Add optional binary relocatability

Signed-off-by: Silvio Traversaro <[email protected]>

include/gz/sim/InstallationDirectories.hh

@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifndef GZ_SIM_INSTALLATION_DIRECTORIES_HH_
+#define GZ_SIM_INSTALLATION_DIRECTORIES_HH_
+
+#include <string>
+
+#include <gz/sim/config.hh>
+#include <gz/sim/Export.hh>
+
+namespace gz
+{
+  namespace sim
+  {
+    inline namespace GZ_SIM_VERSION_NAMESPACE {
+
+    /// \brief getInstallPrefix return the install prefix of the library
+    /// i.e. CMAKE_INSTALL_PREFIX unless the library has been moved
+    GZ_SIM_VISIBLE std::string getInstallPrefix();
+
+    /// \brief getGUIConfigPath return the GUI config path
+    GZ_SIM_VISIBLE std::string getGUIConfigPath();
+
+    /// \brief getSystemConfigPath return the system config path
+    GZ_SIM_VISIBLE std::string getSystemConfigPath();
+
+    /// \brief getServerConfigPath return the server config path
+    GZ_SIM_VISIBLE std::string getServerConfigPath();
+
+    /// \brief getPluginInstallDir return the plugin install dir
+    GZ_SIM_VISIBLE std::string getPluginInstallDir();
+
+    /// \brief getGUIPluginInstallDir return the GUI plugin install dir
+    GZ_SIM_VISIBLE std::string getGUIPluginInstallDir();
+
+    /// \brief getWorldInstallDir return the world install dir
+    GZ_SIM_VISIBLE std::string getWorldInstallDir();
+    }
+  }
+}
+
+#endif

include/gz/sim/config.hh.in

@@ -33,12 +33,12 @@
 
 #define GZ_SIM_VERSION_HEADER "Gazebo Sim, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2018 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
 
-#define GZ_SIM_GUI_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/gui"
-#define GZ_SIM_SYSTEM_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/systems"
-#define GZ_SIM_SERVER_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}"
-#define GZ_SIM_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
-#define GZ_SIM_GUI_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
-#define GZ_SIM_WORLD_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/worlds"
+#define GZ_SIM_GUI_CONFIG_PATH _Pragma ("GCC warning \"'GZ_SIM_GUI_CONFIG_PATH' macro is deprecated, use gz::sim::getGUIConfigPath() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/gui"
+#define GZ_SIM_SYSTEM_CONFIG_PATH _Pragma ("GCC warning \"'GZ_SIM_SYSTEM_CONFIG_PATH' macro is deprecated, use gz::sim::getSystemConfigPath() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/systems"
+#define GZ_SIM_SERVER_CONFIG_PATH _Pragma ("GCC warning \"'GZ_SIM_SERVER_CONFIG_PATH' macro is deprecated, use gz::sim::getServerConfigPath() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}"
+#define GZ_SIM_PLUGIN_INSTALL_DIR _Pragma ("GCC warning \"'GZ_SIM_PLUGIN_INSTALL_DIR' macro is deprecated, use gz::sim::getPluginInstallDir() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
+#define GZ_SIM_GUI_PLUGIN_INSTALL_DIR _Pragma ("GCC warning \"'GZ_SIM_GUI_PLUGIN_INSTALL_DIR' macro is deprecated, use gz::sim::getGUIPluginInstallDir() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
+#define GZ_SIM_WORLD_INSTALL_DIR _Pragma ("GCC warning \"'GZ_SIM_WORLD_INSTALL_DIR' macro is deprecated, use gz::sim::getWorldInstallDir() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/worlds"
 #define GZ_DISTRIBUTION "${GZ_DISTRIBUTION}"
 
 #endif

src/CMakeLists.txt

@@ -54,6 +54,7 @@ set (sources
   ComponentFactory.cc
   EntityComponentManager.cc
   EntityComponentManagerDiff.cc
+  InstallationDirectories.cc
   Joint.cc
   LevelManager.cc
   Light.cc
@@ -168,6 +169,21 @@ target_link_libraries(${gz_lib_target}
 
