Add an API call to get extension info (#151)

* Add API Call

* Implement a tool to inspect rgl version and extensions.

* Enable tools builing on Windows

* Add hint to error 126

* Fix ros2 standalone to be interpreted as ros2 extension

* Apply review changes

---------

Co-authored-by: Mateusz Szczygielski <[email protected]>

CMakeLists.txt

@@ -33,6 +33,10 @@ set(RGL_BUILD_ROS2_EXTENSION OFF CACHE BOOL
 set(RGL_BUILD_ROS2_EXTENSION_STANDALONE OFF CACHE BOOL
     "Enables building ROS2 extension in standalone mode. It requires installed and sourced ROS2.")
 
+if (RGL_BUILD_ROS2_EXTENSION_STANDALONE)
+    set(RGL_BUILD_ROS2_EXTENSION ON)
+endif()
+
 # Hide automatically generated CTest targets
 set_property(GLOBAL PROPERTY CTEST_TARGETS_ADDED 1)
 
@@ -99,6 +103,10 @@ add_library(RobotecGPULidar SHARED
 
 set_property(TARGET RobotecGPULidar PROPERTY POSITION_INDEPENDENT_CODE ON)
 
+target_compile_definitions(RobotecGPULidar PUBLIC RGL_BUILD_PCL_EXTENSION=$<BOOL:${RGL_BUILD_PCL_EXTENSION}>)
+target_compile_definitions(RobotecGPULidar PUBLIC RGL_BUILD_ROS2_EXTENSION=$<BOOL:${RGL_BUILD_ROS2_EXTENSION}>)
+target_compile_definitions(RobotecGPULidar PUBLIC RGL_BUILD_UDP_EXTENSION=0)
+
 if (RGL_BUILD_PCL_EXTENSION)
     find_package(PCL 1.12 CONFIG REQUIRED COMPONENTS common io filters visualization)
     target_sources(RobotecGPULidar PRIVATE
@@ -109,10 +117,9 @@ if (RGL_BUILD_PCL_EXTENSION)
     target_include_directories(RobotecGPULidar PUBLIC ${PCL_INCLUDE_DIRS})
     target_link_directories(RobotecGPULidar PRIVATE ${PCL_LIBRARY_DIRS})
     target_link_libraries(RobotecGPULidar PRIVATE ${PCL_LIBRARIES})
-    target_compile_definitions(RobotecGPULidar PUBLIC RGL_BUILD_PCL_EXTENSION=$<BOOL:${RGL_BUILD_PCL_EXTENSION}> ${PCL_DEFINITIONS})
 endif()
 
-if (RGL_BUILD_ROS2_EXTENSION OR RGL_BUILD_ROS2_EXTENSION_STANDALONE)
+if (RGL_BUILD_ROS2_EXTENSION)
     if (NOT $ENV{ROS_DISTRO} STREQUAL "humble")
       message(FATAL_ERROR "ROS $ENV{ROS_DISTRO} not supported. Only humble is available.")
     endif()
@@ -121,7 +128,6 @@ if (RGL_BUILD_ROS2_EXTENSION OR RGL_BUILD_ROS2_EXTENSION_STANDALONE)
     target_sources(RobotecGPULidar PRIVATE src/api/apiRos2.cpp src/graph/Ros2PublishPointsNode.cpp)
     target_include_directories(RobotecGPULidar PUBLIC ${rclcpp_INCLUDE_DIRS} ${sensor_msgs_INCLUDE_DIRS})
     target_link_libraries(RobotecGPULidar PRIVATE ${rclcpp_LIBRARIES} ${sensor_msgs_LIBRARIES})
-    target_compile_definitions(RobotecGPULidar PUBLIC RGL_BUILD_ROS2_EXTENSION=$<BOOL:${RGL_BUILD_ROS2_EXTENSION}>)
 endif()
 
 target_include_directories(RobotecGPULidar

README.md

@@ -59,6 +59,7 @@ An introduction to the RGL API along with an example can be found [here](docs/Us
 `RobotecGPULidar` library can be built with extensions enhancing RGL with additional functions:
 - `PCL` - adds nodes and functions for point cloud processing that uses [Point Cloud Library](https://pointclouds.org/). See [documentation](docs/PclExtension.md).
 - `ROS2` - adds a node to publish point cloud messages to [ROS2](https://www.ros.org/). Check [ROS2 extension doc](docs/Ros2Extension.md) for more information, build instructions, and usage.
+- `UDP` - adds a node to publish raw lidar packets, as emitted by physical lidar. Only available in the closed-source version.
 
