Add optional binary relocatability

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

CMakeLists.txt

@@ -23,7 +23,8 @@ gz_configure_project(VERSION_SUFFIX)
 # Set project-specific options
 #============================================================================
 
-set(GZ_LAUNCH_PLUGIN_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/")
+set(GZ_LAUNCH_PLUGIN_RELATIVE_INSTALL_PATH "${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/")
+set(GZ_LAUNCH_PLUGIN_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_LAUNCH_PLUGIN_RELATIVE_INSTALL_PATH}")
 
 #============================================================================
 # Search for project-specific dependencies

include/gz/launch/InstallationDirectories.hh

@@ -0,0 +1,46 @@
+/*
+ * 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_LAUNCH_INSTALLATION_DIRECTORIES_HH_
+#define GZ_LAUNCH_INSTALLATION_DIRECTORIES_HH_
+
+#include <string>
+
+#include <gz/launch/config.hh>
+#include <gz/launch/Export.hh>
+
+namespace gz
+{
+  namespace launch
+  {
+    inline namespace GZ_LAUNCH_VERSION_NAMESPACE {
+
+    /// \brief getInstallPrefix return the install prefix of the library
+    /// i.e. CMAKE_INSTALL_PREFIX unless the library has been moved
+    GZ_LAUNCH_VISIBLE std::string getInstallPrefix();
+
+    /// \brief getPluginInstallPath return the plugin install path
+    GZ_LAUNCH_VISIBLE std::string getPluginInstallPath();
+
+    /// \brief getInitialConfigPath return the initial config path
+    GZ_LAUNCH_VISIBLE std::string getInitialConfigPath();
+
+    }
+  }
+}
+
+#endif

include/gz/launch/config.hh.in

@@ -30,8 +30,8 @@
 
 #define GZ_LAUNCH_VERSION_HEADER "Gazebo Launch, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2019 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
 
-#define GZ_LAUNCH_INITIAL_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/configs"
+#define GZ_LAUNCH_INITIAL_CONFIG_PATH _Pragma ("GCC warning \"'GZ_LAUNCH_INITIAL_CONFIG_PATH' macro is deprecated, use gz::launch::getInitialConfigPath() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/configs"
 
-#define GZ_LAUNCH_PLUGIN_INSTALL_PATH "${GZ_LAUNCH_PLUGIN_INSTALL_PATH}"
+#define GZ_LAUNCH_PLUGIN_INSTALL_PATH _Pragma ("GCC warning \"'GZ_LAUNCH_PLUGIN_INSTALL_PATH' macro is deprecated, use gz::launch::getPluginInstallPath() function instead. \"") "${GZ_LAUNCH_PLUGIN_INSTALL_PATH}"
 
 #endif

src/CMakeLists.txt

@@ -1,6 +1,7 @@
 # add_subdirectory(plugins)
 
 set (sources
+  InstallationDirectories.cc
   Manager.cc
 )
 
@@ -10,6 +11,16 @@ set (gtest_sources
 
 # Create the library target.
 gz_create_core_library(SOURCES ${sources})
+gz_add_get_install_prefix_impl(GET_INSTALL_PREFIX_FUNCTION gz::launch::getInstallPrefix
+                               GET_INSTALL_PREFIX_HEADER gz/launch/InstallationDirectories.hh
+                               OVERRIDE_INSTALL_PREFIX_ENV_VARIABLE GZ_LAUNCH_INSTALL_PREFIX)
+
+set_property(
+  SOURCE InstallationDirectories.cc
+  PROPERTY COMPILE_DEFINITIONS
+  GZ_LAUNCH_PLUGIN_RELATIVE_INSTALL_PATH="${GZ_LAUNCH_PLUGIN_RELATIVE_INSTALL_PATH}"
+  GZ_LAUNCH_INITIAL_CONFIG_RELATIVE_PATH="${GZ_DATA_INSTALL_DIR}/configs"
+)
 