 # Create the library target
 gz_create_core_library(SOURCES ${sources} CXX_STANDARD 17)
+gz_add_get_install_prefix_impl(GET_INSTALL_PREFIX_FUNCTION gz::sim::getInstallPrefix
+                               GET_INSTALL_PREFIX_HEADER gz/sim/InstallationDirectories.hh
+                               OVERRIDE_INSTALL_PREFIX_ENV_VARIABLE GZ_SIM_INSTALL_PREFIX)
+
+set_property(
+  SOURCE InstallationDirectories.cc
+  PROPERTY COMPILE_DEFINITIONS
+  GZ_SIM_GUI_CONFIG_RELATIVE_PATH=${GZ_DATA_INSTALL_DIR}/gui
+  GZ_SIM_SYSTEM_CONFIG_RELATIVE_PATH=${GZ_DATA_INSTALL_DIR}/systems
+  GZ_SIM_SERVER_CONFIG_RELATIVE_PATH=${GZ_DATA_INSTALL_DIR}
+  GZ_SIM_PLUGIN_RELATIVE_INSTALL_DIR=${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins
+  GZ_SIM_GUI_PLUGIN_RELATIVE_INSTALL_DIR=${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui
+  GZ_SIM_WORLD_RELATIVE_INSTALL_DIR=${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/worlds
+)
+
 target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
   PUBLIC
   gz-math${GZ_MATH_VER}
@@ -213,6 +229,8 @@ gz_build_tests(TYPE UNIT
     ${PROJECT_LIBRARY_TARGET_NAME}
     ${EXTRA_TEST_LIB_DEPS}
     gz-sim${PROJECT_VERSION_MAJOR}
+  ENVIRONMENT
+    GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )
 
 # Some server unit tests require rendering.

src/InstallationDirectories.cc

@@ -0,0 +1,67 @@
+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include <gz/sim/config.hh>
+#include <gz/sim/InstallationDirectories.hh>
+
+#include <gz/common/Filesystem.hh>
+
+namespace gz
+{
+namespace sim
+{
+inline namespace GZ_SIM_VERSION_NAMESPACE {
+
+std::string getGUIConfigPath()
+{
+  return gz::common::joinPaths(
+      getInstallPrefix(), GZ_SIM_GUI_CONFIG_RELATIVE_PATH);
+}
+
+std::string getSystemConfigPath()
+{
+  return gz::common::joinPaths(
+      getInstallPrefix(), GZ_SIM_SYSTEM_CONFIG_RELATIVE_PATH);
+}
+
+std::string getServerConfigPath()
+{
+  return gz::common::joinPaths(
+      getInstallPrefix(), GZ_SIM_SERVER_CONFIG_RELATIVE_PATH);
+}
+
+std::string getPluginInstallDir()
+{
+  return gz::common::joinPaths(
+      getInstallPrefix(), GZ_SIM_PLUGIN_RELATIVE_INSTALL_DIR);
+}
+
+std::string getGUIPluginInstallDir()
+{
+  return gz::common::joinPaths(
+      getInstallPrefix(), GZ_SIM_GUI_PLUGIN_RELATIVE_INSTALL_DIR);
+}
+
+std::string getWorldInstallDir()
+{
+  return gz::common::joinPaths(
+      getInstallPrefix(), GZ_SIM_WORLD_RELATIVE_INSTALL_DIR);
+}
+
+}
+}
+}

src/ServerConfig.cc

@@ -25,6 +25,7 @@
 #include <gz/fuel_tools/Result.hh>
 #include <gz/math/Rand.hh>
 