 ## Building in Docker (Linux)
 

include/rgl/api/core.h

@@ -97,6 +97,19 @@ typedef struct Node *rgl_node_t;
  */
 typedef struct Scene *rgl_scene_t;
 
+/**
+ * Enumerates available extensions in RGL which can be queried using `rgl_get_extension_info`.
+ * For more details, see the chapter on extensions in the README.
+ * The order of constants must not be changed.
+ */
+typedef enum : int32_t
+{
+	RGL_EXTENSION_PCL = 0,
+	RGL_EXTENSION_ROS2 = 1,
+	RGL_EXTENSION_UDP = 2,
+	RGL_EXTENSION_COUNT
+} rgl_extension_t;
+
 /**
  * Status (error) codes returned by all RGL API functions.
  * Unrecoverable errors require reloading the library (restarting the application).
@@ -242,6 +255,15 @@ typedef enum
 RGL_API rgl_status_t
 rgl_get_version_info(int32_t *out_major, int32_t *out_minor, int32_t *out_patch);
 
+/**
+ * As stated in README, some RGL features (extensions) are opt-in in compile-time.
+ * This call can be used to query in runtime if specific extensions were compiled in the binary.
+ * @param extension Extension to query.
+ * @param out_available Pointer to the result. Pointee is set to non-zero value if the extension is available.
+ */
+RGL_API rgl_status_t
+rgl_get_extension_info(rgl_extension_t extension, int32_t* out_available);
+
 /**
  * Optionally (re)configures internal logging. This feature may be useful for debugging / issue reporting.
  * By default (i.e. not calling `rgl_configure_logging`) is equivalent to the following call:
@@ -271,7 +293,6 @@ rgl_get_last_error_string(const char **out_error_string);
 RGL_API rgl_status_t
 rgl_cleanup(void);
 
-
 /******************************** MESH ********************************/
 
 /**

setup.py

@@ -132,9 +132,6 @@ def is_cuda_version_ok():
                 linker_rpath_flags.append(f"-Wl,-rpath={rpath}")
         cmake_args.append(f"-DCMAKE_SHARED_LINKER_FLAGS=\"{' '.join(linker_rpath_flags)}\"")
 
-    if on_windows():
-        cmake_args.append("-DRGL_BUILD_TOOLS=OFF")  # Tools are not available on Windows
-
     cmake_args.append(f"-DCMAKE_INSTALL_PREFIX={os.path.join(os.getcwd(), args.build_dir)}")
 
     # Append user args, possibly overwriting

src/RGLFields.hpp

@@ -141,7 +141,7 @@ inline std::string toString(rgl_field_t type)
 	}
 }
 
-#ifdef RGL_BUILD_ROS2_EXTENSION
+#if RGL_BUILD_ROS2_EXTENSION
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
 inline std::vector<uint8_t> toRos2Fields(rgl_field_t type)

src/Tape.cpp

@@ -65,6 +65,7 @@ TapePlayer::TapePlayer(const char* path)
 {
 	tapeFunctions = {
 		{ "rgl_get_version_info", std::bind(&TapePlayer::tape_get_version_info, this, _1) },
+		{ "rgl_get_extension_info", std::bind(&TapePlayer::tape_get_extension_info, this, _1) },
 		{ "rgl_configure_logging", std::bind(&TapePlayer::tape_configure_logging, this, _1) },
 		{ "rgl_cleanup", std::bind(&TapePlayer::tape_cleanup, this, _1) },
 		{ "rgl_mesh_create", std::bind(&TapePlayer::tape_mesh_create, this, _1) },
@@ -95,13 +96,13 @@ TapePlayer::TapePlayer(const char* path)
 		{ "rgl_node_gaussian_noise_angular_hitpoint", std::bind(&TapePlayer::tape_node_gaussian_noise_angular_hitpoint, this, _1) },
 		{ "rgl_node_gaussian_noise_distance", std::bind(&TapePlayer::tape_node_gaussian_noise_distance, this, _1) },
 
-		#ifdef RGL_BUILD_PCL_EXTENSION
+		#if RGL_BUILD_PCL_EXTENSION
 		{ "rgl_graph_write_pcd_file", std::bind(&TapePlayer::tape_graph_write_pcd_file, this, _1) },
 		{ "rgl_node_points_downsample", std::bind(&TapePlayer::tape_node_points_downsample, this, _1) },
 		{ "rgl_node_points_visualize", std::bind(&TapePlayer::tape_node_points_visualize, this, _1) },
 		#endif
 
