,8 +38,8 @@
 #include <sdf/Root.hh>
 #include <sdf/Sphere.hh>
 
-
 #include "test_config.hh"
+
 #include "gz/sim/components/CanonicalLink.hh"
 #include "gz/sim/components/ChildLinkName.hh"
 #include "gz/sim/components/Collision.hh"

diff --git a/src/cmd/ModelCommandAPI.cc b/src/cmd/ModelCommandAPI.cc
@@ -17,6 +17,10 @@
 
 #include "ModelCommandAPI.hh"
 
+#include <gz/msgs/serialized.pb.h>
+#include <gz/msgs/serialized_map.pb.h>
+#include <gz/msgs/stringmsg_v.pb.h>
+
 #include <string>
 #include <vector>
 #include <map>
@@ -30,9 +34,6 @@
 #include <sdf/Noise.hh>
 #include <sdf/Sensor.hh>
 
-#include <gz/msgs/serialized.pb.h>
-#include <gz/msgs/stringmsg.pb.h>
-
 #include <gz/common/Console.hh>
 #include <gz/common/Filesystem.hh>
 #include <gz/sim/EntityComponentManager.hh>

diff --git a/src/gui/plugins/component_inspector/ComponentInspector.cc b/src/gui/plugins/component_inspector/ComponentInspector.cc
@@ -15,6 +15,16 @@
  *
 */
 
+#include "ComponentInspector.hh"
+
+#include <gz/msgs/boolean.pb.h>
+#include <gz/msgs/entity_plugin_v.pb.h>
+#include <gz/msgs/light.pb.h>
+#include <gz/msgs/physics.pb.h>
+#include <gz/msgs/visual.pb.h>
+#include <gz/msgs/spherical_coordinates.pb.h>
+#include <gz/msgs/empty.pb.h>
+
 #include <iostream>
 #include <list>
 #include <regex>
@@ -27,6 +37,7 @@
 #include <gz/math/Color.hh>
 #include <gz/math/SphericalCoordinates.hh>
 #include <gz/math/Vector3.hh>
+
 #include <gz/plugin/Register.hh>
 
 #include "gz/sim/components/Actor.hh"
@@ -78,7 +89,6 @@
 #include "gz/sim/EntityComponentManager.hh"
 #include "gz/sim/gui/GuiEvents.hh"
 
-#include "ComponentInspector.hh"
 #include "Inertial.hh"
 #include "Pose3d.hh"
 #include "SystemPluginInfo.hh"

diff --git a/src/gui/plugins/playback_scrubber/PlaybackScrubber.cc b/src/gui/plugins/playback_scrubber/PlaybackScrubber.cc
@@ -18,7 +18,7 @@
 #include "PlaybackScrubber.hh"
 
 #include <gz/msgs/boolean.pb.h>
-#include <gz/msgs/stringmsg.pb.h>
+#include <gz/msgs/log_playback_control.pb.h>
 
 #include <chrono>
 #include <ctime>

diff --git a/src/gui/plugins/visualize_contacts/VisualizeContacts.cc b/src/gui/plugins/visualize_contacts/VisualizeContacts.cc
@@ -15,8 +15,13 @@
  *
 */
 
+#include "VisualizeContacts.hh"
+
+#include <gz/msgs/boolean.pb.h>
 #include <gz/msgs/contact.pb.h>
 #include <gz/msgs/contacts.pb.h>
+#include <gz/msgs/entity.pb.h>
+#include <gz/msgs/marker.pb.h>
 
 #include <string>
 #include <vector>
@@ -46,8 +51,6 @@
 #include "gz/sim/gui/GuiEvents.hh"
 #include "gz/sim/rendering/RenderUtil.hh"
 
-#include "VisualizeContacts.hh"
-
 namespace gz
 {
 namespace sim

diff --git a/src/msgs/CMakeLists.txt b/src/msgs/CMakeLists.txt
diff --git a/src/network/NetworkManagerPrimary.cc b/src/network/NetworkManagerPrimary.cc
@@ -17,6 +17,11 @@
 
