diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt index e7c92efa0..2ea67b09f 100644 --- a/.github/ci/packages.apt +++ b/.github/ci/packages.apt @@ -5,5 +5,5 @@ libignition-utils1-dev libtinyxml2-dev liburdfdom-dev libxml2-utils -python-psutil +python3-psutil ruby-dev diff --git a/CMakeLists.txt b/CMakeLists.txt index 2ffb5d2d0..0f150351c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -4,360 +4,140 @@ if(COMMAND CMAKE_POLICY) CMAKE_POLICY(SET CMP0003 NEW) CMAKE_POLICY(SET CMP0004 NEW) endif(COMMAND CMAKE_POLICY) -enable_testing() -# with -fPIC -if(UNIX AND NOT WIN32) - set (CMAKE_INSTALL_PREFIX "/usr" CACHE STRING "Install Prefix") - find_program(CMAKE_UNAME uname /bin /usr/bin /usr/local/bin ) - if(CMAKE_UNAME) - exec_program(uname ARGS -m OUTPUT_VARIABLE CMAKE_SYSTEM_PROCESSOR) - set(CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR} CACHE INTERNAL - "processor type (i386 and x86_64)") - if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64") - ADD_DEFINITIONS(-fPIC) - endif(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64") - endif(CMAKE_UNAME) -endif() +project (sdformat12 VERSION 12.3.0) -project (sdformat12) - -# The protocol version has nothing to do with the package version set below. -# It represents the current version of sdformat implement by the software +# The protocol version has nothing to do with the package version. +# It represents the current version of SDFormat implemented by the software set (SDF_PROTOCOL_VERSION 1.9) -set (SDF_MAJOR_VERSION 12) -set (SDF_MINOR_VERSION 3) -set (SDF_PATCH_VERSION 0) - -set (SDF_VERSION ${SDF_MAJOR_VERSION}.${SDF_MINOR_VERSION}) -set (SDF_VERSION_FULL ${SDF_MAJOR_VERSION}.${SDF_MINOR_VERSION}.${SDF_PATCH_VERSION}) - -string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER) -string(REGEX REPLACE "[0-9]+" "" PROJECT_NAME_NO_VERSION ${PROJECT_NAME}) -string(TOLOWER ${PROJECT_NAME_NO_VERSION} PROJECT_NAME_NO_VERSION_LOWER) -set(PROJECT_EXPORT_NAME ${PROJECT_NAME_LOWER}) -set(PROJECT_LIBRARY_TARGET_NAME ${PROJECT_NAME_LOWER}) - -set (project_cmake_dir ${PROJECT_SOURCE_DIR}/cmake - CACHE PATH "Location of CMake scripts") - -message (STATUS "${PROJECT_NAME} version ${SDF_VERSION_FULL}") -set (CMAKE_INCLUDE_DIRECTORIES_PROJECT_BEFORE ON) - -#============================================================================ -# We turn off extensions because (1) we do not ever want to use non-standard -# compiler extensions, and (2) this variable is on by default, causing cmake -# to choose the flag -std=gnu++14 instead of -std=c++14 when the C++14 -# features are requested. Explicitly turning this flag off will force cmake to -# choose -std=c++14. -# See https://github.com/ignitionrobotics/ign-cmake/issues/13 for more info. -set(CMAKE_CXX_EXTENSIONS off) - -# Include GNUInstallDirs to get canonical paths -include(GNUInstallDirs) - -# Default test type for test all over source -set(TEST_TYPE "UNIT") - -# developer's option to cache PKG_CONFIG_PATH and -# LD_LIBRARY_PATH for local installs -if(PKG_CONFIG_PATH) - set (ENV{PKG_CONFIG_PATH} ${PKG_CONFIG_PATH}:$ENV{PKG_CONFIG_PATH}) -endif() -if(LD_LIBRARY_PATH) - set (ENV{LD_LIBRARY_PATH} ${LD_LIBRARY_PATH}:$ENV{LD_LIBRARY_PATH}) -endif() - -set (INCLUDE_INSTALL_DIR "${CMAKE_INSTALL_INCLUDEDIR}/sdformat-${SDF_VERSION}/sdf") -set (LIB_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR} CACHE STRING "Installation directory for libraries (relative to CMAKE_INSTALL_PREFIX)") -set (BIN_INSTALL_DIR ${CMAKE_INSTALL_BINDIR} CACHE STRING "Installation directory for binaries (relative to CMAKE_INSTALL_PREFIX)") -set (USE_FULL_RPATH OFF CACHE BOOL "Set to true to enable full rpath") - -set(PKG_NAME SDFormat) -set(sdf_target sdformat${SDF_MAJOR_VERSION}) -set(sdf_config_install_dir "${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME_LOWER}/") -set(sdf_import_target_name ${PROJECT_EXPORT_NAME}::${sdf_target}) -set(sdf_target_output_filename "${sdf_target}-targets.cmake") - - OPTION(SDFORMAT_DISABLE_CONSOLE_LOGFILE "Disable the sdformat console logfile" OFF) -if (USE_FULL_RPATH) - # use, i.e. don't skip the full RPATH for the build tree - set(CMAKE_SKIP_BUILD_RPATH FALSE) - - # when building, don't use the install RPATH already - # (but later on when installing) - set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE) - - set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}") - - # add the automatically determined parts of the RPATH - # which point to directories outside the build tree to the install RPATH - set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE) - - # the RPATH to be used when installing, but only if its not a system directory - list(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}" isSystemDir) - if("${isSystemDir}" STREQUAL "-1") - set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}") - endif("${isSystemDir}" STREQUAL "-1") -endif() - +# BUILD_SDF is preserved for backwards compatibility but can be removed on the main branch set (BUILD_SDF ON CACHE INTERNAL "Build SDF" FORCE) -set (build_errors "" CACHE INTERNAL "build errors" FORCE) -set (build_warnings "" CACHE INTERNAL "build warnings" FORCE) - -set (sdf_cmake_dir ${PROJECT_SOURCE_DIR}/cmake CACHE PATH - "Location of CMake scripts") - -message (STATUS "\n\n====== Finding 3rd Party Packages ======") -include (${sdf_cmake_dir}/SDFUtils.cmake) -include (${sdf_cmake_dir}/SearchForStuff.cmake) -message (STATUS "----------------------------------------\n") - -##################################### -# Set the default build type -if (NOT CMAKE_BUILD_TYPE) - set (CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING - "Choose the type of build, options are: Debug Release RelWithDebInfo Profile Check" FORCE) -endif (NOT CMAKE_BUILD_TYPE) -string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE_UPPERCASE) - -set (BUILD_TYPE_PROFILE FALSE) -set (BUILD_TYPE_RELEASE FALSE) -set (BUILD_TYPE_RELWITHDEBINFO FALSE) -set (BUILD_TYPE_DEBUG FALSE) - -if ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "PROFILE") - set (BUILD_TYPE_PROFILE TRUE) -elseif ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELEASE") - set (BUILD_TYPE_RELEASE TRUE) -elseif ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELWITHDEBINFO") - set (BUILD_TYPE_RELWITHDEBINFO TRUE) -elseif ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "DEBUG") - set (BUILD_TYPE_DEBUG TRUE) -elseif ("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "COVERAGE") - include (${project_cmake_dir}/CodeCoverage.cmake) - set (BUILD_TYPE_DEBUG TRUE) - SETUP_TARGET_FOR_COVERAGE(coverage ctest coverage) -else() - # NONE is a valid CMAKE_BUILD_TYPE - if (NOT "${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "NONE") - build_error("CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} unknown. Valid options are: Debug Release RelWithDebInfo Profile Coverage None") - endif() -endif() - -#============================================================================ -# Ask whether we should make a shared or static library. -option(BUILD_SHARED_LIBS "Set this to true to generate shared libraries (recommended), or false for static libraries" ON) - -##################################### -# Handle CFlags -unset (CMAKE_C_FLAGS_ALL CACHE) - -# USE_HOST_CFLAGS (default TRUE) -# Will check building host machine for proper cflags -if(NOT DEFINED USE_HOST_CFLAGS OR USE_HOST_CFLAGS) - message(STATUS "Enable host CFlags") - include (${project_cmake_dir}/HostCFlags.cmake) -endif() - -# USE_UPSTREAM_CFLAGS (default TRUE) -# Will use predefined ignition developers cflags -if(NOT DEFINED USE_UPSTREAM_CFLAGS OR USE_UPSTREAM_CFLAGS) - message(STATUS "Enable upstream CFlags") - include(${project_cmake_dir}/DefaultCFlags.cmake) -endif() - -# Check if warning options are avaliable for the compiler and return WARNING_CXX_FLAGS variable -if (MSVC) - set(WARN_LEVEL "/W4") - - # Unable to be filtered flags (failing due to limitations in filter_valid_compiler_warnings) - # Handling exceptions rightly and ignore unknown pragmas - set(UNFILTERED_FLAGS "/EHsc /wd4068") -else() - # Equivalent to Wall (according to man gcc) but removed the unknown pragmas since we use - # MSVC only pragmas all over the code - list(APPEND WARN_LEVEL -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull) - list(APPEND WARN_LEVEL -Wparentheses -Wreorder -Wreturn-type) - list(APPEND WARN_LEVEL -Wsequence-point -Wsign-compare -Wstrict-aliasing) - list(APPEND WARN_LEVEL -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized) - list(APPEND WARN_LEVEL -Wunused-function -Wunused-label -Wunused-value) - list(APPEND WARN_LEVEL -Wunused-variable -Wvolatile-register-var) - - # Unable to be filtered flags (failing due to limitations in filter_valid_compiler_warnings) - set(UNFILTERED_FLAGS "-Wc++17-compat") -endif() - -filter_valid_compiler_warnings(${WARN_LEVEL} -Wextra -Wno-long-long - -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value - -Wfloat-equal -Wshadow -Winit-self -Wswitch-default - -Wmissing-include-dirs -pedantic -Wno-pragmas) -set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}${WARNING_CXX_FLAGS} ${UNFILTERED_FLAGS}") - -################################################# -# OS Specific initialization -if (UNIX) - sdf_setup_unix() -endif () - -if (WIN32) - sdf_setup_windows() -endif () - -if (APPLE) - sdf_setup_apple() -endif () ################################################# -# Print warnings and errors -if ( build_warnings ) - message(WARNING "-- BUILD WARNINGS") - foreach (msg ${build_warnings}) - message(WARNING "-- ${msg}") - endforeach () - message(WARNING "-- END BUILD WARNINGS\n") -endif (build_warnings) - -########### Add uninstall target ############### -configure_file( - "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in" - "${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake" - IMMEDIATE @ONLY) -add_custom_target(uninstall - "${CMAKE_COMMAND}" -P - "${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake") - -if (build_errors) - message(SEND_ERROR "-- BUILD ERRORS: These must be resolved before compiling.") - foreach (msg ${build_errors}) - message(SEND_ERROR "-- ${msg}") - endforeach () - message(SEND_ERROR "-- END BUILD ERRORS\n") - message (FATAL_ERROR "Errors encountered in build. Please see the BUILD ERRORS above.") - -else (build_errors) - - ######################################## - # Write the config.h file - configure_file (${sdf_cmake_dir}/sdf_config.h.in - ${PROJECT_BINARY_DIR}/sdf/sdf_config.h) - sdf_install_includes("" ${PROJECT_BINARY_DIR}/sdf/sdf_config.h) - - message (STATUS "C Flags:${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE}}") - message (STATUS "Build Type: ${CMAKE_BUILD_TYPE}") - message (STATUS "Install path: ${CMAKE_INSTALL_PREFIX}") - - if (BUILD_SDF) - include_directories(include - ${PROJECT_BINARY_DIR} - ${PROJECT_BINARY_DIR}/include - ) - - link_directories(${PROJECT_BINARY_DIR}/src) - - if (NOT DEFINED BUILD_TESTING OR BUILD_TESTING) - set(BUILD_SDF_TEST TRUE) - else() - set(BUILD_SDF_TEST FALSE) - endif() - - if (BUILD_SDF_TEST) - add_subdirectory(test) +# Find ign-cmake +find_package(ignition-cmake2 2.10 REQUIRED) +set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR}) + +if (BUILD_SDF) + ign_configure_project( + NO_IGNITION_PREFIX + REPLACE_IGNITION_INCLUDE_PATH sdf + VERSION_SUFFIX) + + ################################################# + # Find tinyxml2. + ign_find_package(TINYXML2 REQUIRED) + + ################################################ + # Find urdfdom parser. Logic: + # + # 1. if USE_INTERNAL_URDF is unset, try to use system installation, fallback to internal copy + # 2. if USE_INTERNAL_URDF is set to True, use the internal copy + # 3. if USE_INTERNAL_URDF is set to False, force to search system installation, fail on error + if (NOT DEFINED USE_INTERNAL_URDF OR NOT USE_INTERNAL_URDF) + ign_find_package(IgnURDFDOM VERSION 1.0 QUIET) + if (NOT IgnURDFDOM_FOUND) + if (NOT DEFINED USE_INTERNAL_URDF) + # fallback to internal urdf + set(USE_INTERNAL_URDF ON) + else() + ign_build_error("Couldn't find the urdfdom >= 1.0 system installation") + endif() endif() - add_subdirectory(src) - add_subdirectory(include/sdf) - add_subdirectory(sdf) - add_subdirectory(conf) - add_subdirectory(doc) - endif(BUILD_SDF) + endif() - ######################################## - # Setup Codecheck - include (IgnCodeCheck) - set(CPPCHECK_DIRS - ${PROJECT_SOURCE_DIR}/src - ${PROJECT_SOURCE_DIR}/include - ${PROJECT_SOURCE_DIR}/test/integration - ${PROJECT_SOURCE_DIR}/test/performance) + if (USE_INTERNAL_URDF) + message(STATUS "Using internal URDF") + endif() - set(CPPCHECK_INCLUDE_DIRS - ${PROJECT_BINARY_DIR} - ${PROJECT_SOURCE_DIR}/include - ${PROJECT_SOURCE_DIR}/test/integration - ${PROJECT_SOURCE_DIR}/test/performance) + ################################################# + # Find ign command line utility: + find_program(IGN_PROGRAM ign) + + ################################################# + # Copied from catkin/cmake/empy.cmake + include(IgnPython) + function(find_python_module module) + # cribbed from http://www.cmake.org/pipermail/cmake/2011-January/041666.html + string(TOUPPER ${module} module_upper) + if(NOT PY_${module_upper}) + if(ARGC GREATER 1 AND ARGV1 STREQUAL "REQUIRED") + set(${module}_FIND_REQUIRED TRUE) + endif() + # A module's location is usually a directory, but for + # binary modules + # it's a .so file. + execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c" "import re, ${module}; print(re.compile('/__init__.py.*').sub('',${module}.__file__))" + RESULT_VARIABLE _${module}_status + OUTPUT_VARIABLE _${module}_location + ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE) + if(NOT _${module}_status) + set(PY_${module_upper} ${_${module}_location} CACHE STRING "Location of Python module ${module}") + endif(NOT _${module}_status) + endif(NOT PY_${module_upper}) + include(FindPackageHandleStandardArgs) + find_package_handle_standard_args(PY_${module} DEFAULT_MSG PY_${module_upper}) + endfunction(find_python_module) + + ################################################ + # Find psutil python package for memory tests + find_python_module(psutil) + if (NOT PY_PSUTIL) + ign_build_warning("Python psutil package not found. Memory leak tests will be skipped") + endif() - # Ignore vendored directories. - file(WRITE ${PROJECT_BINARY_DIR}/cppcheck.suppress - "*:${PROJECT_SOURCE_DIR}/src/urdf/*\n" - ) - ign_setup_target_for_codecheck() + ################################################ + # Find ruby executable to produce xml schemas + find_program(RUBY ruby) + if (NOT RUBY) + ign_build_error ("Ruby version 1.9 is needed to build xml schemas") + else() + message(STATUS "Found ruby executable: ${RUBY}") + endif() ######################################## - # Make the package config file - set(PC_CONFIG_INSTALL_DIR ${LIB_INSTALL_DIR}/pkgconfig) - file(RELATIVE_PATH - PC_CONFIG_RELATIVE_PATH_TO_PREFIX - "${CMAKE_INSTALL_PREFIX}/${PC_CONFIG_INSTALL_DIR}" - "${CMAKE_INSTALL_PREFIX}" - ) - configure_file(${CMAKE_SOURCE_DIR}/cmake/sdformat_pc.in - ${CMAKE_CURRENT_BINARY_DIR}/cmake/${PROJECT_NAME_LOWER}.pc @ONLY) - install(FILES ${CMAKE_CURRENT_BINARY_DIR}/cmake/${PROJECT_NAME_LOWER}.pc DESTINATION - ${PC_CONFIG_INSTALL_DIR} COMPONENT pkgconfig) + # Find ignition math + # Set a variable for generating ProjectConfig.cmake + ign_find_package(ignition-math6 VERSION 6.8 REQUIRED) + set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR}) ######################################## - # Configure documentation uploader - configure_file("${CMAKE_SOURCE_DIR}/cmake/upload_doc.sh.in" - ${CMAKE_BINARY_DIR}/upload_doc.sh @ONLY) + # Find ignition utils + ign_find_package(ignition-utils1 VERSION REQUIRED) + set(IGN_UTILS_VER ${ignition-utils1_VERSION_MAJOR}) ######################################## - # Make the cmake config files - set(sdf_config_input "${CMAKE_CURRENT_SOURCE_DIR}/cmake/sdf_config.cmake.in") - set(sdf_config_output "cmake/${sdf_target}-config.cmake") - set(sdf_version_output "cmake/${sdf_target}-config-version.cmake") - set(sdf_config_install_dir "${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME_LOWER}/") + # Find ignition common + ign_find_package(ignition-common4 COMPONENTS graphics REQUIRED_BY usd) + set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR}) - include(CMakePackageConfigHelpers) - #-------------------------------------- - # Configure and install the config file - configure_package_config_file( - ${sdf_config_input} - ${sdf_config_output} - INSTALL_DESTINATION ${sdf_config_install_dir} - NO_CHECK_REQUIRED_COMPONENTS_MACRO) + ######################################## + # Find PXR + ign_find_package(pxr REQUIRED_BY usd PKGCONFIG pxr) - #-------------------------------------- - # Configure and install the version file - write_basic_package_version_file( - ${CMAKE_CURRENT_BINARY_DIR}/${sdf_version_output} - VERSION "${SDF_VERSION_FULL}" - COMPATIBILITY SameMajorVersion) + ign_configure_build(HIDE_SYMBOLS_BY_DEFAULT QUIT_IF_BUILD_ERRORS + COMPONENTS usd) + ign_create_packages() - install(FILES - ${CMAKE_CURRENT_BINARY_DIR}/${sdf_config_output} - ${CMAKE_CURRENT_BINARY_DIR}/${sdf_version_output} - DESTINATION ${sdf_config_install_dir} - COMPONENT cmake) + add_subdirectory(sdf) + add_subdirectory(conf) + add_subdirectory(doc) +endif(BUILD_SDF) - ######################################## - # Package Creation: - include (${sdf_cmake_dir}/sdf_cpack.cmake) - set (CPACK_PACKAGE_VERSION "${SDF_VERSION_FULL}") - set (CPACK_PACKAGE_VERSION_MAJOR "${SDF_MAJOR_VERSION}") - set (CPACK_PACKAGE_VERSION_MINOR "${SDF_MINOR_VERSION}") - set (CPACK_PACKAGE_VERSION_PATCH "${SDF_PATCH_VERSION}") +######################################## +# Setup Codecheck - if (CPACK_GENERATOR) - message(STATUS "Found CPack generators: ${CPACK_GENERATOR}") +# Ignore vendored directories. +file(WRITE ${PROJECT_BINARY_DIR}/cppcheck.suppress + "*:${PROJECT_SOURCE_DIR}/src/urdf/*\n" + ) - configure_file("${sdf_cmake_dir}/cpack_options.cmake.in" - ${SDF_CPACK_CFG_FILE} @ONLY) - set(CPACK_PROJECT_CONFIG_FILE ${SDF_CPACK_CFG_FILE}) - include (CPack) - endif() +######################################## +# Configure documentation uploader +configure_file("${CMAKE_SOURCE_DIR}/cmake/upload_doc.sh.in" + ${CMAKE_BINARY_DIR}/upload_doc.sh @ONLY) - message(STATUS "Configuration successful. Type make to compile sdf") -endif(build_errors) +message(STATUS "Configuration successful. Type make to compile sdf") diff --git a/Changelog.md b/Changelog.md index 1902878c4..e40bfa7f9 100644 --- a/Changelog.md +++ b/Changelog.md @@ -457,6 +457,48 @@ ## libsdformat 10.X +### libsdformat 10.7.0 (2021-12-27) + +1. Fix flattening logic for nested model names (merged forward from sdf6) + * [Pull request #597](https://github.com/ignitionrobotics/sdformat/pull/597) + +1. Create CODEOWNERS with azeey and scpeters + * [Pull request #650](https://github.com/ignitionrobotics/sdformat/pull/650) + +1. Fix xyz and rpy offsets in fixed joint reduction + * [Pull request #500](https://github.com/ignitionrobotics/sdformat/pull/500) + +1. Check joint parent link names in Model::Load + * [Pull request #726](https://github.com/osrf/sdformat/pull/726) + +1. Make exception for plugins when checking for name uniqueness + * [Pull request #733](https://github.com/ignitionrobotics/sdformat/pull/733) + +1. Added Force Torque Noise functions + Unit tests + * [Pull request #669](https://github.com/ignitionrobotics/sdformat/pull/669) + +1. Add Joint DOM API to access joint sensors + * [Pull request #517](https://github.com/ignitionrobotics/sdformat/pull/517) + +1. Add force torque sensor + * [Pull request #393](https://github.com/ignitionrobotics/sdformat/pull/393) + * A contribution from Nick Lamprianidis + +1. Remove outdated deprecation note from parser_urdf.hh + * [Pull request #740](https://github.com/osrf/sdformat/pull/740) + +1. Fix URDF fixed joint reduction of plugins + * [Pull request #745](https://github.com/osrf/sdformat/pull/745) + +1. Fix loading nested include with custom attributes + * [Pull request #789](https://github.com/ignitionrobotics/sdformat/pull/789) + +1. Replace custom cmake code with ign-cmake2 + * [Pull request #780](https://github.com/osrf/sdformat/pull/780) + +1. Fix test compilation with USE_INTERNAL_URDF + * [Pull request #800](https://github.com/ignitionrobotics/sdformat/pull/800) + ### libsdformat 10.6.0 (2021-09-08) 1. Parse URDF continuous joint effort/velocity limits diff --git a/cmake/CodeCoverage.cmake b/cmake/CodeCoverage.cmake deleted file mode 100644 index 7eb4f7c56..000000000 --- a/cmake/CodeCoverage.cmake +++ /dev/null @@ -1,135 +0,0 @@ -# -# 2012-01-31, Lars Bilke -# - Enable Code Coverage -# -# 2013-09-17, Joakim Söderberg -# - Added support for Clang. -# - Some additional usage instructions. -# -# USAGE: -# 1. Copy this file into your cmake modules path. -# -# 2. Add the following line to your CMakeLists.txt: -# INCLUDE(CodeCoverage) -# -# 3. Set compiler flags to turn off optimization and enable coverage: -# SET(CMAKE_CXX_FLAGS "-g -O0 -fprofile-arcs -ftest-coverage") -# SET(CMAKE_C_FLAGS "-g -O0 -fprofile-arcs -ftest-coverage") -# -# 3. Use the function SETUP_TARGET_FOR_COVERAGE to create a custom make target -# which runs your test executable and produces a lcov code coverage report: -# Example: -# SETUP_TARGET_FOR_COVERAGE( -# my_coverage_target # Name for custom target. -# test_driver # Name of the test driver executable that runs the tests. -# # NOTE! This should always have a ZERO as exit code -# # otherwise the coverage generation will not complete. -# coverage # Name of output directory. -# ) -# -# 4. Build a Debug build: -# cmake -DCMAKE_BUILD_TYPE=Debug .. -# make -# make my_coverage_target -# -# - -# Check prereqs - -FIND_PROGRAM( GCOV_PATH NAMES gcov-8 gcov ) -FIND_PROGRAM( LCOV_PATH lcov ) -FIND_PROGRAM( GREP_PATH grep ) -FIND_PROGRAM( GENHTML_PATH genhtml ) -FIND_PROGRAM( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/tests) - -IF(NOT GCOV_PATH) - MESSAGE(FATAL_ERROR "gcov not found! Aborting...") -ENDIF() # NOT GCOV_PATH - -IF(NOT CMAKE_COMPILER_IS_GNUCXX) - # Clang version 3.0.0 and greater now supports gcov as well. - MESSAGE(WARNING "Compiler is not GNU gcc! Clang Version 3.0.0 and greater supports gcov as well, but older versions don't.") - - IF(NOT "${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang") - MESSAGE(FATAL_ERROR "Compiler is not GNU gcc! Aborting...") - ENDIF() -ENDIF() # NOT CMAKE_COMPILER_IS_GNUCXX - -SET(CMAKE_CXX_FLAGS_COVERAGE - "-g -O0 --coverage -fprofile-arcs -ftest-coverage" - CACHE STRING "Flags used by the C++ compiler during coverage builds." - FORCE ) -SET(CMAKE_C_FLAGS_COVERAGE - "-g -O0 --coverage -fprofile-arcs -ftest-coverage" - CACHE STRING "Flags used by the C compiler during coverage builds." - FORCE ) -SET(CMAKE_EXE_LINKER_FLAGS_COVERAGE - "" - CACHE STRING "Flags used for linking binaries during coverage builds." - FORCE ) -SET(CMAKE_SHARED_LINKER_FLAGS_COVERAGE - "" - CACHE STRING "Flags used by the shared libraries linker during coverage builds." - FORCE ) -MARK_AS_ADVANCED( - CMAKE_CXX_FLAGS_COVERAGE - CMAKE_C_FLAGS_COVERAGE - CMAKE_EXE_LINKER_FLAGS_COVERAGE - CMAKE_SHARED_LINKER_FLAGS_COVERAGE ) - -IF ( NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR CMAKE_BUILD_TYPE STREQUAL "Coverage")) - MESSAGE( WARNING "Code coverage results with an optimized (non-Debug) build may be misleading" ) -ENDIF() # NOT CMAKE_BUILD_TYPE STREQUAL "Debug" - - -# Param _targetname The name of new the custom make target -# Param _testrunner The name of the target which runs the tests. -# MUST return ZERO always, even on errors. -# If not, no coverage report will be created! -# Param _outputname lcov output is generated as _outputname.info -# HTML report is generated in _outputname/index.html -# Optional fourth parameter is passed as arguments to _testrunner -# Pass them in list form, e.g.: "-j;2" for -j 2 -FUNCTION(SETUP_TARGET_FOR_COVERAGE _targetname _testrunner _outputname) - - IF(NOT LCOV_PATH) - MESSAGE(FATAL_ERROR "lcov not found! Aborting...") - ENDIF() # NOT LCOV_PATH - - IF(NOT GENHTML_PATH) - MESSAGE(FATAL_ERROR "genhtml not found! Aborting...") - ENDIF() # NOT GENHTML_PATH - - IF(NOT GREP_PATH) - MESSAGE(FATAL_ERROR "grep not found! Run code coverage on linux or mac.") - ENDIF() - - # Setup target - ADD_CUSTOM_TARGET(${_targetname} - - COMMAND ${CMAKE_COMMAND} -E remove ${_outputname}.info.cleaned - ${_outputname}.info - # Capturing lcov counters and generating report - COMMAND ${LCOV_PATH} -q --no-checksum --directory ${PROJECT_BINARY_DIR} - --gcov-tool ${GCOV_PATH} --capture --output-file ${_outputname}.info 2>/dev/null - COMMAND ${LCOV_PATH} -q --remove ${_outputname}.info - --gcov-tool ${GCOV_PATH} '*/test/*' '/usr/*' '*_TEST*' --output-file ${_outputname}.info.cleaned - COMMAND ${GENHTML_PATH} -q --legend -o ${_outputname} - ${_outputname}.info.cleaned - COMMAND ${LCOV_PATH} --summary ${_outputname}.info.cleaned 2>&1 | grep "lines" | cut -d ' ' -f 4 | cut -d '%' -f 1 > coverage/lines.txt - COMMAND ${LCOV_PATH} --summary ${_outputname}.info.cleaned 2>&1 | grep "functions" | cut -d ' ' -f 4 | cut -d '%' -f 1 > coverage/functions.txt - COMMAND ${CMAKE_COMMAND} -E rename ${_outputname}.info.cleaned - ${_outputname}.info - - WORKING_DIRECTORY ${CMAKE_BINARY_DIR} - COMMENT "Resetting code coverage counters to zero.\n" - "Processing code coverage counters and generating report." - ) - - # Show info where to find the report - ADD_CUSTOM_COMMAND(TARGET ${_targetname} POST_BUILD - COMMAND COMMAND ${LCOV_PATH} -q --zerocounters --directory ${PROJECT_BINARY_DIR}; - COMMENT "Open ./${_outputname}/index.html in your browser to view the coverage report." - ) - -ENDFUNCTION() # SETUP_TARGET_FOR_COVERAGE diff --git a/cmake/DefaultCFlags.cmake b/cmake/DefaultCFlags.cmake deleted file mode 100644 index be57d0a3d..000000000 --- a/cmake/DefaultCFlags.cmake +++ /dev/null @@ -1,79 +0,0 @@ -# Build type link flags -set (CMAKE_LINK_FLAGS_RELEASE " " CACHE INTERNAL "Link flags for release" FORCE) -set (CMAKE_LINK_FLAGS_RELWITHDEBINFO " " CACHE INTERNAL "Link flags for release with debug support" FORCE) -set (CMAKE_LINK_FLAGS_DEBUG " " CACHE INTERNAL "Link flags for debug" FORCE) -set (CMAKE_LINK_FLAGS_PROFILE " -pg" CACHE INTERNAL "Link flags for profile" FORCE) -set (CMAKE_LINK_FLAGS_COVERAGE " --coverage" CACHE INTERNAL "Link flags for static code coverage" FORCE) - -set (CMAKE_C_FLAGS_RELEASE "") -if (NOT "${CMAKE_CXX_COMPILER_ID} " STREQUAL "Clang " AND NOT MSVC) - # -s doesn't work with clang or Visual Studio, see alternative in link below: - # http://stackoverflow.com/questions/6085491/gcc-vs-clang-symbol-strippingu - set (CMAKE_C_FLAGS_RELEASE "-s") -endif() - -if (NOT MSVC) - set (CMAKE_C_FLAGS_RELEASE " ${CMAKE_C_FLAGS_RELEASE} -O3 -DNDEBUG ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for release" FORCE) - set (CMAKE_CXX_FLAGS_RELEASE ${CMAKE_C_FLAGS_RELEASE}) - - set (CMAKE_C_FLAGS_RELWITHDEBINFO " -g -O2 ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for release with debug support" FORCE) - set (CMAKE_CXX_FLAGS_RELWITHDEBINFO ${CMAKE_C_FLAGS_RELWITHDEBINFO}) - - set (CMAKE_C_FLAGS_DEBUG " -ggdb3 ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for debug" FORCE) - set (CMAKE_CXX_FLAGS_DEBUG ${CMAKE_C_FLAGS_DEBUG}) - - set (CMAKE_C_FLAGS_PROFILE " -fno-omit-frame-pointer -g -pg ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for profile" FORCE) - set (CMAKE_CXX_FLAGS_PROFILE ${CMAKE_C_FLAGS_PROFILE}) - - set (CMAKE_C_FLAGS_COVERAGE " -g -O0 -Wformat=2 --coverage -fno-inline ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for static code coverage" FORCE) - set (CMAKE_CXX_FLAGS_COVERAGE "${CMAKE_C_FLAGS_COVERAGE}") - foreach(flag - -fno-default-inline - -fno-elide-constructors - -fno-implicit-inline-templates) - CHECK_CXX_COMPILER_FLAG(${flag} R${flag}) - if (R${flag}) - set (CMAKE_CXX_FLAGS_COVERAGE "${CMAKE_CXX_FLAGS_COVERAGE} ${flag}") - endif() - endforeach() -endif() - -##################################### -# Set all the global build flags -set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}") -set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}") -set (CMAKE_CXX_EXTENSIONS off) -set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}") -set (CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} ${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}") -set (CMAKE_MODULE_LINKER_FLAGS "${CMAKE_MODULE_LINKER_FLAGS} ${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}") - -set(CMAKE_CXX_STANDARD 17) -set(CMAKE_CXX_STANDARD_REQUIRED ON) - -if (UNIX) - # Add visibility in UNIX - check_gcc_visibility() - if (GCC_SUPPORTS_VISIBILITY) - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fvisibility=hidden") - endif() -endif() - -# Compiler-specific C++17 activation. -if ("${CMAKE_CXX_COMPILER_ID} " MATCHES "GNU ") - execute_process( - COMMAND ${CMAKE_CXX_COMPILER} -dumpversion OUTPUT_VARIABLE GCC_VERSION) - if (NOT (GCC_VERSION VERSION_GREATER_EQUAL 7.0)) - message(STATUS "Found version ${GCC_VERSION}") - message(FATAL_ERROR "${PROJECT_NAME} requires g++ 7.0 or greater.") - endif () -elseif ("${CMAKE_CXX_COMPILER_ID} " MATCHES "Clang ") - if(APPLE) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libc++") - endif() -elseif ("${CMAKE_CXX_COMPILER_ID} " STREQUAL "MSVC ") - if (MSVC_VERSION LESS 1914) - message(FATAL_ERROR "${PROJECT_NAME} requires VS 2017 or greater.") - endif() -else () - message(FATAL_ERROR "Your C++ compiler does not support C++17.") -endif () diff --git a/cmake/FindSSE.cmake b/cmake/FindSSE.cmake deleted file mode 100644 index cdbcfcc3d..000000000 --- a/cmake/FindSSE.cmake +++ /dev/null @@ -1,115 +0,0 @@ -# Check if SSE instructions are available on the machine where -# the project is compiled. - -IF (ARCH MATCHES "i386" OR ARCH MATCHES "x86_64") - IF(CMAKE_SYSTEM_NAME MATCHES "Linux") - EXEC_PROGRAM(cat ARGS "/proc/cpuinfo" OUTPUT_VARIABLE CPUINFO) - - STRING(REGEX REPLACE "^.*(sse2).*$" "\\1" SSE_THERE ${CPUINFO}) - STRING(COMPARE EQUAL "sse2" "${SSE_THERE}" SSE2_TRUE) - IF (SSE2_TRUE) - set(SSE2_FOUND true CACHE BOOL "SSE2 available on host") - ELSE (SSE2_TRUE) - set(SSE2_FOUND false CACHE BOOL "SSE2 available on host") - ENDIF (SSE2_TRUE) - - # /proc/cpuinfo apparently omits sse3 :( - STRING(REGEX REPLACE "^.*[^s](sse3).*$" "\\1" SSE_THERE ${CPUINFO}) - STRING(COMPARE EQUAL "sse3" "${SSE_THERE}" SSE3_TRUE) - IF (NOT SSE3_TRUE) - STRING(REGEX REPLACE "^.*(T2300).