-		#ifdef RGL_BUILD_ROS2_EXTENSION
+		#if RGL_BUILD_ROS2_EXTENSION
 		{ "rgl_node_points_ros2_publish", std::bind(&TapePlayer::tape_node_points_ros2_publish, this, _1) },
 		{ "rgl_node_points_ros2_publish_with_qos", std::bind(&TapePlayer::tape_node_points_ros2_publish_with_qos, this, _1) },
 		#endif

src/Tape.hpp

@@ -129,6 +129,7 @@ class TapeRecorder
 	int valueToYaml(rgl_field_t value) { return (int) value; }
 	int valueToYaml(rgl_log_level_t value) { return (int) value; }
 	int valueToYaml(rgl_axis_t value) { return (int) value; }
+	int32_t valueToYaml(rgl_extension_t value) { return static_cast<int32_t>(value); }
 	int valueToYaml(rgl_qos_policy_reliability_t value) { return (int) value; }
 	int valueToYaml(rgl_qos_policy_durability_t value) { return (int) value; }
 	int valueToYaml(rgl_qos_policy_history_t value) { return (int) value; }
@@ -188,6 +189,7 @@ struct TapePlayer
 	void playUnchecked(YAML::iterator);
 
 	void tape_get_version_info(const YAML::Node& yamlNode);
+	void tape_get_extension_info(const YAML::Node& yamlNode);
 	void tape_configure_logging(const YAML::Node& yamlNode);
 	void tape_cleanup(const YAML::Node& yamlNode);
 	void tape_mesh_create(const YAML::Node& yamlNode);
@@ -218,13 +220,13 @@ struct TapePlayer
 	void tape_node_gaussian_noise_angular_hitpoint(const YAML::Node& yamlNode);
 	void tape_node_gaussian_noise_distance(const YAML::Node& yamlNode);
 
-	#ifdef RGL_BUILD_PCL_EXTENSION
+	#if RGL_BUILD_PCL_EXTENSION
 	void tape_graph_write_pcd_file(const YAML::Node& yamlNode);
 	void tape_node_points_downsample(const YAML::Node& yamlNode);
 	void tape_node_points_visualize(const YAML::Node& yamlNode);
 	#endif
 
-	#ifdef RGL_BUILD_ROS2_EXTENSION
+	#if RGL_BUILD_ROS2_EXTENSION
 	void tape_node_points_ros2_publish(const YAML::Node& yamlNode);
 	void tape_node_points_ros2_publish_with_qos(const YAML::Node& yamlNode);
 	#endif

src/Time.hpp

@@ -14,7 +14,7 @@
 
 #pragma once
 
-#ifdef RGL_BUILD_ROS2_EXTENSION
+#if RGL_BUILD_ROS2_EXTENSION
 #include <builtin_interfaces/msg/time.hpp>
 #endif
 
@@ -27,7 +27,7 @@ struct Time
 	double asSeconds() { return static_cast<double>(timeNs) * 1.0e-9; };
 	uint64_t asNanoseconds() { return timeNs; }
 
-	#ifdef RGL_BUILD_ROS2_EXTENSION
+	#if RGL_BUILD_ROS2_EXTENSION
 	builtin_interfaces::msg::Time asRos2Msg()
 	{
 		auto msg = builtin_interfaces::msg::Time();

src/api/apiCommon.hpp

@@ -15,7 +15,7 @@
 #include <cmath>
 #include <spdlog/common.h>
 
-#ifdef RGL_BUILD_ROS2_EXTENSION
+#if RGL_BUILD_ROS2_EXTENSION
 #include <rclcpp/exceptions.hpp>
 #endif
 
@@ -62,7 +62,7 @@ rgl_status_t rglSafeCall(Fn fn)
 	try {
 		std::invoke(fn);
 	}
-	#ifdef RGL_BUILD_ROS2_EXTENSION
+	#if RGL_BUILD_ROS2_EXTENSION
 	catch (rclcpp::exceptions::RCLErrorBase& e) {
 		return updateAPIState(RGL_ROS2_ERROR, e.message.c_str());
 	}

src/api/apiCore.cpp

@@ -76,6 +76,33 @@ void TapePlayer::tape_get_version_info(const YAML::Node& yamlNode)
 	}
 }
 