 #include "NetworkManagerPrimary.hh"
 
+#include <gz/msgs/world_stats.pb.h>
+#include <gz/msgs/serialized_map.pb.h>
+#include "gz/sim/private_msgs/peer_control.pb.h"
+#include "gz/sim/private_msgs/simulation_step.pb.h"
+
 #include <algorithm>
 #include <future>
 #include <set>
@@ -27,9 +32,6 @@
 #include <gz/common/Util.hh>
 #include <gz/common/Profiler.hh>
 
-#include "msgs/peer_control.pb.h"
-#include "msgs/simulation_step.pb.h"
-
 #include "gz/sim/components/PerformerAffinity.hh"
 #include "gz/sim/components/PerformerLevels.hh"
 #include "gz/sim/Conversions.hh"

diff --git a/src/network/NetworkManagerPrimary.hh b/src/network/NetworkManagerPrimary.hh
@@ -18,6 +18,7 @@
 #define GZ_SIM_NETWORK_NETWORKMANAGERPRIMARY_HH_
 
 #include <gz/msgs/serialized_map.pb.h>
+#include "gz/sim/private_msgs/simulation_step.pb.h"
 
 #include <atomic>
 #include <future>
@@ -31,7 +32,6 @@
 #include <gz/sim/Entity.hh>
 #include <gz/transport/Node.hh>
 
-#include "msgs/simulation_step.pb.h"
 
 #include "NetworkManager.hh"
 

diff --git a/src/network/NetworkManagerSecondary.cc b/src/network/NetworkManagerSecondary.cc
@@ -15,15 +15,17 @@
  *
 */
 
+#include <gz/msgs/serialized_map.pb.h>
+#include "gz/sim/private_msgs/peer_control.pb.h"
+#include "gz/sim/private_msgs/simulation_step.pb.h"
+
 #include <algorithm>
 #include <string>
 
 #include <gz/common/Console.hh>
 #include <gz/common/Util.hh>
 #include <gz/common/Profiler.hh>
 
-#include "msgs/peer_control.pb.h"
-
 #include "gz/sim/components/ParentEntity.hh"
 #include "gz/sim/Conversions.hh"
 #include "gz/sim/Entity.hh"

diff --git a/src/network/NetworkManagerSecondary.hh b/src/network/NetworkManagerSecondary.hh
@@ -26,8 +26,8 @@
 #include <gz/sim/Export.hh>
 #include <gz/transport/Node.hh>
 
-#include "msgs/simulation_step.pb.h"
-#include "msgs/peer_control.pb.h"
+#include "gz/sim/private_msgs/simulation_step.pb.h"
+#include "gz/sim/private_msgs/peer_control.pb.h"
 
 #include "NetworkManager.hh"
 

diff --git a/src/network/PeerInfo.hh b/src/network/PeerInfo.hh
@@ -23,7 +23,7 @@
 #include <gz/sim/Export.hh>
 
 #include "NetworkRole.hh"
-#include "msgs/peer_info.pb.h"
+#include "gz/sim/private_msgs/peer_info.pb.h"
 
 namespace gz
 {

diff --git a/src/msgs/peer_control.proto → ...to/gz/sim/private_msgs/peer_control.proto b/src/msgs/peer_control.proto → ...to/gz/sim/private_msgs/peer_control.proto
diff --git a/src/msgs/peer_info.proto → ...proto/gz/sim/private_msgs/peer_info.proto b/src/msgs/peer_info.proto → ...proto/gz/sim/private_msgs/peer_info.proto
diff --git a/src/msgs/performer_affinity.proto → ...sim/private_msgs/performer_affinity.proto b/src/msgs/performer_affinity.proto → ...sim/private_msgs/performer_affinity.proto
diff --git a/src/msgs/simulation_step.proto → ...gz/sim/private_msgs/simulation_step.proto b/src/msgs/simulation_step.proto → ...gz/sim/private_msgs/simulation_step.proto
@@ -20,7 +20,7 @@ syntax = "proto3";
 package gz.sim.private_msgs;
 
 import "gz/msgs/world_stats.proto";
-import "performer_affinity.proto";
+import "gz/sim/private_msgs/performer_affinity.proto";
 
