Add package.xml, fix gz sdf tests on Windows (#1374)

The `gz sdf` tests are fixed by 
* fixing dll path issue with Ruby on windows
* Setting home path

---------

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

.github/workflows/package_xml.yml

@@ -0,0 +1,11 @@
+name: Validate package.xml
+
+on:
+  pull_request:
+
+jobs:
+  package-xml:
+    runs-on: ubuntu-latest
+    name: Validate package.xml
+    steps:
+      - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy

package.xml

@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>sdformat14</name>
+  <version>14.1.1</version>
+  <description>SDFormat is an XML file format that describes environments, objects, and robots
+in a manner suitable for robotic applications</description>
+
+  <maintainer email="addisu@openrobotics.org">Addisu Z. Taddese</maintainer>
+  <maintainer email="scpeters@openrobotics.org">Steve Peters</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <url type="website">https://github.com/gazebosim/sdformat</url>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <build_depend>gz-cmake3</build_depend>
+  <depend>gz-math7</depend>
+  <depend>gz-utils2</depend>
+  <depend>tinyxml2</depend>
+  <depend>liburdfdom-dev</depend>
+  <depend>pybind11-dev</depend>
+
+  <exec_depend>gz-tools2</exec_depend>
+
+  <test_depend>libxml2-utils</test_depend>
+  <test_depend>python3-psutil</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>

src/Console.cc

@@ -34,13 +34,7 @@ using namespace sdf;
 static std::shared_ptr<Console> myself;
 static std::mutex g_instance_mutex;
 
-/// \todo Output disabled for windows, to allow tests to pass. We should
-/// disable output just for tests on windows.
-#ifndef _WIN32
 static bool g_quiet = false;
-#else
-static bool g_quiet = true;
-#endif
 
 static Console::ConsoleStream g_NullStream(nullptr);
 

src/cmd/CMakeLists.txt

@@ -31,7 +31,13 @@ set(cmd_script_configured "${CMAKE_CURRENT_BINARY_DIR}/cmd${PROJECT_NAME}.rb.con
 
 # Set the library_location variable to the relative path to the library file
 # within the install directory structure.
-set(library_location "../../../${CMAKE_INSTALL_LIBDIR}/$<TARGET_FILE_NAME:${PROJECT_NAME}>")
+if (MSVC)
+  set(library_location_prefix "${CMAKE_INSTALL_BINDIR}")
+else()
+  set(library_location_prefix "${CMAKE_INSTALL_LIBDIR}")
+endif()
+
+set(library_location "../../../${library_location_prefix}/$<TARGET_FILE_NAME:${PROJECT_NAME}>")
 
 configure_file(
   "cmd${PROJECT_NAME_NO_VERSION_LOWER}.rb.in"

src/cmd/cmdsdformat.rb.in

@@ -26,6 +26,8 @@ else
 end
 
 require 'optparse'
+require 'pathname'
+
 
 # Constants.
 LIBRARY_NAME = '@library_location@'
@@ -174,9 +176,7 @@ class Cmd
     # puts options
 
     # Read the plugin that handles the command.
-    if LIBRARY_NAME[0] == '/'
-      # If the first character is a slash, we'll assume that we've been given an
-      # absolute path to the library. This is only used during test mode.
+    if Pathname.new(LIBRARY_NAME).absolute?
       plugin = LIBRARY_NAME
     else
       # We're assuming that the library path is relative to the current
@@ -185,10 +185,18 @@ class Cmd
     end
     conf_version = LIBRARY_VERSION
 
+    if defined? RubyInstaller
+      # RubyInstaller does not search for dlls in PATH or the directory that tests are running from,
+      # so we'll add the parent directory of the plugin to the search path.
+      # https://github.com/oneclick/rubyinstaller2/wiki/For-gem-developers#-dll-loading
+      RubyInstaller::Runtime.add_dll_directory(File.dirname(plugin))
+    end
+
     begin
       Importer.dlload plugin
-    rescue DLError
+    rescue DLError => error
       puts "Library error: [#{plugin}] not found."
+      puts "DLError: #{error.message}"
       exit(-1)
     end
 

src/gz_TEST.cc

@@ -73,7 +73,7 @@ std::string custom_exec_str(std::string _cmd)
 }
 
 /////////////////////////////////////////////////
-TEST(checkUnrecognizedElements, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
+TEST(checkUnrecognizedElements, SDF)
 {
   // Check an SDFormat file with unrecognized elements
   {
@@ -120,7 +120,7 @@ TEST(checkUnrecognizedElements, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
 }
 
