Standalone gz model executable

src/CMakeLists.txt

@@ -57,7 +57,6 @@ set(gui_sources
 
 set(cli_sources
   gz.cc
-  cmd/ModelCommandAPI.cc
 )
 
 set(material_sources
@@ -134,23 +133,11 @@ set (gtest_sources
   network/NetworkManager_TEST.cc
 )
 
-# gz_TEST and ModelCommandAPI_TEST are not supported with multi config
-# CMake generators, see also cmd/CMakeLists.txt
-get_property(GENERATOR_IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
-if(NOT GENERATOR_IS_MULTI_CONFIG)
-  list(APPEND gtest_sources gz_TEST.cc)
-endif()
-
-
 # Tests that require a valid display
 set(tests_needing_display
   Server_Rendering_TEST.cc
 )
 
-if(NOT GENERATOR_IS_MULTI_CONFIG)
-  list(APPEND tests_needing_display ModelCommandAPI_TEST.cc)
-endif()
-
 # Add systems that need a valid display here.
 # \todo(anyone) Find a way to run these tests with a virtual display such Xvfb
 # or Xdummy instead of skipping them
@@ -265,53 +252,4 @@ if (TARGET UNIT_Server_Rendering_TEST)
   )
 endif()
 
-# Command line tests need extra settings
-foreach(CMD_TEST
-  UNIT_gz_TEST
-  UNIT_ModelCommandAPI_TEST)
-
-  if(NOT TARGET ${CMD_TEST})
-    continue()
-  endif()
-
-  # Running `gz sim` on macOS has problems when run with /usr/bin/ruby
-  # due to System Integrity Protection (SIP). Try to find ruby from
-  # homebrew as a workaround.
-  if (APPLE)
-    find_program(BREW_RUBY ruby HINTS /usr/local/opt/ruby/bin)
-  endif()
-
-  add_dependencies(${CMD_TEST}
-    ${gz_lib_target}
-    TestModelSystem
-    TestSensorSystem
-    TestWorldSystem
-  )
-
-  target_compile_definitions(${CMD_TEST} PRIVATE
-      "BREW_RUBY=\"${BREW_RUBY} \"")
-
-  target_compile_definitions(${CMD_TEST} PRIVATE
-      "GZ_PATH=\"${GZ_TOOLS_PROGRAM}\"")
-
-  set(_env_vars)
-  list(APPEND _env_vars "GZ_CONFIG_PATH=${CMAKE_BINARY_DIR}/test/conf")
-  list(APPEND _env_vars "GZ_SIM_SYSTEM_PLUGIN_PATH=$<TARGET_FILE_DIR:TestModelSystem>")
-
-  set_tests_properties(${CMD_TEST} PROPERTIES
-    ENVIRONMENT "${_env_vars}")
-
-  # On Windows there is no RPATH, so an alternative way for tests for finding .dll libraries
-  # in build directory in necessary. For regular tests, the trick is to place all libraries
-  # and executables in a common CMAKE_RUNTIME_OUTPUT_DIRECTORY, so that the .dll are found
-  # as they are in the same directory where the executable is loaded. For tests that are
-  # launched via Ruby, this does not work, so we need to manually add CMAKE_RUNTIME_OUTPUT_DIRECTORY
-  # to the PATH. This is done via the ENVIRONMENT_MODIFICATION that was added in CMake 3.22.
-  if (WIN32)
-    set_tests_properties(${CMD_TEST} PROPERTIES
-      ENVIRONMENT_MODIFICATION "PATH=path_list_prepend:${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
-  endif()
-
-endforeach()
-
 add_subdirectory(cmd)