 /// \brief Message to contain simulation step information for distributed
 /// simulation.
@@ -33,5 +33,5 @@ message SimulationStep
 
   /// \brief Updated performer affinities. It will be empty if there are no
   /// affinity changes.
-  repeated PerformerAffinity affinity = 2;
+  repeated gz.sim.private_msgs.PerformerAffinity affinity = 2;
 }
diff --git a/src/systems/ackermann_steering/AckermannSteering.cc b/src/systems/ackermann_steering/AckermannSteering.cc
@@ -19,7 +19,11 @@
 #include "AckermannSteering.hh"
 
 #include <gz/msgs/actuators.pb.h>
+#include <gz/msgs/double.pb.h>
 #include <gz/msgs/odometry.pb.h>
+#include <gz/msgs/pose.pb.h>
+#include <gz/msgs/pose_v.pb.h>
+#include <gz/msgs/twist.pb.h>
 
 #include <mutex>
 #include <set>
@@ -30,6 +34,8 @@
 #include <gz/math/Quaternion.hh>
 #include <gz/math/Angle.hh>
 #include <gz/math/SpeedLimiter.hh>
+
+
 #include <gz/plugin/Register.hh>
 #include <gz/transport/Node.hh>
 

diff --git a/src/systems/camera_video_recorder/CameraVideoRecorder.cc b/src/systems/camera_video_recorder/CameraVideoRecorder.cc
@@ -15,6 +15,11 @@
  *
 */
 
+#include <gz/msgs/boolean.pb.h>
+#include <gz/msgs/image.pb.h>
+#include <gz/msgs/time.pb.h>
+#include <gz/msgs/video_record.pb.h>
+
 #include <regex>
 #include <set>
 #include <string>

diff --git a/src/systems/diff_drive/DiffDrive.cc b/src/systems/diff_drive/DiffDrive.cc
@@ -17,7 +17,12 @@
 
 #include "DiffDrive.hh"
 
+#include <gz/msgs/boolean.pb.h>
 #include <gz/msgs/odometry.pb.h>
+#include <gz/msgs/pose.pb.h>
+#include <gz/msgs/pose_v.pb.h>
+#include <gz/msgs/time.pb.h>
+#include <gz/msgs/twist.pb.h>
 
 #include <limits>
 #include <mutex>

diff --git a/src/systems/log_video_recorder/LogVideoRecorder.cc b/src/systems/log_video_recorder/LogVideoRecorder.cc
@@ -17,8 +17,11 @@
 
 #include "LogVideoRecorder.hh"
 
+#include <gz/msgs/boolean.pb.h>
+#include <gz/msgs/log_playback_control.pb.h>
 #include <gz/msgs/scene.pb.h>
 #include <gz/msgs/stringmsg.pb.h>
+#include <gz/msgs/video_record.pb.h>
 
 #include <chrono>
 #include <set>

diff --git a/src/systems/mecanum_drive/MecanumDrive.cc b/src/systems/mecanum_drive/MecanumDrive.cc
@@ -18,6 +18,8 @@
 #include "MecanumDrive.hh"
 
 #include <gz/msgs/odometry.pb.h>
+#include <gz/msgs/pose_v.pb.h>
+#include <gz/msgs/twist.pb.h>
 
 #include <limits>
 #include <mutex>

diff --git a/src/systems/odometry_publisher/OdometryPublisher.cc b/src/systems/odometry_publisher/OdometryPublisher.cc
@@ -17,8 +17,10 @@
 
 #include "OdometryPublisher.hh"
 
+#include <gz/msgs/header.pb.h>
 #include <gz/msgs/odometry.pb.h>
 #include <gz/msgs/odometry_with_covariance.pb.h>
+#include <gz/msgs/pose_v.pb.h>
 
 #include <limits>
 #include <string>