 /////////////////////////////////////////////////
-TEST(check, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
+TEST(check, SDF)
 {
   // Check a good SDF file
   {
@@ -1011,7 +1011,7 @@ TEST(check, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
 }
 
 /////////////////////////////////////////////////
-TEST(check_shapes_sdf, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
+TEST(check_shapes_sdf, SDF)
 {
   {
     const auto path =
@@ -1035,7 +1035,7 @@ TEST(check_shapes_sdf, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
 }
 
 /////////////////////////////////////////////////
-TEST(check_model_sdf, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
+TEST(check_model_sdf, SDF)
 {
   // Check a good SDF file by passing the absolute path
   {
@@ -1062,7 +1062,7 @@ TEST(check_model_sdf, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
 }
 
 /////////////////////////////////////////////////
-TEST(describe, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
+TEST(describe, SDF)
 {
   // Get the description
   std::string output =
@@ -1074,7 +1074,7 @@ TEST(describe, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
 }
 
 /////////////////////////////////////////////////
-TEST(print, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
+TEST(print, SDF)
 {
   // Check a good SDF file
   {
@@ -1103,7 +1103,7 @@ TEST(print, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
 }
 
 /////////////////////////////////////////////////
-TEST(print_rotations_in_degrees, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
+TEST(print_rotations_in_degrees, SDF)
 {
   const std::string path =
       sdf::testing::TestFile("sdf", "rotations_in_degrees.sdf");
@@ -1171,7 +1171,7 @@ TEST(print_rotations_in_degrees, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
 }
 
 /////////////////////////////////////////////////
-TEST(print_rotations_in_radians, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
+TEST(print_rotations_in_radians, SDF)
 {
   const std::string path =
       sdf::testing::TestFile("sdf", "rotations_in_radians.sdf");
@@ -1239,7 +1239,7 @@ TEST(print_rotations_in_radians, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
 }
 
 /////////////////////////////////////////////////
-TEST(print_rotations_in_quaternions, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
+TEST(print_rotations_in_quaternions, SDF)
 {
   const auto path = sdf::testing::TestFile(
       "sdf", "rotations_in_quaternions.sdf");
@@ -1308,7 +1308,7 @@ TEST(print_rotations_in_quaternions, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
 }
 
 /////////////////////////////////////////////////
-TEST(print_includes_rotations_in_degrees, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
+TEST(print_includes_rotations_in_degrees, SDF)
 {
   // Set SDF_PATH so that included models can be found
   gz::utils::setenv(
@@ -1379,7 +1379,7 @@ TEST(print_includes_rotations_in_degrees, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
 }
 
 /////////////////////////////////////////////////
-TEST(print_includes_rotations_in_radians, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
+TEST(print_includes_rotations_in_radians, SDF)
 {
   // Set SDF_PATH so that included models can be found
   gz::utils::setenv(
@@ -1450,8 +1450,7 @@ TEST(print_includes_rotations_in_radians, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
 }
 
 /////////////////////////////////////////////////
-TEST(print_includes_rotations_in_quaternions,
-     GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
+TEST(print_includes_rotations_in_quaternions, SDF)
 {
   // Set SDF_PATH so that included models can be found
   gz::utils::setenv(
@@ -1523,8 +1522,7 @@ TEST(print_includes_rotations_in_quaternions,
 }
 
 /////////////////////////////////////////////////
-TEST(print_rotations_in_unnormalized_degrees,
-     GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
+TEST(print_rotations_in_unnormalized_degrees, SDF)
 {
   const std::string path =
       sdf::testing::TestFile("sdf", "rotations_in_unnormalized_degrees.sdf");
@@ -1595,8 +1593,7 @@ TEST(print_rotations_in_unnormalized_degrees,
 }
 
 /////////////////////////////////////////////////
-TEST(print_rotations_in_unnormalized_radians,
-     GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
+TEST(print_rotations_in_unnormalized_radians, SDF)
 {
   const std::string path =
       sdf::testing::TestFile("sdf", "rotations_in_unnormalized_radians.sdf");
@@ -1664,7 +1661,7 @@ TEST(print_rotations_in_unnormalized_radians,
 }
 