*$" "\\1" SSE_THERE ${CPUINFO}) - STRING(COMPARE EQUAL "T2300" "${SSE_THERE}" SSE3_TRUE) - ENDIF (NOT SSE3_TRUE) - - STRING(REGEX REPLACE "^.*(ssse3).*$" "\\1" SSE_THERE ${CPUINFO}) - STRING(COMPARE EQUAL "ssse3" "${SSE_THERE}" SSSE3_TRUE) - IF (SSE3_TRUE OR SSSE3_TRUE) - set(SSE3_FOUND true CACHE BOOL "SSE3 available on host") - ELSE (SSE3_TRUE OR SSSE3_TRUE) - set(SSE3_FOUND false CACHE BOOL "SSE3 available on host") - ENDIF (SSE3_TRUE OR SSSE3_TRUE) - IF (SSSE3_TRUE) - set(SSSE3_FOUND true CACHE BOOL "SSSE3 available on host") - ELSE (SSSE3_TRUE) - set(SSSE3_FOUND false CACHE BOOL "SSSE3 available on host") - ENDIF (SSSE3_TRUE) - - STRING(REGEX REPLACE "^.*(sse4_1).*$" "\\1" SSE_THERE ${CPUINFO}) - STRING(COMPARE EQUAL "sse4_1" "${SSE_THERE}" SSE41_TRUE) - IF (SSE41_TRUE) - set(SSE4_1_FOUND true CACHE BOOL "SSE4.1 available on host") - ELSE (SSE41_TRUE) - set(SSE4_1_FOUND false CACHE BOOL "SSE4.1 available on host") - ENDIF (SSE41_TRUE) - - STRING(REGEX REPLACE "^.*(sse4_2).*$" "\\1" SSE_THERE ${CPUINFO}) - STRING(COMPARE EQUAL "sse4_2" "${SSE_THERE}" SSE42_TRUE) - IF (SSE42_TRUE) - set(SSE4_2_FOUND true CACHE BOOL "SSE4.2 available on host") - ELSE (SSE42_TRUE) - set(SSE4_2_FOUND false CACHE BOOL "SSE4.2 available on host") - ENDIF (SSE42_TRUE) - - ELSEIF(CMAKE_SYSTEM_NAME MATCHES "Darwin") - EXEC_PROGRAM("/usr/sbin/sysctl -n machdep.cpu.features" OUTPUT_VARIABLE - CPUINFO) - - STRING(REGEX REPLACE "^.*[^S](SSE2).*$" "\\1" SSE_THERE ${CPUINFO}) - STRING(COMPARE EQUAL "SSE2" "${SSE_THERE}" SSE2_TRUE) - IF (SSE2_TRUE) - set(SSE2_FOUND true CACHE BOOL "SSE2 available on host") - ELSE (SSE2_TRUE) - set(SSE2_FOUND false CACHE BOOL "SSE2 available on host") - ENDIF (SSE2_TRUE) - - STRING(REGEX REPLACE "^.*[^S](SSE3).*$" "\\1" SSE_THERE ${CPUINFO}) - STRING(COMPARE EQUAL "SSE3" "${SSE_THERE}" SSE3_TRUE) - IF (SSE3_TRUE) - set(SSE3_FOUND true CACHE BOOL "SSE3 available on host") - ELSE (SSE3_TRUE) - set(SSE3_FOUND false CACHE BOOL "SSE3 available on host") - ENDIF (SSE3_TRUE) - - STRING(REGEX REPLACE "^.*(SSSE3).*$" "\\1" SSE_THERE ${CPUINFO}) - STRING(COMPARE EQUAL "SSSE3" "${SSE_THERE}" SSSE3_TRUE) - IF (SSSE3_TRUE) - set(SSSE3_FOUND true CACHE BOOL "SSSE3 available on host") - ELSE (SSSE3_TRUE) - set(SSSE3_FOUND false CACHE BOOL "SSSE3 available on host") - ENDIF (SSSE3_TRUE) - - STRING(REGEX REPLACE "^.*(SSE4.1).*$" "\\1" SSE_THERE ${CPUINFO}) - STRING(COMPARE EQUAL "SSE4.1" "${SSE_THERE}" SSE41_TRUE) - IF (SSE41_TRUE) - set(SSE4_1_FOUND true CACHE BOOL "SSE4.1 available on host") - ELSE (SSE41_TRUE) - set(SSE4_1_FOUND false CACHE BOOL "SSE4.1 available on host") - ENDIF (SSE41_TRUE) - ELSEIF(CMAKE_SYSTEM_NAME MATCHES "Windows") - # TODO - set(SSE2_FOUND true CACHE BOOL "SSE2 available on host") - set(SSE3_FOUND false CACHE BOOL "SSE3 available on host") - set(SSSE3_FOUND false CACHE BOOL "SSSE3 available on host") - set(SSE4_1_FOUND false CACHE BOOL "SSE4.1 available on host") - ELSE(CMAKE_SYSTEM_NAME MATCHES "Linux") - set(SSE2_FOUND true CACHE BOOL "SSE2 available on host") - set(SSE3_FOUND false CACHE BOOL "SSE3 available on host") - set(SSSE3_FOUND false CACHE BOOL "SSSE3 available on host") - set(SSE4_1_FOUND false CACHE BOOL "SSE4.1 available on host") - ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux") -ENDIF(ARCH MATCHES "i386" OR ARCH MATCHES "x86_64") - -if(NOT SSE2_FOUND) - MESSAGE(STATUS "Could not find hardware support for SSE2 on this machine.") -endif(NOT SSE2_FOUND) -if(NOT SSE3_FOUND) - MESSAGE(STATUS "Could not find hardware support for SSE3 on this machine.") -endif(NOT SSE3_FOUND) -if(NOT SSSE3_FOUND) - MESSAGE(STATUS "Could not find hardware support for SSSE3 on this machine.") -endif(NOT SSSE3_FOUND) -if(NOT SSE4_1_FOUND) - MESSAGE(STATUS "Could not find hardware support for SSE4.1 on this machine.") -endif(NOT SSE4_1_FOUND) - -mark_as_advanced(SSE2_FOUND SSE3_FOUND SSSE3_FOUND SSE4_1_FOUND) diff --git a/cmake/HostCFlags.cmake b/cmake/HostCFlags.cmake deleted file mode 100644 index f38d8d7fd..000000000 --- a/cmake/HostCFlags.cmake +++ /dev/null @@ -1,27 +0,0 @@ -include (${project_cmake_dir}/FindSSE.cmake) - -if (SSE2_FOUND) - set (CMAKE_C_FLAGS_ALL "-msse -msse2 ${CMAKE_C_FLAGS_ALL}") - if (NOT APPLE) - set (CMAKE_C_FLAGS_ALL "-mfpmath=sse ${CMAKE_C_FLAGS_ALL}") - endif() -endif() - -if (SSE3_FOUND) - set (CMAKE_C_FLAGS_ALL "-msse3 ${CMAKE_C_FLAGS_ALL}") -endif() -if (SSSE3_FOUND) - set (CMAKE_C_FLAGS_ALL "-mssse3 ${CMAKE_C_FLAGS_ALL}") -endif() - -if (SSE4_1_FOUND OR SSE4_2_FOUND) - if (SSE4_1_FOUND) - set (CMAKE_C_FLAGS_ALL "-msse4.1 ${CMAKE_C_FLAGS_ALL}") - endif() - if (SSE4_2_FOUND) - set (CMAKE_C_FLAGS_ALL "-msse4.2 ${CMAKE_C_FLAGS_ALL}") - endif() -else() - message(STATUS "\nSSE4 disabled.\n") -endif() - diff --git a/cmake/Modules/FindTinyXML2.cmake b/cmake/Modules/FindTinyXML2.cmake deleted file mode 100644 index fd3571e9b..000000000 --- a/cmake/Modules/FindTinyXML2.cmake +++ /dev/null @@ -1,42 +0,0 @@ -# CMake Logic to find system TinyXML2, sourced from: -# ros2/tinyxml2_vendor -# https://github.com/ros2/tinyxml2_vendor/commit/fde8000d31d68ff555431d63af3c324afba9f117#diff-120198e331f1dd3e7806c31af0cfb425 - -# The CMake Logic here is licensed under Apache License 2.0 -# TinyXML2 itself is licensed under the zlib License - -# TinyXML2_FOUND -# TinyXML2_INCLUDE_DIRS -# TinyXML2_LIBRARIES - -# try to find the CMake config file for TinyXML2 first -find_package(TinyXML2 CONFIG NAMES tinyxml2 QUIET) -if(TinyXML2_FOUND) - message(STATUS "Found TinyXML2 via Config file: ${TinyXML2_DIR}") - if(NOT TINYXML2_LIBRARY) - # in this case, we're probably using TinyXML2 version 5.0.0 or greater - # in which case tinyxml2 is an exported target and we should use that - if(TARGET tinyxml2) - set(TINYXML2_LIBRARY tinyxml2) - elseif(TARGET tinyxml2::tinyxml2) - set(TINYXML2_LIBRARY tinyxml2::tinyxml2) - endif() - endif() -else() - find_path(TINYXML2_INCLUDE_DIR NAMES tinyxml2.h) - - find_library(TINYXML2_LIBRARY tinyxml2) - - include(FindPackageHandleStandardArgs) - find_package_handle_standard_args(TinyXML2 DEFAULT_MSG TINYXML2_LIBRARY TINYXML2_INCLUDE_DIR) - - mark_as_advanced(TINYXML2_INCLUDE_DIR TINYXML2_LIBRARY) -endif() - -# Set mixed case INCLUDE_DIRS and LIBRARY variables from upper case ones. -if(NOT TinyXML2_INCLUDE_DIRS) - set(TinyXML2_INCLUDE_DIRS ${TINYXML2_INCLUDE_DIR}) -endif() -if(NOT TinyXML2_LIBRARIES) - set(TinyXML2_LIBRARIES ${TINYXML2_LIBRARY}) -endif() diff --git a/cmake/SDFUtils.cmake b/cmake/SDFUtils.cmake deleted file mode 100644 index 21ac67827..000000000 --- a/cmake/SDFUtils.cmake +++ /dev/null @@ -1,254 +0,0 @@ -################################################################################ -#APPEND_TO_CACHED_STRING(_string _cacheDesc [items...]) -# Appends items to a cached list. -MACRO (APPEND_TO_CACHED_STRING _string _cacheDesc) - FOREACH (newItem ${ARGN}) - SET (${_string} "${${_string}} ${newItem}" CACHE INTERNAL ${_cacheDesc} FORCE) - ENDFOREACH (newItem ${ARGN}) - #STRING(STRIP ${${_string}} ${_string}) -ENDMACRO (APPEND_TO_CACHED_STRING) - -################################################################################ -# APPEND_TO_CACHED_LIST (_list _cacheDesc [items...] -# Appends items to a cached list. -MACRO (APPEND_TO_CACHED_LIST _list _cacheDesc) - SET (tempList ${${_list}}) - FOREACH (newItem ${ARGN}) - LIST (APPEND tempList ${newItem}) - ENDFOREACH (newItem ${newItem}) - SET (${_list} ${tempList} CACHE INTERNAL ${_cacheDesc} FORCE) -ENDMACRO(APPEND_TO_CACHED_LIST) - -################################################# -# Macro to turn a list into a string (why doesn't CMake have this built-in?) -MACRO (LIST_TO_STRING _string _list) - SET (${_string}) - FOREACH (_item ${_list}) - SET (${_string} "${${_string}} ${_item}") - ENDFOREACH (_item) - #STRING(STRIP ${${_string}} ${_string}) -ENDMACRO (LIST_TO_STRING) - -################################################# -# BUILD ERROR macro -macro (BUILD_ERROR) - foreach (str ${ARGN}) - SET (msg "\t${str}") - MESSAGE (STATUS ${msg}) - APPEND_TO_CACHED_LIST(build_errors "build errors" ${msg}) - endforeach () -endmacro (BUILD_ERROR) - -################################################# -# BUILD WARNING macro -macro (BUILD_WARNING) - foreach (str ${ARGN}) - SET (msg "\t${str}" ) - MESSAGE (STATUS ${msg} ) - APPEND_TO_CACHED_LIST(build_warnings "build warning" ${msg}) - endforeach (str ${ARGN}) -endmacro (BUILD_WARNING) - -################################################# -macro (sdf_add_library _name) - set(LIBS_DESTINATION ${PROJECT_BINARY_DIR}/src) - add_library(${_name} ${ARGN}) - set_target_properties(${_name} PROPERTIES DEFINE_SYMBOL "BUILDING_SDFORMAT_SHARED") - if(NOT BUILD_SHARED_LIBS) - target_compile_definitions(${_name} PUBLIC SDFORMAT_STATIC_DEFINE) - endif() - set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${LIBS_DESTINATION}) - if (MSVC) - set_target_properties( ${_name} PROPERTIES ARCHIVE_OUTPUT_DIRECTORY ${LIBS_DESTINATION}) - set_target_properties( ${_name} PROPERTIES ARCHIVE_OUTPUT_DIRECTORY_DEBUG ${LIBS_DESTINATION}) - set_target_properties( ${_name} PROPERTIES ARCHIVE_OUTPUT_DIRECTORY_RELEASE ${LIBS_DESTINATION}) - endif () -endmacro () - -################################################# -macro (sdf_add_executable _name) - add_executable(${_name} ${ARGN}) -endmacro () - - -################################################# -macro (sdf_install_includes _subdir) - install(FILES ${ARGN} DESTINATION ${INCLUDE_INSTALL_DIR}/${_subdir} COMPONENT headers) -endmacro() - -################################################# -macro (sdf_install_library _name) - set_target_properties(${_name} PROPERTIES SOVERSION ${SDF_MAJOR_VERSION} VERSION ${SDF_VERSION_FULL}) - install ( - TARGETS ${_name} - EXPORT ${_name} - ARCHIVE DESTINATION ${LIB_INSTALL_DIR} - LIBRARY DESTINATION ${LIB_INSTALL_DIR} - RUNTIME DESTINATION ${BIN_INSTALL_DIR} - COMPONENT shlib) - -# Export and install target -export( - EXPORT ${_name} - FILE ${PROJECT_BINARY_DIR}/cmake/${sdf_target_output_filename} - NAMESPACE ${PROJECT_EXPORT_NAME}::) - -install( - EXPORT ${_name} - DESTINATION ${sdf_config_install_dir} - FILE ${sdf_target_output_filename} - NAMESPACE ${PROJECT_EXPORT_NAME}::) - -endmacro () - -################################################# -macro (sdf_install_executable _name) - set_target_properties(${_name} PROPERTIES VERSION ${SDF_VERSION_FULL}) - install (TARGETS ${_name} DESTINATION ${BIN_INSTALL_DIR}) -endmacro () - -################################################# -macro (sdf_setup_unix) -endmacro() - -################################################# -macro (sdf_setup_windows) - # Need for M_PI constant - add_definitions(-D_USE_MATH_DEFINES -DWINDOWS_LEAN_AND_MEAN) - # And force linking to MSVC dynamic runtime - set(CMAKE_C_FLAGS_DEBUG "/MDd ${CMAKE_C_FLAGS_DEBUG}") - set(CMAKE_C_FLAGS_RELEASE "/MD ${CMAKE_C_FLAGS_RELEASE}") -endmacro() - -################################################# -macro (sdf_setup_apple) - set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,-undefined -Wl,dynamic_lookup") -endmacro() - -################################################# -# VAR: SDF_BUILD_TESTS_EXTRA_EXE_SRCS -# Hack: extra sources to build binaries can be supplied to gz_build_tests in -# the variable SDF_BUILD_TESTS_EXTRA_EXE_SRCS. This variable will be clean up -# at the end of the function -# -include_directories(${PROJECT_SOURCE_DIR}/test/gtest/include) -macro (sdf_build_tests) - # Build all the tests - foreach(GTEST_SOURCE_file ${ARGN}) - string(REGEX REPLACE ".cc" "" BINARY_NAME ${GTEST_SOURCE_file}) - set(BINARY_NAME ${TEST_TYPE}_${BINARY_NAME}) - - add_executable(${BINARY_NAME} - ${GTEST_SOURCE_file} - ${SDF_BUILD_TESTS_EXTRA_EXE_SRCS} - ) - - add_dependencies(${BINARY_NAME} - gtest gtest_main ${sdf_target} - ) - - link_directories(${IGNITION-MATH_LIBRARY_DIRS}) - target_link_libraries(${BINARY_NAME} ${tinyxml2_LIBRARIES}) - - if (UNIX) - target_link_libraries(${BINARY_NAME} PRIVATE - libgtest.a - libgtest_main.a - ${sdf_target} - pthread - ${IGNITION-MATH_LIBRARIES} - ) - elseif(WIN32) - target_link_libraries(${BINARY_NAME} PRIVATE - gtest.lib - gtest_main.lib - ${sdf_target} - ${IGNITION-MATH_LIBRARIES} - ) - - # Copy in sdformat library - add_custom_command(TARGET ${BINARY_NAME} - COMMAND ${CMAKE_COMMAND} -E copy_if_different - $ - $ VERBATIM) - - endif() - - add_test(${BINARY_NAME} ${CMAKE_CURRENT_BINARY_DIR}/${BINARY_NAME} - --gtest_output=xml:${CMAKE_BINARY_DIR}/test_results/${BINARY_NAME}.xml) - - set (_env_vars) - set (sdf_paths) - - # Get all the sdf protocol directory names - file(GLOB dirs RELATIVE "${PROJECT_SOURCE_DIR}/sdf" - "${PROJECT_SOURCE_DIR}/sdf/*") - list(SORT dirs) - - # Add each sdf protocol to the sdf_path variable - foreach(dir ${dirs}) - if (IS_DIRECTORY ${PROJECT_SOURCE_DIR}/sdf/${dir}) - set(sdf_paths "${PROJECT_SOURCE_DIR}/sdf/${dir}:${sdf_paths}") - endif() - endforeach() - - # Set the SDF_PATH environment variable - list(APPEND _env_vars "SDF_PATH=${sdf_paths}") - - set_tests_properties(${BINARY_NAME} PROPERTIES - TIMEOUT 240 - ENVIRONMENT "${_env_vars}") - - if(PYTHONINTERP_FOUND) - # Check that the test produced a result and create a failure if it didn't. - # Guards against crashed and timed out tests. - add_test(check_${BINARY_NAME} ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/tools/check_test_ran.py - ${CMAKE_BINARY_DIR}/test_results/${BINARY_NAME}.xml) - endif() - - if(SDFORMAT_RUN_VALGRIND_TESTS AND VALGRIND_PROGRAM) - add_test(memcheck_${BINARY_NAME} ${VALGRIND_PROGRAM} --leak-check=full - --error-exitcode=1 --show-leak-kinds=all ${CMAKE_CURRENT_BINARY_DIR}/${BINARY_NAME}) - endif() - endforeach() - - set(GZ_BUILD_TESTS_EXTRA_EXE_SRCS "") -endmacro() - -################################################# -# Macro to setup supported compiler warnings -# Based on work of Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST. -include(CheckCXXCompilerFlag) - -macro(filter_valid_compiler_warnings) - foreach(flag ${ARGN}) - CHECK_CXX_COMPILER_FLAG(${flag} R${flag}) - if(${R${flag}}) - set(WARNING_CXX_FLAGS "${WARNING_CXX_FLAGS} ${flag}") - endif() - endforeach() -endmacro() - -################################################# -# Copied from catkin/cmake/empy.cmake -function(find_python_module module) - # cribbed from http://www.cmake.org/pipermail/cmake/2011-January/041666.html - string(TOUPPER ${module} module_upper) - if(NOT PY_${module_upper}) - if(ARGC GREATER 1 AND ARGV1 STREQUAL "REQUIRED") - set(${module}_FIND_REQUIRED TRUE) - endif() - # A module's location is usually a directory, but for - # binary modules - # it's a .so file. - execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c" "import re, ${module}; print(re.compile('/__init__.py.*').sub('',${module}.__file__))" - RESULT_VARIABLE _${module}_status - OUTPUT_VARIABLE _${module}_location - ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE) - if(NOT _${module}_status) - set(PY_${module_upper} ${_${module}_location} CACHE STRING "Location of Python module ${module}") - endif(NOT _${module}_status) - endif(NOT PY_${module_upper}) - include(FindPackageHandleStandardArgs) - find_package_handle_standard_args(PY_${module} DEFAULT_MSG PY_${module_upper}) -endfunction(find_python_module) diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake deleted file mode 100644 index 5b7b96307..000000000 --- a/cmake/SearchForStuff.cmake +++ /dev/null @@ -1,145 +0,0 @@ -include (FindPkgConfig) - -# Detect the architecture -include (${project_cmake_dir}/TargetArch.cmake) -target_architecture(ARCH) -message(STATUS "Building for arch: ${ARCH}") - -################################################# -# Find tinyxml2. -list(INSERT CMAKE_MODULE_PATH 0 "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules") -find_package(TinyXML2 REQUIRED) - -################################################ -# Find urdfdom parser. Logic: -# -# 1. if USE_INTERNAL_URDF is unset, try to use system installation, fallback to internal copy -# 2. if USE_INTERNAL_URDF is set to True, use the internal copy -# 3. if USE_INTERNAL_URDF is set to False, force to search system installation, fail on error - -if (NOT PKG_CONFIG_FOUND) - if (NOT DEFINED USE_INTERNAL_URDF) - BUILD_WARNING("Couldn't find pkg-config for urdfdom, using internal copy") - set(USE_INTERNAL_URDF true) - elseif(NOT USE_INTERNAL_URDF) - BUILD_ERROR("Couldn't find pkg-config for urdfdom") - endif() -endif() - -if (NOT DEFINED USE_INTERNAL_URDF OR NOT USE_INTERNAL_URDF) - # check for urdfdom with pkg-config - pkg_check_modules(URDF urdfdom>=1.0) - - if (NOT URDF_FOUND) - find_package(urdfdom QUIET) - if (urdfdom_FOUND) - set(URDF_INCLUDE_DIRS ${urdfdom_INCLUDE_DIRS}) - # ${urdfdom_LIBRARIES} already contains absolute library filenames - set(URDF_LIBRARY_DIRS "") - set(URDF_LIBRARIES ${urdfdom_LIBRARIES}) - elseif (NOT DEFINED USE_INTERNAL_URDF) - message(STATUS "Couldn't find urdfdom >= 1.0, using internal copy") - set(USE_INTERNAL_URDF true) - else() - BUILD_ERROR("Couldn't find the urdfdom >= 1.0 system installation") - endif() - else() - # what am I doing here? pkg-config and cmake - set(URDF_INCLUDE_DIRS ${URDF_INCLUDEDIR}) - set(URDF_LIBRARY_DIRS ${URDF_LIBDIR}) - endif() -endif() - -################################################# -# Find ign command line utility: -find_package(ignition-tools) -if (IGNITION-TOOLS_BINARY_DIRS) - message(STATUS "Looking for ignition-tools-config.cmake - found") -else() - BUILD_WARNING ("ignition-tools not found, for command line utilities and for \ -generating aggregated SDFormat descriptions for sdformat.org, please install \ -ignition-tools.") -endif() - -################################################ -# Find the Python interpreter for running the -# check_test_ran.py script -find_package(PythonInterp 3 QUIET) - -################################################ -# Find psutil python package for memory tests -find_python_module(psutil) -if(NOT PY_PSUTIL) - BUILD_WARNING("Python psutil package not found. Memory leak tests will be skipped") -endif() - -################################################ -# Find Valgrind for checking memory leaks in the -# tests -find_program(VALGRIND_PROGRAM NAMES valgrind PATH ${VALGRIND_ROOT}/bin) -option(SDFORMAT_RUN_VALGRIND_TESTS "Run sdformat tests with Valgrind" FALSE) -mark_as_advanced(SDFORMAT_RUN_VALGRIND_TESTS) -if (SDFORMAT_RUN_VALGRIND_TESTS AND NOT VALGRIND_PROGRAM) - BUILD_WARNING("valgrind not found. Memory check tests will be skipped.") -endif() - -################################################ -# Find ruby executable to produce xml schemas -find_program(RUBY ruby) -if (NOT RUBY) - BUILD_ERROR ("Ruby version 1.9 is needed to build xml schemas") -else() - message(STATUS "Found ruby executable: ${RUBY}") -endif() - -################################################# -# Macro to check for visibility capability in compiler -# Original idea from: https://gitorious.org/ferric-cmake-stuff/ -macro (check_gcc_visibility) - include (CheckCXXCompilerFlag) - check_cxx_compiler_flag(-fvisibility=hidden GCC_SUPPORTS_VISIBILITY) -endmacro() - -######################################## -# Find ignition cmake2 -# Only for using the testing macros and creating the codecheck target, not -# really being use to configure the whole project -find_package(ignition-cmake2 2.3 REQUIRED) -set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR}) - -######################################## -# Find ignition math -# Set a variable for generating ProjectConfig.cmake -find_package(ignition-math6 6.8 QUIET) -if (NOT ignition-math6_FOUND) - message(STATUS "Looking for ignition-math6-config.cmake - not found") - BUILD_ERROR ("Missing: Ignition math (libignition-math6-dev)") -else() - set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR}) - message(STATUS "Looking for ignition-math${IGN_MATH_VER}-config.cmake - found") -endif() - -######################################## -# Find ignition common -# Set a variable for generating ProjectConfig.cmake -find_package(ignition-common4 COMPONENTS graphics REQUIRED) -if (NOT ignition-common4_FOUND) - message(STATUS "Looking for ignition-common4-config.cmake - not found") - BUILD_ERROR ("Missing: Ignition math (libignition-common4-dev)") -else() - set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR}) - message(STATUS "Looking for ignition-common${IGN_COMMON_VER}-config.cmake - found") -endif() - -######################################## -# Find ignition utils -# Set a variable for generating ProjectConfig.cmake -find_package(ignition-utils1 QUIET) -if (NOT ignition-utils1_FOUND) - message(STATUS "Looking for ignition-utils1-config.cmake - not found") - BUILD_ERROR ("Missing: Ignition utils(libignition-utils1-dev)") -else() - set(IGN_UTILS_VER ${ignition-utils1_VERSION_MAJOR}) - message(STATUS "Looking for ignition-utils${IGN_UTILS_VER}-config.cmake - found") -endif() - diff --git a/cmake/TargetArch.cmake b/cmake/TargetArch.cmake deleted file mode 100644 index d50073c82..000000000 --- a/cmake/TargetArch.cmake +++ /dev/null @@ -1,158 +0,0 @@ -# Copyright (c) 2012 Petroules Corporation. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# Redistributions of source code must retain the above copyright notice, this -# list of conditions and the following disclaimer. Redistributions in binary -# form must reproduce the above copyright notice, this list of conditions and -# the following disclaimer in the documentation and/or other materials -# provided with the distribution. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR -# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON -# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# Based on the Qt 5 processor detection code, so should be very accurate -# https://qt.gitorious.org/qt/qtbase/blobs/master/src/corelib/global/qprocessordetection.h -# Currently handles arm (v5, v6, v7), x86 (32/64), ia64, and ppc (32/64) - -# Regarding POWER/PowerPC, just as is noted in the Qt source, -# "There are many more known variants/revisions that we do not handle/detect." - - - -set(archdetect_c_code " -#if defined(__arm__) || defined(__TARGET_ARCH_ARM) - #if defined(__ARM_ARCH_7__) \\ - || defined(__ARM_ARCH_7A__) \\ - || defined(__ARM_ARCH_7R__) \\ - || defined(__ARM_ARCH_7M__) \\ - || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 7) - #error cmake_ARCH armv7 - #elif defined(__ARM_ARCH_6__) \\ - || defined(__ARM_ARCH_6J__) \\ - || defined(__ARM_ARCH_6T2__) \\ - || defined(__ARM_ARCH_6Z__) \\ - || defined(__ARM_ARCH_6K__) \\ - || defined(__ARM_ARCH_6ZK__) \\ - || defined(__ARM_ARCH_6M__) \\ - || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 6) - #error cmake_ARCH armv6 - #elif defined(__ARM_ARCH_5TEJ__) \\ - || (defined(__TARGET_ARCH_ARM) && __TARGET_ARCH_ARM-0 >= 5) - #error cmake_ARCH armv5 - #else - #error cmake_ARCH arm - #endif -#elif defined(__i386) || defined(__i386__) || defined(_M_IX86) - #error cmake_ARCH i386 -#elif defined(__x86_64) || defined(__x86_64__) || defined(__amd64) || defined(_M_X64) - #error cmake_ARCH x86_64 -#elif defined(__ia64) || defined(__ia64__) || defined(_M_IA64) - #error cmake_ARCH ia64 -#elif defined(__ppc__) || defined(__ppc) || defined(__powerpc__) \\ - || defined(_ARCH_COM) || defined(_ARCH_PWR) || defined(_ARCH_PPC) \\ - || defined(_M_MPPC) || defined(_M_PPC) - #if defined(__ppc64__) || defined(__powerpc64__) || defined(__64BIT__) - #error cmake_ARCH ppc64 - #else - #error cmake_ARCH ppc - #endif -#endif - -#error cmake_ARCH unknown -") - -# Set ppc_support to TRUE before including this file or ppc and ppc64 -# will be treated as invalid architectures since they are no longer supported by Apple - -function(target_architecture output_var) - if(APPLE AND CMAKE_OSX_ARCHITECTURES) - # On OS X we use CMAKE_OSX_ARCHITECTURES *if* it was set - # First let's normalize the order of the values - - # Note that it's not possible to compile PowerPC applications if you are using - # the OS X SDK version 10.6 or later - you'll need 10.4/10.5 for that, so we - # disable it by default - # See this page for more information: - # http://stackoverflow.com/questions/5333490/how-can-we-restore-ppc-ppc64-as-well-as-full-10-4-10-5-sdk-support-to-xcode-4 - - # Architecture defaults to i386 or ppc on OS X 10.5 and earlier, depending on the CPU type detected at runtime. - # On OS X 10.6+ the default is x86_64 if the CPU supports it, i386 otherwise. - - foreach(osx_arch ${CMAKE_OSX_ARCHITECTURES}) - if("${osx_arch}" STREQUAL "ppc" AND ppc_support) - set(osx_arch_ppc TRUE) - elseif("${osx_arch}" STREQUAL "i386") - set(osx_arch_i386 TRUE) - elseif("${osx_arch}" STREQUAL "x86_64") - set(osx_arch_x86_64 TRUE) - elseif("${osx_arch}" STREQUAL "ppc64" AND ppc_support) - set(osx_arch_ppc64 TRUE) - else() - message(FATAL_ERROR "Invalid OS X arch name: ${osx_arch}") - endif() - endforeach() - - # Now add all the architectures in our normalized order - if(osx_arch_ppc) - list(APPEND ARCH ppc) - endif() - - if(osx_arch_i386) - list(APPEND ARCH i386) - endif() - - if(osx_arch_x86_64) - list(APPEND ARCH x86_64) - endif() - - if(osx_arch_ppc64) - list(APPEND ARCH ppc64) - endif() - else() - file(WRITE "${CMAKE_BINARY_DIR}/arch.c" "${archdetect_c_code}") - - enable_language(C) - - # Detect the architecture in a rather creative way... - # This compiles a small C program which is a series of ifdefs that selects a - # particular #error preprocessor directive whose message string contains the - # target architecture. The program will always fail to compile (both because - # file is not a valid C program, and obviously because of the presence of the - # #error preprocessor directives... but by exploiting the preprocessor in this - # way, we can detect the correct target architecture even when cross-compiling, - # since the program itself never needs to be run (only the compiler/preprocessor) - try_run( - run_result_unused - compile_result_unused - "${CMAKE_BINARY_DIR}" - "${CMAKE_BINARY_DIR}/arch.c" - COMPILE_OUTPUT_VARIABLE ARCH - CMAKE_FLAGS CMAKE_OSX_ARCHITECTURES=${CMAKE_OSX_ARCHITECTURES} - ) - - # Parse the architecture name from the compiler output - string(REGEX MATCH "cmake_ARCH ([a-zA-Z0-9_]+)" ARCH "${ARCH}") - - # Get rid of the value marker leaving just the architecture name - string(REPLACE "cmake_ARCH " "" ARCH "${ARCH}") - - # If we are compiling with an unknown architecture this variable should - # already be set to "unknown" but in the case that it's empty (i.e. due - # to a typo in the code), then set it to unknown - if (NOT ARCH) - set(ARCH unknown) - endif() - endif() - - set(${output_var} "${ARCH}" PARENT_SCOPE) -endfunction() diff --git a/cmake/cmake_uninstall.cmake.in b/cmake/cmake_uninstall.cmake.in deleted file mode 100644 index 2037e3653..000000000 --- a/cmake/cmake_uninstall.cmake.in +++ /dev/null @@ -1,21 +0,0 @@ -if(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") - message(FATAL_ERROR "Cannot find install manifest: @CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") -endif(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") - -file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files) -string(REGEX REPLACE "\n" ";" files "${files}") -foreach(file ${files}) - message(STATUS "Uninstalling $ENV{DESTDIR}${file}") - if(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}") - exec_program( - "@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\"" - OUTPUT_VARIABLE rm_out - RETURN_VALUE rm_retval - ) - if(NOT "${rm_retval}" STREQUAL 0) - message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}") - endif(NOT "${rm_retval}" STREQUAL 0) - else(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}") - message(STATUS "File $ENV{DESTDIR}${file} does not exist.") - endif(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}") -endforeach(file) diff --git a/cmake/cpack_options.cmake.in b/cmake/cpack_options.cmake.in deleted file mode 100644 index b5cb6d5c1..000000000 --- a/cmake/cpack_options.cmake.in +++ /dev/null @@ -1,23 +0,0 @@ -set(CPACK_PACKAGE_NAME "@PROJECT_NAME_NO_VERSION@") -set(CPACK_PACKAGE_VENDOR "sdformat.org") -set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Scene Description Format (SDF)") -set(CPACK_PACKAGE_INSTALL_DIRECTORY "@PROJECT_NAME_NO_VERSION_LOWER@") -set(CPACK_RESOURCE_FILE_LICENSE "@CMAKE_CURRENT_SOURCE_DIR@/LICENSE") -set(CPACK_RESOURCE_FILE_README "@CMAKE_CURRENT_SOURCE_DIR@/README.md") -set(CPACK_PACKAGE_DESCRIPTION_FILE "@CMAKE_CURRENT_SOURCE_DIR@/README.md") -set(CPACK_PACKAGE_MAINTAINER "Nate Koenig ") -set(CPACK_PACKAGE_CONTACT "Nate Koenig ") - -set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE "@DPKG_ARCH@") -set(CPACK_DEBIAN_PACKAGE_DEPENDS "@DEBIAN_PACKAGE_DEPENDS@") -set(CPACK_DEBIAN_PACKAGE_SECTION "devel") -set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional") -set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON) -set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "Format and parser for scene description files.") - -set(CPACK_RPM_PACKAGE_ARCHITECTURE "@DPKG_ARCH@") -set(CPACK_RPM_PACKAGE_REQUIRES "@DEBIAN_PACKAGE_DEPENDS@") -set(CPACK_RPM_PACKAGE_DESCRIPTION "Format and parser for scene description files.") - -set (CPACK_PACKAGE_FILE_NAME "@PROJECT_NAME_NO_VERSION_LOWER@-@SDF_VERSION_FULL@") -set (CPACK_SOURCE_PACKAGE_FILE_NAME "@PROJECT_NAME_NO_VERSION_LOWER@-@SDF_VERSION_FULL@") diff --git a/cmake/sdf_config.cmake.in b/cmake/sdf_config.cmake.in deleted file mode 100644 index cc18a7d97..000000000 --- a/cmake/sdf_config.cmake.in +++ /dev/null @@ -1,48 +0,0 @@ -# We explicitly set the desired cmake version to ensure that the policy settings -# of users or of toolchains do not result in the wrong behavior for our modules. -# Note that the call to find_package(~) will PUSH a new policy stack before -# taking on these version settings, and then that stack will POP after the -# find_package(~) has exited, so this will not affect the cmake policy settings -# of a caller. -cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) - -if(@PKG_NAME@_CONFIG_INCLUDED) - return() -endif() -set(@PKG_NAME@_CONFIG_INCLUDED TRUE) - -@PACKAGE_INIT@ - -if(NOT TARGET @sdf_import_target_name@) - include("${CMAKE_CURRENT_LIST_DIR}/@sdf_target_output_filename@") -endif() - -list(APPEND @PKG_NAME@_INCLUDE_DIRS "${PACKAGE_PREFIX_DIR}/include/sdformat-@SDF_VERSION@") - -list(APPEND @PKG_NAME@_CFLAGS "-I${PACKAGE_PREFIX_DIR}/include/sdformat-@SDF_VERSION@") -if (NOT WIN32) - list(APPEND @PKG_NAME@_CXX_FLAGS "${@PKG_NAME@_CFLAGS} -std=c++17") -endif() - -list(APPEND @PKG_NAME@_LIBRARY_DIRS "${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_LIBDIR@") - -set(@PKG_NAME@_LIBRARIES @sdf_import_target_name@) - -# These