 # Link the libraries that we always need.
 target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
@@ -31,6 +42,8 @@ gz_build_tests(TYPE UNIT SOURCES ${gtest_sources}
                 LIB_DEPS
                   ${PROJECT_LIBRARY_TARGET_NAME}
                   gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
+                ENVIRONMENT
+                  GZ_LAUNCH_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )
 
 add_subdirectory(cmd)

src/InstallationDirectories.cc

@@ -0,0 +1,43 @@
+/*
+ * 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/launch/config.hh>
+#include <gz/launch/InstallationDirectories.hh>
+
+#include <gz/common/Filesystem.hh>
+
+namespace gz
+{
+namespace launch
+{
+inline namespace GZ_LAUNCH_VERSION_NAMESPACE {
+
+std::string getPluginInstallPath()
+{
+  return gz::common::joinPaths(
+      getInstallPrefix(), GZ_LAUNCH_PLUGIN_RELATIVE_INSTALL_PATH);
+}
+
+std::string getInitialConfigPath()
+{
+  return gz::common::joinPaths(
+      getInstallPrefix(), GZ_LAUNCH_INITIAL_CONFIG_RELATIVE_PATH);
+}
+
+}
+}
+}

src/Manager.cc

@@ -57,6 +57,7 @@
 #include <gz/plugin/Loader.hh>
 
 #include "gz/launch/config.hh"
+#include "gz/launch/InstallationDirectories.hh"
 #include "gz/launch/Plugin.hh"
 
 #include "vendor/backward.hpp"
@@ -1089,7 +1090,7 @@ void ManagerPrivate::LoadPlugin(const tinyxml2::XMLElement *_elem)
 
   gz::common::SystemPaths systemPaths;
   systemPaths.SetPluginPathEnv("GZ_LAUNCH_PLUGIN_PATH");
-  systemPaths.AddPluginPaths(GZ_LAUNCH_PLUGIN_INSTALL_PATH);
+  systemPaths.AddPluginPaths(gz::launch::getPluginInstallPath());
 
   // Add LD_LIBRARY_PATH
 #ifdef __linux__

src/cmd/CMakeLists.txt

@@ -32,7 +32,8 @@ install(
 # Build the unit tests.
 gz_build_tests(TYPE UNIT SOURCES ${gtest_sources}
   TEST_LIST test_list
-  LIB_DEPS ${EXTRA_TEST_LIB_DEPS})
+  LIB_DEPS ${EXTRA_TEST_LIB_DEPS}
+  ENVIRONMENT GZ_LAUNCH_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
 
 foreach(test ${test_list})
   target_link_libraries(${test} gz)

src/cmd/gz.cc

@@ -15,9 +15,11 @@
  *
 */
 #include <cstring>
+#include <string>
 #include <gz/common/Console.hh>
 
 #include "gz/launch/config.hh"
+#include "gz/launch/InstallationDirectories.hh"
 #include "gz.hh"
 #include "../Manager.hh"
 
@@ -30,7 +32,8 @@ extern "C" char *gzVersion()
 //////////////////////////////////////////////////
 extern "C" const char *configPath()
 {
-  return GZ_LAUNCH_INITIAL_CONFIG_PATH;
+  std::string configPath = gz::launch::getPluginInstallPath();
+  return configPath.c_str();
 }
 
 //////////////////////////////////////////////////

test/integration/CMakeLists.txt

@@ -10,7 +10,10 @@ if(NOT WIN32)
   # Disable test on Windows, it deals with UNIX signals
   set(tests faulty_plugins.cc)
 
-  gz_build_tests(TYPE INTEGRATION SOURCES ${tests} TEST_LIST test_targets)
+  gz_build_tests(TYPE INTEGRATION
+                 SOURCES ${tests}
+                 TEST_LIST test_targets
+                 ENVIRONMENT GZ_LAUNCH_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
   foreach(test ${test_targets})
     target_compile_definitions(${test} PRIVATE
         "bad_plugins_LIB=\"$<TARGET_FILE:bad_plugins>\"")

test/performance/CMakeLists.txt

@@ -4,4 +4,6 @@ set(tests)
 
 link_directories(${PROJECT_BINARY_DIR}/test)
 
-gz_build_tests(TYPE PERFORMANCE SOURCES ${tests})
+gz_build_tests(TYPE PERFORMANCE
+               SOURCES ${tests}
+               ENVIRONMENT GZ_LAUNCH_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})

test/regression/CMakeLists.txt

@@ -5,4 +5,6 @@ set(tests
 
 link_directories(${PROJECT_BINARY_DIR}/test)
 
-gz_build_tests(TYPE REGRESSION SOURCES ${tests})
+gz_build_tests(TYPE REGRESSION
+               SOURCES ${tests}
+               ENVIRONMENT GZ_LAUNCH_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})