 /////////////////////////////////////////////////
-TEST(shuffled_cmd_flags, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
+TEST(shuffled_cmd_flags, SDF)
 {
   const std::string path =
       sdf::testing::TestFile("sdf", "rotations_in_unnormalized_radians.sdf");
@@ -1713,8 +1710,7 @@ TEST(shuffled_cmd_flags, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
 }
 
 /////////////////////////////////////////////////
-TEST(print_snap_to_degrees_tolerance_too_high,
-     GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
+TEST(print_snap_to_degrees_tolerance_too_high, SDF)
 {
   const std::string path = sdf::testing::TestFile(
       "sdf",
@@ -1731,7 +1727,7 @@ TEST(print_snap_to_degrees_tolerance_too_high,
 }
 
 /////////////////////////////////////////////////
-TEST(GraphCmd, GZ_UTILS_TEST_DISABLED_ON_WIN32(WorldPoseRelativeTo))
+TEST(GraphCmd, WorldPoseRelativeTo)
 {
   // world pose relative_to graph
   const std::string path =
@@ -1780,7 +1776,7 @@ TEST(GraphCmd, GZ_UTILS_TEST_DISABLED_ON_WIN32(WorldPoseRelativeTo))
 }
 
 /////////////////////////////////////////////////
-TEST(GraphCmd, GZ_UTILS_TEST_DISABLED_ON_WIN32(ModelPoseRelativeTo))
+TEST(GraphCmd, ModelPoseRelativeTo)
 {
   const auto path =
     sdf::testing::TestFile("sdf", "model_relative_to_nested_reference.sdf");
@@ -1857,7 +1853,7 @@ TEST(GraphCmd, GZ_UTILS_TEST_DISABLED_ON_WIN32(ModelPoseRelativeTo))
 }
 
 /////////////////////////////////////////////////
-TEST(GraphCmd, GZ_UTILS_TEST_DISABLED_ON_WIN32(WorldFrameAttachedTo))
+TEST(GraphCmd, WorldFrameAttachedTo)
 {
   const auto path =
     sdf::testing::TestFile("sdf", "world_nested_frame_attached_to.sdf");
@@ -1903,7 +1899,7 @@ TEST(GraphCmd, GZ_UTILS_TEST_DISABLED_ON_WIN32(WorldFrameAttachedTo))
 }
 
 /////////////////////////////////////////////////
-TEST(GraphCmd, GZ_UTILS_TEST_DISABLED_ON_WIN32(ModelFrameAttachedTo))
+TEST(GraphCmd, ModelFrameAttachedTo)
 {
   const auto path =
     sdf::testing::TestFile("sdf", "model_nested_frame_attached_to.sdf");
@@ -1955,7 +1951,7 @@ TEST(GraphCmd, GZ_UTILS_TEST_DISABLED_ON_WIN32(ModelFrameAttachedTo))
 // Disable on arm
 #if !defined __ARM_ARCH
 /////////////////////////////////////////////////
-TEST(inertial_stats, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
+TEST(inertial_stats, SDF)
 {
   std::string expectedOutput =
     "Inertial statistics for model: test_model\n"
@@ -2043,7 +2039,7 @@ TEST(inertial_stats, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
 
 //////////////////////////////////////////////////
 /// \brief Check help message and bash completion script for consistent flags
-TEST(HelpVsCompletionFlags, SDF)
+TEST(HelpVsCompletionFlags, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
 {
   // Flags in help message
   std::string helpOutput = custom_exec_str(GzCommand() + " sdf --help");
@@ -2098,6 +2094,16 @@ int main(int argc, char **argv)
   gz::utils::setenv("LD_LIBRARY_PATH", testLibraryPath);
 #endif
 
+  // temporarily set HOME
+  std::string homeDir;
+  sdf::testing::TestTmpPath(homeDir);
+
+#ifdef _WIN32
+  gz::utils::setenv("HOMEPATH", homeDir);
+#else
+  gz::utils::setenv("HOME", homeDir);
+#endif
+
   ::testing::InitGoogleTest(&argc, argv);
   return RUN_ALL_TESTS();
 }