variables are used by ignition-cmake to automatically configure the -# pkgconfig files for ignition projects. -set(@PROJECT_NAME_LOWER@_PKGCONFIG_ENTRY "@PROJECT_NAME_LOWER@") -set(@PROJECT_NAME_LOWER@_PKGCONFIG_TYPE PKGCONFIG_REQUIRES) - -find_package(ignition-math@IGN_MATH_VER@) -list(APPEND @PKG_NAME@_INCLUDE_DIRS ${IGNITION-MATH_INCLUDE_DIRS}) -list(APPEND @PKG_NAME@_LIBRARY_DIRS ${IGNITION-MATH_LIBRARY_DIRS}) - -find_package(ignition-commonh@IGN_COMMON_VER@) -list(APPEND @PKG_NAME@_INCLUDE_DIRS ${IGNITION-COMMON_INCLUDE_DIRS}) -list(APPEND @PKG_NAME@_LIBRARY_DIRS ${IGNITION-COMMON_LIBRARY_DIRS}) - -find_package(ignition-utils@IGN_UTILS_VER@) -list(APPEND @PKG_NAME@_INCLUDE_DIRS ${IGNITION-UTILS_INCLUDE_DIRS}) -list(APPEND @PKG_NAME@_LIBRARY_DIRS ${IGNITION-UTILS_LIBRARY_DIRS}) - -list(APPEND @PKG_NAME@_LDFLAGS "-L${PACKAGE_PREFIX_DIR}/@LIB_INSTALL_DIR@") diff --git a/cmake/sdf_cpack.cmake b/cmake/sdf_cpack.cmake deleted file mode 100644 index 6267aae34..000000000 --- a/cmake/sdf_cpack.cmake +++ /dev/null @@ -1,25 +0,0 @@ -################################################################################ -#Find available package generators - -# DEB -if ("${CMAKE_SYSTEM}" MATCHES "Linux") - find_program(DPKG_PROGRAM dpkg) - if (EXISTS ${DPKG_PROGRAM}) - list (APPEND CPACK_GENERATOR "DEB") - endif(EXISTS ${DPKG_PROGRAM}) - - find_program(RPMBUILD_PROGRAM rpmbuild) -endif() - -list (APPEND CPACK_SOURCE_GENERATOR "TBZ2") -list (APPEND CPACK_SOURCE_GENERATOR "ZIP") -list (APPEND CPACK_SOURCE_IGNORE_FILES ";TODO;/.hg/;.swp$;/build/") - -include (InstallRequiredSystemLibraries) - -#execute_process(COMMAND dpkg --print-architecture _NPROCE) -set (DEBIAN_PACKAGE_DEPENDS "libtinyxml-dev") - -set (RPM_PACKAGE_DEPENDS "libtinyxml-dev") - -set (SDF_CPACK_CFG_FILE "${PROJECT_BINARY_DIR}/cpack_options.cmake") diff --git a/cmake/sdformat_pc.in b/cmake/sdformat_pc.in deleted file mode 100644 index 621509b53..000000000 --- a/cmake/sdformat_pc.in +++ /dev/null @@ -1,10 +0,0 @@ -prefix=${pcfiledir}/@PC_CONFIG_RELATIVE_PATH_TO_PREFIX@ -libdir=${prefix}/@LIB_INSTALL_DIR@ -includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@ - -Name: SDF -Description: Robot Modeling Language (SDF) -Version: @SDF_VERSION_FULL@ -Requires: ignition-math@IGN_MATH_VER@, ignition-utils@IGN_UTILS_VER@ -Libs: -L${libdir} -lsdformat@SDF_MAJOR_VERSION@ -CFlags: -I${includedir}/sdformat-@SDF_VERSION@ -std=c++17 diff --git a/cmake/upload_doc.sh.in b/cmake/upload_doc.sh.in index 41a088b9a..04a58ddc0 100644 --- a/cmake/upload_doc.sh.in +++ b/cmake/upload_doc.sh.in @@ -18,7 +18,7 @@ make sdf_descriptions # Date/time stamp sdf descriptions for f in @CMAKE_BINARY_DIR@/sdf/full_*.sdf; do - cp ${f} ${f%.sdf}_@SDF_VERSION_FULL@_$(date +%Y%m%d_%H%M%S).sdf + cp ${f} ${f%.sdf}_@PROJECT_VERSION_FULL@_$(date +%Y%m%d_%H%M%S).sdf done # Upload sdf descriptions @@ -39,11 +39,11 @@ if [ ! -f "@CMAKE_BINARY_DIR@/doxygen/html/index.html" ]; then fi # The code API -s3cmd sync @CMAKE_BINARY_DIR@/doxygen/html/* s3://osrf-distributions/sdformat/api/@SDF_VERSION_FULL@/ --dry-run -v +s3cmd sync @CMAKE_BINARY_DIR@/doxygen/html/* s3://osrf-distributions/sdformat/api/@PROJECT_VERSION_FULL@/ --dry-run -v echo -n "Upload code API(Y/n)? " read ans if [ "$ans" = "y" ] || [ "$ans" = "Y" ]; then - s3cmd sync @CMAKE_BINARY_DIR@/doxygen/html/* s3://osrf-distributions/sdformat/api/@SDF_VERSION_FULL@/ -v + s3cmd sync @CMAKE_BINARY_DIR@/doxygen/html/* s3://osrf-distributions/sdformat/api/@PROJECT_VERSION_FULL@/ -v fi diff --git a/conf/CMakeLists.txt b/conf/CMakeLists.txt index 001e28ee5..fd3b6d278 100644 --- a/conf/CMakeLists.txt +++ b/conf/CMakeLists.txt @@ -1,23 +1,23 @@ # Used only for internal testing. -set(ign_library_path "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${sdf_target}") +set(ign_library_path "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${PROJECT_NAME}") # Generate a configuration file for internal testing. # Note that the major version of the library is included in the name. # Ex: sdformat0.yaml configure_file( "${PROJECT_NAME_NO_VERSION_LOWER}.yaml.in" - "${CMAKE_BINARY_DIR}/test/conf/${sdf_target}.yaml" @ONLY) + "${CMAKE_BINARY_DIR}/test/conf/${PROJECT_NAME}.yaml" @ONLY) # Used for the installed version. -set(ign_library_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmd${sdf_target}") +set(ign_library_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmd${PROJECT_NAME}") # Generate the configuration file that is installed. # Note that the major version of the library is included in the name. # Ex: sdformat0.yaml configure_file( "${PROJECT_NAME_NO_VERSION_LOWER}.yaml.in" - "${CMAKE_CURRENT_BINARY_DIR}/${sdf_target}.yaml" @ONLY) + "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.yaml" @ONLY) # Install the yaml configuration files in an unversioned location. -install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${sdf_target}.yaml +install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.yaml DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/ignition/) diff --git a/conf/sdformat.yaml.in b/conf/sdformat.yaml.in index e570ac97e..579e91bab 100644 --- a/conf/sdformat.yaml.in +++ b/conf/sdformat.yaml.in @@ -1,7 +1,7 @@ --- # Subcommands available inside sdformat. format: 1.0.0 library_name: @PROJECT_NAME_NO_VERSION@ -library_version: @SDF_VERSION_FULL@ +library_version: @PROJECT_VERSION_FULL@ library_path: @ign_library_path@ commands: - sdf : Utilities for SDF files. diff --git a/doc/sdf.in b/doc/sdf.in index 7621f1844..9865bc35b 100644 --- a/doc/sdf.in +++ b/doc/sdf.in @@ -32,7 +32,7 @@ PROJECT_NAME = SDF # This could be handy for archiving the generated documentation or # if some version control system is used. -PROJECT_NUMBER = @SDF_VERSION_FULL@ +PROJECT_NUMBER = @PROJECT_VERSION_FULL@ # Using the PROJECT_BRIEF tag one can provide an optional one line description # for a project that appears at the top of each page and should give viewer diff --git a/examples/usdConverter/CMakeLists.txt b/examples/usdConverter/CMakeLists.txt new file mode 100644 index 000000000..1a30a0c1b --- /dev/null +++ b/examples/usdConverter/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) + +project(usdSdfConversions) + +set(SDF_VER 12) +find_package(sdformat${SDF_VER} COMPONENTS usd REQUIRED) + +add_executable(usdConverter usdConverter.cc) + +target_link_libraries(usdConverter + PUBLIC + sdformat${SDF_VER}::usd +) diff --git a/examples/usdConverter/README.md b/examples/usdConverter/README.md new file mode 100644 index 000000000..5b5fd8a20 --- /dev/null +++ b/examples/usdConverter/README.md @@ -0,0 +1,30 @@ +# Converting between SDF and USD + +This example shows how a world in a SDF file can be converted to [USD](https://graphics.pixar.com/usd/release/index.html). + +## Requirements + +You will need all of the dependencies for sdformat, along with the following additional dependencies: +* USD: [installation instructions](https://github.com/PixarAnimationStudios/USD/blob/release/README.md#getting-and-building-the-code) +* [ignition-common4](https://github.com/ignitionrobotics/ign-common) + +## Setup + +Build sdformat, and then run the following commands to build the example (run these commands from this example directory): +```bash +mkdir build +cd build +cmake .. +make +``` + +You should now have an executable named `usdConverter`, which can be used to convert a SDF world file to a USD file. +The following command converts the example `shapes.sdf` file to its USD representation, stored in a file called `shapes.usda` (run this command from the `build` directory): +```bash +./usdConverter ../shapes.sdf shapes.usda +``` + +You can now view the contents of the generated USD file with `usdview` (this should have been installed when setting up the USD dependency): +``` +usdview shapes.usda +``` diff --git a/examples/usdConverter/shapes.sdf b/examples/usdConverter/shapes.sdf new file mode 100644 index 000000000..6935ae5d3 --- /dev/null +++ b/examples/usdConverter/shapes.sdf @@ -0,0 +1,244 @@ + + + + + + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + 100 100 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 0 0 0.5 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 1.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + + + 0 -1.5 0.5 0 0 0 + + + + 0.1458 + 0 + 0 + 0.1458 + 0 + 0.125 + + 1.0 + + + + + 0.5 + 1.0 + + + + + + + + 0.5 + 1.0 + + + + 0 1 0 1 + 0 1 0 1 + 0 1 0 1 + + + + + + + 0 1.5 0.5 0 0 0 + + + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + 1.0 + + + + + 0.5 + + + + + + + + 0.5 + + + + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 + + + + + + + 0 -3.0 0.5 0 0 0 + + + + 0.074154 + 0 + 0 + 0.074154 + 0 + 0.018769 + + 1.0 + + + + + 0.2 + 0.6 + + + + + + + 0.2 + 0.6 + + + + 1 1 0 1 + 1 1 0 1 + 1 1 0 1 + + + + + + + 0 3.0 0.5 0 0 0 + + + + 0.068 + 0 + 0 + 0.058 + 0 + 0.026 + + 1.0 + + + + + 0.2 0.3 0.5 + + + + + + + 0.2 0.3 0.5 + + + + 1 0 1 1 + 1 0 1 1 + 1 0 1 1 + + + + + + diff --git a/src/cmd/usdConverter.cc b/examples/usdConverter/usdConverter.cc similarity index 98% rename from src/cmd/usdConverter.cc rename to examples/usdConverter/usdConverter.cc index e356a8345..b46ad8eab 100644 --- a/src/cmd/usdConverter.cc +++ b/examples/usdConverter/usdConverter.cc @@ -20,7 +20,7 @@ #include #include "sdf/sdf.hh" -#include "sdf_usd_parser/world.hh" +#include "sdf/world.hh" int main(int argc, const char* argv[]) { diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt new file mode 100644 index 000000000..722dbe56c --- /dev/null +++ b/include/CMakeLists.txt @@ -0,0 +1 @@ +add_subdirectory(sdf) diff --git a/include/sdf/Actor.hh b/include/sdf/Actor.hh index d14cd04f1..a8a537b53 100644 --- a/include/sdf/Actor.hh +++ b/include/sdf/Actor.hh @@ -360,6 +360,29 @@ namespace sdf /// not been called. public: sdf::ElementPtr Element() const; + /// \brief Add a link to the actor. + /// \param[in] _link Link to add. + /// \return True if successful, false if a link with the name already + /// exists. + public: bool AddLink(const Link &_link); + + /// \brief Add a joint to the actor. + /// \param[in] _link Joint to add. + /// \return True if successful, false if a joint with the name already + /// exists. + public: bool AddJoint(const Joint &_joint); + + /// \brief Remove all links. + public: void ClearLinks(); + + /// \brief Remove all joints. + public: void ClearJoints(); + + /// \brief Create and return an SDF element filled with data from this + /// actor. + /// \return SDF element pointer with updated actor values. + public: sdf::ElementPtr ToElement() const; + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/Atmosphere.hh b/include/sdf/Atmosphere.hh index 3cee963ba..aaa9d5683 100644 --- a/include/sdf/Atmosphere.hh +++ b/include/sdf/Atmosphere.hh @@ -95,6 +95,11 @@ namespace sdf /// \return True if this instance equals the given atmosphere. public: bool operator==(const Atmosphere &_atmosphere); + /// \brief Create and return an SDF element filled with data from this + /// atmosphere. + /// \return SDF element pointer with updated atmosphere values. + public: sdf::ElementPtr ToElement() const; + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/Box.hh b/include/sdf/Box.hh index 9ac7fa219..2ba1ee9fa 100644 --- a/include/sdf/Box.hh +++ b/include/sdf/Box.hh @@ -65,6 +65,11 @@ namespace sdf /// \return A reference to an ignition::math::Boxd object. public: ignition::math::Boxd &Shape(); + /// \brief Create and return an SDF element filled with data from this + /// box. + /// \return SDF element pointer with updated box values. + public: sdf::ElementPtr ToElement() const; + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/CMakeLists.txt b/include/sdf/CMakeLists.txt index e1422b316..94f57dcfe 100644 --- a/include/sdf/CMakeLists.txt +++ b/include/sdf/CMakeLists.txt @@ -1,73 +1,8 @@ -include (${sdf_cmake_dir}/SDFUtils.cmake) - -set (headers - Actor.hh - AirPressure.hh - Altimeter.hh - Assert.hh - Atmosphere.hh - Box.hh - Camera.hh - Capsule.hh - Collision.hh - Console.hh - Cylinder.hh - Element.hh - Ellipsoid.hh - Error.hh - Exception.hh - Filesystem.hh - ForceTorque.hh - Frame.hh - Geometry.hh - Gui.hh - Heightmap.hh - Imu.hh - InterfaceElements.hh - InterfaceFrame.hh - InterfaceJoint.hh - InterfaceLink.hh - InterfaceModel.hh - InterfaceModelPoseGraph.hh - Joint.hh - JointAxis.hh - Lidar.hh - Light.hh - Link.hh - Magnetometer.hh - Material.hh - Mesh.hh - Model.hh - NavSat.hh - Noise.hh - Param.hh - parser.hh - ParserConfig.hh - ParticleEmitter.hh - Pbr.hh - Physics.hh - Plane.hh - PrintConfig.hh - Root.hh - Scene.hh - SDFImpl.hh - SemanticPose.hh - Sensor.hh - Sky.hh - Sphere.hh - Surface.hh - Types.hh - system_util.hh - Visual.hh - World.hh +# Exlcude some files so that they are not added to the master header. +ign_install_all_headers(EXCLUDE_FILES sdf.hh sdf_config.h) +install( + FILES + sdf.hh + sdf_config.h + DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL}/${PROJECT_INCLUDE_DIR} ) - -set (sdf_headers "" CACHE INTERNAL "SDF headers" FORCE) -foreach (hdr ${headers}) - set(sdf_headers "${sdf_headers}#include \n") -endforeach() -configure_file (${CMAKE_CURRENT_SOURCE_DIR}/sdf.hh.in - ${CMAKE_CURRENT_BINARY_DIR}/sdf.hh) - -sdf_install_includes("" ${headers} - ${CMAKE_CURRENT_BINARY_DIR}/sdf.hh) diff --git a/include/sdf/Capsule.hh b/include/sdf/Capsule.hh index 76a91f077..56ffbe6b3 100644 --- a/include/sdf/Capsule.hh +++ b/include/sdf/Capsule.hh @@ -72,6 +72,11 @@ namespace sdf /// \return A reference to an ignition::math::Capsuled object. public: ignition::math::Capsuled &Shape(); + /// \brief Create and return an SDF element filled with data from this + /// capsule. + /// \return SDF element pointer with updated capsule values. + public: sdf::ElementPtr ToElement() const; + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/Collision.hh b/include/sdf/Collision.hh index 342985ff7..5a12eede2 100644 --- a/include/sdf/Collision.hh +++ b/include/sdf/Collision.hh @@ -115,6 +115,11 @@ namespace sdf /// not been called. public: sdf::ElementPtr Element() const; + /// \brief Create and return an SDF element filled with data from this + /// collision. + /// \return SDF element pointer with updated collision values. + public: sdf::ElementPtr ToElement() const; + /// \brief Give the name of the xml parent of this object, to be used /// for resolving poses. This is private and is intended to be called by /// Link::SetPoseRelativeToGraph. diff --git a/include/sdf/Cylinder.hh b/include/sdf/Cylinder.hh index 9a48b59a5..606399b21 100644 --- a/include/sdf/Cylinder.hh +++ b/include/sdf/Cylinder.hh @@ -72,6 +72,11 @@ namespace sdf /// \return A reference to an ignition::math::Cylinderd object. public: ignition::math::Cylinderd &Shape(); + /// \brief Create and return an SDF element filled with data from this + /// cylinder. + /// \return SDF element pointer with updated cylinder values. + public: sdf::ElementPtr ToElement() const; + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/Element.hh b/include/sdf/Element.hh index 0a0d3fbb9..52ce5f7cb 100644 --- a/include/sdf/Element.hh +++ b/include/sdf/Element.hh @@ -93,7 +93,7 @@ namespace sdf public: ElementPtr GetParent() const; /// \brief Set the parent of this Element. - /// \param[in] _parent Paren for this element. + /// \param[in] _parent Parent for this element. public: void SetParent(const ElementPtr _parent); /// \brief Set the name of the Element. @@ -199,7 +199,7 @@ namespace sdf /// \param[in] _prefix String value to prefix to the output. /// \param[in] _includeDefaultElements flag to include default elements. /// \param[in] _includeDefaultAttributes flag to include default attributes. - /// \param[in] _config Configuration for printing the values. + /// \param[in] _config Configuration for converting to string. /// \return The string representation. public: std::string ToString( const std::string &_prefix, @@ -462,6 +462,13 @@ namespace sdf /// \param[in] _elem the element object to add. public: void InsertElement(ElementPtr _elem); + /// \brief Add an element object, and optionally set the given element's + /// parent to this object. + /// \param[in] _elem the element object to add. + /// \param[in] _setParentToSelf If true, set the _elem's parent to this + /// object and then insert. + public: void InsertElement(ElementPtr _elem, bool _setParentToSelf); + /// \brief Remove this element from its parent. public: void RemoveFromParent(); @@ -582,7 +589,7 @@ namespace sdf /// \param[in] _includeDefaultElements flag to include default elements. /// \param[in] _includeDefaultAttributes flag to include default attributes. /// \param[in] _config Configuration for printing values. - /// \param[out] _out the std::ostreamstream to write output to. + /// \param[out] _out the std::ostringstream to write output to. private: void PrintValuesImpl(const std::string &_prefix, bool _includeDefaultElements, bool _includeDefaultAttributes, @@ -678,6 +685,14 @@ namespace sdf /// \brief XML path of this element. public: std::string xmlPath; + + /// \brief Generate the string (XML) for the attributes. + /// \param[in] _includeDefaultAttributes flag to include default attributes. + /// \param[in] _config Configuration for printing attributes. + /// \param[out] _out the std::ostringstream to write output to. + public: void PrintAttributes(bool _includeDefaultAttributes, + const PrintConfig &_config, + std::ostringstream &_out) const; }; /////////////////////////////////////////////// diff --git a/include/sdf/Ellipsoid.hh b/include/sdf/Ellipsoid.hh index fadd4ed81..fa18e9eed 100644 --- a/include/sdf/Ellipsoid.hh +++ b/include/sdf/Ellipsoid.hh @@ -64,6 +64,11 @@ namespace sdf /// \return A reference to an ignition::math::Ellipsoidd object. public: ignition::math::Ellipsoidd &Shape(); + /// \brief Create and return an SDF element filled with data from this + /// ellipsoid. + /// \return SDF element pointer with updated ellipsoid values. + public: sdf::ElementPtr ToElement() const; + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/Geometry.hh b/include/sdf/Geometry.hh index 6223a1737..b3d0a3b02 100644 --- a/include/sdf/Geometry.hh +++ b/include/sdf/Geometry.hh @@ -189,6 +189,11 @@ namespace sdf /// not been called. public: sdf::ElementPtr Element() const; + /// \brief Create and return an SDF element filled with data from this + /// geometry. + /// \return SDF element pointer with updated geometry values. + public: sdf::ElementPtr ToElement() const; + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/Gui.hh b/include/sdf/Gui.hh index eec65d134..35f9f0b6a 100644 --- a/include/sdf/Gui.hh +++ b/include/sdf/Gui.hh @@ -19,6 +19,7 @@ #include #include "sdf/Element.hh" +#include "sdf/Plugin.hh" #include "sdf/Types.hh" #include "sdf/sdf_config.h" #include "sdf/system_util.hh" @@ -61,6 +62,29 @@ namespace sdf /// not been called. public: sdf::ElementPtr Element() const; + /// \brief Create and return an SDF element filled with data from this + /// gui. + /// \return SDF element pointer with updated gui values. + public: sdf::ElementPtr ToElement() const; + + /// \brief Get the number of plugins. + /// \return Number of plugins contained in this Gui object. + public: uint64_t PluginCount() const; + + /// \brief Get a plugin based on an index. + /// \param[in] _index Index of the plugin. The index should be in the + /// range [0..PluginCount()). + /// \return Pointer to the plugin. Nullptr if the index does not exist. + /// \sa uint64_t PluginCount() const + public: const Plugin *PluginByIndex(const uint64_t _index) const; + + /// \brief Remove all plugins + public: void ClearPlugins(); + + /// \brief Add a plugin to the link. + /// \param[in] _plugin Plugin to add. + public: void AddPlugin(const Plugin &_plugin); + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/Heightmap.hh b/include/sdf/Heightmap.hh index 11a664b56..a08a1706d 100644 --- a/include/sdf/Heightmap.hh +++ b/include/sdf/Heightmap.hh @@ -47,8 +47,8 @@ namespace sdf public: double Size() const; /// \brief Set the size of the texture in meters. - /// \param[in] _uri The size of the texture in meters. - public: void SetSize(double _uri); + /// \param[in] _size The size of the texture in meters. + public: void SetSize(double _size); /// \brief Get the heightmap texture's diffuse map. /// \return The diffuse map of the heightmap texture. @@ -214,6 +214,11 @@ namespace sdf /// not been called. public: sdf::ElementPtr Element() const; + /// \brief Create and return an SDF element filled with data from this + /// heightmap. + /// \return SDF element pointer with updated heightmap values. + public: sdf::ElementPtr ToElement() const; + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/Joint.hh b/include/sdf/Joint.hh index 55f855c61..fdd59502e 100644 --- a/include/sdf/Joint.hh +++ b/include/sdf/Joint.hh @@ -230,6 +230,15 @@ namespace sdf /// \return SDF element pointer with updated joint values. public: sdf::ElementPtr ToElement() const; + /// \brief Add a sensors to the joint. + /// \param[in] _sensor Sensor to add. + /// \return True if successful, false if a sensor with the name already + /// exists. + public: bool AddSensor(const Sensor &_sensor); + + /// \brief Remove all sensors. + public: void ClearSensors(); + /// \brief Give the scoped FrameAttachedToGraph to be used for resolving /// parent and child link names. This is private and is intended to be /// called by Model::Load. diff --git a/include/sdf/Link.hh b/include/sdf/Link.hh index eca492f77..55207c476 100644 --- a/include/sdf/Link.hh +++ b/include/sdf/Link.hh @@ -276,6 +276,12 @@ namespace sdf /// exists. public: bool AddSensor(const Sensor &_sensor); + /// \brief Add a particle emitter to the link. + /// \param[in] _emitter Particle emitter to add. + /// \return True if successful, false if a particle emitter with the name + /// already exists. + public: bool AddParticleEmitter(const ParticleEmitter &_sensor); + /// \brief Remove all collisions public: void ClearCollisions(); @@ -288,6 +294,14 @@ namespace sdf /// \brief Remove all sensors public: void ClearSensors(); + /// \brief Remove all particle emitters + public: void ClearParticleEmitters(); + + /// \brief Create and return an SDF element filled with data from this + /// link. + /// \return SDF element pointer with updated link values. + public: sdf::ElementPtr ToElement() const; + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/Material.hh b/include/sdf/Material.hh index 0e1b3b8f1..68760de4f 100644 --- a/include/sdf/Material.hh +++ b/include/sdf/Material.hh @@ -103,12 +103,15 @@ namespace sdf /// \param[in] _color Emissive color. public: void SetEmissive(const ignition::math::Color &_color); - /// \brief Get render order + /// \brief Get render order for coplanar polygons. The higher value will + /// be rendered on top of the other coplanar polygons. The default value + /// is zero. /// \return Render order public: float RenderOrder() const; - /// \brief Set render order + /// \brief Set render order. /// \param[in] _renderOrder render order + /// \sa float RenderOrder() const public: void SetRenderOrder(const float _renderOrder); /// \brief Get whether dynamic lighting is enabled. The default @@ -190,6 +193,11 @@ namespace sdf /// \paramp[in] _filePath Full path to the file on disk. public: void SetFilePath(const std::string &_filePath); + /// \brief Create and return an SDF element filled with data from this + /// material. + /// \return SDF element pointer with updated material values. + public: sdf::ElementPtr ToElement() const; + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/Mesh.hh b/include/sdf/Mesh.hh index b75349200..7636534d3 100644 --- a/include/sdf/Mesh.hh +++ b/include/sdf/Mesh.hh @@ -97,6 +97,11 @@ namespace sdf /// not been called. public: sdf::ElementPtr Element() const; + /// \brief Create and return an SDF element filled with data from this + /// mesh. + /// \return SDF element pointer with updated mesh values. + public: sdf::ElementPtr ToElement() const; + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/Model.hh b/include/sdf/Model.hh index ac047de1d..ec8b5684f 100644 --- a/include/sdf/Model.hh +++ b/include/sdf/Model.hh @@ -346,6 +346,19 @@ namespace sdf public: const NestedInclude *InterfaceModelNestedIncludeByIndex( const uint64_t _index) const; + /// \brief Create and return an SDF element filled with data from this + /// model. + /// \param[in] _useIncludeTag When true, the model's URI is used to create + /// an SDF `` rather than a ``. The model's URI must be + /// first set using the `Model::SetUri` function. If the model's URI is + /// empty, then a `` element will be generated. The default is true + /// so that URI values are used when ToElement is called from a + /// World object. Make sure to use `Model::SetUri` even when the model + /// is loaded from an `` tag since the parser will + /// automatically expand an `` element to a `` element. + /// \return SDF element pointer with updated model values. + public: sdf::ElementPtr ToElement(bool _useIncludeTag = true) const; + /// \brief Add a link to the model. /// \param[in] _link Link to add. /// \return True if successful, false if a link with the name already @@ -373,6 +386,14 @@ namespace sdf /// \brief Remove all models. public: void ClearModels(); + /// \brief Get the URI associated with this model + /// \return The model's URI, or empty string if it has not been set. + public: std::string Uri() const; + + /// \brief Set the URI associated with this model. + /// \param[in] _uri The model's URI. + public: void SetUri(const std::string &_uri); + /// \brief Give the scoped PoseRelativeToGraph to be used for resolving /// poses. This is private and is intended to be called by Root::Load or /// World::SetPoseRelativeToGraph if this is a standalone model and diff --git a/include/sdf/Param.hh b/include/sdf/Param.hh index d46204be3..827ba3f06 100644 --- a/include/sdf/Param.hh +++ b/include/sdf/Param.hh @@ -401,17 +401,34 @@ namespace sdf const std::string &_valueStr, ParamVariant &_valueToSet) const; - /// \brief Method used to get the string representation from a ParamVariant + /// \brief Method used to get the string representation from a ParamVariant, + /// or the string that was used to set it. /// \param[in] _config Print configuration for the string output /// \param[in] _typeName The data type of the value /// \param[in] _value The value - /// \param[in] _valueStr The string representation of the value - /// \return True if the string was successfully retrieved from the value, - /// false otherwise. - public: bool StringFromValueImpl(const PrintConfig &_config, - const std::string &_typeName, - const ParamVariant &_value, - std::string &_valueStr) const; + /// \param[out] _valueStr The output string. + /// \return True if the string was successfully retrieved, false otherwise. + public: bool StringFromValueImpl( + const PrintConfig &_config, + const std::string &_typeName, + const ParamVariant &_value, + std::string &_valueStr) const; + + /// \brief Method used to get the string representation from a ParamVariant, + /// or the string that was used to set it. + /// \param[in] _config Print configuration for the string output + /// \param[in] _typeName The data type of the value + /// \param[in] _value The value + /// \param[in] _orignalStr The original string that was used to set the + /// value. A nullopt can be passed in if it is not available. + /// \param[out] _valueStr The output string. + /// \return True if the string was successfully retrieved, false otherwise. + public: bool StringFromValueImpl( + const PrintConfig &_config, + const std::string &_typeName, + const ParamVariant &_value, + const std::optional &_originalStr, + std::string &_valueStr) const; /// \brief Data type to string mapping /// \return The type as a string, empty string if unknown type diff --git a/include/sdf/ParticleEmitter.hh b/include/sdf/ParticleEmitter.hh index d15eaa639..95b68b202 100644 --- a/include/sdf/ParticleEmitter.hh +++ b/include/sdf/ParticleEmitter.hh @@ -316,6 +316,11 @@ namespace sdf /// \paramp[in] _filePath Full path to the file on disk. public: void SetFilePath(const std::string &_filePath); + /// \brief Create and return an SDF element filled with data from this + /// particle emitter. + /// \return SDF element pointer with updated particle emitter values. + public: sdf::ElementPtr ToElement() const; + /// \brief Set the name of the xml parent of this object, to be used /// for resolving poses. This is private and is intended to be called by /// Link::SetPoseRelativeToGraph. diff --git a/include/sdf/Physics.hh b/include/sdf/Physics.hh index 58331113b..c065cad66 100644 --- a/include/sdf/Physics.hh +++ b/include/sdf/Physics.hh @@ -102,6 +102,23 @@ namespace sdf /// \param[in] _factor The target real time factor. public: void SetRealTimeFactor(const double _factor); + /// \brief Get the maximum number of contacts allowed between two + /// entities. This value can be overridden by a max_contacts element in a + /// collision element. + /// \return Maximum number of contacts. + public: int MaxContacts() const; + + /// \brief Set the maximum number of contacts allowed between two + /// entities. This value can be overridden by a max_contacts element in a + /// collision element. + /// \param[in] _maxContacts Maximum number of contacts. + public: void SetMaxContacts(int _maxContacts); + + /// \brief Create and return an SDF element filled with data from this + /// physics. + /// \return SDF element pointer with updated physics values. + public: sdf::ElementPtr ToElement() const; + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/Plane.hh b/include/sdf/Plane.hh index c0ea5a4d7..e02de22e1 100644 --- a/include/sdf/Plane.hh +++ b/include/sdf/Plane.hh @@ -80,6 +80,11 @@ namespace sdf /// \return A reference to an ignition::math::Planed object. public: ignition::math::Planed &Shape(); + /// \brief Create and return an SDF element filled with data from this + /// plane. + /// \return SDF element pointer with updated plane values. + public: sdf::ElementPtr ToElement() const; + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/Plugin.hh b/include/sdf/Plugin.hh new file mode 100644 index 000000000..2026b8ae9 --- /dev/null +++ b/include/sdf/Plugin.hh @@ -0,0 +1,135 @@ +/* + * Copyright 2021 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 SDF_PLUGIN_HH_ +#define SDF_PLUGIN_HH_ + +#include +#include +#include + +#include +#include +#include +#include "sdf/sdf_config.h" +#include "sdf/system_util.hh" + +#ifdef _WIN32 +// Disable warning