+#include "gz/sim/InstallationDirectories.hh"
 #include "gz/sim/Util.hh"
 
 using namespace gz;
@@ -1013,7 +1014,7 @@ sim::loadPluginInfo(bool _isPlayback)
   if (!common::exists(defaultConfig))
   {
     auto installedConfig = common::joinPaths(
-        GZ_SIM_SERVER_CONFIG_PATH,
+        gz::sim::getServerConfigPath(),
         configFilename);
 
     if (!common::createDirectories(defaultConfigDir))

src/SystemLoader.cc

@@ -32,6 +32,7 @@
 
 #include <gz/plugin/Loader.hh>
 
+#include "gz/sim/InstallationDirectories.hh"
 #include <gz/sim/config.hh>
 
 using namespace gz::sim;
@@ -54,12 +55,12 @@ class gz::sim::SystemLoaderPrivate
     common::env(GZ_HOMEDIR, homePath);
     systemPaths.AddPluginPaths(common::joinPaths(
         homePath, ".gz", "sim", "plugins"));
-    systemPaths.AddPluginPaths(GZ_SIM_PLUGIN_INSTALL_DIR);
+    systemPaths.AddPluginPaths(gz::sim::getPluginInstallDir());
 
     // TODO(CH3): Deprecated. Remove on tock.
     systemPaths.AddPluginPaths(homePath + "/.ignition/gazebo/plugins");
 
-    systemPaths.AddPluginPaths(GZ_SIM_PLUGIN_INSTALL_DIR);
+    systemPaths.AddPluginPaths(gz::sim::getPluginInstallDir());
 
     return systemPaths.PluginPaths();
   }

src/Util.cc

@@ -48,6 +48,7 @@
 #include "gz/sim/components/World.hh"
 #include "gz/sim/components/LinearVelocity.hh"
 
+#include "gz/sim/InstallationDirectories.hh"
 #include "gz/sim/Util.hh"
 
 namespace gz
@@ -820,7 +821,7 @@ std::string resolveSdfWorldFile(const std::string &_sdfFile,
     systemPaths.SetFilePathEnv(kResourcePathEnv);
 
     // Worlds installed with gz-sim
-    systemPaths.AddFilePaths(GZ_SIM_WORLD_INSTALL_DIR);
+    systemPaths.AddFilePaths(gz::sim::getWorldInstallDir());
 
     filePath = systemPaths.FindFile(_sdfFile);
   }

src/gui/CMakeLists.txt

@@ -75,6 +75,8 @@ gz_build_tests(TYPE UNIT
     gz-sim${PROJECT_VERSION_MAJOR}
     gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
     gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
+  ENVIRONMENT
+    GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )
 
 if(TARGET UNIT_Gui_clean_exit_TEST)

src/gui/Gui.cc

@@ -29,6 +29,7 @@
 #include <gz/gui/MainWindow.hh>
 #include <gz/gui/Plugin.hh>
 
+#include "gz/sim/InstallationDirectories.hh"
 #include "gz/sim/Util.hh"
 #include "gz/sim/config.hh"
 #include "gz/sim/gui/Gui.hh"
@@ -92,7 +93,7 @@ std::string defaultGuiConfigFile(bool _isPlayback,
     }
 
     auto installedConfig = common::joinPaths(
-        GZ_SIM_GUI_CONFIG_PATH, defaultGuiConfigName);
+        gz::sim::getGUIConfigPath(), defaultGuiConfigName);
     if (!common::copyFile(installedConfig, defaultConfig))
     {
       gzerr << "Failed to copy installed config [" << installedConfig
@@ -275,7 +276,7 @@ std::unique_ptr<gz::gui::Application> createGui(
   auto app = std::make_unique<gz::gui::Application>(
     _argc, _argv, gz::gui::WindowType::kMainWindow);
 
-  app->AddPluginPath(GZ_SIM_GUI_PLUGIN_INSTALL_DIR);
+  app->AddPluginPath(gz::sim::getGUIPluginInstallDir());
 
   auto aboutDialogHandler = new gz::sim::gui::AboutDialogHandler();
   aboutDialogHandler->setParent(app->Engine());
@@ -287,7 +288,7 @@ std::unique_ptr<gz::gui::Application> createGui(
   pathManager->setParent(app->Engine());
 
   // add import path so we can load custom modules
-  app->Engine()->addImportPath(GZ_SIM_GUI_PLUGIN_INSTALL_DIR);
+  app->Engine()->addImportPath(gz::sim::getGUIPluginInstallDir().c_str());
 
   app->SetDefaultConfigPath(defaultConfig);
 

src/gui/QuickStartHandler.cc

@@ -17,13 +17,16 @@
 
 #include "QuickStartHandler.hh"
 