src/cmd/CMakeLists.txt

@@ -1,3 +1,106 @@
+# Create model executable
+set(model_executable gz-sim-model)
+add_executable(${model_executable} model_main.cc ModelCommandAPI.cc)
+target_link_libraries(${model_executable}
+  gz-utils${GZ_UTILS_VER}::cli
+  ${PROJECT_LIBRARY_TARGET_NAME}
+)
+
+install(
+  TARGETS ${model_executable}
+  DESTINATION ${CMAKE_INSTALL_LIBEXECDIR}/gz/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}/)
+
+# Build the unit tests.
+set(test_sources)
+
+# gz_TEST and ModelCommandAPI_TEST are not supported with multi config
+# CMake generators, see also cmd/CMakeLists.txt
+get_property(GENERATOR_IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
+if(NOT GENERATOR_IS_MULTI_CONFIG)
+  list(APPEND test_sources gz_TEST.cc)
+
+  # Add systems that need a valid display here.
+  # \todo(anyone) Find a way to run these tests with a virtual display such Xvfb
+  # or Xdummy instead of skipping them
+  if(VALID_DISPLAY AND VALID_DRI_DISPLAY)
+    list(APPEND test_sources ModelCommandAPI_TEST.cc)
+  else()
+    message(STATUS
+      "Skipping ModelCommandAPI tests because a valid display was not found")
+  endif()
+endif()
+
+# Build unit tests if Gazebo tools is installed
+if(BUILD_TESTING AND GZ_TOOLS_PROGRAM)
+  gz_build_tests(TYPE UNIT
+    SOURCES
+      ${test_sources}
+    LIB_DEPS
+      gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER}
+      ${EXTRA_TEST_LIB_DEPS}
+      gz-sim${PROJECT_VERSION_MAJOR}
+    ENVIRONMENT
+        GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+  )
+endif()
+
+foreach(CMD_TEST
+  UNIT_gz_TEST UNIT_ModelCommandAPI_TEST)
+
+  if(NOT TARGET ${CMD_TEST})
+    continue()
+  endif()
+
+  add_dependencies(${CMD_TEST}
+    ${gz_lib_target}
+    TestModelSystem
+    TestSensorSystem
+    TestWorldSystem
+  )
+
+  target_compile_definitions(${CMD_TEST}
+    PRIVATE
+      "GZ_PATH=\"${GZ_TOOLS_PROGRAM}\""
+  )
+
+  if(${CMD_TEST} STREQUAL UNIT_ModelCommandAPI_TEST)
+    set_tests_properties(${CMD_TEST} PROPERTIES
+      ENVIRONMENT "GZ_CONFIG_PATH=${CMAKE_BINARY_DIR}/test/conf/$<CONFIG>")
+  endif()
+
+  if(${CMD_TEST} STREQUAL UNIT_gz_TEST)
+    # Running `gz sim` on macOS has problems when run with /usr/bin/ruby
+    # due to System Integrity Protection (SIP). Try to find ruby from
+    # homebrew as a workaround.
+    if(APPLE)
+      find_program(BREW_RUBY ruby HINTS /usr/local/opt/ruby/bin)
+    endif()
+
+    target_compile_definitions(${CMD_TEST}
+      PRIVATE
+        "BREW_RUBY=\"${BREW_RUBY} \""
+    )
+
+    set(_env_vars)
+    list(APPEND _env_vars "GZ_CONFIG_PATH=${CMAKE_BINARY_DIR}/test/conf")
+    list(APPEND _env_vars "GZ_SIM_SYSTEM_PLUGIN_PATH=$<TARGET_FILE_DIR:TestModelSystem>")
+
+    set_tests_properties(${CMD_TEST} PROPERTIES
+      ENVIRONMENT "${_env_vars}")
+  endif()
+
+  # On Windows there is no RPATH, so an alternative way for tests for finding .dll libraries
+  # in build directory in necessary. For regular tests, the trick is to place all libraries
+  # and executables in a common CMAKE_RUNTIME_OUTPUT_DIRECTORY, so that the .dll are found
+  # as they are in the same directory where the executable is loaded. For tests that are
+  # launched via Ruby, this does not work, so we need to manually add CMAKE_RUNTIME_OUTPUT_DIRECTORY
+  # to the PATH. This is done via the ENVIRONMENT_MODIFICATION that was added in CMake 3.22.
+  if (WIN32)
+    set_tests_properties(${CMD_TEST} PROPERTIES
+      ENVIRONMENT_MODIFICATION "PATH=path_list_prepend:${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
+  endif()
+endforeach()
+
 #===============================================================================
 # Generate the ruby script.
 # Note that the major version of the library is included in the name.
@@ -43,35 +146,6 @@ install( FILES
   DESTINATION
   ${CMAKE_INSTALL_DATAROOTDIR}/gz/)
 