C4251 which is triggered by +// std::unique_ptr +#pragma warning(push) +#pragma warning(disable: 4251) +#endif + +namespace sdf +{ + // Inline bracket to help doxygen filtering. + inline namespace SDF_VERSION_NAMESPACE { + // + class PluginPrivate; + + class SDFORMAT_VISIBLE Plugin + { + /// \brief Default constructor + public: Plugin(); + + /// \brief Default destructor + public: ~Plugin(); + + /// \brief Copy constructor. + /// \param[in] _plugin Plugin to copy. + public: Plugin(const Plugin &_plugin); + + /// \brief Move constructor. + /// \param[in] _plugin Plugin to copy. + public: Plugin(Plugin &&_plugin) noexcept; + + /// \brief Load the plugin based on a element pointer. This is *not* the + /// usual entry point. Typical usage of the SDF DOM is through the Root + /// object. + /// \param[in] _sdf The SDF Element pointer + /// \return Errors, which is a vector of Error objects. Each Error includes + /// an error code and message. An empty vector indicates no error. + public: Errors Load(ElementPtr _sdf); + + /// \brief Get the name of the plugin. + /// The name of the plugin should be unique within the scope of its + /// parent. + /// \return Name of the plugin. + public: std::string Name() const; + + /// \brief Set the name of the plugin. + /// The name of the plugin should be unique within the scope of its + /// parent. + /// \param[in] _name Name of the plugin. + public: void SetName(const std::string &_name); + + /// \brief Get the filename of the shared library. + /// \return Filename of the shared library associated with the plugin. + public: std::string Filename() const; + + /// \brief Remove the contents of the plugin, this is everything that + /// is a child element of the ``. + public: void ClearContents(); + + /// \brief Get the plugin contents. This is all the SDF elements that + /// are children of the ``. + /// \return The child elements of this plugin. + public: const std::vector &Contents() const; + + /// \brief Insert an element into the plugin content. This does not + /// modify the values in the sdf::ElementPtr returned by the `Element()` + /// function. + /// \param[in] _elem Element to insert. + public: void InsertContent(const sdf::ElementPtr _elem); + + /// \brief Set the filename of the shared library. + /// \param[in] _filename Filename of the shared library associated with + /// this plugin. + public: void SetFilename(const std::string &_filename); + + /// \brief Get a pointer to the SDF element that was used during + /// load. + /// \return SDF element pointer. The value will be nullptr if Load has + /// not been called. + public: sdf::ElementPtr Element() const; + + /// \brief Create and return an SDF element filled with data from this + /// plugin. + /// \return SDF element pointer with updated plugin values. + public: sdf::ElementPtr ToElement() const; + + /// \brief Copy assignment operator + /// \param[in] _plugin Plugin to copy + /// \return A reference to this plugin + public: Plugin &operator=(const Plugin &_plugin); + + /// \brief Move assignment operator + /// \param[in] _plugin Plugin to move + /// \return A reference to this plugin + public: Plugin &operator=(Plugin &&_plugin) noexcept; + + /// \brief Private data pointer. + std::unique_ptr dataPtr; + }; +} +} + +#ifdef _WIN32 +#pragma warning(pop) +#endif + +#endif diff --git a/include/sdf/PrintConfig.hh b/include/sdf/PrintConfig.hh index d9d3d507c..8696339c3 100644 --- a/include/sdf/PrintConfig.hh +++ b/include/sdf/PrintConfig.hh @@ -17,6 +17,7 @@ #ifndef SDF_PRINTCONFIG_HH_ #define SDF_PRINTCONFIG_HH_ +#include #include #include "sdf/sdf_config.h" @@ -24,20 +25,64 @@ namespace sdf { -inline namespace SDF_VERSION_NAMESPACE -{ + inline namespace SDF_VERSION_NAMESPACE { -/// This class contains configuration options for printing elements. -class SDFORMAT_VISIBLE PrintConfig -{ - /// \brief Default constructor. - public: PrintConfig(); + /// This class contains configuration options for printing elements. + class SDFORMAT_VISIBLE PrintConfig + { + /// \brief Default constructor. All options are set to false by default. + public: PrintConfig(); - /// \brief Private data pointer. - IGN_UTILS_IMPL_PTR(dataPtr) -}; + /// \brief Sets the option for printing pose rotations in degrees if true, + /// otherwise they will be printed as radians by default. + /// \param[in] _value Whether to print pose rotations in degrees. + public: void SetRotationInDegrees(bool _value); -} -} + /// \brief Returns whether or not pose rotations should be printed in + /// degrees. + /// \return True if pose rotations are printed in degrees, false otherwise. + public: bool RotationInDegrees() const; + + /// \brief Sets the option for printing pose rotation in degrees as well as + /// snapping the rotation to the desired interval, with the provided + /// tolerance. + /// \param[in] _interval Degrees interval to snap to, this value must be + /// larger than 0, and less than or equal to 360. + /// \param[in] _tolerance Tolerance which snapping occurs, this value must + /// be larger than 0, less than 360, and less than the provided interval. + /// \return True, unless any of the provided values are not valid. + public: bool SetRotationSnapToDegrees(unsigned int _interval, + double _tolerance); + + /// \brief Returns the current degree value that pose rotations will snap to + /// when printed. + /// \return The assigned degrees interval value to snap to. If it has not + /// been assigned, a nullopt will be returned. + public: std::optional RotationSnapToDegrees() const; + /// \brief Returns the tolerance for snapping degree values when printed. + /// \return The assigned tolerance value which allows snapping to happen. If + /// it has not been assigned, a nullopt will be returned. + public: std::optional RotationSnapTolerance() const; + + /// \brief Set print config to preserve tags. + /// \param[in] _preserve True to preserve tags. + /// False to expand included model. + public: void SetPreserveIncludes(bool _preserve); + + /// \brief Check if tags are to be preserved or expanded. + /// \return True if tags are preserved. + /// False if they are to be expanded. + public: bool PreserveIncludes() const; + + /// \brief Return true if both PrintConfig objects contain the same values. + /// \param[in] _config PrintConfig to compare. + /// \return True if 'this' == _config. + public: bool operator==(const PrintConfig &_config) const; + + /// \brief Private data pointer. + IGN_UTILS_IMPL_PTR(dataPtr) + }; + } +} #endif diff --git a/include/sdf/Scene.hh b/include/sdf/Scene.hh index 2a137760c..c4a09106e 100644 --- a/include/sdf/Scene.hh +++ b/include/sdf/Scene.hh @@ -97,6 +97,11 @@ namespace sdf /// not been called. public: sdf::ElementPtr Element() const; + /// \brief Create and return an SDF element filled with data from this + /// scene. + /// \return SDF element pointer with updated scene values. + public: sdf::ElementPtr ToElement() const; + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/Sky.hh b/include/sdf/Sky.hh index cd76cfd47..e84693618 100644 --- a/include/sdf/Sky.hh +++ b/include/sdf/Sky.hh @@ -113,6 +113,11 @@ namespace sdf /// not been called. public: sdf::ElementPtr Element() const; + /// \brief Create and return an SDF element filled with data from this + /// sky. + /// \return SDF element pointer with updated sky values. + public: sdf::ElementPtr ToElement() const; + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/Sphere.hh b/include/sdf/Sphere.hh index 10d91b897..42f8da4c5 100644 --- a/include/sdf/Sphere.hh +++ b/include/sdf/Sphere.hh @@ -65,6 +65,11 @@ namespace sdf /// not been called. public: sdf::ElementPtr Element() const; + /// \brief Create and return an SDF element filled with data from this + /// sphere. + /// \return SDF element pointer with updated sphere values. + public: sdf::ElementPtr ToElement() const; + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/Surface.hh b/include/sdf/Surface.hh index dd39aea94..6312ffbd3 100644 --- a/include/sdf/Surface.hh +++ b/include/sdf/Surface.hh @@ -87,6 +87,11 @@ namespace sdf /// \param[in] _cont The contact object. public: void SetContact(const sdf::Contact &_contact); + /// \brief Create and return an SDF element filled with data from this + /// surface. + /// \return SDF element pointer with updated surface values. + public: sdf::ElementPtr ToElement() const; + /// \brief Private data pointer. IGN_UTILS_IMPL_PTR(dataPtr) }; diff --git a/include/sdf/Visual.hh b/include/sdf/Visual.hh index fce9e6de2..a3f00fb58 100644 --- a/include/sdf/Visual.hh +++ b/include/sdf/Visual.hh @@ -160,6 +160,11 @@ namespace sdf /// \param[in] _laserRetro The lidar reflective intensity. public: void SetLaserRetro(double _laserRetro); + /// \brief Create and return an SDF element filled with data from this + /// visual. + /// \return SDF element pointer with updated visual values. + public: sdf::ElementPtr ToElement() const; + /// \brief Give the name of the xml parent of this object, to be used /// for resolving poses. This is private and is intended to be called by /// Link::SetPoseRelativeToGraph. diff --git a/include/sdf/World.hh b/include/sdf/World.hh index 4280cc57b..33cb0a01f 100644 --- a/include/sdf/World.hh +++ b/include/sdf/World.hh @@ -194,10 +194,16 @@ namespace sdf /// \brief Add a light to the world. /// \param[in] _light Light to add. - /// \return True if successful, false if a lights with the name already + /// \return True if successful, false if a light with the name already /// exists. public: bool AddLight(const Light &_light); + /// \brief Add a physics object to the world. + /// \param[in] _physics Physics to add. + /// \return True if successful, false if a physics object with the name + /// already exists. + public: bool AddPhysics(const Physics &_physics); + /// \brief Remove all models. public: void ClearModels(); @@ -207,6 +213,9 @@ namespace sdf /// \brief Remove all models. public: void ClearLights(); + /// \brief Remove all physics. + public: void ClearPhysics(); + /// \brief Get the number of actors. /// \return Number of actors contained in this World object. public: uint64_t ActorCount() const; @@ -352,6 +361,11 @@ namespace sdf public: const NestedInclude* InterfaceModelNestedIncludeByIndex( const uint64_t _index) const; + /// \brief Create and return an SDF element filled with data from this + /// world. + /// \return SDF element pointer with updated world values. + public: sdf::ElementPtr ToElement() const; + /// \brief Give the Scoped PoseRelativeToGraph to be passed on to child /// entities for resolving poses. This is private and is intended to be /// called by Root::Load. diff --git a/cmake/sdf_config.h.in b/include/sdf/config.hh.in similarity index 59% rename from cmake/sdf_config.h.in rename to include/sdf/config.hh.in index 524088664..cf9482c43 100644 --- a/cmake/sdf_config.h.in +++ b/include/sdf/config.hh.in @@ -1,4 +1,7 @@ -/* config.h. Generated by CMake for @PROJECT_NAME@. */ +/* config.hh. Generated by CMake for @PROJECT_NAME@. */ + +#ifndef SDF_CONFIG_HH_ +#define SDF_CONFIG_HH_ /* Protocol version */ #define SDF_PROTOCOL_VERSION "${SDF_PROTOCOL_VERSION}" @@ -11,18 +14,18 @@ #define SDF_VERSION "${SDF_PROTOCOL_VERSION}" /* Package version number */ -#define SDF_MAJOR_VERSION ${SDF_MAJOR_VERSION} -#define SDF_MINOR_VERSION ${SDF_MINOR_VERSION} -#define SDF_PATCH_VERSION ${SDF_PATCH_VERSION} +#define SDF_MAJOR_VERSION ${PROJECT_VERSION_MAJOR} +#define SDF_MINOR_VERSION ${PROJECT_VERSION_MINOR} +#define SDF_PATCH_VERSION ${PROJECT_VERSION_PATCH} -#define SDF_MAJOR_VERSION_STR "${SDF_MAJOR_VERSION}" -#define SDF_MINOR_VERSION_STR "${SDF_MINOR_VERSION}" -#define SDF_PATCH_VERSION_STR "${SDF_PATCH_VERSION}" +#define SDF_MAJOR_VERSION_STR "${PROJECT_VERSION_MAJOR}" +#define SDF_MINOR_VERSION_STR "${PROJECT_VERSION_MINOR}" +#define SDF_PATCH_VERSION_STR "${PROJECT_VERSION_PATCH}" -#define SDF_PKG_VERSION "${SDF_VERSION}" -#define SDF_VERSION_FULL "${SDF_VERSION_FULL}" -#define SDF_VERSION_NAME ${SDF_VERSION_NAME} -#define SDF_VERSION_NAMESPACE v${SDF_MAJOR_VERSION} +#define SDF_PKG_VERSION "${PROJECT_VERSION}" +#define SDF_VERSION_FULL "${PROJECT_VERSION_FULL}" +#define SDF_VERSION_NAME ${PROJECT_VERSION_NAME} +#define SDF_VERSION_NAMESPACE v${PROJECT_VERSION_MAJOR} #define SDF_VERSION_HEADER "Simulation Description Format (SDF), version ${SDF_PROTOCOL_VERSION}\nCopyright (C) 2014 Open Source Robotics Foundation.\nReleased under the Apache 2 License.\nhttp://gazebosim.org/sdf\n\n" @@ -35,3 +38,5 @@ #define SDF_SHARE_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/" #define SDF_VERSION_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/${SDF_PKG_VERSION}" + +#endif // #ifndef SDF_CONFIG_HH_ diff --git a/include/sdf/sdf.hh b/include/sdf/sdf.hh new file mode 100644 index 000000000..900a12a04 --- /dev/null +++ b/include/sdf/sdf.hh @@ -0,0 +1,25 @@ +/* + * Copyright (C) 2021 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 SDF_SDF_HH_ +#define SDF_SDF_HH_ + +// This file is kept for backwards compatibility. +// Use sdformat.hh directly instead. +#include + +#endif diff --git a/include/sdf/sdf_config.h b/include/sdf/sdf_config.h new file mode 100644 index 000000000..656f17b85 --- /dev/null +++ b/include/sdf/sdf_config.h @@ -0,0 +1,25 @@ +/* + * Copyright (C) 2021 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 SDF_SDF_CONFIG_H_ +#define SDF_SDF_CONFIG_H_ + +// This file is kept for backwards compatibility. +// Use sdf/config.hh directly instead. +#include + +#endif diff --git a/include/sdf/system_util.hh b/include/sdf/system_util.hh index c2488dbb9..8d244f38c 100644 --- a/include/sdf/system_util.hh +++ b/include/sdf/system_util.hh @@ -17,31 +17,17 @@ #ifndef SDF_VISIBLE_HH_ #define SDF_VISIBLE_HH_ +#include + /** \def SDFORMAT_VISIBLE * Use to represent "symbol visible" if supported */ +#define SDFORMAT_VISIBLE IGNITION_SDFORMAT_VISIBLE /** \def SDFORMAT_HIDDEN * Use to represent "symbol hidden" if supported */ - -#if defined _WIN32 || defined __CYGWIN__ - #ifdef BUILDING_SDFORMAT_SHARED - #define SDFORMAT_VISIBLE __declspec(dllexport) - #elif !defined SDFORMAT_STATIC_DEFINE - #define SDFORMAT_VISIBLE __declspec(dllimport) - #else - #define SDFORMAT_VISIBLE - #endif -#else - #if __GNUC__ >= 4 && !defined SDFORMAT_STATIC_DEFINE - #define SDFORMAT_VISIBLE __attribute__ ((visibility ("default"))) - #define SDFORMAT_HIDDEN __attribute__ ((visibility ("hidden"))) - #else - #define SDFORMAT_VISIBLE - #define SDFORMAT_HIDDEN - #endif -#endif +#define SDFORMAT_HIDDEN IGNITION_SDFORMAT_HIDDEN // SDF_VISIBLE_HH_ #endif diff --git a/sdf/1.0/CMakeLists.txt b/sdf/1.0/CMakeLists.txt index 1695588b1..dd62ae21c 100644 --- a/sdf/1.0/CMakeLists.txt +++ b/sdf/1.0/CMakeLists.txt @@ -27,4 +27,4 @@ set (sdfs world.sdf ) -install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.0/) +install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.0/) diff --git a/sdf/1.2/CMakeLists.txt b/sdf/1.2/CMakeLists.txt index a37e84191..051e49e55 100644 --- a/sdf/1.2/CMakeLists.txt +++ b/sdf/1.2/CMakeLists.txt @@ -28,4 +28,4 @@ set (sdfs world.sdf ) -install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.2) +install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.2) diff --git a/sdf/1.3/CMakeLists.txt b/sdf/1.3/CMakeLists.txt index b737f0e50..9325a7e19 100644 --- a/sdf/1.3/CMakeLists.txt +++ b/sdf/1.3/CMakeLists.txt @@ -29,4 +29,4 @@ set (sdfs world.sdf ) -install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.3) +install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.3) diff --git a/sdf/1.4/CMakeLists.txt b/sdf/1.4/CMakeLists.txt index a59f4ea68..657bd085e 100644 --- a/sdf/1.4/CMakeLists.txt +++ b/sdf/1.4/CMakeLists.txt @@ -44,4 +44,4 @@ set (sdfs world.sdf ) -install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.4) +install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.4) diff --git a/sdf/1.5/CMakeLists.txt b/sdf/1.5/CMakeLists.txt index 60fd6a15a..89e721573 100644 --- a/sdf/1.5/CMakeLists.txt +++ b/sdf/1.5/CMakeLists.txt @@ -76,5 +76,5 @@ add_custom_target(schema1_5 ALL DEPENDS ${SDF_SCHEMA}) set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE) -install(FILES 1_4.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.5) -install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.5) +install(FILES 1_4.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.5) +install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.5) diff --git a/sdf/1.5/model.sdf b/sdf/1.5/model.sdf index de38cbd56..766cee75d 100644 --- a/sdf/1.5/model.sdf +++ b/sdf/1.5/model.sdf @@ -7,7 +7,12 @@ - If set to true, the model is immovable. Otherwise the model is simulated in the dynamics engine. + + If set to true, the model is immovable; i.e., a dynamics engine will not + update its position. The model's implicit frame will be attached to the + world's implicit frame. This holds even if this model is nested (or + included) by another model. + diff --git a/sdf/1.6/CMakeLists.txt b/sdf/1.6/CMakeLists.txt index fe972e4c5..f386b30bf 100644 --- a/sdf/1.6/CMakeLists.txt +++ b/sdf/1.6/CMakeLists.txt @@ -80,5 +80,5 @@ add_custom_target(schema1_6 ALL DEPENDS ${SDF_SCHEMA}) set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE) -install(FILES 1_5.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.6) -install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.6) +install(FILES 1_5.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.6) +install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.6) diff --git a/sdf/1.6/model.sdf b/sdf/1.6/model.sdf index 82fb5a0f6..1b6a3caaa 100644 --- a/sdf/1.6/model.sdf +++ b/sdf/1.6/model.sdf @@ -7,7 +7,12 @@ - If set to true, the model is immovable. Otherwise the model is simulated in the dynamics engine. + + If set to true, the model is immovable; i.e., a dynamics engine will not + update its position. The model's implicit frame will be attached to the + world's implicit frame. This holds even if this model is nested (or + included) by another model. + diff --git a/sdf/1.7/CMakeLists.txt b/sdf/1.7/CMakeLists.txt index 516a7874b..4167a3b97 100644 --- a/sdf/1.7/CMakeLists.txt +++ b/sdf/1.7/CMakeLists.txt @@ -80,5 +80,5 @@ add_custom_target(schema1_7 ALL DEPENDS ${SDF_SCHEMA}) set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE) -install(FILES 1_6.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.7) -install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.7) +install(FILES 1_6.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.7) +install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.7) diff --git a/sdf/1.7/model.sdf b/sdf/1.7/model.sdf index 80d9a5940..ce875dd25 100644 --- a/sdf/1.7/model.sdf +++ b/sdf/1.7/model.sdf @@ -14,14 +14,22 @@ The name of the model's canonical link, to which the model's implicit - coordinate frame is attached. If unset or set to an empty string, - the first link element listed as a child of this model is chosen - as the canonical link. + coordinate frame is attached. If unset or set to an empty string, the + first `/link` listed as a direct child of this model is chosen as the + canonical link. If the model has no direct `/link` children, it will + instead be attached to the first nested (or included) model's implicit + frame. - If set to true, the model is immovable. Otherwise the model is simulated in the dynamics engine. + + If set to true, the model is immovable; i.e., a dynamics engine will not + update its position. This will also overwrite this model's `@canonical_link` + and instead attach the model's implicit frame to the world's implicit frame. + This holds even if this model is nested (or included) by another model + instead of being a direct child of `//world`. + diff --git a/sdf/1.8/model.sdf b/sdf/1.8/model.sdf index ce38709a3..d7df25f9a 100644 --- a/sdf/1.8/model.sdf +++ b/sdf/1.8/model.sdf @@ -14,9 +14,11 @@ The name of the model's canonical link, to which the model's implicit - coordinate frame is attached. If unset or set to an empty string, - the first link element listed as a child of this model is chosen - as the canonical link. + coordinate frame is attached. If unset or set to an empty string, the + first `/link` listed as a direct child of this model is chosen as the + canonical link. If the model has no direct `/link` children, it will + instead be attached to the first nested (or included) model's implicit + frame. @@ -24,7 +26,13 @@ - If set to true, the model is immovable. Otherwise the model is simulated in the dynamics engine. + + If set to true, the model is immovable; i.e., a dynamics engine will not + update its position. This will also overwrite this model's `@canonical_link` + and instead attach the model's implicit frame to the world's implicit frame. + This holds even if this model is nested (or included) by another model + instead of being a direct child of `//world`. + diff --git a/sdf/1.9/plugin.sdf b/sdf/1.9/plugin.sdf index 236ea31af..81452b64c 100644 --- a/sdf/1.9/plugin.sdf +++ b/sdf/1.9/plugin.sdf @@ -2,7 +2,7 @@ A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor. - A unique name for the plugin, scoped to its parent. + A name for the plugin. Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths. diff --git a/sdf/1.9/scene.sdf b/sdf/1.9/scene.sdf index 0cdb52eb1..01b26a7a2 100644 --- a/sdf/1.9/scene.sdf +++ b/sdf/1.9/scene.sdf @@ -23,7 +23,7 @@ - Sunset time [0..24] + Information about clouds in the sky. Speed of the clouds diff --git a/sdf/CMakeLists.txt b/sdf/CMakeLists.txt index 9ce942840..a50b34946 100644 --- a/sdf/CMakeLists.txt +++ b/sdf/CMakeLists.txt @@ -22,7 +22,7 @@ execute_process( # Generate aggregated SDF description files for use by the sdformat.org # website. If the description files change, the generated full*.sdf files need # to be removed before running this target. -if (IGNITION-TOOLS_BINARY_DIRS) +if (IGN_PROGRAM) # Update this list as new sdformat spec versions are added. set(sdf_desc_versions 1.4 1.5 1.6 1.7 1.8 1.9) @@ -35,10 +35,10 @@ if (IGNITION-TOOLS_BINARY_DIRS) OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/full_${desc_ver_dash}.sdf COMMAND ${CMAKE_COMMAND} -E env IGN_CONFIG_PATH=${CMAKE_BINARY_DIR}/test/conf - ${IGNITION-TOOLS_BINARY_DIRS}/ign + ${IGN_PROGRAM} ARGS sdf -d ${desc_ver} > ${CMAKE_CURRENT_BINARY_DIR}/full_${desc_ver_dash}.sdf COMMENT "Generating full description for spec ${desc_ver}" VERBATIM) endforeach() - add_custom_target(sdf_descriptions DEPENDS ${description_targets} ${sdf_target}) + add_custom_target(sdf_descriptions DEPENDS ${description_targets} ${PROJECT_LIBRARY_TARGET_NAME}) endif() diff --git a/src/Actor.cc b/src/Actor.cc index 2f10ae7b4..35872bf56 100644 --- a/src/Actor.cc +++ b/src/Actor.cc @@ -19,6 +19,7 @@ #include #include "sdf/Actor.hh" #include "sdf/Error.hh" +#include "sdf/parser.hh" #include "Utils.hh" using namespace sdf; @@ -681,3 +682,103 @@ void Actor::SetFilePath(const std::string &_filePath) { this->dataPtr->filePath = _filePath; } + +////////////////////////////////////////////////// +bool Actor::AddLink(const Link &_link) +{ + if (this->LinkNameExists(_link.Name())) + return false; + this->dataPtr->links.push_back(_link); + return true; +} + +////////////////////////////////////////////////// +bool Actor::AddJoint(const Joint &_joint) +{ + if (this->JointNameExists(_joint.Name())) + return false; + this->dataPtr->joints.push_back(_joint); + return true; +} + +////////////////////////////////////////////////// +void Actor::ClearLinks() +{ + this->dataPtr->links.clear(); +} + +////////////////////////////////////////////////// +void Actor::ClearJoints() +{ + this->dataPtr->joints.clear(); +} + +///////////////////////////////////////////////// +sdf::ElementPtr Actor::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("actor.sdf", elem); + + elem->GetAttribute("name")->Set(this->Name()); + // Set pose + sdf::ElementPtr poseElem = elem->GetElement("pose"); + if (!this->dataPtr->poseRelativeTo.empty()) + { + poseElem->GetAttribute("relative_to")->Set( + this->dataPtr->poseRelativeTo); + } + poseElem->Set(this->RawPose()); + + // Skin + if (this->dataPtr->skinFilename != "__default__") + { + sdf::ElementPtr skinElem = elem->GetElement("skin"); + skinElem->GetElement("filename")->Set(this->dataPtr->skinFilename); + skinElem->GetElement("scale")->Set(this->dataPtr->skinScale); + } + + // Script + sdf::ElementPtr scriptElem = elem->GetElement("script"); + scriptElem->GetElement("loop")->Set(this->ScriptLoop()); + scriptElem->GetElement("delay_start")->Set(this->ScriptDelayStart()); + scriptElem->GetElement("auto_start")->Set(this->ScriptAutoStart()); + // Trajectory for the script + for (const sdf::Trajectory &traj : this->dataPtr->trajectories) + { + sdf::ElementPtr trajElem = scriptElem->AddElement("trajectory"); + trajElem->GetAttribute("id")->Set(traj.Id()); + trajElem->GetAttribute("type")->Set(traj.Type()); + trajElem->GetAttribute("tension")->Set(traj.Tension()); + // Waypoints in the trajectory. + for (uint64_t i = 0; i < traj.WaypointCount(); ++i) + { + const Waypoint *wp = traj.WaypointByIndex(i); + if (wp) + { + sdf::ElementPtr wayElem = trajElem->AddElement("waypoint"); + wayElem->GetElement("time")->Set(wp->Time()); + wayElem->GetElement("pose")->Set(wp->Pose()); + } + } + } + + // Animations + for (const sdf::Animation &anim : this->dataPtr->animations) + { + sdf::ElementPtr animElem = elem->AddElement("animation"); + animElem->GetAttribute("name")->Set(anim.Name()); + animElem->GetElement("filename")->Set(anim.Filename()); + animElem->GetElement("scale")->Set(anim.Scale()); + animElem->GetElement("interpolate_x")->Set(anim.InterpolateX()); + } + + // Joints + for (const sdf::Joint &joint : this->dataPtr->joints) + elem->InsertElement(joint.ToElement(), true); + + // Link + for (const sdf::Link &link : this->dataPtr->links) + elem->InsertElement(link.ToElement(), true); + + return elem; +} diff --git a/src/Actor_TEST.cc b/src/Actor_TEST.cc index bac434933..1e676ad0e 100644 --- a/src/Actor_TEST.cc +++ b/src/Actor_TEST.cc @@ -502,3 +502,100 @@ TEST(DOMTrajectory, CopyAssignmentAfterMove) EXPECT_TRUE(TrajectoriesEqual(sdf::Trajectory(), trajectory1)); EXPECT_TRUE(TrajectoriesEqual(CreateDummyTrajectory(), trajectory2)); } + +///////////////////////////////////////////////// +TEST(DOMActor, ToElement) +{ + sdf::Actor actor; + + actor.SetName("my-actor"); + actor.SetRawPose(ignition::math::Pose3d(1, 2, 3, 0.1, 0.2, 0.3)); + actor.SetSkinFilename("my-skinfilename"); + actor.SetSkinScale(1.2); + actor.SetScriptLoop(true); + actor.SetScriptDelayStart(2.4); + actor.SetScriptAutoStart(true); + + for (int j = 0; j <= 1; ++j) + { + for (int i = 0; i < 1; ++i) + { + sdf::Link link; + link.SetName("link" + std::to_string(i)); + EXPECT_TRUE(actor.AddLink(link)); + EXPECT_FALSE(actor.AddLink(link)); + } + if (j == 0) + actor.ClearLinks(); + } + + for (int j = 0; j <= 1; ++j) + { + for (int i = 0; i < 2; ++i) + { + sdf::Joint joint; + joint.SetName("joint" + std::to_string(i)); + EXPECT_TRUE(actor.AddJoint(joint)); + EXPECT_FALSE(actor.AddJoint(joint)); + } + if (j == 0) + actor.ClearJoints(); + } + + sdf::Trajectory trajectory; + trajectory.SetId(1); + trajectory.SetType("type"); + trajectory.SetTension(1.0); + sdf::Waypoint waypointA, waypointB; + waypointA.SetTime(0.0); + waypointA.SetPose(ignition::math::Pose3d(1, 2, 3, 0.1, 0.2, 0.3)); + trajectory.AddWaypoint(waypointA); + waypointB.SetTime(1.0); + waypointB.SetPose(ignition::math::Pose3d(2, 4, 6, 0.1, 0.2, 0.3)); + trajectory.AddWaypoint(waypointB); + actor.AddTrajectory(trajectory); + + sdf::Animation animation; + animation.SetName("my-animation"); + animation.SetFilename("my-filename"); + animation.SetScale(1.2); + animation.SetInterpolateX(true); + + sdf::ElementPtr elem = actor.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Actor actor2; + actor2.Load(elem); + + EXPECT_EQ(actor.Name(), actor2.Name()); + EXPECT_EQ(actor.RawPose(), actor2.RawPose()); + EXPECT_DOUBLE_EQ(actor.SkinScale(), actor2.SkinScale()); + EXPECT_EQ(actor.ScriptLoop(), actor2.ScriptLoop()); + EXPECT_DOUBLE_EQ(actor.ScriptDelayStart(), actor2.ScriptDelayStart()); + + EXPECT_EQ(actor.LinkCount(), actor2.LinkCount()); + for (uint64_t i = 0; i < actor2.LinkCount(); ++i) + EXPECT_NE(nullptr, actor2.LinkByIndex(i)); + + EXPECT_EQ(actor.JointCount(), actor2.JointCount()); + for (uint64_t i = 0; i < actor2.JointCount(); ++i) + EXPECT_NE(nullptr, actor2.JointByIndex(i)); + + ASSERT_EQ(1u, actor2.TrajectoryCount()); + const sdf::Trajectory *trajectory2 = actor2.TrajectoryByIndex(0u); + ASSERT_NE(nullptr, trajectory2); + EXPECT_EQ(trajectory.Id(), trajectory2->Id()); + EXPECT_EQ(trajectory.Type(), trajectory2->Type()); + EXPECT_DOUBLE_EQ(trajectory.Tension(), trajectory2->Tension()); + + ASSERT_EQ(2u, trajectory2->WaypointCount()); + const sdf::Waypoint *waypointA2 = trajectory2->WaypointByIndex(0u); + ASSERT_NE(nullptr, waypointA2); + EXPECT_DOUBLE_EQ(waypointA.Time(), waypointA2->Time()); + EXPECT_EQ(waypointA.Pose(), waypointA2->Pose()); + + const sdf::Waypoint *waypointB2 = trajectory2->WaypointByIndex(1u); + ASSERT_NE(nullptr, waypointB2); + EXPECT_DOUBLE_EQ(waypointB.Time(), waypointB2->Time()); + EXPECT_EQ(waypointB.Pose(), waypointB2->Pose()); +} diff --git a/src/Atmosphere.cc b/src/Atmosphere.cc index ffe284387..36ca6d96a 100644 --- a/src/Atmosphere.cc +++ b/src/Atmosphere.cc @@ -18,6 +18,7 @@ #include #include #include "sdf/Atmosphere.hh" +#include "sdf/parser.hh" using namespace sdf; @@ -144,3 +145,17 @@ bool Atmosphere::operator==(const Atmosphere &_atmosphere) ignition::math::equal(this->dataPtr->pressure, _atmosphere.dataPtr->pressure); } + +///////////////////////////////////////////////// +sdf::ElementPtr Atmosphere::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("atmosphere.sdf", elem); + + elem->GetAttribute("type")->Set("adiabatic"); + elem->GetElement("temperature")->Set(this->Temperature().Kelvin()); + elem->GetElement("pressure")->Set(this->Pressure()); + elem->GetElement("temperature_gradient")->Set(this->TemperatureGradient()); + + return elem; +} diff --git a/src/Atmosphere_TEST.cc b/src/Atmosphere_TEST.cc index eb9d6636b..37d11de3b 100644 --- a/src/Atmosphere_TEST.cc +++ b/src/Atmosphere_TEST.cc @@ -16,6 +16,7 @@ */ #include +#include #include #include "sdf/World.hh" @@ -130,3 +131,25 @@ TEST(DOMAtmosphere, CopyAssignmentAfterMove) EXPECT_DOUBLE_EQ(200.0, atmosphere1.Temperature().Kelvin()); EXPECT_DOUBLE_EQ(100.0, atmosphere2.Temperature().Kelvin()); } + +///////////////////////////////////////////////// +TEST(DOMAtmosphere, ToElement) +{ + sdf::Atmosphere atmosphere; + atmosphere.SetType(sdf::AtmosphereType::ADIABATIC); + atmosphere.SetTemperature(ignition::math::Temperature(123)); + atmosphere.SetTemperatureGradient(1.34); + atmosphere.SetPressure(2.65); + + sdf::ElementPtr elem = atmosphere.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Atmosphere atmosphere2; + atmosphere2.Load(elem); + + // verify values after loading the element back + EXPECT_EQ(atmosphere.Temperature(), atmosphere2.Temperature()); + EXPECT_DOUBLE_EQ(atmosphere.TemperatureGradient(), + atmosphere2.TemperatureGradient()); + EXPECT_DOUBLE_EQ(atmosphere.Pressure(), atmosphere2.Pressure()); +} diff --git a/src/Box.cc b/src/Box.cc index 90ceb26e3..6c029dac0 100644 --- a/src/Box.cc +++ b/src/Box.cc @@ -16,6 +16,7 @@ */ #include #include "sdf/Box.hh" +#include "sdf/parser.hh" using namespace sdf; @@ -112,3 +113,15 @@ ignition::math::Boxd &Box::Shape() { return this->dataPtr->box; } + +///////////////////////////////////////////////// +sdf::ElementPtr Box::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("box_shape.sdf", elem); + + sdf::ElementPtr sizeElem = elem->GetElement("size"); + sizeElem->Set(this->Size()); + + return elem; +} diff --git a/src/Box_TEST.cc b/src/Box_TEST.cc index b77bd23a7..762d0a0b9 100644 --- a/src/Box_TEST.cc +++ b/src/Box_TEST.cc @@ -143,3 +143,19 @@ TEST(DOMBox, Shape) box.Shape().SetSize(ignition::math::Vector3d(1, 2, 3)); EXPECT_EQ(ignition::math::Vector3d(1, 2, 3), box.Size()); } + +///////////////////////////////////////////////// +TEST(DOMBox, ToElement) +{ + sdf::Box box; + + box.SetSize(ignition::math::Vector3d(1, 2, 3)); + + sdf::ElementPtr elem = box.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Box box2; + box2.Load(elem); + + EXPECT_EQ(box.Size(), box2.Size()); +} diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index c91bbf057..6c54a2175 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -1,278 +1,138 @@ -include (${sdf_cmake_dir}/SDFUtils.cmake) +# Collect source files into the "sources" variable and unit test files into the +# "gtest_sources" variable +ign_get_libsources_and_unittests(sources gtest_sources) -link_directories( - ${PROJECT_BINARY_DIR}/test -) - -if (NOT USE_INTERNAL_URDF) - link_directories(${URDF_LIBRARY_DIRS}) -endif() - -set (sources - Actor.cc - AirPressure.cc - Altimeter.cc - Atmosphere.cc - Box.cc - Camera.cc - Capsule.cc - Collision.cc - Console.cc - Converter.cc - Cylinder.cc - Element.cc - Ellipsoid.cc - EmbeddedSdf.cc - Error.cc - Exception.cc - Frame.cc - FrameSemantics.cc - Filesystem.cc - ForceTorque.cc - Geometry.cc - Gui.cc - Heightmap.cc - ign.cc - InterfaceElements.cc - InterfaceFrame.cc - InterfaceJoint.cc - InterfaceLink.cc - InterfaceModel.cc - InterfaceModelPoseGraph.cc - Imu.cc - Joint.cc - JointAxis.cc - Lidar.cc - Light.cc - Link.cc - Magnetometer.cc - Material.cc - Mesh.cc - Model.cc - NavSat.cc - Noise.cc - parser.cc - parser_urdf.cc - ParserConfig.cc - Param.cc - ParamPassing.cc - ParticleEmitter.cc - Pbr.cc - Physics.cc - Plane.cc - PrintConfig.cc - Root.cc - Scene.cc - SDF.cc - SDFExtension.cc - SemanticPose.cc - Sensor.cc - Sky.cc - Sphere.cc - Surface.cc - Types.cc - Utils.cc - Visual.cc - World.cc - XmlUtils.cc -) -include_directories(${CMAKE_CURRENT_SOURCE_DIR}) +# Add the source file auto-generated into the build folder from sdf/CMakeLists.txt +list(APPEND sources EmbeddedSdf.cc) +# Use interface library to deduplicate cmake logic for URDF linking +add_library(using_parser_urdf INTERFACE) if (USE_INTERNAL_URDF) - include_directories(${CMAKE_CURRENT_SOURCE_DIR}/urdf) set(sources ${sources} - urdf/urdf_parser/model.cpp - urdf/urdf_parser/link.cpp - urdf/urdf_parser/joint.cpp - urdf/urdf_parser/pose.cpp - urdf/urdf_parser/twist.cpp - urdf/urdf_parser/urdf_model_state.cpp - urdf/urdf_parser/urdf_sensor.cpp - urdf/urdf_parser/world.cpp) + urdf/urdf_parser/model.cpp + urdf/urdf_parser/link.cpp + urdf/urdf_parser/joint.cpp + urdf/urdf_parser/pose.cpp + urdf/urdf_parser/twist.cpp + urdf/urdf_parser/urdf_model_state.cpp + urdf/urdf_parser/urdf_sensor.cpp + urdf/urdf_parser/world.cpp) + target_include_directories(using_parser_urdf INTERFACE + ${CMAKE_CURRENT_SOURCE_DIR}/urdf) + if (WIN32) + target_compile_definitions(using_parser_urdf INTERFACE -D_USE_MATH_DEFINES) + endif() else() - include_directories(${URDF_INCLUDE_DIRS}) + target_link_libraries(using_parser_urdf INTERFACE + IgnURDFDOM::IgnURDFDOM) endif() -# Find PXR. This is temporary to allow for SDF -> USD development. -# Once SDFormat supports ign-cmake, this will be a separate component. -find_package(pxr REQUIRED) -include_directories(${PXR_INCLUDE_DIRS}) -# Add SDF -> USD code. This is also temporary, and will be in a separate -# component once SDFormat supports ign-cmake. -include_directories(${CMAKE_CURRENT_SOURCE_DIR}/usd) -set(sources ${sources} - usd/sdf_usd_parser/geometry.cc - usd/sdf_usd_parser/joint.cc - usd/sdf_usd_parser/light.cc - usd/sdf_usd_parser/link.cc - usd/sdf_usd_parser/model.cc - usd/sdf_usd_parser/sensor.cc - usd/sdf_usd_parser/visual.cc - usd/sdf_usd_parser/world.cc -) - -if (BUILD_SDF_TEST) - set (gtest_sources - Actor_TEST.cc - AirPressure_TEST.cc - Altimeter_TEST.cc - Atmosphere_TEST.cc - Box_TEST.cc - Camera_TEST.cc - Capsule_TEST.cc - Collision_TEST.cc - Console_TEST.cc - Cylinder_TEST.cc - Element_TEST.cc - Ellipsoid_TEST.cc - Error_TEST.cc - Exception_TEST.cc - Frame_TEST.cc - Filesystem_TEST.cc - ForceTorque_TEST.cc - Geometry_TEST.cc - Gui_TEST.cc - Heightmap_TEST.cc - Imu_TEST.cc - InterfaceElements_TEST.cc - Joint_TEST.cc - JointAxis_TEST.cc - Lidar_TEST.cc - Light_TEST.cc - Link_TEST.cc - Magnetometer_TEST.cc - Material_TEST.cc - Mesh_TEST.cc - Model_TEST.cc - NavSat_TEST.cc - Noise_TEST.cc - Param_TEST.cc - parser_TEST.cc - ParserConfig_TEST.cc - ParticleEmitter_TEST.cc - Pbr_TEST.cc - Physics_TEST.cc - Plane_TEST.cc - Root_TEST.cc - Scene_TEST.cc - SemanticPose_TEST.cc - SDF_TEST.cc - Sensor_TEST.cc - Sky_TEST.cc - Sphere_TEST.cc - Surface_TEST.cc - Types_TEST.cc - Visual_TEST.cc - World_TEST.cc - ) - +if (BUILD_TESTING) # Build this test file only if Ignition Tools is installed. - if (IGNITION-TOOLS_BINARY_DIRS) - set (gtest_sources ${gtest_sources} - ign_TEST.cc - ) + if (NOT IGN_PROGRAM) + list(REMOVE_ITEM gtest_sources ign_TEST.cc) endif() - include_directories(${PROJECT_SOURCE_DIR}/test) - sdf_build_tests(${gtest_sources}) + # Skip tests that don't work on Windows + if (WIN32) + list(REMOVE_ITEM gtest_sources Converter_TEST.cc) + list(REMOVE_ITEM gtest_sources FrameSemantics_TEST.cc) + list(REMOVE_ITEM gtest_sources ParamPassing_TEST.cc) + list(REMOVE_ITEM gtest_sources Utils_TEST.cc) + list(REMOVE_ITEM gtest_sources XmlUtils_TEST.cc) + list(REMOVE_ITEM gtest_sources parser_urdf_TEST.cc) + endif() + + ign_build_tests( + TYPE UNIT + SOURCES ${gtest_sources} + INCLUDE_DIRS + ${CMAKE_CURRENT_SOURCE_DIR} + ${PROJECT_SOURCE_DIR}/test + ) if (TARGET UNIT_ign_TEST) # Link the libraries that we always need. target_link_libraries("UNIT_ign_TEST" - PUBLIC - ignition-cmake${IGN_CMAKE_VER}::utilities + ignition-cmake${IGN_CMAKE_VER}::utilities ) endif() - if (NOT WIN32) - set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS Utils.cc) - sdf_build_tests(Utils_TEST.cc) + if (TARGET UNIT_Converter_TEST) + target_link_libraries(UNIT_Converter_TEST + TINYXML2::TINYXML2) + target_sources(UNIT_Converter_TEST PRIVATE + Converter.cc + EmbeddedSdf.cc + XmlUtils.cc) endif() - if (NOT WIN32) - set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS XmlUtils.cc) - sdf_build_tests(XmlUtils_TEST.cc) - target_link_libraries(UNIT_XmlUtils_TEST PRIVATE - ${TinyXML2_LIBRARIES}) + if (TARGET UNIT_FrameSemantics_TEST) + target_sources(UNIT_FrameSemantics_TEST PRIVATE FrameSemantics.cc) endif() - if (NOT WIN32) - set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS FrameSemantics.cc) - sdf_build_tests(FrameSemantics_TEST.cc) + if (TARGET UNIT_ParamPassing_TEST) + target_link_libraries(UNIT_ParamPassing_TEST + TINYXML2::TINYXML2 + using_parser_urdf) + target_sources(UNIT_ParamPassing_TEST PRIVATE + Converter.cc + EmbeddedSdf.cc + FrameSemantics.cc + ParamPassing.cc + SDFExtension.cc + Utils.cc + XmlUtils.cc + parser.cc + parser_urdf.cc) endif() - if (NOT WIN32) - set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS Converter.cc EmbeddedSdf.cc XmlUtils.cc) - sdf_build_tests(Converter_TEST.cc) - target_link_libraries(UNIT_Converter_TEST PRIVATE - ${TinyXML2_LIBRARIES}) + if (TARGET UNIT_Utils_TEST) + target_sources(UNIT_Utils_TEST PRIVATE Utils.cc) endif() - if (NOT WIN32) - set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS SDFExtension.cc parser_urdf.cc XmlUtils.cc) - sdf_build_tests(parser_urdf_TEST.cc) - if (NOT USE_INTERNAL_URDF) - target_compile_options(UNIT_parser_urdf_TEST PRIVATE ${URDF_CFLAGS}) - if (${CMAKE_VERSION} VERSION_GREATER 3.13) - target_link_options(UNIT_parser_urdf_TEST PRIVATE ${URDF_LDFLAGS}) - endif() - target_link_libraries(UNIT_parser_urdf_TEST PRIVATE ${URDF_LIBRARIES}) - endif() - target_link_libraries(UNIT_parser_urdf_TEST PRIVATE - ${TinyXML2_LIBRARIES}) + if (TARGET UNIT_XmlUtils_TEST) + target_link_libraries(UNIT_XmlUtils_TEST + TINYXML2::TINYXML2) + target_sources(UNIT_XmlUtils_TEST PRIVATE XmlUtils.cc) endif() - if (NOT WIN32) - set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS ParamPassing.cc XmlUtils.cc parser.cc - parser_urdf.cc FrameSemantics.cc Converter.cc EmbeddedSdf.cc SDFExtension.cc Utils.cc) - sdf_build_tests(ParamPassing_TEST.cc) - if (NOT USE_INTERNAL_URDF) - target_compile_options(UNIT_ParamPassing_TEST PRIVATE ${URDF_CFLAGS}) - if (${CMAKE_VERSION} VERSION_GREATER 3.13) - target_link_options(UNIT_ParamPassing_TEST PRIVATE ${URDF_LDFLAGS}) - endif() - target_link_libraries(UNIT_ParamPassing_TEST PRIVATE ${URDF_LIBRARIES}) - endif() - target_link_libraries(UNIT_ParamPassing_TEST PRIVATE - ${TinyXML2_LIBRARIES}) + if (TARGET UNIT_parser_urdf_TEST) + target_link_libraries(UNIT_parser_urdf_TEST + TINYXML2::TINYXML2 + using_parser_urdf) + target_sources(UNIT_parser_urdf_TEST PRIVATE + SDFExtension.cc + XmlUtils.cc + parser_urdf.cc) endif() endif() -sdf_add_library(${sdf_target} ${sources}) -target_compile_features(${sdf_target} PUBLIC cxx_std_17) -target_link_libraries(${sdf_target} +ign_create_core_library(SOURCES ${sources} + CXX_STANDARD 17 + LEGACY_PROJECT_PREFIX SDFormat + ) + +target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME} PUBLIC ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER} - ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} - ignition-common${IGN_COMMON_VER}::graphics ignition-utils${IGN_UTILS_VER}::ignition-utils${IGN_UTILS_VER} - ${PXR_LIBRARIES} PRIVATE - ${TinyXML2_LIBRARIES}) + TINYXML2::TINYXML2 + using_parser_urdf) if (WIN32) - target_compile_definitions(${sdf_target} PRIVATE URDFDOM_STATIC) + target_compile_definitions(${PROJECT_LIBRARY_TARGET_NAME} PRIVATE URDFDOM_STATIC) endif() -target_include_directories(${sdf_target} +target_include_directories(${PROJECT_LIBRARY_TARGET_NAME} PUBLIC $ $ + PRIVATE + ${CMAKE_CURRENT_SOURCE_DIR} ) -message (STATUS "URDF_LIBRARY_DIRS=${URDF_LIBRARY_DIRS}") -message (STATUS "URDF_LIBRARIES=${URDF_LIBRARIES}") - -if (NOT USE_INTERNAL_URDF) - target_compile_options(${sdf_target} PRIVATE ${URDF_CFLAGS}) - if (${CMAKE_VERSION} VERSION_GREATER 3.13) - target_link_options(${sdf_target} PRIVATE ${URDF_LDFLAGS}) - endif() - target_link_libraries(${sdf_target} PRIVATE ${URDF_LIBRARIES}) -endif() - -sdf_install_library(${sdf_target}) - if(NOT WIN32) add_subdirectory(cmd) endif() diff --git a/src/Capsule.cc b/src/Capsule.cc index 507cbe0c4..a99159d69 100644 --- a/src/Capsule.cc +++ b/src/Capsule.cc @@ -16,6 +16,7 @@ */ #include #include "sdf/Capsule.hh" +#include "sdf/parser.hh" using namespace sdf; @@ -134,3 +135,18 @@ ignition::math::Capsuled &Capsule::Shape() { return this->dataPtr->capsule; } + +///////////////////////////////////////////////// +sdf::ElementPtr Capsule::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("capsule_shape.sdf", elem); + + sdf::ElementPtr radiusElem = elem->GetElement("radius"); + radiusElem->Set(this->Radius()); + + sdf::ElementPtr lengthElem = elem->GetElement("length"); + lengthElem->Set(this->Length()); + + return elem; +} diff --git a/src/Capsule_TEST.cc b/src/Capsule_TEST.cc index 20b55c644..9c66d9797 100644 --- a/src/Capsule_TEST.cc +++ b/src/Capsule_TEST.cc @@ -179,3 +179,21 @@ TEST(DOMCapsule, Shape) EXPECT_DOUBLE_EQ(0.123, capsule.Radius()); EXPECT_DOUBLE_EQ(0.456, capsule.Length()); } + +///////////////////////////////////////////////// +TEST(DOMCapsule, ToElement) +{ + sdf::Capsule capsule; + + capsule.SetRadius(1.2); + capsule.SetLength(0.5); + + sdf::ElementPtr elem = capsule.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Capsule capsule2; + capsule2.Load(elem); + + EXPECT_DOUBLE_EQ(capsule.Radius(), capsule2.Radius()); + EXPECT_DOUBLE_EQ(capsule.Length(), capsule2.Length()); +} diff --git a/src/Collision.cc b/src/Collision.cc index da67eb5e4..7a5929a50 100644 --- a/src/Collision.cc +++ b/src/Collision.cc @@ -20,6 +20,7 @@ #include "sdf/Collision.hh" #include "sdf/Error.hh" #include "sdf/Geometry.hh" +#include "sdf/parser.hh" #include "sdf/Surface.hh" #include "sdf/Types.hh" #include "FrameSemantics.hh" @@ -197,3 +198,29 @@ sdf::ElementPtr Collision::Element() const { return this->dataPtr->sdf; } + +///////////////////////////////////////////////// +sdf::ElementPtr Collision::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("collision.sdf", elem); + + elem->GetAttribute("name")->Set(this->Name()); + + // Set pose + sdf::ElementPtr poseElem = elem->GetElement("pose"); + if (!this->dataPtr->poseRelativeTo.empty()) + { + poseElem->GetAttribute("relative_to")->Set( + this->dataPtr->poseRelativeTo); + } + poseElem->Set(this->RawPose()); + + // Set the geometry + elem->InsertElement(this->dataPtr->geom.ToElement(), true); + + // Set the surface + elem->InsertElement(this->dataPtr->surface.ToElement(), true); + + return elem; +} diff --git a/src/Collision_TEST.cc b/src/Collision_TEST.cc index 33b49267d..bdf15ff18 100644 --- a/src/Collision_TEST.cc +++ b/src/Collision_TEST.cc @@ -168,3 +168,35 @@ TEST(DOMcollision, SetSurface) ASSERT_NE(nullptr, collision.Surface()->Contact()); EXPECT_EQ(collision.Surface()->Contact()->CollideBitmask(), 0x2); } + +///////////////////////////////////////////////// +TEST(DOMCollision, ToElement) +{ + sdf::Collision collision; + + collision.SetName("my-collision"); + + sdf::Geometry geom; + collision.SetGeom(geom); + collision.SetRawPose(ignition::math::Pose3d(1, 2, 3, 0.1, 0.2, 0.3)); + + sdf::Surface surface; + sdf::Contact contact; + contact.SetCollideBitmask(123u); + surface.SetContact(contact); + collision.SetSurface(surface); + + sdf::ElementPtr elem = collision.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Collision collision2; + collision2.Load(elem); + const sdf::Surface *surface2 = collision2.Surface(); + + EXPECT_EQ(collision.Name(), collision2.Name()); + EXPECT_EQ(collision.RawPose(), collision2.RawPose()); + EXPECT_NE(nullptr, collision2.Geom()); + ASSERT_NE(nullptr, surface2); + ASSERT_NE(nullptr, surface2->Contact()); + EXPECT_EQ(123u, surface2->Contact()->CollideBitmask()); +} diff --git a/src/Cylinder.cc b/src/Cylinder.cc index c04de1592..681ea8440 100644 --- a/src/Cylinder.cc +++ b/src/Cylinder.cc @@ -16,6 +16,7 @@ */ #include #include "sdf/Cylinder.hh" +#include "sdf/parser.hh" using namespace sdf; @@ -134,3 +135,18 @@ ignition::math::Cylinderd &Cylinder::Shape() { return this->dataPtr->cylinder; } + +///////////////////////////////////////////////// +sdf::ElementPtr Cylinder::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("cylinder_shape.sdf", elem); + + sdf::ElementPtr radiusElem = elem->GetElement("radius"); + radiusElem->Set(this->Radius()); + + sdf::ElementPtr lengthElem = elem->GetElement("length"); + lengthElem->Set(this->Length()); + + return elem; +} diff --git a/src/Cylinder_TEST.cc b/src/Cylinder_TEST.cc index 741dc77d4..7493f6f8b 100644 --- a/src/Cylinder_TEST.cc +++ b/src/Cylinder_TEST.cc @@ -175,3 +175,21 @@ TEST(DOMCylinder, Shape) EXPECT_DOUBLE_EQ(0.123, cylinder.Radius()); EXPECT_DOUBLE_EQ(0.456, cylinder.Length()); } + +///////////////////////////////////////////////// +TEST(DOMCylinder, ToElement) +{ + sdf::Cylinder cylinder; + + cylinder.SetRadius(1.2); + cylinder.SetLength(0.5); + + sdf::ElementPtr elem = cylinder.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Cylinder cylinder2; + cylinder2.Load(elem); + + EXPECT_DOUBLE_EQ(cylinder.Radius(), cylinder2.Radius()); + EXPECT_DOUBLE_EQ(cylinder.Length(), cylinder2.Length()); +} diff --git a/src/Element.cc b/src/Element.cc index 091c7df24..68f65e1c5 100644 --- a/src/Element.cc +++ b/src/Element.cc @@ -499,32 +499,22 @@ void Element::PrintDocLeftPane(std::string &_html, int _spacing, _html += "\n"; } +///////////////////////////////////////////////// void Element::PrintValuesImpl(const std::string &_prefix, bool _includeDefaultElements, bool _includeDefaultAttributes, const PrintConfig &_config, std::ostringstream &_out) const { - if (this->GetExplicitlySetInFile() || _includeDefaultElements) + if (_config.PreserveIncludes() && this->GetIncludeElement() != nullptr) + { + _out << this->GetIncludeElement()->ToString(_prefix, _config); + } + else if (this->GetExplicitlySetInFile() || _includeDefaultElements) { _out << _prefix << "<" << this->dataPtr->name; - Param_V::const_iterator aiter; - for (aiter = this->dataPtr->attributes.begin(); - aiter != this->dataPtr->attributes.end(); ++aiter) - { - // Only print attribute values if they were set - // TODO(anyone): GetRequired is added here to support up-conversions where - // a new required attribute with a default value is added. We would have - // better separation of concerns if the conversion process set the - // required attributes with their default values. - if ((*aiter)->GetSet() || (*aiter)->GetRequired() || - _includeDefaultAttributes) - { - _out << " " << (*aiter)->GetKey() << "='" - << (*aiter)->GetAsString(_config) << "'"; - } - } + this->dataPtr->PrintAttributes(_includeDefaultAttributes, _config, _out); if (this->dataPtr->elements.size() > 0) { @@ -533,14 +523,11 @@ void Element::PrintValuesImpl(const std::string &_prefix, for (eiter = this->dataPtr->elements.begin(); eiter != this->dataPtr->elements.end(); ++eiter) { - if ((*eiter)->GetExplicitlySetInFile() || _includeDefaultElements) - { - (*eiter)->ToString(_prefix + " ", - _includeDefaultElements, - _includeDefaultAttributes, - _config, - _out); - } + (*eiter)->ToString(_prefix + " ", + _includeDefaultElements, + _includeDefaultAttributes, + _config, + _out); } _out << _prefix << "dataPtr->name << ">\n"; } @@ -559,6 +546,50 @@ void Element::PrintValuesImpl(const std::string &_prefix, } } +///////////////////////////////////////////////// +void ElementPrivate::PrintAttributes(bool _includeDefaultAttributes, + const PrintConfig &_config, + std::ostringstream &_out) const +{ + // Attribute exceptions are used in the event of a non-default PrintConfig + // which modifies the Attributes of this Element that are printed out. The + // modifications to an Attribute by a PrintConfig will overwrite the original + // existing Attribute when this Element is printed. + std::set attributeExceptions; + if (this->name == "pose") + { + if (_config.RotationInDegrees() || _config.RotationSnapToDegrees()) + { + attributeExceptions.insert("degrees"); + _out << " " << "degrees='true'"; + + attributeExceptions.insert("rotation_format"); + _out << " " << "rotation_format='euler_rpy'"; + } + } + + Param_V::const_iterator aiter; + for (aiter = this->attributes.begin(); + aiter != this->attributes.end(); ++aiter) + { + // Only print attribute values if they were set + // TODO(anyone): GetRequired is added here to support up-conversions where + // a new required attribute with a default value is added. We would have + // better separation of concerns if the conversion process set the + // required attributes with their default values. + if ((*aiter)->GetSet() || (*aiter)->GetRequired() || + _includeDefaultAttributes) + { + const std::string key = (*aiter)->GetKey(); + const auto it = attributeExceptions.find(key); + if (it == attributeExceptions.end()) + { + _out << " " << key << "='" << (*aiter)->GetAsString(_config) << "'"; + } + } + } +} + ///////////////////////////////////////////////// void Element::PrintValues(std::string _prefix, const PrintConfig &_config) const { @@ -928,6 +959,14 @@ void Element::InsertElement(ElementPtr _elem) this->dataPtr->elements.push_back(_elem); } +///////////////////////////////////////////////// +void Element::InsertElement(ElementPtr _elem, bool _setParentToSelf) +{ + if (_setParentToSelf) + _elem->SetParent(shared_from_this()); + this->dataPtr->elements.push_back(_elem); +} + ///////////////////////////////////////////////// bool Element::HasElementDescription(const std::string &_name) const { diff --git a/src/Element_TEST.cc b/src/Element_TEST.cc index de58a067f..4261d12f9 100644 --- a/src/Element_TEST.cc +++ b/src/Element_TEST.cc @@ -91,11 +91,9 @@ TEST(Element, SetExplicitlySetInFile) sdf::ElementPtr parent = std::make_shared(); sdf::ElementPtr elem = std::make_shared(); - elem->SetParent(parent); - parent->InsertElement(elem); + parent->InsertElement(elem, true); sdf::ElementPtr elem2 = std::make_shared(); - elem2->SetParent(parent); - parent->InsertElement(elem2); + parent->InsertElement(elem2, true); EXPECT_TRUE(elem->GetExplicitlySetInFile()); @@ -111,7 +109,7 @@ TEST(Element, SetExplicitlySetInFile) // set to the same value when using this function sdf::ElementPtr child = std::make_shared(); child->SetParent(elem); - elem->InsertElement(child); + elem->InsertElement(child, false); sdf::ElementPtr sibling = std::make_shared(); sibling->SetParent(elem); diff --git a/src/Ellipsoid.cc b/src/Ellipsoid.cc index 694b9a1e1..8ef41b49a 100644 --- a/src/Ellipsoid.cc +++ b/src/Ellipsoid.cc @@ -16,6 +16,7 @@ */ #include #include "sdf/Ellipsoid.hh" +#include "sdf/parser.hh" using namespace sdf; @@ -113,3 +114,15 @@ ignition::math::Ellipsoidd &Ellipsoid::Shape() { return this->dataPtr->ellipsoid; } + +///////////////////////////////////////////////// +sdf::ElementPtr Ellipsoid::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("ellipsoid_shape.sdf", elem); + + sdf::ElementPtr radiiElem = elem->GetElement("radii"); + radiiElem->Set(this->Radii()); + + return elem; +} diff --git a/src/Ellipsoid_TEST.cc b/src/Ellipsoid_TEST.cc index 8a4bf4138..d05556f68 100644 --- a/src/Ellipsoid_TEST.cc +++ b/src/Ellipsoid_TEST.cc @@ -139,3 +139,19 @@ TEST(DOMEllipsoid, Shape) ellipsoid.Shape().SetRadii(expectedRadii); EXPECT_EQ(expectedRadii, ellipsoid.Radii()); } + +///////////////////////////////////////////////// +TEST(DOMEllipsoid, ToElement) +{ + sdf::Ellipsoid ellipsoid; + + ellipsoid.SetRadii(ignition::math::Vector3d(0.1, 1.2, 3.4)); + + sdf::ElementPtr elem = ellipsoid.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Ellipsoid ellipsoid2; + ellipsoid2.Load(elem); + + EXPECT_EQ(ellipsoid.Radii(), ellipsoid2.Radii()); +} diff --git a/src/Filesystem.cc b/src/Filesystem.cc index 9df1aa550..1ed8813a0 100644 --- a/src/Filesystem.cc +++ b/src/Filesystem.cc @@ -50,6 +50,7 @@ #include #else #include +#include #include #endif diff --git a/src/FrameSemantics.cc b/src/FrameSemantics.cc index a07ac6906..a6b4c9395 100644 --- a/src/FrameSemantics.cc +++ b/src/FrameSemantics.cc @@ -198,17 +198,6 @@ FindSinkVertex( return PairType(vertex, edges); } -///////////////////////////////////////////////// -std::pair - modelCanonicalLinkAndRelativeName(const Model *_model) -{ - if (nullptr == _model) - { - return std::make_pair(nullptr, ""); - } - return _model->CanonicalLinkAndRelativeName(); -} - ///////////////////////////////////////////////// /// \brief Resolve the pose of a model taking into account the placement frame /// attribute. This function is used to calculate the pose of the edge between a @@ -282,289 +271,533 @@ static Errors resolveModelPoseWithPlacementFrame( return errors; } -///////////////////////////////////////////////// -Errors buildFrameAttachedToGraph( - ScopedGraph &_out, const Model *_model, bool _isRoot) +/// \brief Base struct the contains a few common members. These structs provide +/// a common API used by the build*Graph functions to access the various +/// attributes and retrieve children of regular DOM objects and Interface +/// Elements. +struct WrapperBase { - Errors errors; + /// \brief Name of the entity + const std::string name; + /// \brief Element type, such as Model, Link, or Interface Frame. + const std::string elementType; + /// \brief Frame type used in the FrameAttachedTo or PoseRelativeTo graphs. + const FrameType frameType; +}; + +/// \brief Wrapper for sdf::Link and sdf::InterfaceLink +struct LinkWrapper : public WrapperBase +{ + /// \brief Constructor that takes an sdf::Link + explicit LinkWrapper(const sdf::Link &_link) + : WrapperBase{_link.Name(), "Link", FrameType::LINK}, + rawPose(_link.RawPose()), + rawRelativeTo(_link.PoseRelativeTo()), + relativeTo(rawRelativeTo) + { + } - if (!_model) + /// \brief Constructor that takes an sdf::InterfaceLink + explicit LinkWrapper(const sdf::InterfaceLink &_ifaceLink) + : WrapperBase{_ifaceLink.Name(), "Interface Link", FrameType::LINK}, + rawPose(_ifaceLink.PoseInModelFrame()), + rawRelativeTo("__model__"), + relativeTo(rawRelativeTo) { - errors.push_back({ErrorCode::ELEMENT_INVALID, - "Invalid sdf::Model pointer."}); - return errors; } - else if (!_model->Element()) + + /// \brief Raw pose of the entity. + const ignition::math::Pose3d rawPose; + /// \brief The //pose/@relative_to attribute. + const std::string rawRelativeTo; + /// \brief The final @relative_to attribute. This is the same as rawRelativeTo + /// for links and interface links. + const std::string relativeTo; +}; + +/// \brief Wrapper for sdf::Frame and sdf::InterfaceFrame +struct FrameWrapper : public WrapperBase +{ + /// \brief Constructor that takes an sdf::Frame + explicit FrameWrapper(const sdf::Frame &_frame) + : WrapperBase{_frame.Name(), "Frame", FrameType::FRAME}, + rawPose(_frame.RawPose()), + rawRelativeTo(_frame.PoseRelativeTo()), + attachedTo(_frame.AttachedTo()), + relativeTo(rawRelativeTo.empty() ? attachedTo : rawRelativeTo) { - errors.push_back({ErrorCode::ELEMENT_INVALID, - "Invalid model element in sdf::Model."}); - return errors; } - else if (_model->LinkCount() == 0 && _model->ModelCount() == 0 && - _model->InterfaceModelCount() == 0 && !_model->Static()) + + /// \brief Constructor that takes an sdf::InterfaceFrame + explicit FrameWrapper(const sdf::InterfaceFrame &_ifaceFrame) + : WrapperBase{_ifaceFrame.Name(), "Interface Frame", FrameType::FRAME}, + rawPose(_ifaceFrame.PoseInAttachedToFrame()), + rawRelativeTo(_ifaceFrame.AttachedTo()), + attachedTo(_ifaceFrame.AttachedTo()), + relativeTo(attachedTo) + { - errors.push_back({ErrorCode::MODEL_WITHOUT_LINK, - "A model must have at least one link."