+#include "gz/sim/InstallationDirectories.hh"
+
 using namespace gz;
 using namespace sim::gui;
 
 /////////////////////////////////////////////////
 QString QuickStartHandler::WorldsPath() const
 {
-  return QString::fromUtf8(this->worldsPath.c_str());
+  std::string worldsPathLocal = gz::sim::getWorldInstallDir();
+  return QString::fromUtf8(worldsPathLocal.c_str());
 }
 
 /////////////////////////////////////////////////

src/gui/QuickStartHandler.hh

@@ -68,7 +68,9 @@ class GZ_SIM_GUI_VISIBLE QuickStartHandler : public QObject
   private: bool showAgain{true};
 
   /// \brief Installed worlds path.
-  private: std::string worldsPath{GZ_SIM_WORLD_INSTALL_DIR};
+  /// \warning This variable is unused and can be removed
+  ///          once an ABI break is allowed
+  private: std::string worldsPath{""};
 
   /// \brief Get starting world url.
   private: std::string startingWorld{""};

src/gui/plugins/CMakeLists.txt

@@ -118,7 +118,9 @@ function(gz_add_gui_plugin plugin_name)
           # Used to make test-directory headers visible to the unit tests
           ${PROJECT_SOURCE_DIR}
           # Used to make test_config.h visible to the unit tests
-          ${PROJECT_BINARY_DIR})
+          ${PROJECT_BINARY_DIR}
+        ENVIRONMENT
+          GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
     endif()
   endif()
 

src/gz.cc

@@ -33,6 +33,7 @@
 #include <sdf/Console.hh>
 
 #include "gz/sim/config.hh"
+#include "gz/sim/InstallationDirectories.hh"
 #include "gz/sim/Server.hh"
 #include "gz/sim/ServerConfig.hh"
 
@@ -70,7 +71,8 @@ extern "C" void cmdVerbosity(
 //////////////////////////////////////////////////
 extern "C" const char *worldInstallDir()
 {
-  return GZ_SIM_WORLD_INSTALL_DIR;
+  static std::string worldInstallDir = gz::sim::getWorldInstallDir();
+  return worldInstallDir.c_str();
 }
 
 //////////////////////////////////////////////////

src/systems/environmental_sensor_system/CMakeLists.txt

@@ -12,4 +12,6 @@ gz_build_tests(TYPE UNIT
   TransformTypes_TEST.cc
   LIB_DEPS
   gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER}
+  ENVIRONMENT
+  GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )

src/systems/logical_audio_sensor_plugin/CMakeLists.txt

@@ -18,4 +18,6 @@ gz_build_tests(TYPE UNIT
     ${gtest_sources}
   LIB_DEPS
     ${PROJECT_LIBRARY_TARGET_NAME}-logicalaudiosensorplugin-system
+  ENVIRONMENT
+    GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )

src/systems/physics/CMakeLists.txt

@@ -27,4 +27,6 @@ gz_build_tests(TYPE UNIT
   ${gtest_sources}
   LIB_DEPS
   gz-physics${GZ_PHYSICS_VER}::core
+  ENVIRONMENT
+  GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )

test/integration/CMakeLists.txt

@@ -147,6 +147,8 @@ gz_build_tests(TYPE INTEGRATION
     ${tests}
   LIB_DEPS
     ${EXTRA_TEST_LIB_DEPS}
+  ENVIRONMENT
+    GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )
 
 

test/performance/CMakeLists.txt

@@ -41,6 +41,8 @@ gz_build_tests(TYPE PERFORMANCE
     ${tests}
   LIB_DEPS
     ${EXTRA_TEST_LIB_DEPS}
+  ENVIRONMENT
+    GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )
 
 add_executable(

test/regression/CMakeLists.txt

@@ -19,4 +19,6 @@ gz_build_tests(TYPE REGRESSION
     ${tests}
   LIB_DEPS
     ${EXTRA_TEST_LIB_DEPS}
+  ENVIRONMENT
+    GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )