Merge branch 'RoboCup-SSL:master' into master

ibis-ssl · May 28, 2024 · 588c6c2 · 588c6c2
2 parents c0a48bc + d14caf2
commit 588c6c2
Show file tree

Hide file tree

Showing 19 changed files with 399 additions and 160 deletions.
diff --git a/.github/renovate.json b/.github/renovate.json
@@ -0,0 +1,9 @@
+{
+  "extends": [
+    "config:base",
+    "schedule:yearly"
+  ],
+  "labels": [
+    "dependencies"
+  ]
+}
diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
@@ -3,56 +3,62 @@ on:
   push:
     branches:
       - master
-      - windows-github-actions
   pull_request:
 jobs:
   build-linux:
     runs-on: ${{ matrix.os }}
+    continue-on-error: true
     strategy:
+      fail-fast: false
       matrix:
-        os: [ ubuntu-18.04, ubuntu-20.04 ]
+        os: [ ubuntu-20.04, ubuntu-22.04 ]
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: "Update dependencies"
         run: sudo apt-get update
       - name: "Install dependencies"
-        run: sudo apt-get install -y build-essential cmake pkg-config qt5-default libqt5opengl5-dev libgl1-mesa-dev libglu1-mesa-dev libprotobuf-dev protobuf-compiler libode-dev libboost-dev
+        run: sudo apt-get install -y build-essential cmake pkg-config qtbase5-dev libqt5opengl5-dev libgl1-mesa-dev libglu1-mesa-dev libprotobuf-dev protobuf-compiler libode-dev libboost-dev
       - name: "Build"
-        run: mkdir build && cd build && cmake .. && make
+        run: make
 
   build-macos:
     runs-on: ${{ matrix.os }}
+    continue-on-error: true
     strategy:
+      fail-fast: false
       matrix:
-        os: [ macos-10.15, macos-11 ]
+        os: [ macos-12, macos-13 ]
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: "Install dependencies"
-        run: brew tap robotology/formulae && brew install qt5 protobuf robotology/formulae/ode
+        run: brew tap robotology/formulae && brew install cmake pkg-config qt@5
       - name: "Build"
-        run: mkdir build && cd build && cmake .. && make
-        env:
-          Qt5_DIR: /usr/local/opt/qt5/lib/cmake/Qt5
+        # for some reason qt5 is not correctly in the path and this will break whenever the location of it changes
+        # 5.15.11 is for macos-12 and 5.15.12 is for macos-13
+        run: PATH=/usr/local/Cellar/qt@5/5.15.11/lib/cmake/Qt5:/usr/local/Cellar/qt@5/5.15.12/lib/cmake/Qt5:$PATH && make
 
-  build-windows:
-    runs-on: windows-latest
-    steps:
-      - uses: actions/checkout@v2
-
-      - name: make build directory
-        run: mkdir '${{ github.workspace }}/build/'
-
-      - name: Install dependencies # saves / restores cache to avoid rebuilding dependencies
-        uses: lukka/run-vcpkg@v6
-        with:
-          setupOnly: false
-          vcpkgGitCommitId: 94ce0dab56f4d8ba6bd631ba59ed682b02d45c46
-          vcpkgDirectory: c:/vcpkg  # folder must reside in c:\ otherwise qt wont install due to long path errors
-          vcpkgTriplet: x64-windows
-          vcpkgArguments: qt5 ode protobuf
-
-      - name: Run CMake and build
-        working-directory: ${{ github.workspace }}/build/
-        run: |
-          cmake -DCMAKE_TOOLCHAIN_FILE=c:/vcpkg/scripts/buildsystems/vcpkg.cmake ..
-          cmake --build . --config Release
+# Windows build does not work currently, see https://github.com/RoboCup-SSL/grSim/issues/183
+#  build-windows:
+#    runs-on: windows-latest
+#    steps:
+#      - uses: actions/checkout@v4
+#
+#      - name: Install dependencies # saves / restores cache to avoid rebuilding dependencies
+#        uses: lukka/run-vcpkg@v11
+#        with:
+#          vcpkgGitCommitId: 8eb57355a4ffb410a2e94c07b4dca2dffbee8e50
+#          vcpkgDirectory: c:/vcpkg  # folder must reside in c:\ otherwise qt wont install due to long path errors
+#
+#      - name: Run CMake and run vcpkg to build packages
+#        uses: lukka/run-cmake@v10
+#        with:
+#          # this preset is needed to actually install the vcpkg dependencies
+#          configurePreset: "ninja-multi-vcpkg"
+#          configPresetAdditionalArgs: "[-DVCPKG_TARGET_TRIPLET=x64-windows]"
+#          buildPreset: "ninja-multi-vcpkg"
+#          buildPresetAdditionalArgs: "['--config Release']"
+#    env:
+#      # [OPTIONAL] Define the vcpkg's triplet you want to enforce, otherwise the default one
+#      # for the hosting system will be automatically choosen (x64 is the default on all
+#      # platforms, e.g. `x64-osx`).
+#      VCPKG_DEFAULT_TRIPLET: "x64-windows"
diff --git a/.gitignore b/.gitignore
@@ -6,5 +6,6 @@ bin*/*
 *.swp
 Thumbs.db
 .idea/*
+*.iml
 cmake-build-debug
 cmake-build-release
diff --git a/.travis.yml b/.travis.yml
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -15,6 +15,19 @@ include(${PROJECT_SOURCE_DIR}/cmake/Utils.cmake)
 standard_config()
 standard_paths(${PROJECT_SOURCE_DIR} bin lib)
 
+# policy regarding how to handle generated stuff, OLD behavior would ignore generated files
+# (which includes the generated protobuf cpp files)
+if (POLICY CMP0071)
+    cmake_policy(SET CMP0071 NEW)
+endif()
+
+# policy regarding when to rebuild stuff when external projects downloaded with URL changes
+if (POLICY CMP0135)
+    cmake_policy(SET CMP0135 NEW)
+endif()
+
+include(GNUInstallDirs)
+
 set(app ${CMAKE_PROJECT_NAME})
 # create the target before the sources list is known so that we can call
 # add_dependencies(<target> external_proj)
@@ -69,20 +82,32 @@ find_package(Qt5 COMPONENTS Core Widgets OpenGL Network REQUIRED)
 list(APPEND libs Qt5::Core Qt5::Widgets Qt5::OpenGL Qt5::Network)
 
 # ODE
-if(WIN32)
-  find_package(ODE CONFIG REQUIRED)
-  list(APPEND libs ODE::ODE)
+if(BUILD_ODE)
+  include(BuildODE)
+  add_dependencies(${app} ode_external)
 else()
-  find_package(ODE REQUIRED)
-  list(APPEND libs ode::ode)
+  if(WIN32)
+    find_package(ODE CONFIG)
+    set(ODE_LIB_NAME ODE::ODE)
+  else()
+    find_package(ODE)
+    set(ODE_LIB_NAME ode::ode)
+  endif()
+
+  if(ODE_FOUND)
+    list(APPEND libs ${ODE_LIB_NAME})
+  else()
+    # if ODE could not be found just build it
+    include(BuildODE)
+    add_dependencies(${app} ode_external)
+  endif()
 endif()
 
 # VarTypes
 find_package(VarTypes)
 
 if(NOT VARTYPES_FOUND)
   include(ExternalProject)
-  set(VARTYPES_INSTALL_DIR "${CMAKE_CURRENT_BINARY_DIR}/vartypes_install")
 
   set(VARTYPES_CMAKE_ARGS "-DVARTYPES_BUILD_STATIC=ON;-DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>")
   if(NOT "${CMAKE_TOOLCHAIN_FILE}" STREQUAL "")
@@ -92,23 +117,39 @@ if(NOT VARTYPES_FOUND)
   ExternalProject_Add(vartypes_external
     GIT_REPOSITORY    https://github.com/jpfeltracco/vartypes
     GIT_TAG           origin/jpfeltracco/build_static
-    INSTALL_DIR       "${VARTYPES_INSTALL_DIR}"
     CMAKE_ARGS        "${VARTYPES_CMAKE_ARGS}"
+    STEP_TARGETS install
   )
+  set(VARTYPES_LIB_SUBPATH "${CMAKE_INSTALL_LIBDIR}/${CMAKE_STATIC_LIBRARY_PREFIX}vartypes${CMAKE_STATIC_LIBRARY_SUFFIX}")
+
+  # the byproducts are available after the install step
+  ExternalProject_Add_Step(vartypes_external out
+    DEPENDEES install
+    BYPRODUCTS
+        "<INSTALL_DIR>/${VARTYPES_LIB_SUBPATH}"
+  )
+
+  add_dependencies(${app} vartypes_external)
+
+  ExternalProject_Get_Property(vartypes_external install_dir)
   add_dependencies(${app} vartypes_external)
 
-  set(VARTYPES_INCLUDE_DIRS "${VARTYPES_INSTALL_DIR}/include")
-  set(VARTYPE_LIB_NAME ${CMAKE_STATIC_LIBRARY_PREFIX}vartypes${CMAKE_STATIC_LIBRARY_SUFFIX})
-  set(VARTYPES_LIBRARIES "${VARTYPES_INSTALL_DIR}/lib/${VARTYPE_LIB_NAME}")
+  set(VARTYPES_INCLUDE_DIRS "${install_dir}/include")
+  set(VARTYPES_LIBRARIES "${install_dir}/${VARTYPES_LIB_SUBPATH}")
 endif()
 
 target_include_directories(${app} PRIVATE ${VARTYPES_INCLUDE_DIRS})
 list(APPEND libs ${VARTYPES_LIBRARIES})
 
 # Protobuf
-find_package(Protobuf REQUIRED)
-include_directories(${PROTOBUF_INCLUDE_DIRS})
-list(APPEND libs ${PROTOBUF_LIBRARIES})
+include(FindOrBuildProtobuf)
+
+if(TARGET protobuf_external)
+    add_dependencies(${app} protobuf_external)
+endif()
+
+include_directories(${Protobuf_INCLUDE_DIRS})
+list(APPEND libs ${Protobuf_LIBRARIES})
 
 set (Protobuf_IMPORT_DIRS ${Protobuf_INCLUDE_DIR})
 protobuf_generate_cpp(PROTO_CPP PROTO_H

diff --git a/CMakePresets.json b/CMakePresets.json
@@ -0,0 +1,45 @@
+{
+  "version": 6,
+  "configurePresets": [
+    {
+      "name": "windows-default",
+      "displayName": "Windows x64 Release",
+      "generator": "Ninja",
+      "binaryDir": "${sourceDir}/out/build/${presetName}",
+      "architecture": {
+        "value": "x64",
+        "strategy": "external"
+      },
+      "cacheVariables": {
+        "CMAKE_BUILD_TYPE": "Release",
+        "CMAKE_INSTALL_PREFIX": "${sourceDir}/out/install/${presetName}"
+      }
+    },
+    {
+      "name": "ninja-multi-vcpkg",
+      "displayName": "Windows x64 Release vcpkg",
+      "generator": "Ninja Multi-Config",
+      "binaryDir": "${sourceDir}/out/build/${presetName}",
+      "architecture": {
+        "value": "x64",
+        "strategy": "external"
+      },
+      "cacheVariables": {
+        "CMAKE_TOOLCHAIN_FILE": {
+          "type": "FILEPATH",
+          "value": "$env{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake"
+        },
+        "CMAKE_BUILD_TYPE": "Release",
+        "CMAKE_INSTALL_PREFIX": "${sourceDir}/out/install/${presetName}"
+      }
+    }
+  ],
+  "buildPresets": [
+    {
+      "name": "ninja-multi-vcpkg",
+      "configurePreset": "ninja-multi-vcpkg",
+      "displayName": "Build ninja-multi-vcpkg",
+      "description": "Build ninja-multi-vcpkg Configurations"
+    }
+  ]
+}
diff --git a/INSTALL.md b/INSTALL.md
@@ -56,11 +56,11 @@ $ sudo pacman -S base-devel boost hicolor-icon-theme \
                  mesa ode protobuf qt5-base cmake git
 ```
 
-#### Debian
+#### Ubuntu / Debian
 
 For Debian, or derivative
 ```
-$ sudo apt install git build-essential cmake pkg-config qt5-default \
+sudo apt install git build-essential cmake pkg-config qtbase5-dev \
                    libqt5opengl5-dev libgl1-mesa-dev libglu1-mesa-dev \
                    libprotobuf-dev protobuf-compiler libode-dev libboost-dev
 ```
@@ -79,8 +79,8 @@ brew install cmake
 brew install pkg-config
 brew tap robotology/formulae         
 brew install robotology/formulae/ode
-brew install qt
-brew install protobuf
+brew install qt@5
+brew install protobuf@21
 ```
 
 If you run into build issues, you may need to run this first:
@@ -159,7 +159,11 @@ $ sudo make install
 grSim will be — by default — installed on the `/usr/local` directory.
 
 
-if you face any problem regarding of updating the grsim version, you can try removing the `grsim.xml`.
+## Troubleshooting
+
+If you face any problem regarding of updating the grsim version, you can try removing the `grsim.xml`.
+If grSim crashes almost instantly with some ODE error the issue might by your ODE version.
+Try adding -DBUILD_ODE=TRUE to build ODE from source instead of using the system dependency.
 
 ## Notes on the performance
 

diff --git a/Makefile b/Makefile
@@ -4,6 +4,8 @@ BUILDDIR=build
 BUILDTYPE=Release
 #BUILDTYPE=Debug
 
+BUILD_ODE=OFF
+
 .PHONY: all build mkbuilddir cmake dist package deb install clean clean-all
 
 all: build
@@ -22,7 +24,7 @@ mkbuilddir:
 	[ -d $(BUILDDIR) ] || mkdir $(BUILDDIR)
 
 cmake: CMakeLists.txt
-	cd $(BUILDDIR) && cmake -DCMAKE_BUILD_TYPE=$(BUILDTYPE) ..
+	cd $(BUILDDIR) && cmake -DCMAKE_BUILD_TYPE=$(BUILDTYPE) -DBUILD_ODE=$(BUILD_ODE) ..
 
 dist: package