+RGL_API rgl_status_t
+rgl_get_extension_info(rgl_extension_t extension, int32_t* out_available)
+{
+	auto status = rglSafeCall([&]() {
+		CHECK_ARG(0 <= extension && extension < RGL_EXTENSION_COUNT);
+		CHECK_ARG(out_available != nullptr);
+		switch (extension) {
+			case RGL_EXTENSION_PCL: *out_available = RGL_BUILD_PCL_EXTENSION; break;
+			case RGL_EXTENSION_ROS2: *out_available = RGL_BUILD_ROS2_EXTENSION; break;
+			case RGL_EXTENSION_UDP: *out_available = RGL_BUILD_UDP_EXTENSION; break;
+			default: throw std::invalid_argument(fmt::format("queried unknown RGL extension: {}", extension));
+		}
+	});
+	TAPE_HOOK(extension, out_available);
+	return status;
+}
+
+void TapePlayer::tape_get_extension_info(const YAML::Node &yamlNode)
+{
+	int32_t out_available;
+	int32_t recorded_available = yamlNode[1].as<int32_t>();
+	rgl_get_extension_info(static_cast<rgl_extension_t>(yamlNode[0].as<int32_t>()), &out_available);
+	if (out_available != recorded_available) {
+		RGL_WARN(fmt::format("tape_get_extension_info: result mismatch, recorded={}, actual={}", recorded_available, out_available));
+	}
+}
+
 RGL_API rgl_status_t
 rgl_configure_logging(rgl_log_level_t log_level, const char* log_file_path, bool use_stdout)
 {

test/src/graphTest.cpp

@@ -9,7 +9,7 @@
 
 class GraphCase : public RGLTest {};
 
-#ifdef RGL_BUILD_PCL_EXTENSION
+#if RGL_BUILD_PCL_EXTENSION
 #include <rgl/api/extensions/pcl.h>
 #endif
 
@@ -29,7 +29,7 @@ TEST_F(GraphCase, FullLinear)
 	EXPECT_RGL_SUCCESS(rgl_node_points_compact(&compact));
 	EXPECT_RGL_SUCCESS(rgl_node_points_transform(&shear, &shearTf));
 
-#ifdef RGL_BUILD_PCL_EXTENSION
+#if RGL_BUILD_PCL_EXTENSION
 	EXPECT_RGL_SUCCESS(rgl_node_points_downsample(&downsample, 0.1f, 0.1f, 0.1f));
 #endif
 
@@ -38,12 +38,12 @@ TEST_F(GraphCase, FullLinear)
 	EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(raytrace, compact));
 	EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(compact, shear));
 
-#ifdef RGL_BUILD_PCL_EXTENSION
+#if RGL_BUILD_PCL_EXTENSION
 	EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(shear, downsample));
 #endif
 
 	EXPECT_RGL_SUCCESS(rgl_graph_run(raytrace));
-#ifdef RGL_BUILD_PCL_EXTENSION
+#if RGL_BUILD_PCL_EXTENSION
 	EXPECT_RGL_SUCCESS(rgl_graph_write_pcd_file(downsample, "minimal.pcd"));
 #else
 	RGL_WARN("RGL compiled without PCL extension. Tests will not save PCD!");
@@ -94,7 +94,7 @@ TEST_F(GraphCase, NodeRemoval)
 	EXPECT_RGL_SUCCESS(rgl_graph_run(raytrace));
 
 	// Output pointcloud should contain two boxes
-#ifdef RGL_BUILD_PCL_EXTENSION
+#if RGL_BUILD_PCL_EXTENSION
 	EXPECT_RGL_SUCCESS(rgl_graph_write_pcd_file(temporalMerge, "two_boxes_removal.pcd"));
 #else
 	RGL_WARN("RGL compiled without PCL extension. Tests will not save PCD!");
@@ -137,7 +137,7 @@ TEST_F(GraphCase, SpatialMergeFromTransforms)
 	EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(transformPtsY, spatialMerge));
 
 	EXPECT_RGL_SUCCESS(rgl_graph_run(raytrace));
-#ifdef RGL_BUILD_PCL_EXTENSION
+#if RGL_BUILD_PCL_EXTENSION
 	EXPECT_RGL_SUCCESS(rgl_graph_write_pcd_file(spatialMerge, "two_boxes_spatial_merge.pcd"));
 #else
 	RGL_WARN("RGL compiled without PCL extension. Tests will not save PCD!");
@@ -182,7 +182,7 @@ TEST_F(GraphCase, SpatialMergeFromRaytraces)
 	}
 