}); - return errors; } - auto frameType = - _model->Static() ? sdf::FrameType::STATIC_MODEL : sdf::FrameType::MODEL; + /// \brief Raw pose of the entity. + const ignition::math::Pose3d rawPose; + /// \brief The //pose/@relative_to attribute. + const std::string rawRelativeTo; + /// \brief The //frame/@attached_to attribute. + const std::string attachedTo; + /// \brief The final @relative_to attribute. For sdf::Frame, this is set to + /// the attachedTo if the rawRelativeTo is empty. For sdf::InterfaceFrame, + /// it's always set to attachedTo. + const std::string relativeTo; +}; - const std::string scopeContextName = "__model__"; +/// \brief Wrapper for sdf::Joint and sdf::InterfaceJoint +struct JointWrapper : public WrapperBase +{ + /// \brief Constructor that takes an sdf::Joint + explicit JointWrapper(const sdf::Joint &_joint) + : WrapperBase{_joint.Name(), "Joint", FrameType::JOINT}, + rawPose(_joint.RawPose()), + rawRelativeTo(_joint.PoseRelativeTo()), + childName(_joint.ChildLinkName()), + relativeTo(rawRelativeTo.empty() ? childName : rawRelativeTo) + { + } + + /// \brief Constructor that takes an sdf::InterfaceJoint + explicit JointWrapper(const sdf::InterfaceJoint &_ifaceJoint) + : WrapperBase{_ifaceJoint.Name(), "Interface Joint", FrameType::JOINT}, + rawPose(_ifaceJoint.PoseInChildFrame()), + rawRelativeTo(_ifaceJoint.ChildName()), + childName(_ifaceJoint.ChildName()), + relativeTo(childName) + { + } + + /// \brief Raw pose of the entity. + const ignition::math::Pose3d rawPose; + /// \brief The //pose/@relative_to attribute. + const std::string rawRelativeTo; + /// \brief The name of the child frame (i.e. content of //joint/child). + const std::string childName; + /// \brief The final @relative_to attribute. For sdf::Joint, this is set to + /// the childName if the rawRelativeTo is empty. For sdf::InterfaceJoint, it's + /// always set to childName. + const std::string relativeTo; +}; + +/// \brief Wrapper for sdf::Model and sdf::InterfaceModel +struct ModelWrapper : public WrapperBase +{ + /// \brief Constructor that takes an sdf::Model + explicit ModelWrapper(const sdf::Model &_model) + : WrapperBase{_model.Name(), "Model", + _model.Static() ? FrameType::STATIC_MODEL + : FrameType::MODEL}, + rawPose(_model.RawPose()), + rawRelativeTo(_model.PoseRelativeTo()), + relativeTo(rawRelativeTo), + canonicalLinkName(_model.CanonicalLinkAndRelativeName().second), + placementFrameName(_model.PlacementFrameName()), + isStatic(_model.Static()) + { + for (uint64_t i = 0; i < _model.LinkCount(); ++i) + { + this->links.emplace_back(*_model.LinkByIndex(i)); + } + for (uint64_t i = 0; i < _model.FrameCount(); ++i) + { + this->frames.emplace_back(*_model.FrameByIndex(i)); + } + for (uint64_t i = 0; i < _model.JointCount(); ++i) + { + this->joints.emplace_back(*_model.JointByIndex(i)); + } + for (uint64_t i = 0; i < _model.ModelCount(); ++i) + { + this->models.emplace_back(*_model.ModelByIndex(i)); + } + for (uint64_t i = 0; i < _model.InterfaceModelCount(); ++i) + { + this->models.emplace_back(*_model.InterfaceModelNestedIncludeByIndex(i), + *_model.InterfaceModelByIndex(i)); + } + } - auto rootId = ignition::math::graph::kNullId; - if (_isRoot) + /// \brief Constructor that takes an sdf::NestedInclude and + /// sdf::InterfaceModel. + explicit ModelWrapper(const NestedInclude &_nestedInclude, + const sdf::InterfaceModel &_ifaceModel) + : WrapperBase{_ifaceModel.Name(), "Interface Model", + _ifaceModel.Static() ? FrameType::STATIC_MODEL + : FrameType::MODEL}, + rawPose(_ifaceModel.ModelFramePoseInParentFrame()), + rawRelativeTo(_nestedInclude.IncludePoseRelativeTo().value_or("")), + relativeTo(rawRelativeTo), + canonicalLinkName(_ifaceModel.CanonicalLinkName()), + placementFrameName(_nestedInclude.PlacementFrame().value_or("")), + isStatic(_ifaceModel.Static()) { - // The __root__ vertex identifies the scope that contains a root level - // model. In the PoseRelativeTo graph, this vertex is connected to the model - // with an edge that holds the value of //model/pose. However, in the - // FrameAttachedTo graph, the vertex is disconnected because nothing is - // attached to it. Since only links and static models are allowed to be - // disconnected in this graph, the STATIC_MODEL was chosen as its frame - // type. A different frame type could potentially be used, but that adds - // more complexity to the validateFrameAttachedToGraph code. - _out = _out.AddScopeVertex( - "", "__root__", scopeContextName, sdf::FrameType::STATIC_MODEL); - rootId = _out.ScopeVertexId(); + this->AddInterfaceChildren(_ifaceModel); } - const auto modelId = _out.AddVertex(_model->Name(), frameType).Id(); + /// \brief Constructor that takes an sdf::InterfaceModel. These are + /// InterfaceModels nested under other InterfaceModels. + explicit ModelWrapper(const sdf::InterfaceModel &_ifaceModel) + : WrapperBase{_ifaceModel.Name(), "Interface Model", + _ifaceModel.Static() ? FrameType::STATIC_MODEL + : FrameType::MODEL}, + rawPose(_ifaceModel.ModelFramePoseInParentFrame()), + rawRelativeTo(""), + relativeTo(rawRelativeTo), + canonicalLinkName(_ifaceModel.CanonicalLinkName()), + placementFrameName(""), + isStatic(_ifaceModel.Static()) + { + this->AddInterfaceChildren(_ifaceModel); + } - auto outModel = _out.AddScopeVertex( - _model->Name(), scopeContextName, scopeContextName, frameType); - const auto modelFrameId = outModel.ScopeVertexId(); + /// \brief Raw pose of the entity. + const ignition::math::Pose3d rawPose; + /// \brief The //pose/@relative_to attribute. + const std::string rawRelativeTo; + /// \brief The final @relative_to attribute. This is set to rawRelativeTo for + /// sdf::Model and sdf::InterfaceModel. + const std::string relativeTo; + /// \brief The name of the resolved canonical link. + const std::string canonicalLinkName; + /// \brief The name of the placement frame. + const std::string placementFrameName; + /// \brief Whether the model/interface model is static. + const bool isStatic; - // Add an aliasing edge from the model vertex to the - // corresponding vertex in the FrameAttachedTo graph of the child model, - auto &edge = outModel.AddEdge({modelId, modelFrameId}, true); - // Set the edge weight to 0 to indicate that this is an aliasing edge. - edge.SetWeight(0); + /// \brief Children links and interface links. + std::vector links; + /// \brief Children frames and interface frames. + std::vector frames; + /// \brief Children joints and interface joints. + std::vector joints; + /// \brief Children nested models and interface models. + std::vector models; - // add link vertices - for (uint64_t l = 0; l < _model->LinkCount(); ++l) + /// \brief Helper function to add children of interface models. + private: void AddInterfaceChildren(const sdf::InterfaceModel &_ifaceModel) { - auto link = _model->LinkByIndex(l); - if (outModel.Count(link->Name()) > 0) + for (const auto &item : _ifaceModel.Links()) { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Link with non-unique name [" + link->Name() + - "] detected in model with name [" + _model->Name() + - "]."}); - continue; + this->links.emplace_back(item); + } + for (const auto &item : _ifaceModel.Frames()) + { + this->frames.emplace_back(item); + } + for (const auto &item : _ifaceModel.Joints()) + { + this->joints.emplace_back(item); + } + for (const auto &item : _ifaceModel.NestedModels()) + { + this->models.emplace_back(*item); } - outModel.AddVertex(link->Name(), sdf::FrameType::LINK); } +}; - // add joint vertices - for (uint64_t j = 0; j < _model->JointCount(); ++j) +/// \brief Wrapper for sdf::World +struct WorldWrapper : public WrapperBase +{ + /// \brief Constructor that takes an sdf::World + explicit WorldWrapper(const sdf::World &_world) + : WrapperBase{_world.Name(), "World", FrameType::WORLD} { - auto joint = _model->JointByIndex(j); - if (outModel.Count(joint->Name()) > 0) + for (uint64_t i = 0; i < _world.FrameCount(); ++i) { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Joint with non-unique name [" + joint->Name() + - "] detected in model with name [" + _model->Name() + - "]."}); - continue; + this->frames.emplace_back(*_world.FrameByIndex(i)); + } + for (uint64_t i = 0; i < _world.ModelCount(); ++i) + { + this->models.emplace_back(*_world.ModelByIndex(i)); + } + for (uint64_t i = 0; i < _world.InterfaceModelCount(); ++i) + { + this->models.emplace_back(*_world.InterfaceModelNestedIncludeByIndex(i), + *_world.InterfaceModelByIndex(i)); } - outModel.AddVertex(joint->Name(), sdf::FrameType::JOINT).Id(); } - // add frame vertices - for (uint64_t f = 0; f < _model->FrameCount(); ++f) + /// \brief Children frames. + std::vector frames; + /// \brief Children models and interface models. + std::vector models; +}; + +///////////////////////////////////////////////// +/// \brief Add vertices to either Frame attached to or Pose graph. If the child +/// element is a model, it calls the corresponding build*Graph function. +/// \tparam ElementT The type of Element. This must be a class that derives from +/// WrapperBase. +/// \tparam GraphT Type of Graph. Either PoseRelativeToGraph or +/// FrameAttachedToGraph. +/// \param[in,out] _out The graph to which vertices will be added. +/// \param[in] _items List of Elements such as links, joints, etc for which +/// vertices will be created in the graph. +/// \param[in] _parent Parent element of the items in `_items`. +/// \param[out] _errors Errors encountered while adding vertices. +template +void addVerticesToGraph(ScopedGraph &_out, + const std::vector &_items, + const WrapperBase &_parent, Errors &_errors) +{ + for (const auto &item : _items) { - auto frame = _model->FrameByIndex(f); - if (outModel.Count(frame->Name()) > 0) + if (_out.Count(item.name) > 0) { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Frame with non-unique name [" + frame->Name() + - "] detected in model with name [" + _model->Name() + - "]."}); + _errors.emplace_back(ErrorCode::DUPLICATE_NAME, item.elementType + + " with non-unique name [" + item.name + "] detected in " + + lowercase(_parent.elementType) + " with name [" + + _parent.name + "]."); continue; } - outModel.AddVertex(frame->Name(), sdf::FrameType::FRAME).Id(); + if constexpr (std::is_same_v) + { + if constexpr (std::is_same_v) + { + auto nestedErrors = wrapperBuildFrameAttachedToGraph(_out, item, false); + _errors.insert(_errors.end(), nestedErrors.begin(), nestedErrors.end()); + } + else + { + auto nestedErrors = wrapperBuildPoseRelativeToGraph(_out, item, false); + _errors.insert(_errors.end(), nestedErrors.begin(), nestedErrors.end()); + } + } + else + { + _out.AddVertex(item.name, item.frameType); + } } +} - // add nested model vertices - for (uint64_t m = 0; m < _model->ModelCount(); ++m) +///////////////////////////////////////////////// +/// \brief Add edges to the PoseRelativeTo graph. +/// \tparam ElementT The type of Element. This must be a class that derives from +/// WrapperBase. +/// \param[in,out] _out The PoseRelativeTo graph to which edges will be added. +/// \param[in] _items List of Elements such as links, joints, etc for which +/// edges will be created in the graph. +/// \param[in] _parent Parent element of the items in `_items`. +/// \param[out] _errors Errors encountered while adding edges. +template +void addEdgesToGraph(ScopedGraph &_out, + const std::vector &_items, + const WrapperBase &_parent, Errors &_errors) +{ + for (const auto &item : _items) { - auto nestedModel = _model->ModelByIndex(m); - if (outModel.Count(nestedModel->Name()) > 0) + const std::string &relativeTo = item.relativeTo; + const ignition::math::Pose3d poseInRelativeTo = item.rawPose; + + auto itemId = _out.VertexIdByName(item.name); + auto relativeToId = _out.ScopeVertexId(); + std::string typeForErrorMsg = "relative_to"; + ErrorCode errorCode = ErrorCode::POSE_RELATIVE_TO_INVALID; + + if constexpr (std::is_same_v) { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Nested model with non-unique name [" + nestedModel->Name() + - "] detected in model with name [" + _model->Name() + - "]."}); - continue; + if (item.rawRelativeTo.empty()) + { + typeForErrorMsg = "attached_to"; + errorCode = ErrorCode::FRAME_ATTACHED_TO_INVALID; + } } - auto nestedErrors = buildFrameAttachedToGraph(outModel, nestedModel, false); - errors.insert(errors.end(), nestedErrors.begin(), nestedErrors.end()); - } - // add nested interface model vertices - for (uint64_t m = 0; m < _model->InterfaceModelCount(); ++m) - { - auto nestedIfaceModel = _model->InterfaceModelByIndex(m); - if (outModel.Count(nestedIfaceModel->Name()) > 0) + if (!relativeTo.empty()) { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Nested interface model with non-unique name [" + - nestedIfaceModel->Name() + "] detected in model with name [" + - _model->Name() + "]."}); - continue; + // look for vertex in graph that matches relative_to value + if (_out.Count(relativeTo) != 1) + { + std::stringstream errMsg; + errMsg << typeForErrorMsg << " name[" << relativeTo << "] specified by " + << lowercase(item.elementType) << " with name[" << item.name + << "] does not match a"; + if (_parent.frameType == FrameType::WORLD) + { + errMsg << " model or frame name "; + } + else + { + errMsg << " nested model, link, joint, or frame name "; + } + errMsg << "in " + lowercase(_parent.elementType) + " with name[" + + _parent.name + "]."; + + _errors.push_back({errorCode, errMsg.str()}); + continue; + } + + relativeToId = _out.VertexIdByName(relativeTo); + if (item.name == relativeTo) + { + _errors.push_back({ErrorCode::POSE_RELATIVE_TO_CYCLE, + "relative_to name[" + relativeTo + + "] is identical to " + lowercase(item.elementType) + " name[" + + item.name + "], causing a graph cycle in " + + lowercase(_parent.elementType) + " with name[" + + _parent.name + "]."}); + } + } + + if constexpr (std::is_same_v) + { + ignition::math::Pose3d resolvedModelPose = item.rawPose; + + sdf::Errors resolveErrors = resolveModelPoseWithPlacementFrame( + item.rawPose, item.placementFrameName, + _out.ChildModelScope(item.name), resolvedModelPose); + _errors.insert(_errors.end(), resolveErrors.begin(), resolveErrors.end()); + + _out.AddEdge({relativeToId, itemId}, resolvedModelPose); + } + else + { + _out.AddEdge({relativeToId, itemId}, poseInRelativeTo); } - auto nestedErrors = buildFrameAttachedToGraph(outModel, nestedIfaceModel); - errors.insert(errors.end(), nestedErrors.begin(), nestedErrors.end()); } +} - // add edges from joint to child frames - for (uint64_t j = 0; j < _model->JointCount(); ++j) +///////////////////////////////////////////////// +/// \brief Add Joint and InterfaceJoint edges to the FrameAttachedTo graph +/// \param[in,out] _out The FrameAttachedTo graph to which edges will be added. +/// \param[in] _joints List of joints for which edges will be created in the +/// graph. +/// \param[in] _model Parent model of the items in `_items`. +/// \param[out] _errors Errors encountered while adding edges. +void addEdgesToGraph(ScopedGraph &_out, + const std::vector &_joints, + const ModelWrapper &_model, Errors &_errors) +{ + for (const auto &joint : _joints) { - auto joint = _model->JointByIndex(j); - auto jointId = outModel.VertexIdByName(joint->Name()); - auto childFrameName = joint->ChildLinkName(); - if (outModel.Count(childFrameName) != 1) + auto jointId = _out.VertexIdByName(joint.name); + + if (_out.Count(joint.childName) != 1) { - errors.push_back({ErrorCode::JOINT_CHILD_LINK_INVALID, - "Child frame with name[" + childFrameName + - "] specified by joint with name[" + joint->Name() + - "] not found in model with name[" + _model->Name() + "]."}); + _errors.push_back( + {ErrorCode::JOINT_CHILD_LINK_INVALID, + "Child frame with name[" + joint.childName + "] specified by " + + lowercase(joint.elementType) + " with name[" + joint.name + + "] not found in model with name[" + _model.name + "]."}); continue; } - auto childFrameId = outModel.VertexIdByName(childFrameName); - outModel.AddEdge({jointId, childFrameId}, true); + auto childFrameId = _out.VertexIdByName(joint.childName); + _out.AddEdge({jointId, childFrameId}, true); } +} - // add frame edges - for (uint64_t f = 0; f < _model->FrameCount(); ++f) +///////////////////////////////////////////////// +/// \brief Add Frame and InterfaceFrame edges to the FrameAttachedTo graph +/// \param[in,out] _out The FrameAttachedTo graph to which edges will be added. +/// \param[in] _frames List of frames for which edges will be created in the +/// graph. +/// \param[in] _model Parent model of the items in `_items`. +/// \param[out] _errors Errors encountered while adding edges. +void addEdgesToGraph(ScopedGraph &_out, + const std::vector &_frames, + const WrapperBase &_parent, Errors &_errors) +{ + for (const auto &frame : _frames) { - auto frame = _model->FrameByIndex(f); - auto frameId = outModel.VertexIdByName(frame->Name()); + auto frameId = _out.VertexIdByName(frame.name); // look for vertex in graph that matches attached_to value - std::string attachedTo = frame->AttachedTo(); + std::string attachedTo = frame.attachedTo; if (attachedTo.empty()) { - // if the attached-to name is empty, use the scope context name - attachedTo = scopeContextName; - } - if (outModel.Count(attachedTo) != 1) - { - errors.push_back({ErrorCode::FRAME_ATTACHED_TO_INVALID, - "attached_to name[" + attachedTo + - "] specified by frame with name[" + frame->Name() + - "] does not match a nested model, link, joint, or frame name " - "in model with name[" + _model->Name() + "]."}); - continue; - } - auto attachedToId = outModel.VertexIdByName(attachedTo); - bool edgeData = true; - if (frame->Name() == frame->AttachedTo()) - { - // set edgeData to false if attaches to itself, since this is invalid - edgeData = false; - errors.push_back({ErrorCode::FRAME_ATTACHED_TO_CYCLE, - "attached_to name[" + attachedTo + - "] is identical to frame name[" + frame->Name() + - "], causing a graph cycle " - "in model with name[" + _model->Name() + "]."}); + // if the attached-to name is empty, use the default attachedTo + attachedTo = _out.ScopeContextName(); } - outModel.AddEdge({frameId, attachedToId}, edgeData); - } - // identify canonical link, which may be nested - const auto[canonicalLink, canonicalLinkName] = - modelCanonicalLinkAndRelativeName(_model); - if (!_model->Static()) - { - if (nullptr == canonicalLink) + if (_out.Count(attachedTo) != 1) { - if (canonicalLinkName.empty()) + std::stringstream errMsg; + errMsg << "attached_to name[" << attachedTo << "] specified by " + << lowercase(frame.elementType) << " with name[" << frame.name + << "] does not match a"; + if (_parent.frameType == FrameType::WORLD) { - if (_model->ModelCount() == 0 && _model->InterfaceModelCount() == 0) - { - errors.push_back({ErrorCode::MODEL_WITHOUT_LINK, - "A model must have at least one link."}); - } - else - { - // The canonical link was not found, but the model could have a - // descendant that has a static model, so simply create an edge to the - // first model and let the attached_to frame resolution take care of - // finding the canonical link - // - std::string firstChildModelName = ""; - if (_model->ModelCount() > 0) - { - firstChildModelName = _model->ModelByIndex(0)->Name(); - } - else - { - firstChildModelName = _model->InterfaceModelByIndex(0)->Name(); - } - auto firstChildModelId = outModel.VertexIdByName(firstChildModelName); - outModel.AddEdge({modelFrameId, firstChildModelId}, true); - } + errMsg << " model or frame name "; } else { - // Search for the vertex in case the canonical link is an InterfaceLink - auto canonicalLinkId = outModel.VertexIdByName(canonicalLinkName); - if (ignition::math::graph::kNullId != canonicalLinkId) - { - outModel.AddEdge({modelFrameId, canonicalLinkId}, true); - } - else - { - errors.push_back({ErrorCode::MODEL_CANONICAL_LINK_INVALID, - "canonical_link with name[" + canonicalLinkName + - "] not found in model with name[" + _model->Name() + "]."}); - } + errMsg << " nested model, link, joint, or frame name "; } - // return early - return errors; + errMsg << "in " + lowercase(_parent.elementType) + " with name[" + + _parent.name + "]."; + + _errors.push_back({ErrorCode::FRAME_ATTACHED_TO_INVALID, errMsg.str()}); + continue; } - else + + auto attachedToId = _out.VertexIdByName(attachedTo); + bool edgeData = true; + if (frame.name == frame.attachedTo) { - // Add an edge from the implicit model frame to the canonical link found. - auto linkId = outModel.VertexIdByName(canonicalLinkName); - outModel.AddEdge({modelFrameId, linkId}, true); + // set edgeData to false if attaches to itself, since this is invalid + edgeData = false; + _errors.push_back({ErrorCode::FRAME_ATTACHED_TO_CYCLE, + "attached_to name[" + attachedTo + + "] is identical to frame name[" + frame.attachedTo + + "], causing a graph cycle in " + lowercase(_parent.elementType) + + " with name[" + _parent.name + "]."}); } + _out.AddEdge({frameId, attachedToId}, edgeData); } - - return errors; } ///////////////////////////////////////////////// -Errors buildFrameAttachedToGraph(ScopedGraph &_out, - InterfaceModelConstPtr _model) +/// \brief Helper function that actually build a FrameAttachedToGraph given a +/// wrapped Model or Interface Model. +/// \param[out] _out Graph object to write. +/// \param[in] _model Wrapped Model or Interface model from which to build +/// attached_to graph. +/// \param[in] _isRoot True if the model is a standalone model, i.e, +/// //sdf/model. This is not relevant if the _model is a wrapped Interface +/// Model. +/// \return Errors. +Errors wrapperBuildFrameAttachedToGraph(ScopedGraph &_out, + const ModelWrapper &_model, + bool _isRoot) { Errors errors; - if (!_model) - { - errors.push_back({ErrorCode::ELEMENT_INVALID, - "Invalid sdf::InterfaceModel pointer."}); - return errors; - } - else if (_model->Links().size() == 0u && _model->NestedModels().size() == 0 && - !_model->Static()) + if (_model.links.size() == 0u && _model.models.size() == 0 && + !_model.isStatic) { errors.push_back({ErrorCode::MODEL_WITHOUT_LINK, - "Model with name[" + _model->Name() + - "] must have at least one link."}); + "A model must have at least one link."}); return errors; } - auto frameType = - _model->Static() ? sdf::FrameType::STATIC_MODEL : sdf::FrameType::MODEL; + auto frameType = _model.frameType; const std::string scopeContextName = "__model__"; - const auto modelId = _out.AddVertex(_model->Name(), frameType).Id(); + if (_isRoot) + { + // The __root__ vertex identifies the scope that contains a root level + // model. In the PoseRelativeTo graph, this vertex is connected to the model + // with an edge that holds the value of //model/pose. However, in the + // FrameAttachedTo graph, the vertex is disconnected because nothing is + // attached to it. Since only links and static models are allowed to be + // disconnected in this graph, the STATIC_MODEL was chosen as its frame + // type. A different frame type could potentially be used, but that adds + // more complexity to the validateFrameAttachedToGraph code. + _out = _out.AddScopeVertex( + "", "__root__", scopeContextName, sdf::FrameType::STATIC_MODEL); + } + + const auto modelId = _out.AddVertex(_model.name, frameType).Id(); auto outModel = _out.AddScopeVertex( - _model->Name(), scopeContextName, scopeContextName, frameType); + _model.name, scopeContextName, scopeContextName, frameType); const auto modelFrameId = outModel.ScopeVertexId(); // Add an aliasing edge from the model vertex to the @@ -574,128 +807,36 @@ Errors buildFrameAttachedToGraph(ScopedGraph &_out, edge.SetWeight(0); // add link vertices - for (const auto &link : _model->Links()) - { - if (outModel.Count(link.Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Link with non-unique name [" + link.Name() + - "] detected in model with name [" + _model->Name() + - "]."}); - continue; - } - outModel.AddVertex(link.Name(), sdf::FrameType::LINK); - } + addVerticesToGraph(outModel, _model.links, _model, errors); // add joint vertices - for (const auto &joint : _model->Joints()) - { - if (outModel.Count(joint.Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Joint with non-unique name [" + joint.Name() + - "] detected in model with name [" + _model->Name() + - "]."}); - continue; - } - outModel.AddVertex(joint.Name(), sdf::FrameType::JOINT); - } + addVerticesToGraph(outModel, _model.joints, _model, errors); // add frame vertices - for (const auto &frame : _model->Frames()) - { - if (outModel.Count(frame.Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Frame with non-unique name [" + frame.Name() + - "] detected in model with name [" + _model->Name() + - "]."}); - continue; - } - outModel.AddVertex(frame.Name(), sdf::FrameType::FRAME); - } + addVerticesToGraph(outModel, _model.frames, _model, errors); // add nested model vertices - for (const auto &nestedIfaceModel : _model->NestedModels()) - { - if (outModel.Count(nestedIfaceModel->Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Nested model with non-unique name [" + nestedIfaceModel->Name() + - "] detected in model with name [" + _model->Name() + - "]."}); - continue; - } - auto nestedErrors = buildFrameAttachedToGraph(outModel, nestedIfaceModel); - errors.insert(errors.end(), nestedErrors.begin(), nestedErrors.end()); - } + addVerticesToGraph(outModel, _model.models, _model, errors); // add edges from joint to child frames - for (const auto &joint : _model->Joints()) - { - auto jointId = outModel.VertexIdByName(joint.Name()); - const auto &childFrameName = joint.ChildName(); - if (outModel.Count(childFrameName) != 1) - { - errors.push_back({ErrorCode::JOINT_CHILD_LINK_INVALID, - "Child frame with name[" + childFrameName + - "] specified by joint with name[" + joint.Name() + - "] not found in model with name[" + _model->Name() + "]."}); - continue; - } - auto childFrameId = outModel.VertexIdByName(childFrameName); - outModel.AddEdge({jointId, childFrameId}, true); - } + addEdgesToGraph(outModel, _model.joints, _model, errors); // add frame edges - for (const auto &frame : _model->Frames()) - { - auto frameId = outModel.VertexIdByName(frame.Name()); - // look for vertex in graph that matches attached_to value - std::string attachedTo = frame.AttachedTo(); - if (attachedTo.empty()) - { - // if the attached-to name is empty, use the scope context name - attachedTo = scopeContextName; - } - if (outModel.Count(attachedTo) != 1) - { - errors.push_back({ErrorCode::FRAME_ATTACHED_TO_INVALID, - "attached_to name[" + attachedTo + - "] specified by frame with name[" + frame.Name() + - "] does not match a nested model, link, joint, or frame name " - "in model with name[" + _model->Name() + "]."}); - continue; - } - auto attachedToId = outModel.VertexIdByName(attachedTo); - bool edgeData = true; - if (frame.Name() == frame.AttachedTo()) - { - // set edgeData to false if attaches to itself, since this is invalid - edgeData = false; - errors.push_back({ErrorCode::FRAME_ATTACHED_TO_CYCLE, - "attached_to name[" + attachedTo + - "] is identical to frame name[" + frame.Name() + - "], causing a graph cycle " - "in model with name[" + _model->Name() + "]."}); - } - outModel.AddEdge({frameId, attachedToId}, edgeData); - } + addEdgesToGraph(outModel, _model.frames, _model, errors); // identify canonical link, which may be nested - const std::string canonicalLinkName = _model->CanonicalLinkName(); + const std::string canonicalLinkName = _model.canonicalLinkName; const auto canonicalLinkId = outModel.VertexIdByName(canonicalLinkName); - if (!_model->Static()) + if (!_model.isStatic) { if (ignition::math::graph::kNullId == canonicalLinkId) { if (canonicalLinkName.empty()) { - if (_model->NestedModels().size() == 0u) + if (_model.models.size() == 0u) { errors.push_back({ErrorCode::MODEL_WITHOUT_LINK, - "Interface model with name[" + _model->Name() + - "] must have at least one link."}); + "A model must have at least one link."}); } else { @@ -704,15 +845,15 @@ Errors buildFrameAttachedToGraph(ScopedGraph &_out, // first model and let the attached_to frame resolution take care of // finding the canonical link auto firstChildModelId = - outModel.VertexIdByName(_model->NestedModels().front()->Name()); - outModel.AddEdge({modelFrameId, firstChildModelId }, true); + outModel.VertexIdByName(_model.models.front().name); + outModel.AddEdge({modelFrameId, firstChildModelId}, true); } } else { errors.push_back({ErrorCode::MODEL_CANONICAL_LINK_INVALID, "canonical_link with name[" + canonicalLinkName + - "] not found in model with name[" + _model->Name() + "]."}); + "] not found in model with name[" + _model.name + "]."}); } // return early return errors; @@ -726,25 +867,40 @@ Errors buildFrameAttachedToGraph(ScopedGraph &_out, return errors; } - ///////////////////////////////////////////////// Errors buildFrameAttachedToGraph( - ScopedGraph &_out, const World *_world) + ScopedGraph &_out, const Model *_model, bool _isRoot) { - Errors errors; - - if (!_world) + if (!_model) { - errors.push_back({ErrorCode::ELEMENT_INVALID, - "Invalid sdf::World pointer."}); - return errors; + return Errors{{ErrorCode::ELEMENT_INVALID, "Invalid sdf::Model pointer."}}; } - else if (!_world->Element()) + else if (!_model->Element()) { - errors.push_back({ErrorCode::ELEMENT_INVALID, - "Invalid world element in sdf::World."}); - return errors; + return Errors{ + {ErrorCode::ELEMENT_INVALID, "Invalid model element in sdf::Model."}}; + } + return wrapperBuildFrameAttachedToGraph(_out, ModelWrapper(*_model), _isRoot); +} + +///////////////////////////////////////////////// +Errors buildFrameAttachedToGraph(ScopedGraph &_out, + const InterfaceModel *_model) +{ + if (!_model) + { + return Errors{ + {ErrorCode::ELEMENT_INVALID, "Invalid sdf::InterfaceModel pointer."}}; } + return wrapperBuildFrameAttachedToGraph(_out, ModelWrapper(*_model), false); +} + + +///////////////////////////////////////////////// +Errors buildFrameAttachedToGraph( + ScopedGraph &_out, const WorldWrapper &_world) +{ + Errors errors; // add implicit world frame vertex first const std::string scopeContextName = "world"; @@ -752,117 +908,49 @@ Errors buildFrameAttachedToGraph( "", scopeContextName, scopeContextName, sdf::FrameType::WORLD); // add model vertices - for (uint64_t m = 0; m < _world->ModelCount(); ++m) - { - auto model = _world->ModelByIndex(m); - if (_out.Count(model->Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Model with non-unique name [" + model->Name() + - "] detected in world with name [" + _world->Name() + - "]."}); - continue; - } - auto modelErrors = buildFrameAttachedToGraph(_out, model, false); - errors.insert(errors.end(), modelErrors.begin(), modelErrors.end()); - } - - // add interface model vertices - for (uint64_t im = 0; im < _world->InterfaceModelCount(); ++im) - { - auto ifaceModel = _world->InterfaceModelByIndex(im); - if (_out.Count(ifaceModel->Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Interface Model with non-unique name [" + ifaceModel->Name() + - "] detected in world with name [" + _world->Name() + - "]."}); - continue; - } - auto modelErrors = buildFrameAttachedToGraph(_out, ifaceModel); - errors.insert(errors.end(), modelErrors.begin(), modelErrors.end()); - } + addVerticesToGraph(_out, _world.models, _world, errors); // add frame vertices - for (uint64_t f = 0; f < _world->FrameCount(); ++f) - { - auto frame = _world->FrameByIndex(f); - if (_out.Count(frame->Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Frame with non-unique name [" + frame->Name() + - "] detected in world with name [" + _world->Name() + - "]."}); - continue; - } - _out.AddVertex(frame->Name(), sdf::FrameType::FRAME).Id(); - } + addVerticesToGraph(_out, _world.frames, _world, errors); // add frame edges - for (uint64_t f = 0; f < _world->FrameCount(); ++f) - { - auto frame = _world->FrameByIndex(f); - auto frameId = _out.VertexIdByName(frame->Name()); - // look for vertex in graph that matches attached_to value - std::string attachedTo = frame->AttachedTo(); - if (attachedTo.empty()) - { - // if the attached-to name is empty, use the scope context name - attachedTo = scopeContextName; - if (_out.Count(scopeContextName) != 1) - { - errors.push_back({ErrorCode::FRAME_ATTACHED_TO_GRAPH_ERROR, - "FrameAttachedToGraph error: scope frame[" + - scopeContextName + "] not found in map."}); - continue; - } - } - if (_out.Count(attachedTo) != 1) - { - errors.push_back({ErrorCode::FRAME_ATTACHED_TO_INVALID, - "attached_to name[" + attachedTo + - "] specified by frame with name[" + frame->Name() + - "] does not match a model or frame name " - "in world with name[" + _world->Name() + "]."}); - continue; - } - auto attachedToId = _out.VertexIdByName(attachedTo); - bool edgeData = true; - if (frame->Name() == frame->AttachedTo()) - { - // set edgeData to false if attaches to itself, since this is invalid - edgeData = false; - errors.push_back({ErrorCode::FRAME_ATTACHED_TO_CYCLE, - "attached_to name[" + attachedTo + - "] is identical to frame name[" + frame->Name() + - "], causing a graph cycle " - "in world with name[" + _world->Name() + "]."}); - } - _out.AddEdge({frameId, attachedToId}, edgeData); - } + addEdgesToGraph(_out, _world.frames, _world, errors); return errors; } ///////////////////////////////////////////////// -Errors buildPoseRelativeToGraph( - ScopedGraph &_out, const Model *_model, bool _isRoot) +Errors buildFrameAttachedToGraph( + ScopedGraph &_out, const World *_world) { - Errors errors; - - if (!_model) + if (!_world) { - errors.push_back({ErrorCode::ELEMENT_INVALID, - "Invalid sdf::Model pointer."}); - return errors; + return Errors{{ErrorCode::ELEMENT_INVALID, "Invalid sdf::World pointer."}}; } - else if (!_model->Element()) + else if (!_world->Element()) { - errors.push_back({ErrorCode::ELEMENT_INVALID, - "Invalid model element in sdf::Model."}); - return errors; + return Errors{ + {ErrorCode::ELEMENT_INVALID, "Invalid world element in sdf::World."}}; } + return buildFrameAttachedToGraph(_out, WorldWrapper(*_world)); +} + +///////////////////////////////////////////////// +/// \brief Helper function that actually builds the PoseRelativeToGraph given a +/// wrapped Model or Interface model. +/// \param[out] _out Graph object to write. +/// \param[in] _model Wrapped Model or Interface model from which to build +/// relative_to graph. +/// \param[in] _isRoot True if the model is a standalone model, i.e, +/// //sdf/model. This is not relevant if the _model is a wrapped Interface +/// Model. +/// \return Errors. +Errors wrapperBuildPoseRelativeToGraph(ScopedGraph &_out, + const ModelWrapper &_model, bool _isRoot) +{ + Errors errors; + const std::string scopeContextName = "__model__"; auto rootId = ignition::math::graph::kNullId; // add the model frame vertex first @@ -872,8 +960,8 @@ Errors buildPoseRelativeToGraph( "", "__root__", scopeContextName, sdf::FrameType::MODEL); rootId = _out.ScopeVertexId(); } - auto modelId = _out.AddVertex(_model->Name(), sdf::FrameType::MODEL).Id(); - auto outModel = _out.AddScopeVertex(_model->Name(), scopeContextName, + auto modelId = _out.AddVertex(_model.name, sdf::FrameType::MODEL).Id(); + auto outModel = _out.AddScopeVertex(_model.name, scopeContextName, scopeContextName, sdf::FrameType::MODEL); auto modelFrameId = outModel.ScopeVertexId(); @@ -884,311 +972,32 @@ Errors buildPoseRelativeToGraph( // Set the edge weight to 0 to indicate that this is an aliasing edge. edge.SetWeight(0); - // add link vertices and default edge if relative_to is empty - for (uint64_t l = 0; l < _model->LinkCount(); ++l) - { - auto link = _model->LinkByIndex(l); - if (outModel.Count(link->Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Link with non-unique name [" + link->Name() + - "] detected in model with name [" + _model->Name() + - "]."}); - continue; - } - auto linkId = - outModel.AddVertex(link->Name(), sdf::FrameType::LINK).Id(); - - if (link->PoseRelativeTo().empty()) - { - // relative_to is empty, so add edge from implicit model frame to link - outModel.AddEdge({modelFrameId, linkId}, link->RawPose()); - } - } + // add link vertices + addVerticesToGraph(outModel, _model.links, _model, errors); // add joint vertices - for (uint64_t j = 0; j < _model->JointCount(); ++j) - { - auto joint = _model->JointByIndex(j); - if (outModel.Count(joint->Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Joint with non-unique name [" + joint->Name() + - "] detected in model with name [" + _model->Name() + - "]."}); - continue; - } - outModel.AddVertex(joint->Name(), sdf::FrameType::JOINT).Id(); - } - - // add frame vertices and default edge if both - // relative_to and attached_to are empty - for (uint64_t f = 0; f < _model->FrameCount(); ++f) - { - auto frame = _model->FrameByIndex(f); - if (outModel.Count(frame->Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Frame with non-unique name [" + frame->Name() + - "] detected in model with name [" + _model->Name() + - "]."}); - continue; - } - auto frameId = - outModel.AddVertex(frame->Name(), sdf::FrameType::FRAME).Id(); + addVerticesToGraph(outModel, _model.joints, _model, errors); - if (frame->PoseRelativeTo().empty() && frame->AttachedTo().empty()) - { - // add edge from implicit model frame to frame - outModel.AddEdge({modelFrameId, frameId}, frame->RawPose()); - } - } + // add frame vertices + addVerticesToGraph(outModel, _model.frames, _model, errors); // add nested model vertices - for (uint64_t m = 0; m < _model->ModelCount(); ++m) - { - auto nestedModel = _model->ModelByIndex(m); - if (outModel.Count(nestedModel->Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Nested model with non-unique name [" + nestedModel->Name() + - "] detected in model with name [" + _model->Name() + - "]."}); - continue; - } - - auto nestedErrors = buildPoseRelativeToGraph(outModel, nestedModel, false); - errors.insert(errors.end(), nestedErrors.begin(), nestedErrors.end()); - } - - // add nested interface model vertices - for (uint64_t m = 0; m < _model->InterfaceModelCount(); ++m) - { - auto ifaceModel = _model->InterfaceModelByIndex(m); - if (outModel.Count(ifaceModel->Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Nested model with non-unique name [" + ifaceModel->Name() + - "] detected in model with name [" + _model->Name() + - "]."}); - continue; - } - - auto nestedErrors = buildPoseRelativeToGraph(outModel, ifaceModel); - errors.insert(errors.end(), nestedErrors.begin(), nestedErrors.end()); - } + addVerticesToGraph(outModel, _model.models, _model, errors); // now that all vertices have been added to the graph, // add the edges that reference other vertices - for (uint64_t l = 0; l < _model->LinkCount(); ++l) - { - auto link = _model->LinkByIndex(l); - - // check if we've already added a default edge - const std::string &relativeTo = link->PoseRelativeTo(); - if (relativeTo.empty()) - { - continue; - } - - auto linkId = outModel.VertexIdByName(link->Name()); - - // look for vertex in graph that matches relative_to value - if (outModel.Count(relativeTo) != 1) - { - errors.push_back({ErrorCode::POSE_RELATIVE_TO_INVALID, - "relative_to name[" + relativeTo + - "] specified by link with name[" + link->Name() + - "] does not match a nested model, link, joint, or frame name " - "in model with name[" + _model->Name() + "]."}); - continue; - } - auto relativeToId = outModel.VertexIdByName(relativeTo); - if (link->Name() == relativeTo) - { - errors.push_back({ErrorCode::POSE_RELATIVE_TO_CYCLE, - "relative_to name[" + relativeTo + - "] is identical to link name[" + link->Name() + - "], causing a graph cycle " - "in model with name[" + _model->Name() + "]."}); - } - outModel.AddEdge({relativeToId, linkId}, link->RawPose()); - } - - for (uint64_t j = 0; j < _model->JointCount(); ++j) - { - auto joint = _model->JointByIndex(j); - - std::string relativeTo = joint->PoseRelativeTo(); - if (relativeTo.empty()) - { - // since nothing else was specified, use the joint's child frame - relativeTo = joint->ChildLinkName(); - } - - auto jointId = outModel.VertexIdByName(joint->Name()); - - // look for vertex in graph that matches relative_to value - if (outModel.Count(relativeTo) != 1) - { - errors.push_back({ErrorCode::POSE_RELATIVE_TO_INVALID, - "relative_to name[" + relativeTo + - "] specified by joint with name[" + joint->Name() + - "] does not match a nested model, link, joint, or frame name " - "in model with name[" + _model->Name() + "]."}); - continue; - } - auto relativeToId = outModel.VertexIdByName(relativeTo); - if (joint->Name() == relativeTo) - { - errors.push_back({ErrorCode::POSE_RELATIVE_TO_CYCLE, - "relative_to name[" + relativeTo + - "] is identical to joint name[" + joint->Name() + - "], causing a graph cycle " - "in model with name[" + _model->Name() + "]."}); - } - outModel.AddEdge({relativeToId, jointId}, joint->RawPose()); - } - - for (uint64_t f = 0; f < _model->FrameCount(); ++f) - { - auto frame = _model->FrameByIndex(f); - - // check if we've already added a default edge - if (frame->PoseRelativeTo().empty() && frame->AttachedTo().empty()) - { - continue; - } - - auto frameId = outModel.VertexIdByName(frame->Name()); - std::string relativeTo; - std::string typeForErrorMsg; - ErrorCode errorCode; - if (!frame->PoseRelativeTo().empty()) - { - relativeTo = frame->PoseRelativeTo(); - typeForErrorMsg = "relative_to"; - errorCode = ErrorCode::POSE_RELATIVE_TO_INVALID; - } - else - { - relativeTo = frame->AttachedTo(); - typeForErrorMsg = "attached_to"; - errorCode = ErrorCode::FRAME_ATTACHED_TO_INVALID; - } - - // look for vertex in graph that matches relative_to value - if (outModel.Count(relativeTo) != 1) - { - errors.push_back({errorCode, - typeForErrorMsg + " name[" + relativeTo + - "] specified by frame with name[" + frame->Name() + - "] does not match a nested model, link, joint, or frame name " - "in model with name[" + _model->Name() + "]."}); - continue; - } - auto relativeToId = outModel.VertexIdByName(relativeTo); - if (frame->Name() == relativeTo) - { - errors.push_back({ErrorCode::POSE_RELATIVE_TO_CYCLE, - "relative_to name[" + relativeTo + - "] is identical to frame name[" + frame->Name() + - "], causing a graph cycle " - "in model with name[" + _model->Name() + "]."}); - } - outModel.AddEdge({relativeToId, frameId}, frame->RawPose()); - } - - for (uint64_t m = 0; m < _model->ModelCount(); ++m) - { - auto nestedModel = _model->ModelByIndex(m); - - auto nestedModelId = outModel.VertexIdByName(nestedModel->Name()); - // if relative_to is empty, add edge from implicit model frame to - // nestedModel - auto relativeToId = modelFrameId; - - const std::string &relativeTo = nestedModel->PoseRelativeTo(); - if (!relativeTo.empty()) - { - // look for vertex in graph that matches relative_to value - if (outModel.Count(relativeTo) != 1) - { - errors.push_back({ErrorCode::POSE_RELATIVE_TO_INVALID, - "relative_to name[" + relativeTo + - "] specified by nested model with name[" + nestedModel->Name() + - "] does not match a nested model, link, joint, or frame name " - "in model with name[" + _model->Name() + "]."}); - continue; - } - - relativeToId = outModel.VertexIdByName(relativeTo); - if (nestedModel->Name() == relativeTo) - { - errors.push_back({ErrorCode::POSE_RELATIVE_TO_CYCLE, - "relative_to name[" + relativeTo + - "] is identical to nested model name[" + nestedModel->Name() + - "], causing a graph cycle " - "in model with name[" + _model->Name() + "]."}); - } - } - - ignition::math::Pose3d resolvedModelPose = nestedModel->RawPose(); - sdf::Errors resolveErrors = resolveModelPoseWithPlacementFrame( - nestedModel->RawPose(), nestedModel->PlacementFrameName(), - outModel.ChildModelScope(nestedModel->Name()), resolvedModelPose); - errors.insert(errors.end(), resolveErrors.begin(), resolveErrors.end()); - - outModel.AddEdge({relativeToId, nestedModelId}, resolvedModelPose); - } - for (uint64_t m = 0; m < _model->InterfaceModelCount(); ++m) - { - auto ifaceModel = _model->InterfaceModelByIndex(m); - const auto *nestedInclude = _model->InterfaceModelNestedIncludeByIndex(m); - - auto nestedModelId = outModel.VertexIdByName(ifaceModel->Name()); - // if relative_to is empty, add edge from implicit model frame to - // nestedModel - auto relativeToId = modelFrameId; - - const std::string &relativeTo = - nestedInclude->IncludePoseRelativeTo().value_or(""); - if (!relativeTo.empty()) - { - // look for vertex in graph that matches relative_to value - if (outModel.Count(relativeTo) != 1) - { - errors.push_back({ErrorCode::POSE_RELATIVE_TO_INVALID, - "relative_to name[" + relativeTo + - "] specified by nested model with name[" + ifaceModel->Name() + - "] does not match a nested model, link, joint, or frame name " - "in model with name[" + _model->Name() + "]."}); - continue; - } - - relativeToId = outModel.VertexIdByName(relativeTo); - if (ifaceModel->Name() == relativeTo) - { - errors.push_back({ErrorCode::POSE_RELATIVE_TO_CYCLE, - "relative_to name[" + relativeTo + - "] is identical to nested model name[" + ifaceModel->Name() + - "], causing a graph cycle " - "in model with name[" + _model->Name() + "]."}); - } - } + // add link edges + addEdgesToGraph(outModel, _model.links, _model, errors); - ignition::math::Pose3d resolvedModelPose = - nestedInclude->IncludeRawPose().value_or(ignition::math::Pose3d()); + // add joint edges + addEdgesToGraph(outModel, _model.joints, _model, errors); - sdf::Errors resolveErrors = resolveModelPoseWithPlacementFrame( - nestedInclude->IncludeRawPose().value_or(ignition::math::Pose3d()), - nestedInclude->PlacementFrame().value_or(""), - outModel.ChildModelScope(ifaceModel->Name()), resolvedModelPose); - errors.insert(errors.end(), resolveErrors.begin(), resolveErrors.end()); + // add frame edges + addEdgesToGraph(outModel, _model.frames, _model, errors); - outModel.AddEdge({relativeToId, nestedModelId}, resolvedModelPose); - } + // add nested model edges + addEdgesToGraph(outModel, _model.models, _model, errors); if (_isRoot) { @@ -1197,199 +1006,51 @@ Errors buildPoseRelativeToGraph( // sdf::resolvePoseRelativeToRoot. We will later update the edge after the // pose is calculated. auto rootToModel = outModel.AddEdge({rootId, modelId}, {}); - ignition::math::Pose3d resolvedModelPose = _model->RawPose(); + ignition::math::Pose3d resolvedModelPose = _model.rawPose; sdf::Errors resolveErrors = - resolveModelPoseWithPlacementFrame(_model->RawPose(), - _model->PlacementFrameName(), outModel, resolvedModelPose); + resolveModelPoseWithPlacementFrame(_model.rawPose, + _model.placementFrameName, outModel, resolvedModelPose); errors.insert(errors.end(), resolveErrors.begin(), resolveErrors.end()); outModel.UpdateEdge(rootToModel, resolvedModelPose); } return errors; } - ///////////////////////////////////////////////// -Errors buildPoseRelativeToGraph(ScopedGraph &_out, - InterfaceModelConstPtr _model) +Errors buildPoseRelativeToGraph( + ScopedGraph &_out, const Model *_model, bool _isRoot) { - Errors errors; - if (!_model) { - errors.push_back({ErrorCode::ELEMENT_INVALID, - "Invalid sdf::Model pointer."}); - return errors; - } - - const std::string scopeContextName = "__model__"; - // add the model frame vertex first - auto modelId = _out.AddVertex(_model->Name(), sdf::FrameType::MODEL).Id(); - auto outModel = _out.AddScopeVertex(_model->Name(), scopeContextName, - scopeContextName, sdf::FrameType::MODEL); - auto modelFrameId = outModel.ScopeVertexId(); - - // Add an aliasing edge from the model vertex to the - // corresponding vertex in the PoseRelativeTo graph of the child model, - // i.e, to the ::__model__ vertex. - auto &edge = _out.AddEdge({modelId, modelFrameId}, {}); - // Set the edge weight to 0 to indicate that this is an aliasing edge. - edge.SetWeight(0); - - // add link vertices and default edge if relative_to is empty - for (const auto &link : _model->Links()) - { - if (outModel.Count(link.Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Link with non-unique name [" + link.Name() + - "] detected in model with name [" + _model->Name() + - "]."}); - continue; - } - auto linkId = - outModel.AddVertex(link.Name(), sdf::FrameType::LINK).Id(); - - // relative_to is empty, so add edge from implicit model frame to link - outModel.AddEdge({modelFrameId, linkId}, link.PoseInModelFrame()); + return Errors{{ErrorCode::ELEMENT_INVALID, "Invalid sdf::Model pointer."}}; } - - // add joint vertices - for (const auto &joint : _model->Joints()) - { - if (outModel.Count(joint.Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Joint with non-unique name [" + joint.Name() + - "] detected in model with name [" + _model->Name() + - "]."}); - continue; - } - outModel.AddVertex(joint.Name(), sdf::FrameType::JOINT); - } - - // add frame vertices and default edge if both - // relative_to and attached_to are empty - for (const auto &frame : _model->Frames()) + else if (!_model->Element()) { - if (outModel.Count(frame.Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Frame with non-unique name [" + frame.Name() + - "] detected in model with name [" + _model->Name() + - "]."}); - continue; - } - auto frameId = outModel.AddVertex(frame.Name(), sdf::FrameType::FRAME).Id(); - if (frame.AttachedTo().empty()) - { - // add edge from implicit model frame to frame - outModel.AddEdge({modelFrameId, frameId}, frame.PoseInAttachedToFrame()); - } + return Errors{ + {ErrorCode::ELEMENT_INVALID, "Invalid model element in sdf::Model."}}; } - // add nested model vertices and default edge if relative_to is empty - for (const auto &nestedIfaceModel : _model->NestedModels()) - { - if (outModel.Count(nestedIfaceModel->Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Nested model with non-unique name [" + nestedIfaceModel->Name() + - "] detected in model with name [" + _model->Name() + - "]."}); - continue; - } - - auto nestedErrors = buildPoseRelativeToGraph(outModel, nestedIfaceModel); - errors.insert(errors.end(), nestedErrors.begin(), nestedErrors.end()); - auto nestedModelId = outModel.VertexIdByName(nestedIfaceModel->Name()); - outModel.AddEdge({modelFrameId, nestedModelId}, - nestedIfaceModel->ModelFramePoseInParentFrame()); - } - - for (const auto &joint : _model->Joints()) - { - const std::string &relativeTo = joint.ChildName(); - auto jointId = outModel.VertexIdByName(joint.Name()); - - // look for vertex in graph that matches relative_to value - if (outModel.Count(relativeTo) != 1) - { - errors.push_back({ErrorCode::POSE_RELATIVE_TO_INVALID, - "relative_to name[" + relativeTo + - "] specified by joint with name[" + joint.Name() + - "] does not match a nested model, link, joint, or frame name " - "in model with name[" + _model->Name() + "]."}); - continue; - } - auto relativeToId = outModel.VertexIdByName(relativeTo); - if (joint.Name() == relativeTo) - { - errors.push_back({ErrorCode::POSE_RELATIVE_TO_CYCLE, - "relative_to name[" + relativeTo + - "] is identical to joint name[" + joint.Name() + - "], causing a graph cycle " - "in model with name[" + _model->Name() + "]."}); - } - outModel.AddEdge({relativeToId, jointId}, joint.PoseInChildFrame()); - } + return wrapperBuildPoseRelativeToGraph(_out, ModelWrapper(*_model), _isRoot); +} - for (const auto &frame : _model->Frames()) +///////////////////////////////////////////////// +Errors buildPoseRelativeToGraph(ScopedGraph &_out, + const InterfaceModel *_model) +{ + if (!_model) { - if (frame.AttachedTo().empty()) - { - continue; - } - auto frameId = outModel.VertexIdByName(frame.Name()); - std::string relativeTo; - std::string typeForErrorMsg; - ErrorCode errorCode; - relativeTo = frame.AttachedTo(); - typeForErrorMsg = "attached_to"; - errorCode = ErrorCode::FRAME_ATTACHED_TO_INVALID; - - // look for vertex in graph that matches relative_to value - if (outModel.Count(relativeTo) != 1) - { - errors.push_back({errorCode, - "attached_to name[" + relativeTo + - "] specified by frame with name[" + frame.Name() + - "] does not match a nested model, link, joint, or frame name " - "in model with name[" + _model->Name() + "]."}); - continue; - } - auto relativeToId = outModel.VertexIdByName(relativeTo); - if (frame.Name() == relativeTo) - { - errors.push_back({ErrorCode::POSE_RELATIVE_TO_CYCLE, - "relative_to name[" + relativeTo + - "] is identical to frame name[" + frame.Name() + - "], causing a graph cycle " - "in model with name[" + _model->Name() + "]."}); - } - outModel.AddEdge({relativeToId, frameId}, frame.PoseInAttachedToFrame()); + return Errors{ + {ErrorCode::ELEMENT_INVALID, "Invalid sdf::InterfaceModel pointer."}}; } - - return errors; + return wrapperBuildPoseRelativeToGraph(_out, ModelWrapper(*_model), false); } ///////////////////////////////////////////////// -Errors buildPoseRelativeToGraph( - ScopedGraph &_out, const World *_world) +Errors wrapperBuildPoseRelativeToGraph( + ScopedGraph &_out, const WorldWrapper &_world) { Errors errors; - if (!_world) - { - errors.push_back({ErrorCode::ELEMENT_INVALID, - "Invalid sdf::World pointer."}); - return errors; - } - else if (!_world->Element()) - { - errors.push_back({ErrorCode::ELEMENT_INVALID, - "Invalid world element in sdf::World."}); - return errors; - } // add implicit world frame vertex first const std::string scopeContextName = "world"; @@ -1403,206 +1064,36 @@ Errors buildPoseRelativeToGraph( _out.AddEdge({rootId, worldFrameId}, {}); // add model vertices - for (uint64_t m = 0; m < _world->ModelCount(); ++m) - { - auto model = _world->ModelByIndex(m); - if (_out.Count(model->Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Model with non-unique name [" + model->Name() + - "] detected in world with name [" + _world->Name() + - "]."}); - continue; - } - - auto modelErrors = buildPoseRelativeToGraph(_out , model, false); - errors.insert(errors.end(), modelErrors.begin(), modelErrors.end()); - } - - for (uint64_t m = 0; m < _world->InterfaceModelCount(); ++m) - { - auto ifaceModel = _world->InterfaceModelByIndex(m); - if (_out.Count(ifaceModel->Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Model with non-unique name [" + ifaceModel->Name() + - "] detected in world with name [" + _world->Name() + - "]."}); - continue; - } + addVerticesToGraph(_out, _world.models, _world, errors); - auto modelErrors = - buildPoseRelativeToGraph(_out, ifaceModel); - errors.insert(errors.end(), modelErrors.begin(), modelErrors.end()); - } - - // add frame vertices and default edge if both - // relative_to and attached_to are empty - for (uint64_t f = 0; f < _world->FrameCount(); ++f) - { - auto frame = _world->FrameByIndex(f); - if (_out.Count(frame->Name()) > 0) - { - errors.push_back({ErrorCode::DUPLICATE_NAME, - "Frame with non-unique name [" + frame->Name() + - "] detected in world with name [" + _world->Name() + - "]."}); - continue; - } - auto frameId = - _out.AddVertex(frame->Name(), sdf::FrameType::FRAME).Id(); - - if (frame->PoseRelativeTo().empty() && frame->AttachedTo().empty()) - { - // add edge from implicit world frame to frame - _out.AddEdge({worldFrameId, frameId}, frame->RawPose()); - } - } + // add frame vertices + addVerticesToGraph(_out, _world.frames, _world, errors); // now that all vertices have been added to the graph, // add the edges that reference other vertices + // add model edges + addEdgesToGraph(_out, _world.models, _world, errors); - for (uint64_t m = 0; m < _world->ModelCount(); ++m) - { - auto model = _world->ModelByIndex(m); - - auto modelId = _out.VertexIdByName(model->Name()); - // if relative_to is empty, add edge from implicit model frame to - // world - auto relativeToId = worldFrameId; - - const std::string &relativeTo = model->PoseRelativeTo(); - if (!relativeTo.empty()) - { - // look for vertex in graph that matches relative_to value - if (_out.Count(relativeTo) != 1) - { - errors.push_back({ErrorCode::POSE_RELATIVE_TO_INVALID, - "relative_to name[" + relativeTo + - "] specified by model with name[" + model->Name() + - "] does not match a model or frame name " - "in world with name[" + _world->Name() + "]."}); - continue; - } - - relativeToId = _out.VertexIdByName(relativeTo); - if (model->Name() == relativeTo) - { - errors.push_back({ErrorCode::POSE_RELATIVE_TO_CYCLE, - "relative_to name[" + relativeTo + - "] is identical to model name[" + model->Name() + - "], causing a graph cycle " - "in world with name[" + _world->Name() + "]."}); - } - } - - ignition::math::Pose3d resolvedModelPose = model->RawPose(); - sdf::Errors resolveErrors = resolveModelPoseWithPlacementFrame( - model->RawPose(), model->PlacementFrameName(), - _out.ChildModelScope(model->Name()), resolvedModelPose); - errors.insert(errors.end(), resolveErrors.begin(), resolveErrors.end()); + // add frame edges + addEdgesToGraph(_out, _world.frames, _world, errors); - _out.AddEdge({relativeToId, modelId}, resolvedModelPose); - } + return errors; +} - for (uint64_t m = 0; m < _world->InterfaceModelCount(); ++m) +///////////////////////////////////////////////// +Errors buildPoseRelativeToGraph( + ScopedGraph &_out, const World *_world) +{ + if (!_world) { - auto ifaceModel = _world->InterfaceModelByIndex(m); - const auto *nestedInclude = _world->InterfaceModelNestedIncludeByIndex(m); - - auto modelId = _out.VertexIdByName(ifaceModel->Name()); - // if relative_to is empty, add edge from implicit model frame to - // world - auto relativeToId = worldFrameId; - - const std::string &relativeTo = - nestedInclude->IncludePoseRelativeTo().value_or(""); - if (!relativeTo.empty()) - { - // look for vertex in graph that matches relative_to value - if (_out.Count(relativeTo) != 1) - { - errors.push_back({ErrorCode::POSE_RELATIVE_TO_INVALID, - "relative_to name[" + relativeTo + - "] specified by interface model with name[" + ifaceModel->Name() + - "] does not match a model or frame name " - "in world with name[" + _world->Name() + "]."}); - continue; - } - - relativeToId = _out.VertexIdByName(relativeTo); - if (ifaceModel->Name() == relativeTo) - { - errors.push_back({ErrorCode::POSE_RELATIVE_TO_CYCLE, - "relative_to name[" + relativeTo + - "] is identical to interface model name[" + ifaceModel->Name() + - "], causing a graph cycle " - "in world with name[" + _world->Name() + "]."}); - } - } - - ignition::math::Pose3d resolvedModelPose = - nestedInclude->IncludeRawPose().value_or(ignition::math::Pose3d()); - - sdf::Errors resolveErrors = resolveModelPoseWithPlacementFrame( - nestedInclude->IncludeRawPose().value_or(ignition::math::Pose3d()), - nestedInclude->PlacementFrame().value_or(""), - _out.ChildModelScope(ifaceModel->Name()), resolvedModelPose); - errors.insert(errors.end(), resolveErrors.begin(), resolveErrors.end()); - - _out.AddEdge({relativeToId, modelId}, resolvedModelPose); + return Errors{{ErrorCode::ELEMENT_INVALID, "Invalid sdf::World pointer."}}; } - - for (uint64_t f = 0; f < _world->FrameCount(); ++f) + else if (!_world->Element()) { - auto frame = _world->FrameByIndex(f); - - // check if we've already added a default edge - if (frame->PoseRelativeTo().empty() && frame->AttachedTo().empty()) - { - continue; - } - - auto frameId = _out.VertexIdByName(frame->Name()); - std::string relativeTo; - std::string typeForErrorMsg; - ErrorCode errorCode; - if (!frame->PoseRelativeTo().empty()) - { - relativeTo = frame->PoseRelativeTo(); - typeForErrorMsg = "relative_to"; - errorCode = ErrorCode::POSE_RELATIVE_TO_INVALID; - } - else - { - relativeTo = frame->AttachedTo(); - typeForErrorMsg = "attached_to"; - errorCode = ErrorCode::FRAME_ATTACHED_TO_INVALID; - } - - // look for vertex in graph that matches relative_to value - if (_out.Count(relativeTo) != 1) - { - errors.push_back({errorCode, - typeForErrorMsg + " name[" + relativeTo + - "] specified by frame with name[" + frame->Name() + - "] does not match a model or frame name " - "in world with name[" + _world->Name() + "]."}); - continue; - } - auto relativeToId = _out.VertexIdByName(relativeTo); - if (frame->Name() == relativeTo) - { - errors.push_back({ErrorCode::POSE_RELATIVE_TO_CYCLE, - "relative_to name[" + relativeTo + - "] is identical to frame name[" + frame->Name() + - "], causing a graph cycle " - "in world with name[" + _world->Name() + "]."}); - } - _out.AddEdge({relativeToId, frameId}, frame->RawPose()); + return Errors{ + {ErrorCode::ELEMENT_INVALID, "Invalid world element in sdf::World."}}; } - - return errors; + return wrapperBuildPoseRelativeToGraph(_out, WorldWrapper(*_world)); } ///////////////////////////////////////////////// diff --git a/src/Geometry.cc b/src/Geometry.cc index 59cacd0f0..6fb2edb3d 100644 --- a/src/Geometry.cc +++ b/src/Geometry.cc @@ -24,6 +24,7 @@ #include "sdf/Ellipsoid.hh" #include "sdf/Heightmap.hh" #include "sdf/Mesh.hh" +#include "sdf/parser.hh" #include "sdf/Plane.hh" #include "sdf/Sphere.hh" @@ -270,3 +271,44 @@ sdf::ElementPtr Geometry::Element() const { return this->dataPtr->sdf; } + +///////////////////////////////////////////////// +sdf::ElementPtr Geometry::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("geometry.sdf", elem); + + switch (this->dataPtr->type) + { + case GeometryType::BOX: + elem->InsertElement(this->dataPtr->box->ToElement(), true); + break; + case GeometryType::CYLINDER: + elem->InsertElement(this->dataPtr->cylinder->ToElement(), true); + break; + case GeometryType::PLANE: + elem->InsertElement(this->dataPtr->plane->ToElement(), true); + break; + case GeometryType::SPHERE: + elem->InsertElement(this->dataPtr->sphere->ToElement(), true); + break; + case GeometryType::MESH: + elem->InsertElement(this->dataPtr->mesh->ToElement(), true); + break; + case GeometryType::HEIGHTMAP: + elem->InsertElement(this->dataPtr->heightmap->ToElement(), true); + break; + case GeometryType::CAPSULE: + elem->InsertElement(this->dataPtr->capsule->ToElement(), true); + break; + case GeometryType::ELLIPSOID: + elem->InsertElement(this->dataPtr->ellipsoid->ToElement(), true); + break; + case GeometryType::EMPTY: + default: + elem->AddElement("empty"); + break; + } + + return elem; +} diff --git a/src/Geometry_TEST.cc b/src/Geometry_TEST.cc index 6aaab1a2a..0d3809a01 100644 --- a/src/Geometry_TEST.cc +++ b/src/Geometry_TEST.cc @@ -21,6 +21,7 @@ #include "sdf/Cylinder.hh" #include "sdf/Ellipsoid.hh" #include "sdf/Geometry.hh" +#include "sdf/Heightmap.hh" #include "sdf/Mesh.hh" #include "sdf/Plane.hh" #include "sdf/Sphere.hh" @@ -259,3 +260,207 @@ TEST(DOMGeometry, Plane) EXPECT_EQ(ignition::math::Vector3d::UnitX, geom.PlaneShape()->Normal()); EXPECT_EQ(ignition::math::Vector2d(9, 8), geom.PlaneShape()->Size()); } + +///////////////////////////////////////////////// +TEST(DOMGeometry, ToElement) +{ + // Box + { + sdf::Geometry geom; + + geom.SetType(sdf::GeometryType::BOX); + sdf::Box box; + geom.SetBoxShape(box); + + sdf::ElementPtr elem = geom.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Geometry geom2; + geom2.Load(elem); + + EXPECT_EQ(geom.Type(), geom2.Type()); + EXPECT_NE(nullptr, geom2.BoxShape()); + EXPECT_EQ(nullptr, geom2.CapsuleShape()); + EXPECT_EQ(nullptr, geom2.CylinderShape()); + EXPECT_EQ(nullptr, geom2.EllipsoidShape()); + EXPECT_EQ(nullptr, geom2.SphereShape()); + EXPECT_EQ(nullptr, geom2.PlaneShape()); + EXPECT_EQ(nullptr, geom2.MeshShape()); + EXPECT_EQ(nullptr, geom2.HeightmapShape()); + } + + // Capsule + { + sdf::Geometry geom; + + geom.SetType(sdf::GeometryType::CAPSULE); + sdf::Capsule capsule; + geom.SetCapsuleShape(capsule); + + sdf::ElementPtr elem = geom.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Geometry geom2; + geom2.Load(elem); + + EXPECT_EQ(geom.Type(), geom2.Type()); + EXPECT_EQ(nullptr, geom2.BoxShape()); + EXPECT_NE(nullptr, geom2.CapsuleShape()); + EXPECT_EQ(nullptr, geom2.CylinderShape()); + EXPECT_EQ(nullptr, geom2.EllipsoidShape()); + EXPECT_EQ(nullptr, geom2.SphereShape()); + EXPECT_EQ(nullptr, geom2.PlaneShape()); + EXPECT_EQ(nullptr, geom2.MeshShape()); + EXPECT_EQ(nullptr, geom2.HeightmapShape()); + } + + // Cylinder + { + sdf::Geometry geom; + + geom.SetType(sdf::GeometryType::CYLINDER); + sdf::Cylinder cylinder; + geom.SetCylinderShape(cylinder); + + sdf::ElementPtr elem = geom.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Geometry geom2; + geom2.Load(elem); + + EXPECT_EQ(geom.Type(), geom2.Type()); + EXPECT_EQ(nullptr, geom2.BoxShape()); + EXPECT_EQ(nullptr, geom2.CapsuleShape()); + EXPECT_NE(nullptr, geom2.CylinderShape()); + EXPECT_EQ(nullptr, geom2.EllipsoidShape()); + EXPECT_EQ(nullptr, geom2.SphereShape()); + EXPECT_EQ(nullptr, geom2.PlaneShape()); + EXPECT_EQ(nullptr, geom2.MeshShape()); + EXPECT_EQ(nullptr, geom2.HeightmapShape()); + } + + // Ellipsoid + { + sdf::Geometry geom; + + geom.SetType(sdf::GeometryType::ELLIPSOID); + sdf::Ellipsoid ellipsoid; + geom.SetEllipsoidShape(ellipsoid); + + sdf::ElementPtr elem = geom.