-#===============================================================================
-# Used for the installed model command version.
-# Generate the ruby script that gets installed.
-# Note that the major version of the library is included in the name.
-set(cmd_model_script_name "cmdmodel${PROJECT_VERSION_MAJOR}.rb")
-set(cmd_model_script_generated "${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>_${cmd_model_script_name}")
-set(cmd_model_script_configured "${CMAKE_CURRENT_BINARY_DIR}/${cmd_model_script_name}.configured")
-
-configure_file(
-  "cmdmodel.rb.in"
-  "${cmd_model_script_configured}"
-  @ONLY)
-file(GENERATE
-  OUTPUT "${cmd_model_script_generated}"
-  INPUT  "${cmd_model_script_configured}")
-
-install(FILES ${cmd_model_script_generated} DESTINATION lib/ruby/gz RENAME ${cmd_model_script_name})
-
-# Used for the installed version.
-set(gz_model_ruby_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/gz/cmdmodel${PROJECT_VERSION_MAJOR}")
-
-set(model_configured "${CMAKE_CURRENT_BINARY_DIR}/model${PROJECT_VERSION_MAJOR}.yaml")
-configure_file(
-  "model.yaml.in"
-  ${model_configured})
-
-install(FILES ${model_configured} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/gz/)
-
-
 #===============================================================================
 # Generate the ruby script for internal testing.
 # Note that the major version of the library is included in the name.
@@ -109,32 +183,83 @@ if(NOT GENERATOR_IS_MULTI_CONFIG)
 endif()
 
 #===============================================================================
-# Generate the ruby script for internal testing.
+# Generate the ruby script for internal testing of model command.
 # Note that the major version of the library is included in the name.
 # The logic is valid only for single-config CMake generators, so no script is
 # generated if a multiple-config CMake geneator is used
 if(NOT GENERATOR_IS_MULTI_CONFIG)
-  set(cmd_model_ruby_test_dir "${CMAKE_BINARY_DIR}/test/lib/ruby/gz")
-  set(cmd_model_script_generated_test "${cmd_model_ruby_test_dir}/cmdmodel${PROJECT_VERSION_MAJOR}.rb")
-  set(cmd_model_script_configured_test "${cmd_model_script_generated_test}.configured")
+  set(gz_model_ruby_path
+    "${CMAKE_BINARY_DIR}/test/lib/$<CONFIG>/ruby/gz/cmdmodel${PROJECT_VERSION_MAJOR}")
+  set(cmd_model_script_generated_test "${gz_model_ruby_path}.rb")
+  set(cmd_model_script_configured_test
+    "${CMAKE_CURRENT_BINARY_DIR}/test_cmdmodel${PROJECT_VERSION_MAJOR}.rb.configured")
+
+  # Set the library_location variable to the full path of the library file within
+  # the build directory.
+  set(model_exe_location "$<TARGET_FILE:${model_executable}>")
 
   configure_file(
     "cmdmodel.rb.in"
     "${cmd_model_script_configured_test}"
-    @ONLY)
+    @ONLY
+  )
 
   file(GENERATE
     OUTPUT "${cmd_model_script_generated_test}"
-    INPUT  "${cmd_model_script_configured_test}")
-
-  # Used for internal testing.
-  set(gz_model_ruby_path "${cmd_model_script_generated_test}")
+    INPUT "${cmd_model_script_configured_test}"
+  )
 
+  # Generate a configuration file for internal testing.
+  # Note that the major version of the library is included in the name.
+  # Ex: model0.yaml
   configure_file(
     "model.yaml.in"
-    "${CMAKE_BINARY_DIR}/test/conf/model${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
+    "${CMAKE_CURRENT_BINARY_DIR}/model${PROJECT_VERSION_MAJOR}.yaml.configured"
+    @ONLY
+  )
+
+  file(GENERATE
+    OUTPUT "${CMAKE_BINARY_DIR}/test/conf/$<CONFIG>/model${PROJECT_VERSION_MAJOR}.yaml"
+    INPUT "${CMAKE_CURRENT_BINARY_DIR}/model${PROJECT_VERSION_MAJOR}.yaml.configured"
+  )
 endif()
 
+#===============================================================================
+# Used for the installed model command version.
+# Generate the ruby script that gets installed.
+# Note that the major version of the library is included in the name.
+# Ex: cmdmodel0.rb
+set(cmd_model_script_generated "${CMAKE_CURRENT_BINARY_DIR}/cmdmodel${PROJECT_VERSION_MAJOR}.rb")
+set(cmd_model_script_configured "${cmd_model_script_generated}.configured")
+
+# Set the library_location variable to the relative path to the library file
+# within the install directory structure.
+set(model_exe_location "../../../${CMAKE_INSTALL_LIBEXECDIR}/gz/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}/$<TARGET_FILE_NAME:${model_executable}>")
+
+configure_file(
+  "cmdmodel.rb.in"
+  "${cmd_model_script_configured}"
+  @ONLY
+)
+
+file(GENERATE
+  OUTPUT "${cmd_model_script_generated}"
+  INPUT "${cmd_model_script_configured}"
+)
+# Install the ruby command line library in an unversioned location.
+install(FILES ${cmd_model_script_generated} DESTINATION lib/ruby/gz)
+
+# Used for the installed version.
+set(gz_model_ruby_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/gz/cmdmodel${PROJECT_VERSION_MAJOR}")
+
+set(model_configured "${CMAKE_CURRENT_BINARY_DIR}/model${PROJECT_VERSION_MAJOR}.yaml")
+configure_file(
+  "model.yaml.in"
+  ${model_configured}
+  @ONLY)
+
+install(FILES ${model_configured} DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/gz/)
+
 #===============================================================================
 # Bash completion
 

src/cmd/ModelCommandAPI.cc

@@ -779,7 +779,7 @@ void printJoints(const uint64_t _modelEntity,
 }
 
 //////////////////////////////////////////////////
-extern "C" void cmdModelList()
+void cmdModelList()
 {
   EntityComponentManager ecm{};
   if (!populateECM(ecm))
@@ -813,7 +813,7 @@ extern "C" void cmdModelList()
 }
 
 //////////////////////////////////////////////////
-extern "C" void cmdModelInfo(
+void cmdModelInfo(
     const char *_modelName, int _pose, const char *_linkName,
     const char *_jointName, const char *_sensorName)
 {

src/cmd/ModelCommandAPI.hh

@@ -18,15 +18,15 @@
 #include "gz/sim/gz/Export.hh"
 
 /// \brief External hook to get a list of available models.
-extern "C" GZ_SIM_GZ_VISIBLE void cmdModelList();
+void cmdModelList();
 
 /// \brief External hook to dump model information.
 /// \param[in] _modelName Model name.
 /// \param[in] _pose --pose option.
 /// \param[in] _linkName Link name.
 /// \param[in] _jointName Joint name.
 /// \param[in] _sensorName Sensor name.
-extern "C" GZ_SIM_GZ_VISIBLE void cmdModelInfo(
+void cmdModelInfo(
     const char *_modelName, int _pose, const char *_linkName,
     const char *_jointName,
     const char *_sensorName);