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Merge branch 'gz-common6' into scpeters/merge_6_main
2 parents 88464ce + a31d9ed commit df48f9e

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+867
-385
lines changed

‎.bazelrc‎

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common --enable_bzlmod
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common --lockfile_mode=off
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# Add C++17 compiler flags.
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build --cxxopt=-std=c++17
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build --host_cxxopt=-std=c++17
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8+
build --force_pic
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build --strip=never
10+
build --strict_system_includes
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build --fission=dbg
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build --features=per_object_debug_info
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# Enable header processing, required for layering checks with parse_header.
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build --process_headers_in_dependencies

‎.bazelversion‎

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7.3.1

‎.github/workflows/bazel.yml‎

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name: Bazel CI
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on:
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push:
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branches: [gz-common6, main]
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pull_request:
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branches: [gz-common6, main]
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concurrency:
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group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
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cancel-in-progress: true
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12+
jobs:
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test:
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uses: bazel-contrib/.github/.github/workflows/[email protected]
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with:
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folders: |
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[
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".",
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]
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exclude: |
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[
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{"folder": ".", "bzlmodEnabled": false},
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]

‎.github/workflows/ci.bazelrc‎

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# This file contains Bazel settings to apply on CI only.
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# It is referenced with a --bazelrc option in the call to bazel in ci.yaml
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# Debug where options came from
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build --announce_rc
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# This directory is configured in GitHub actions to be persisted between runs.
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# We do not enable the repository cache to cache downloaded external artifacts
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# as these are generally faster to download again than to fetch them from the
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# GitHub actions cache.
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build --disk_cache=~/.cache/bazel
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# Don't rely on test logs being easily accessible from the test runner,
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# though it makes the log noisier.
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test --test_output=errors
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# Allows tests to run bazelisk-in-bazel, since this is the cache folder used
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test --test_env=XDG_CACHE_HOME

‎.gitignore‎

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build_*
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.DS_Store
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*.swp
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# Bazel generated files
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bazel-*

‎BUILD.bazel‎

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@@ -1,22 +1,12 @@
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load(
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"@gz//bazel/skylark:build_defs.bzl",
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"GZ_FEATURES",
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"GZ_ROOT",
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"GZ_VISIBILITY",
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"gz_configure_header",
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"gz_export_header",
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"gz_include_header",
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)
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load(
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"@gz//bazel/lint:lint.bzl",
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"add_lint_tests",
13-
)
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load("@rules_gazebo//gazebo:headers.bzl", "gz_configure_header", "gz_export_header")
142
load("@rules_license//rules:license.bzl", "license")
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package(
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default_applicable_licenses = [GZ_ROOT + "common:license"],
18-
default_visibility = GZ_VISIBILITY,
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features = GZ_FEATURES,
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default_applicable_licenses = [":license"],
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features = [
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"layering_check",
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"parse_headers",
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],
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)
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license(
@@ -26,67 +16,70 @@ license(
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2717
licenses(["notice"])
2818

29-
exports_files(["LICENSE"])
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exports_files([
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"package.xml",
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"LICENSE",
22+
"MODULE.bazel",
23+
])
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3125
gz_configure_header(
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name = "config",
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name = "Config",
3327
src = "include/gz/common/config.hh.in",
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cmakelists = ["CMakeLists.txt"],
35-
package = "common",
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package_xml = "package.xml",
3629
)
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3831
gz_export_header(
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name = "include/gz/common/Export.hh",
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name = "Export",
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out = "include/gz/common/Export.hh",
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export_base = "GZ_COMMON",
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lib_name = "gz-common",
42-
visibility = ["//visibility:private"],
4336
)
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public_headers_no_gen = glob([
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"include/gz/common/*.hh",
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"include/gz/common/detail/*.hh",
48-
"include/gz/common/graph/*.hh",
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])
5042

51-
private_headers = glob(["src/*.hh"])
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private_headers = glob(
44+
include = [
45+
"src/*.hh",
46+
],
47+
)
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5349
sources = glob(
54-
["src/*.cc"],
50+
include = [
51+
"src/*.cc",
52+
],
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exclude = [
5654
"src/Plugin.cc",
5755
"src/PluginLoader.cc",
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"src/*_TEST.cc",
5957
],
6058
)
6159