 	EXPECT_RGL_SUCCESS(rgl_graph_run(spatialMerge));
-#ifdef RGL_BUILD_PCL_EXTENSION
+#if RGL_BUILD_PCL_EXTENSION
 	EXPECT_RGL_SUCCESS(rgl_graph_write_pcd_file(spatialMerge, "cube_spatial_merge.pcd"));
 #else
 	RGL_WARN("RGL compiled without PCL extension. Tests will not save PCD!");
@@ -225,7 +225,7 @@ TEST_F(GraphCase, TemporalMerge)
 	EXPECT_RGL_SUCCESS(rgl_node_points_transform(&transformPts, &translateYTf));
 
 	EXPECT_RGL_SUCCESS(rgl_graph_run(raytrace));
-#ifdef RGL_BUILD_PCL_EXTENSION
+#if RGL_BUILD_PCL_EXTENSION
 	EXPECT_RGL_SUCCESS(rgl_graph_write_pcd_file(temporalMerge, "two_boxes_temporal_merge.pcd"));
 #else
 	RGL_WARN("RGL compiled without PCL extension. Tests will not save PCD!");

test/src/tapeSurfaceTest.cpp

@@ -3,11 +3,11 @@
 #include <models.hpp>
 #include <rgl/api/extensions/tape.h>
 
-#ifdef RGL_BUILD_PCL_EXTENSION
+#if RGL_BUILD_PCL_EXTENSION
 #include <rgl/api/extensions/pcl.h>
 #endif
 
-#ifdef RGL_BUILD_ROS2_EXTENSION
+#if RGL_BUILD_ROS2_EXTENSION
 #include <rgl/api/extensions/ros2.h>
 #endif
 
@@ -80,7 +80,7 @@ TEST_F(TapeCase, RecordPlayAllCalls)
 	std::vector<::Field<XYZ_F32>::type> usePointsData = {{1, 2, 3}, {4, 5, 6}};
 	EXPECT_RGL_SUCCESS(rgl_node_points_from_array(&usePoints, usePointsData.data(), usePointsData.size(), usePointsFields.data(), usePointsFields.size()));
 
-	#ifdef RGL_BUILD_ROS2_EXTENSION
+	#if RGL_BUILD_ROS2_EXTENSION
 		rgl_node_t ros2pub = nullptr;
 		EXPECT_RGL_SUCCESS(rgl_node_points_ros2_publish(&ros2pub, "pointcloud", "rgl"));
 
@@ -108,7 +108,7 @@ TEST_F(TapeCase, RecordPlayAllCalls)
 
 	EXPECT_RGL_SUCCESS(rgl_graph_run(raytrace));
 
-	#ifdef RGL_BUILD_PCL_EXTENSION
+	#if RGL_BUILD_PCL_EXTENSION
 		rgl_node_t downsample = nullptr;
 		EXPECT_RGL_SUCCESS(rgl_node_points_downsample(&downsample, 1.0f, 1.0f, 1.0f));
 

tools/CMakeLists.txt

@@ -1,8 +1,13 @@
-add_executable(tapePlayer tapePlayer.cpp)
-target_link_libraries(tapePlayer RobotecGPULidar spdlog)
+add_executable(inspectLibRGL inspectLibRGL.cpp)
 
-if (RGL_BUILD_PCL_EXTENSION)
-    add_executable(tapeVisualizer tapeVisualizer.cpp)
-    target_link_libraries(tapeVisualizer RobotecGPULidar spdlog yaml-cpp)
-    target_include_directories(tapeVisualizer PRIVATE ${CMAKE_SOURCE_DIR}/src)
+# Linux only - tape related tools
+if ((NOT WIN32))
+    if (RGL_BUILD_PCL_EXTENSION)
+        add_executable(tapeVisualizer tapeVisualizer.cpp)
+        target_link_libraries(tapeVisualizer RobotecGPULidar spdlog yaml-cpp)
+        target_include_directories(tapeVisualizer PRIVATE ${CMAKE_SOURCE_DIR}/src)
+    endif()
+
+    add_executable(tapePlayer tapePlayer.cpp)
+    target_link_libraries(tapePlayer RobotecGPULidar spdlog)
 endif()