62-
gz_include_header(
63-
name = "commonhh_genrule",
64-
out = "include/gz/common.hh",
65-
hdrs = public_headers_no_gen + [
66-
"include/gz/common/config.hh",
67-
"include/gz/common/Export.hh",
68-
],
69-
)
70-
7160
public_headers = public_headers_no_gen + [
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"include/gz/common/config.hh",
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"include/gz/common/Export.hh",
74-
"include/gz/common.hh",
7563
]
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7765
cc_library(
78-
name = "common",
66+
name = "gz-common",
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srcs = sources + private_headers,
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hdrs = public_headers,
8169
copts = [
8270
"-fexceptions",
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"-Wno-unused-value",
8472
],
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includes = ["include"],
74+
visibility = ["//visibility:public"],
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deps = [
87-
GZ_ROOT + "utils",
88-
GZ_ROOT + "math",
89-
"@uuid",
76+
"@gz-math",
77+
"@gz-utils//:ImplPtr",
78+
"@gz-utils//:NeverDestroyed",
79+
"@gz-utils//:SuppressWarning",
80+
"@gz-utils//log:Logger",
81+
"@libuuid",
82+
"@spdlog",
9083
],
9184
)
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@@ -103,11 +96,11 @@ test_sources = glob(
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srcs = [src],
10497
copts = ["-fexceptions"],
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deps = [
106-
":common",
107-
GZ_ROOT + "common/testing",
108-
"@gtest",
109-
"@gtest//:gtest_main",
99+
":gz-common",
100+
"//testing",
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"@googletest//:gtest",
102+
"@googletest//:gtest_main",
103+
"@gz-math",
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"@gz-utils//:ExtraTestMacros",
110105
],
111106
) for src in test_sources]
112-
113-
add_lint_tests()

‎Changelog.md‎

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44

55
## Gazebo Common 6.x
66

7+
### Gazebo Common 6.1.0 (2025-05-28)
8+
9+
1. Add support for custom profiler
10+
* [Pull request #682](https://github.com/gazebosim/gz-common/pull/682)
11+
12+
1. Migrate bazel build setup to use bzlmod
13+
* [Pull request #679](https://github.com/gazebosim/gz-common/pull/679)
14+
* [Pull request #681](https://github.com/gazebosim/gz-common/pull/681)
15+
* [Pull request #683](https://github.com/gazebosim/gz-common/pull/683)
16+
* [Pull request #684](https://github.com/gazebosim/gz-common/pull/684)
17+
18+
1. Add Heightmap utility functions
19+
* [Pull request #680](https://github.com/gazebosim/gz-common/pull/680)
20+
21+
1. Check valid indices before doing convex decomposition
22+
* [Pull request #677](https://github.com/gazebosim/gz-common/pull/677)
23+
24+
1. ci: run cppcheck, cpplint on noble
25+
* [Pull request #669](https://github.com/gazebosim/gz-common/pull/669)
26+
27+
1. Added missing includes
28+
* [Pull request #672](https://github.com/gazebosim/gz-common/pull/672)
29+
30+
1. Add check for valid indices in submesh
31+
* [Pull request #667](https://github.com/gazebosim/gz-common/pull/667)
32+
33+
1. Fix C4305 double truncated to float warnings (#666)
34+
* [Pull request #668](https://github.com/gazebosim/gz-common/pull/668)
35+
36+
1. Add missing include chrono in Event.hh header
37+
* [Pull request #664](https://github.com/gazebosim/gz-common/pull/664)
38+
739
### Gazebo Common 6.0.2 (2025-02-12)
840

941
1. Add missing includes

‎MODULE.bazel‎

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## MODULE.bazel
2+
module(
3+
name = "gz-common",
4+
repo_name = "org_gazebosim_gz-common",
5+
)
6+
7+
bazel_dep(name = "bazel_skylib", version = "1.7.1")
8+
bazel_dep(name = "assimp", version = "5.4.3.bcr.3")
9+
bazel_dep(name = "buildifier_prebuilt", version = "7.3.1")
10+
bazel_dep(name = "cdt", version = "1.4.0")
11+
bazel_dep(name = "freeimage", version = "3.19.10")
12+
bazel_dep(name = "googletest", version = "1.14.0")
13+
bazel_dep(name = "remotery", version = "1.0.0")
14+
bazel_dep(name = "rules_license", version = "1.0.0")
15+
bazel_dep(name = "spdlog", version = "1.12.0")
16+
bazel_dep(name = "tinyxml2", version = "10.0.0")
17+
bazel_dep(name = "libuuid", version = "2.39.3.bcr.1")
18+
19+
# Gazebo Dependencies
20+
bazel_dep(name = "rules_gazebo", version = "0.0.2")
21+
bazel_dep(name = "gz-utils")
22+
bazel_dep(name = "gz-math")
23+
24+
archive_override(
25+
module_name = "gz-utils",
26+
strip_prefix = "gz-utils-main",
27+
urls = ["https://github.com/gazebosim/gz-utils/archive/refs/heads/main.tar.gz"],
28+
)
29+
30+
archive_override(
31+
module_name = "gz-math",
32+
strip_prefix = "gz-math-main",
33+
urls = ["https://github.com/gazebosim/gz-math/archive/refs/heads/main.tar.gz"],
34+
)

‎av/BUILD.bazel‎

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1-
load(
2-
"@gz//bazel/skylark:build_defs.bzl",
3-
"GZ_FEATURES",
4-
"GZ_ROOT",
5-
"GZ_VISIBILITY",
6-
"gz_export_header",
7-
"gz_include_header",
8-
)
9-
load(
10-
"@gz//bazel/lint:lint.bzl",
11-
"add_lint_tests",
12-
)
1+
load("@rules_gazebo//gazebo:headers.bzl", "gz_export_header")
132

143
package(
15-
default_applicable_licenses = [GZ_ROOT + "common:license"],
16-
features = GZ_FEATURES,
4+
default_applicable_licenses = ["//:license"],
5+
features = [
6+
"layering_check",
7+
"parse_headers",
8+
],
179
)
1810

1911
public_headers_no_gen = glob([
@@ -29,54 +21,46 @@ sources = glob(
2921
test_sources = glob(["src/*_TEST.cc"])
3022

3123
gz_export_header(
32-
name = "include/gz/common/av/Export.hh",
24+
name = "Export",
25+
out = "include/gz/common/av/Export.hh",
3326
export_base = "GZ_COMMON_AV",
3427
lib_name = "gz-common-av",
35-
visibility = ["//visibility:private"],
36-
)
37-
38-
gz_include_header(
39-
name = "av_hh_genrule",
40-
out = "include/gz/common/av.hh",
41-
hdrs = public_headers_no_gen + [
42-
"include/gz/common/av/Export.hh",
43-
],
4428
)
4529

4630
public_headers = public_headers_no_gen + [
4731
"include/gz/common/av/Export.hh",
48-
"include/gz/common/av.hh",
4932
]
5033

51-
cc_library(
52-
name = "av",
53-
srcs = sources,
54-
hdrs = public_headers,
55-
includes = ["include"],
56-
visibility = GZ_VISIBILITY,
57-
deps = [
58-
GZ_ROOT + "common",
59-
GZ_ROOT + "utils",
60-
"@ffmpeg//:libavcodec",
61-
"@ffmpeg//:libavformat",
62-
"@ffmpeg//:libavutil",
63-
"@ffmpeg//:libswscale",
64-
],
65-
)
66-
67-
[cc_test(
68-
name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
69-
srcs = [src],
70-
data = [GZ_ROOT + "common/test:data"],
71-
env = {
72-
"GZ_BAZEL": "1",
73-
"GZ_BAZEL_PATH": "common",
74-
},
75-
deps = [
76-
":av",
77-
GZ_ROOT + "common/testing",
78-
"@gtest//:gtest_main",
79-
],
80-
) for src in test_sources]
81-
82-
add_lint_tests()
34+
# \todo(iche033) Add av component once ffmpeg dep is available in BCR
35+
# cc_library(
36+
# name = "av",
37+
# srcs = sources,
38+
# hdrs = public_headers,
39+
# includes = ["include"],
40+
# visibility = ["//visibility:public"],
41+
# deps = [
42+
# "//:gz-common",
43+
# "@gz-utils//:ImplPtr",
44+
# "@gz-utils//:ExtraTestMacros",
45+
# "@ffmpeg//:libavcodec",
46+
# "@ffmpeg//:libavformat",
47+
# "@ffmpeg//:libavutil",
48+
# "@ffmpeg//:libswscale",
49+
# ],
50+
# )
51+
#
52+
# [cc_test(
53+
# name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
54+
# srcs = [src],
55+
# data = ["//test:data"],
56+
# env = {
57+
# "GZ_BAZEL": "1",
58+
# },
59+
# deps = [
60+
# ":av",
61+
# "//testing:testing",
62+
# "@googletest//:gtest",
63+
# "@googletest//:gtest_main",
64+
#
65+
# ],
66+
# ) for src in test_sources]

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