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Geometry geom2; + geom2.Load(elem); + + EXPECT_EQ(geom.Type(), geom2.Type()); + EXPECT_EQ(nullptr, geom2.BoxShape()); + EXPECT_EQ(nullptr, geom2.CapsuleShape()); + EXPECT_EQ(nullptr, geom2.CylinderShape()); + EXPECT_NE(nullptr, geom2.EllipsoidShape()); + EXPECT_EQ(nullptr, geom2.SphereShape()); + EXPECT_EQ(nullptr, geom2.PlaneShape()); + EXPECT_EQ(nullptr, geom2.MeshShape()); + EXPECT_EQ(nullptr, geom2.HeightmapShape()); + } + + // Sphere + { + sdf::Geometry geom; + + geom.SetType(sdf::GeometryType::SPHERE); + sdf::Sphere sphere; + geom.SetSphereShape(sphere); + + sdf::ElementPtr elem = geom.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Geometry geom2; + geom2.Load(elem); + + EXPECT_EQ(geom.Type(), geom2.Type()); + EXPECT_EQ(nullptr, geom2.BoxShape()); + EXPECT_EQ(nullptr, geom2.CapsuleShape()); + EXPECT_EQ(nullptr, geom2.CylinderShape()); + EXPECT_EQ(nullptr, geom2.EllipsoidShape()); + EXPECT_NE(nullptr, geom2.SphereShape()); + EXPECT_EQ(nullptr, geom2.PlaneShape()); + EXPECT_EQ(nullptr, geom2.MeshShape()); + EXPECT_EQ(nullptr, geom2.HeightmapShape()); + } + + // Plane + { + sdf::Geometry geom; + + geom.SetType(sdf::GeometryType::PLANE); + sdf::Plane plane; + geom.SetPlaneShape(plane); + + sdf::ElementPtr elem = geom.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Geometry geom2; + geom2.Load(elem); + + EXPECT_EQ(geom.Type(), geom2.Type()); + EXPECT_EQ(nullptr, geom2.BoxShape()); + EXPECT_EQ(nullptr, geom2.CapsuleShape()); + EXPECT_EQ(nullptr, geom2.CylinderShape()); + EXPECT_EQ(nullptr, geom2.EllipsoidShape()); + EXPECT_EQ(nullptr, geom2.SphereShape()); + EXPECT_NE(nullptr, geom2.PlaneShape()); + EXPECT_EQ(nullptr, geom2.MeshShape()); + EXPECT_EQ(nullptr, geom2.HeightmapShape()); + } + + // Mesh + { + sdf::Geometry geom; + + geom.SetType(sdf::GeometryType::MESH); + sdf::Mesh mesh; + geom.SetMeshShape(mesh); + + sdf::ElementPtr elem = geom.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Geometry geom2; + geom2.Load(elem); + + EXPECT_EQ(geom.Type(), geom2.Type()); + EXPECT_EQ(nullptr, geom2.BoxShape()); + EXPECT_EQ(nullptr, geom2.CapsuleShape()); + EXPECT_EQ(nullptr, geom2.CylinderShape()); + EXPECT_EQ(nullptr, geom2.EllipsoidShape()); + EXPECT_EQ(nullptr, geom2.SphereShape()); + EXPECT_EQ(nullptr, geom2.PlaneShape()); + EXPECT_NE(nullptr, geom2.MeshShape()); + EXPECT_EQ(nullptr, geom2.HeightmapShape()); + } + + // Heightmap + { + sdf::Geometry geom; + + geom.SetType(sdf::GeometryType::HEIGHTMAP); + sdf::Heightmap heightmap; + geom.SetHeightmapShape(heightmap); + + sdf::ElementPtr elem = geom.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Geometry geom2; + geom2.Load(elem); + + EXPECT_EQ(geom.Type(), geom2.Type()); + EXPECT_EQ(nullptr, geom2.BoxShape()); + EXPECT_EQ(nullptr, geom2.CapsuleShape()); + EXPECT_EQ(nullptr, geom2.CylinderShape()); + EXPECT_EQ(nullptr, geom2.EllipsoidShape()); + EXPECT_EQ(nullptr, geom2.SphereShape()); + EXPECT_EQ(nullptr, geom2.PlaneShape()); + EXPECT_EQ(nullptr, geom2.MeshShape()); + EXPECT_NE(nullptr, geom2.HeightmapShape()); + } +} diff --git a/src/Gui.cc b/src/Gui.cc index f78973c22..dc0a9e3e0 100644 --- a/src/Gui.cc +++ b/src/Gui.cc @@ -15,6 +15,7 @@ * */ #include "sdf/Gui.hh" +#include "sdf/parser.hh" #include "Utils.hh" using namespace sdf; @@ -27,6 +28,9 @@ class sdf::Gui::Implementation /// \brief The SDF element pointer used during load. public: sdf::ElementPtr sdf; + + /// \brief GUI plugins. + public: std::vector plugins; }; ///////////////////////////////////////////////// @@ -56,6 +60,12 @@ Errors Gui::Load(ElementPtr _sdf) this->dataPtr->fullscreen = _sdf->Get("fullscreen", this->dataPtr->fullscreen).first; + Errors pluginErrors = loadRepeated(_sdf, "plugin", + this->dataPtr->plugins); + errors.insert(errors.end(), pluginErrors.begin(), pluginErrors.end()); + + // \todo(nkoenig) Parse all the elements in gui.sdf + return errors; } @@ -82,3 +92,44 @@ sdf::ElementPtr Gui::Element() const { return this->dataPtr->sdf; } + +///////////////////////////////////////////////// +sdf::ElementPtr Gui::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("gui.sdf", elem); + + elem->GetAttribute("fullscreen")->Set(this->dataPtr->fullscreen); + + // Add in the plugins + for (const Plugin &plugin : this->dataPtr->plugins) + elem->InsertElement(plugin.ToElement(), true); + + return elem; +} + +///////////////////////////////////////////////// +uint64_t Gui::PluginCount() const +{ + return this->dataPtr->plugins.size(); +} + +///////////////////////////////////////////////// +const Plugin *Gui::PluginByIndex(const uint64_t _index) const +{ + if (_index < this->dataPtr->plugins.size()) + return &this->dataPtr->plugins[_index]; + return nullptr; +} + +///////////////////////////////////////////////// +void Gui::ClearPlugins() +{ + this->dataPtr->plugins.clear(); +} + +///////////////////////////////////////////////// +void Gui::AddPlugin(const Plugin &_plugin) +{ + this->dataPtr->plugins.push_back(_plugin); +} diff --git a/src/Gui_TEST.cc b/src/Gui_TEST.cc index a2ce6b844..f068d5034 100644 --- a/src/Gui_TEST.cc +++ b/src/Gui_TEST.cc @@ -123,3 +123,40 @@ TEST(DOMGui, Equal) gui.SetFullscreen(false); EXPECT_FALSE(gui == gui2); } + +///////////////////////////////////////////////// +TEST(DOMGui, ToElement) +{ + sdf::Gui gui; + + gui.SetFullscreen(true); + + for (int j = 0; j <= 1; ++j) + { + for (int i = 0; i < 3; ++i) + { + sdf::Plugin plugin; + plugin.SetName("name" + std::to_string(i)); + plugin.SetFilename("filename" + std::to_string(i)); + gui.AddPlugin(plugin); + gui.AddPlugin(plugin); + } + if (j == 0) + { + EXPECT_EQ(6u, gui.PluginCount()); + gui.ClearPlugins(); + EXPECT_EQ(0u, gui.PluginCount()); + } + } + + + EXPECT_EQ(6u, gui.PluginCount()); + sdf::ElementPtr elem = gui.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Gui gui2; + gui2.Load(elem); + + EXPECT_EQ(gui.Fullscreen(), gui2.Fullscreen()); + EXPECT_EQ(6u, gui2.PluginCount()); +} diff --git a/src/Heightmap.cc b/src/Heightmap.cc index 8d018730f..9583192f1 100644 --- a/src/Heightmap.cc +++ b/src/Heightmap.cc @@ -19,6 +19,7 @@ #include "Utils.hh" #include "sdf/Heightmap.hh" +#include "sdf/parser.hh" using namespace sdf; @@ -459,3 +460,49 @@ void Heightmap::AddBlend(const HeightmapBlend &_blend) { this->dataPtr->blends.push_back(_blend); } + +///////////////////////////////////////////////// +sdf::ElementPtr Heightmap::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("heightmap_shape.sdf", elem); + + // Uri + sdf::ElementPtr uriElem = elem->GetElement("uri"); + uriElem->Set(this->Uri()); + + // Size + sdf::ElementPtr sizeElem = elem->GetElement("size"); + sizeElem->Set(this->Size()); + + // Position + sdf::ElementPtr posElem = elem->GetElement("pos"); + posElem->Set(this->Position()); + + // Terrain paging + sdf::ElementPtr pagingElem = elem->GetElement("use_terrain_paging"); + pagingElem->Set(this->UseTerrainPaging()); + + // Sampling + sdf::ElementPtr samplingElem = elem->GetElement("sampling"); + samplingElem->Set(this->Sampling()); + + // Textures + for (const HeightmapTexture &tex : this->dataPtr->textures) + { + sdf::ElementPtr texElem = elem->AddElement("texture"); + texElem->GetElement("size")->Set(tex.Size()); + texElem->GetElement("diffuse")->Set(tex.Diffuse()); + texElem->GetElement("normal")->Set(tex.Normal()); + } + + // Blends + for (const HeightmapBlend &blend : this->dataPtr->blends) + { + sdf::ElementPtr blendElem = elem->AddElement("blend"); + blendElem->GetElement("min_height")->Set(blend.MinHeight()); + blendElem->GetElement("fade_dist")->Set(blend.FadeDistance()); + } + + return elem; +} diff --git a/src/Heightmap_TEST.cc b/src/Heightmap_TEST.cc index 4cd1b1dc9..fe45184a9 100644 --- a/src/Heightmap_TEST.cc +++ b/src/Heightmap_TEST.cc @@ -406,3 +406,53 @@ TEST(DOMHeightmap, LoadErrors) "missing a ")); EXPECT_NE(nullptr, heightmapBlend.Element()); } + +///////////////////////////////////////////////// +TEST(DOMHeightmap, ToElement) +{ + sdf::Heightmap heightmap; + + heightmap.SetUri("https://test-uri.org"); + heightmap.SetSize(ignition::math::Vector3d(1, 2, 3)); + heightmap.SetPosition(ignition::math::Vector3d(4, 5, 6)); + heightmap.SetUseTerrainPaging(true); + heightmap.SetSampling(2); + + sdf::HeightmapTexture texture; + texture.SetSize(1.2); + texture.SetDiffuse("diffuse_map"); + texture.SetNormal("normal_map"); + heightmap.AddTexture(texture); + + sdf::HeightmapBlend blend; + blend.SetMinHeight(1.2); + blend.SetFadeDistance(3.4); + heightmap.AddBlend(blend); + + sdf::ElementPtr elem = heightmap.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Heightmap heightmap2; + heightmap2.Load(elem); + + EXPECT_EQ(heightmap.Uri(), heightmap2.Uri()); + EXPECT_EQ(heightmap.Size(), heightmap2.Size()); + EXPECT_EQ(heightmap.Position(), heightmap2.Position()); + EXPECT_EQ(heightmap.UseTerrainPaging(), heightmap2.UseTerrainPaging()); + EXPECT_EQ(heightmap.Sampling(), heightmap2.Sampling()); + EXPECT_EQ(heightmap.TextureCount(), heightmap2.TextureCount()); + ASSERT_EQ(1u, heightmap2.TextureCount()); + EXPECT_DOUBLE_EQ(heightmap.TextureByIndex(0)->Size(), + heightmap2.TextureByIndex(0)->Size()); + EXPECT_EQ(heightmap.TextureByIndex(0)->Diffuse(), + heightmap2.TextureByIndex(0)->Diffuse()); + EXPECT_EQ(heightmap.TextureByIndex(0)->Normal(), + heightmap2.TextureByIndex(0)->Normal()); + + EXPECT_EQ(heightmap.BlendCount(), heightmap2.BlendCount()); + ASSERT_EQ(1u, heightmap2.BlendCount()); + EXPECT_DOUBLE_EQ(heightmap.BlendByIndex(0)->MinHeight(), + heightmap2.BlendByIndex(0)->MinHeight()); + EXPECT_DOUBLE_EQ(heightmap.BlendByIndex(0)->FadeDistance(), + heightmap2.BlendByIndex(0)->FadeDistance()); +} diff --git a/src/Joint.cc b/src/Joint.cc index 0e77e1f34..1a9e64e84 100644 --- a/src/Joint.cc +++ b/src/Joint.cc @@ -528,3 +528,18 @@ sdf::ElementPtr Joint::ToElement() const // supported. return elem; } + +////////////////////////////////////////////////// +bool Joint::AddSensor(const Sensor &_sensor) +{ + if (this->SensorNameExists(_sensor.Name())) + return false; + this->dataPtr->sensors.push_back(_sensor); + return true; +} + +////////////////////////////////////////////////// +void Joint::ClearSensors() +{ + this->dataPtr->sensors.clear(); +} diff --git a/src/Joint_TEST.cc b/src/Joint_TEST.cc index e00463c20..ee7b7e69c 100644 --- a/src/Joint_TEST.cc +++ b/src/Joint_TEST.cc @@ -18,6 +18,7 @@ #include #include #include "sdf/Joint.hh" +#include "sdf/Sensor.hh" #include "sdf/JointAxis.hh" ///////////////////////////////////////////////// @@ -269,6 +270,19 @@ TEST(DOMJoint, ToElement) EXPECT_TRUE(axis1.SetXyz(ignition::math::Vector3d(0, 1, 0)).empty()); joint.SetAxis(1, axis1); + for (int j = 0; j <= 1; ++j) + { + for (int i = 0; i < 3; ++i) + { + sdf::Sensor sensor; + sensor.SetName("sensor" + std::to_string(i)); + EXPECT_TRUE(joint.AddSensor(sensor)); + EXPECT_FALSE(joint.AddSensor(sensor)); + } + if (j == 0) + joint.ClearSensors(); + } + sdf::ElementPtr jointElem = joint.ToElement(); EXPECT_NE(nullptr, jointElem); EXPECT_EQ(nullptr, joint.Element()); @@ -289,6 +303,10 @@ TEST(DOMJoint, ToElement) EXPECT_EQ(axis.Xyz(), joint2.Axis(0)->Xyz()); EXPECT_EQ(axis1.Xyz(), joint2.Axis(1)->Xyz()); + EXPECT_EQ(joint.SensorCount(), joint.SensorCount()); + for (uint64_t i = 0; i < joint.SensorCount(); ++i) + EXPECT_NE(nullptr, joint.SensorByIndex(i)); + // make changes to DOM and verify ToElement produces updated values joint2.SetParentLinkName("new_parent"); sdf::ElementPtr joint2Elem = joint2.ToElement(); diff --git a/src/Link.cc b/src/Link.cc index 7a5ed5846..0c51881c1 100644 --- a/src/Link.cc +++ b/src/Link.cc @@ -25,6 +25,7 @@ #include "sdf/Error.hh" #include "sdf/Light.hh" #include "sdf/Link.hh" +#include "sdf/parser.hh" #include "sdf/ParticleEmitter.hh" #include "sdf/Sensor.hh" #include "sdf/Types.hh" @@ -534,6 +535,15 @@ bool Link::AddSensor(const Sensor &_sensor) return true; } +////////////////////////////////////////////////// +bool Link::AddParticleEmitter(const ParticleEmitter &_emitter) +{ + if (this->ParticleEmitterNameExists(_emitter.Name())) + return false; + this->dataPtr->emitters.push_back(_emitter); + return true; +} + ////////////////////////////////////////////////// void Link::ClearCollisions() { @@ -557,3 +567,77 @@ void Link::ClearSensors() { this->dataPtr->sensors.clear(); } + +////////////////////////////////////////////////// +void Link::ClearParticleEmitters() +{ + this->dataPtr->emitters.clear(); +} + +///////////////////////////////////////////////// +sdf::ElementPtr Link::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("link.sdf", elem); + + elem->GetAttribute("name")->Set(this->Name()); + + // Set pose + sdf::ElementPtr poseElem = elem->GetElement("pose"); + if (!this->dataPtr->poseRelativeTo.empty()) + { + poseElem->GetAttribute("relative_to")->Set( + this->dataPtr->poseRelativeTo); + } + poseElem->Set(this->RawPose()); + + // inertial + sdf::ElementPtr inertialElem = elem->GetElement("inertial"); + inertialElem->GetElement("pose")->Set( + this->dataPtr->inertial.Pose()); + const ignition::math::MassMatrix3d &massMatrix = + this->dataPtr->inertial.MassMatrix(); + inertialElem->GetElement("mass")->Set(massMatrix.Mass()); + sdf::ElementPtr inertiaElem = inertialElem->GetElement("inertia"); + inertiaElem->GetElement("ixx")->Set(massMatrix.Ixx()); + inertiaElem->GetElement("ixy")->Set(massMatrix.Ixy()); + inertiaElem->GetElement("ixz")->Set(massMatrix.Ixz()); + inertiaElem->GetElement("iyy")->Set(massMatrix.Iyy()); + inertiaElem->GetElement("iyz")->Set(massMatrix.Iyz()); + inertiaElem->GetElement("izz")->Set(massMatrix.Izz()); + + // wind mode + elem->GetElement("enable_wind")->Set(this->EnableWind()); + + // Collisions + for (const sdf::Collision &collision : this->dataPtr->collisions) + { + elem->InsertElement(collision.ToElement(), true); + } + + // Light + for (const sdf::Light &light : this->dataPtr->lights) + { + elem->InsertElement(light.ToElement(), true); + } + + // Particle emitters + for (const sdf::ParticleEmitter &emitter : this->dataPtr->emitters) + { + elem->InsertElement(emitter.ToElement(), true); + } + + // Sensors + for (const sdf::Sensor &sensor : this->dataPtr->sensors) + { + elem->InsertElement(sensor.ToElement(), true); + } + + // Visuals + for (const sdf::Visual &visual : this->dataPtr->visuals) + { + elem->InsertElement(visual.ToElement(), true); + } + + return elem; +} diff --git a/src/Link_TEST.cc b/src/Link_TEST.cc index 6dd29d8c5..8ba1e4ce5 100644 --- a/src/Link_TEST.cc +++ b/src/Link_TEST.cc @@ -303,3 +303,114 @@ TEST(DOMLink, AddSensor) ASSERT_NE(nullptr, sensorFromLink); EXPECT_EQ(sensorFromLink->Name(), sensor.Name()); } + +///////////////////////////////////////////////// +TEST(DOMLink, ToElement) +{ + sdf::Link link; + link.SetName("my-name"); + + ignition::math::Inertiald inertial { + {2.3, + ignition::math::Vector3d(1.4, 2.3, 3.2), + ignition::math::Vector3d(0.1, 0.2, 0.3)}, + ignition::math::Pose3d(1, 2, 3, 0, 0, 0)}; + EXPECT_TRUE(link.SetInertial(inertial)); + link.SetRawPose(ignition::math::Pose3d(1, 2, 3, 0.1, 0.2, 0.3)); + link.SetEnableWind(true); + + for (int j = 0; j <= 1; ++j) + { + for (int i = 0; i < 1; ++i) + { + sdf::Collision collision; + collision.SetName("collision" + std::to_string(i)); + EXPECT_TRUE(link.AddCollision(collision)); + EXPECT_FALSE(link.AddCollision(collision)); + } + if (j == 0) + link.ClearCollisions(); + } + + for (int j = 0; j <= 1; ++j) + { + for (int i = 0; i < 2; i++) + { + sdf::Visual visual; + visual.SetName("visual" + std::to_string(i)); + EXPECT_TRUE(link.AddVisual(visual)); + EXPECT_FALSE(link.AddVisual(visual)); + } + if (j == 0) + link.ClearVisuals(); + } + + for (int j = 0; j <= 1; ++j) + { + for (int i = 0; i < 3; i++) + { + sdf::Light light; + light.SetName("light" + std::to_string(i)); + EXPECT_TRUE(link.AddLight(light)); + EXPECT_FALSE(link.AddLight(light)); + } + if (j == 0) + link.ClearLights(); + } + + for (int j = 0; j <= 1; ++j) + { + for (int i = 0; i < 4; i++) + { + sdf::Sensor sensor; + sensor.SetName("sensor" + std::to_string(i)); + EXPECT_TRUE(link.AddSensor(sensor)); + EXPECT_FALSE(link.AddSensor(sensor)); + } + if (j == 0) + link.ClearSensors(); + } + + for (int j = 0; j <= 1; ++j) + { + for (int i = 0; i < 5; i++) + { + sdf::ParticleEmitter emitter; + emitter.SetName("emitter" + std::to_string(i)); + EXPECT_TRUE(link.AddParticleEmitter(emitter)); + EXPECT_FALSE(link.AddParticleEmitter(emitter)); + } + if (j == 0) + link.ClearParticleEmitters(); + } + + sdf::ElementPtr elem = link.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Link link2; + link2.Load(elem); + + EXPECT_EQ(link.Name(), link2.Name()); + EXPECT_EQ(link.Inertial(), link2.Inertial()); + EXPECT_EQ(link.RawPose(), link2.RawPose()); + EXPECT_EQ(link.EnableWind(), link2.EnableWind()); + EXPECT_EQ(link.CollisionCount(), link2.CollisionCount()); + for (uint64_t i = 0; i < link2.CollisionCount(); ++i) + EXPECT_NE(nullptr, link2.CollisionByIndex(i)); + + EXPECT_EQ(link.VisualCount(), link2.VisualCount()); + for (uint64_t i = 0; i < link2.VisualCount(); ++i) + EXPECT_NE(nullptr, link2.VisualByIndex(i)); + + EXPECT_EQ(link.LightCount(), link2.LightCount()); + for (uint64_t i = 0; i < link2.LightCount(); ++i) + EXPECT_NE(nullptr, link2.LightByIndex(i)); + + EXPECT_EQ(link.SensorCount(), link2.SensorCount()); + for (uint64_t i = 0; i < link2.SensorCount(); ++i) + EXPECT_NE(nullptr, link2.SensorByIndex(i)); + + EXPECT_EQ(link.ParticleEmitterCount(), link2.ParticleEmitterCount()); + for (uint64_t i = 0; i < link2.ParticleEmitterCount(); ++i) + EXPECT_NE(nullptr, link2.ParticleEmitterByIndex(i)); +} diff --git a/src/Material.cc b/src/Material.cc index d4459801b..5c050c10a 100644 --- a/src/Material.cc +++ b/src/Material.cc @@ -19,9 +19,10 @@ #include #include -#include "sdf/Types.hh" #include "sdf/Material.hh" +#include "sdf/parser.hh" #include "sdf/Pbr.hh" +#include "sdf/Types.hh" #include "Utils.hh" using namespace sdf; @@ -358,3 +359,107 @@ void Material::SetFilePath(const std::string &_filePath) { this->dataPtr->filePath = _filePath; } + +///////////////////////////////////////////////// +sdf::ElementPtr Material::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("material.sdf", elem); + + elem->GetElement("ambient")->Set(this->Ambient()); + elem->GetElement("diffuse")->Set(this->Diffuse()); + elem->GetElement("specular")->Set(this->Specular()); + elem->GetElement("emissive")->Set(this->Emissive()); + elem->GetElement("render_order")->Set(this->RenderOrder()); + elem->GetElement("lighting")->Set(this->Lighting()); + elem->GetElement("double_sided")->Set(this->DoubleSided()); + + // Script, if set + if (!this->ScriptName().empty() && !this->ScriptUri().empty()) + { + sdf::ElementPtr scriptElem = elem->GetElement("script"); + scriptElem->GetElement("uri")->Set(this->ScriptUri()); + scriptElem->GetElement("name")->Set(this->ScriptName()); + } + + // Shader properties + sdf::ElementPtr shaderElem = elem->GetElement("shader"); + switch (this->dataPtr->shader) + { + default: + case ShaderType::PIXEL: + shaderElem->GetAttribute("type")->Set("pixel"); + break; + case ShaderType::VERTEX: + shaderElem->GetAttribute("type")->Set("vertex"); + break; + case ShaderType::NORMAL_MAP_OBJECTSPACE: + shaderElem->GetAttribute("type")->Set("normal_map_object_space"); + break; + case ShaderType::NORMAL_MAP_TANGENTSPACE: + shaderElem->GetAttribute("type")->Set("normal_map_tangent_space"); + break; + } + if (!this->NormalMap().empty()) + shaderElem->GetElement("normal_map")->Set(this->NormalMap()); + + // PBR material + if (this->dataPtr->pbr) + { + const PbrWorkflow *workflow = this->dataPtr->pbr->Workflow( + PbrWorkflowType::METAL); + sdf::ElementPtr pbrElem = elem->GetElement("pbr"); + if (workflow && workflow->Type() == PbrWorkflowType::METAL) + { + sdf::ElementPtr metalElem = pbrElem->GetElement("metal"); + metalElem->GetElement("albedo_map")->Set(workflow->AlbedoMap()); + metalElem->GetElement("roughness_map")->Set(workflow->RoughnessMap()); + metalElem->GetElement("roughness")->Set(workflow->Roughness()); + metalElem->GetElement("metalness_map")->Set(workflow->MetalnessMap()); + metalElem->GetElement("metalness")->Set(workflow->Metalness()); + metalElem->GetElement("ambient_occlusion_map")->Set( + workflow->AmbientOcclusionMap()); + sdf::ElementPtr normalElem = metalElem->GetElement("normal_map"); + if (workflow->NormalMapType() == NormalMapSpace::TANGENT) + normalElem->GetAttribute("type")->Set("tangent"); + else + normalElem->GetAttribute("type")->Set("object"); + normalElem->Set(workflow->NormalMap()); + + metalElem->GetElement("emissive_map")->Set(workflow->EmissiveMap()); + + sdf::ElementPtr lightElem = metalElem->GetElement("light_map"); + lightElem->GetAttribute("uv_set")->Set(workflow->LightMapTexCoordSet()); + lightElem->Set(workflow->LightMap()); + } + + workflow = this->dataPtr->pbr->Workflow(PbrWorkflowType::SPECULAR); + if (workflow && workflow->Type() == PbrWorkflowType::SPECULAR) + { + sdf::ElementPtr specularElem = pbrElem->GetElement("specular"); + specularElem->GetElement("albedo_map")->Set(workflow->AlbedoMap()); + specularElem->GetElement("specular_map")->Set(workflow->SpecularMap()); + specularElem->GetElement("environment_map")->Set( + workflow->EnvironmentMap()); + specularElem->GetElement("ambient_occlusion_map")->Set( + workflow->AmbientOcclusionMap()); + specularElem->GetElement("emissive_map")->Set(workflow->EmissiveMap()); + specularElem->GetElement("glossiness_map")->Set( + workflow->GlossinessMap()); + specularElem->GetElement("glossiness")->Set(workflow->Glossiness()); + + sdf::ElementPtr normalElem = specularElem->GetElement("normal_map"); + if (workflow->NormalMapType() == NormalMapSpace::TANGENT) + normalElem->GetAttribute("type")->Set("tangent"); + else + normalElem->GetAttribute("type")->Set("object"); + normalElem->Set(workflow->NormalMap()); + + sdf::ElementPtr lightElem = specularElem->GetElement("light_map"); + lightElem->GetAttribute("uv_set")->Set(workflow->LightMapTexCoordSet()); + lightElem->Set(workflow->LightMap()); + } + } + + return elem; +} diff --git a/src/Material_TEST.cc b/src/Material_TEST.cc index 115a56849..c67c4a81a 100644 --- a/src/Material_TEST.cc +++ b/src/Material_TEST.cc @@ -289,3 +289,119 @@ TEST(DOMMaterial, InvalidSdf) sdf::Errors errors = material.Load(elem); EXPECT_EQ(sdf::ErrorCode::ELEMENT_INCORRECT_TYPE, errors[0].Code()); } + +///////////////////////////////////////////////// +TEST(DOMMaterial, ToElement) +{ + sdf::Material material; + + material.SetAmbient(ignition::math::Color(0.1f, 0.2f, 0.3f, 1.0f)); + material.SetDiffuse(ignition::math::Color(0.4f, 0.5f, 0.6f, 0.5f)); + material.SetSpecular(ignition::math::Color(0.6f, 0.4f, 0.8f, 0.8f)); + material.SetEmissive(ignition::math::Color(0.2f, 0.7f, 0.9f, 0.1f)); + + material.SetRenderOrder(0.5); + material.SetLighting(false); + material.SetDoubleSided(true); + material.SetScriptUri("my-uri"); + material.SetScriptName("my-script-name"); + material.SetShader(sdf::ShaderType::VERTEX); + material.SetNormalMap("my-normal-map"); + + sdf::PbrWorkflow workflow; + workflow.SetAlbedoMap("albedo"); + workflow.SetNormalMap("normal"); + workflow.SetEnvironmentMap("env"); + workflow.SetAmbientOcclusionMap("ambient"); + workflow.SetRoughnessMap("rough"); + workflow.SetMetalnessMap("metalness"); + workflow.SetEmissiveMap("emissive"); + workflow.SetGlossinessMap("gloss"); + workflow.SetSpecularMap("gloss"); + workflow.SetLightMap("light", 1u); + workflow.SetMetalness(1.0); + workflow.SetRoughness(0.1); + + // Testing using METAL workflow + { + sdf::Pbr pbr; + workflow.SetType(sdf::PbrWorkflowType::METAL); + pbr.SetWorkflow(sdf::PbrWorkflowType::METAL, workflow); + material.SetPbrMaterial(pbr); + + sdf::ElementPtr elem = material.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Material material2; + material2.Load(elem); + + EXPECT_EQ(material.Ambient(), material2.Ambient()); + EXPECT_EQ(material.Diffuse(), material2.Diffuse()); + EXPECT_EQ(material.Specular(), material2.Specular()); + EXPECT_EQ(material.Emissive(), material2.Emissive()); + EXPECT_DOUBLE_EQ(material.RenderOrder(), material2.RenderOrder()); + EXPECT_EQ(material.Lighting(), material2.Lighting()); + EXPECT_EQ(material.DoubleSided(), material2.DoubleSided()); + EXPECT_EQ(material.ScriptUri(), material2.ScriptUri()); + EXPECT_EQ(material.ScriptName(), material2.ScriptName()); + EXPECT_EQ(material.Shader(), material2.Shader()); + EXPECT_EQ(material.NormalMap(), material2.NormalMap()); + + const sdf::Pbr *pbr2 = material2.PbrMaterial(); + const sdf::PbrWorkflow *flow1 = pbr.Workflow(sdf::PbrWorkflowType::METAL); + const sdf::PbrWorkflow *flow2 = pbr2->Workflow(sdf::PbrWorkflowType::METAL); + EXPECT_EQ(flow1->AlbedoMap(), flow2->AlbedoMap()); + EXPECT_EQ(flow1->NormalMap(), flow2->NormalMap()); + EXPECT_EQ(flow1->AmbientOcclusionMap(), + flow2->AmbientOcclusionMap()); + EXPECT_EQ(flow1->RoughnessMap(), flow2->RoughnessMap()); + EXPECT_EQ(flow1->MetalnessMap(), flow2->MetalnessMap()); + EXPECT_EQ(flow1->EmissiveMap(), flow2->EmissiveMap()); + EXPECT_EQ(flow1->LightMap(), flow2->LightMap()); + EXPECT_DOUBLE_EQ(flow1->Metalness(), flow2->Metalness()); + EXPECT_DOUBLE_EQ(flow1->Roughness(), flow2->Roughness()); + EXPECT_EQ(flow1->Type(), flow2->Type()); + } + + // Testing using SPECULAR workflow + { + sdf::Pbr pbr; + workflow.SetType(sdf::PbrWorkflowType::SPECULAR); + pbr.SetWorkflow(sdf::PbrWorkflowType::SPECULAR, workflow); + material.SetPbrMaterial(pbr); + + sdf::ElementPtr elem = material.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Material material2; + material2.Load(elem); + + EXPECT_EQ(material.Ambient(), material2.Ambient()); + EXPECT_EQ(material.Diffuse(), material2.Diffuse()); + EXPECT_EQ(material.Specular(), material2.Specular()); + EXPECT_EQ(material.Emissive(), material2.Emissive()); + EXPECT_DOUBLE_EQ(material.RenderOrder(), material2.RenderOrder()); + EXPECT_EQ(material.Lighting(), material2.Lighting()); + EXPECT_EQ(material.DoubleSided(), material2.DoubleSided()); + EXPECT_EQ(material.ScriptUri(), material2.ScriptUri()); + EXPECT_EQ(material.ScriptName(), material2.ScriptName()); + EXPECT_EQ(material.Shader(), material2.Shader()); + EXPECT_EQ(material.NormalMap(), material2.NormalMap()); + + const sdf::Pbr *pbr2 = material2.PbrMaterial(); + const sdf::PbrWorkflow *flow1 = + pbr.Workflow(sdf::PbrWorkflowType::SPECULAR); + const sdf::PbrWorkflow *flow2 = + pbr2->Workflow(sdf::PbrWorkflowType::SPECULAR); + EXPECT_EQ(flow1->AlbedoMap(), flow2->AlbedoMap()); + EXPECT_EQ(flow1->NormalMap(), flow2->NormalMap()); + EXPECT_EQ(flow1->EnvironmentMap(), flow2->EnvironmentMap()); + EXPECT_EQ(flow1->AmbientOcclusionMap(), + flow2->AmbientOcclusionMap()); + EXPECT_EQ(flow1->EmissiveMap(), flow2->EmissiveMap()); + EXPECT_EQ(flow1->GlossinessMap(), flow2->GlossinessMap()); + EXPECT_EQ(flow1->SpecularMap(), flow2->SpecularMap()); + EXPECT_EQ(flow1->LightMap(), flow2->LightMap()); + EXPECT_EQ(flow1->Type(), flow2->Type()); + } +} diff --git a/src/Mesh.cc b/src/Mesh.cc index 553623c3f..b517b98c0 100644 --- a/src/Mesh.cc +++ b/src/Mesh.cc @@ -14,6 +14,7 @@ * limitations under the License. * */ +#include "sdf/parser.hh" #include "sdf/Mesh.hh" using namespace sdf; @@ -176,3 +177,32 @@ void Mesh::SetCenterSubmesh(const bool _center) { this->dataPtr->centerSubmesh = _center; } + +///////////////////////////////////////////////// +sdf::ElementPtr Mesh::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("mesh_shape.sdf", elem); + + // Uri + sdf::ElementPtr uriElem = elem->GetElement("uri"); + uriElem->Set(this->Uri()); + + // Submesh + if (!this->dataPtr->submesh.empty()) + { + sdf::ElementPtr subMeshElem = elem->GetElement("submesh"); + + sdf::ElementPtr subMeshNameElem = subMeshElem->GetElement("name"); + subMeshNameElem->Set(this->dataPtr->submesh); + + sdf::ElementPtr subMeshCenterElem = subMeshElem->GetElement("center"); + subMeshCenterElem->Set(this->dataPtr->centerSubmesh); + } + + // Scale + sdf::ElementPtr scaleElem = elem->GetElement("scale"); + scaleElem->Set(this->Scale()); + + return elem; +} diff --git a/src/Mesh_TEST.cc b/src/Mesh_TEST.cc index 41ecfe2c6..12a448a42 100644 --- a/src/Mesh_TEST.cc +++ b/src/Mesh_TEST.cc @@ -179,3 +179,25 @@ TEST(DOMMesh, Load) EXPECT_NE(std::string::npos, errors[0].Message().find("missing a ")); EXPECT_NE(nullptr, mesh.Element()); } + +///////////////////////////////////////////////// +TEST(DOMMesh, ToElement) +{ + sdf::Mesh mesh; + + mesh.SetUri("mesh-uri"); + mesh.SetScale(ignition::math::Vector3d(1, 2, 3)); + mesh.SetSubmesh("submesh"); + mesh.SetCenterSubmesh(false); + + sdf::ElementPtr elem = mesh.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Mesh mesh2; + mesh2.Load(elem); + + EXPECT_EQ(mesh.Uri(), mesh2.Uri()); + EXPECT_EQ(mesh.Scale(), mesh2.Scale()); + EXPECT_EQ(mesh.Submesh(), mesh2.Submesh()); + EXPECT_EQ(mesh.CenterSubmesh(), mesh2.CenterSubmesh()); +} diff --git a/src/Model.cc b/src/Model.cc index 361b23243..eedf320e4 100644 --- a/src/Model.cc +++ b/src/Model.cc @@ -94,6 +94,10 @@ class sdf::Model::Implementation /// \brief Scope name of parent Pose Relative-To Graph (world or __model__). public: std::string poseGraphScopeVertexName; + + /// \brief Optional URI string that specifies where this model was or + /// can be loaded from. + public: std::string uri = ""; }; ///////////////////////////////////////////////// @@ -791,6 +795,85 @@ const NestedInclude *Model::InterfaceModelNestedIncludeByIndex( return nullptr; } +///////////////////////////////////////////////// +std::string Model::Uri() const +{ + return this->dataPtr->uri; +} + +///////////////////////////////////////////////// +void Model::SetUri(const std::string &_uri) +{ + this->dataPtr->uri = _uri; +} + +///////////////////////////////////////////////// +sdf::ElementPtr Model::ToElement(bool _useIncludeTag) const +{ + if (_useIncludeTag && !this->dataPtr->uri.empty()) + { + sdf::ElementPtr worldElem(new sdf::Element); + sdf::initFile("world.sdf", worldElem); + + sdf::ElementPtr includeElem = worldElem->AddElement("include"); + includeElem->GetElement("uri")->Set(this->Uri()); + includeElem->GetElement("name")->Set(this->Name()); + includeElem->GetElement("pose")->Set(this->RawPose()); + if (!this->dataPtr->poseRelativeTo.empty()) + { + includeElem->GetElement("pose")->GetAttribute( + "relative_to")->Set(this->dataPtr->poseRelativeTo); + } + includeElem->GetElement("static")->Set(this->Static()); + includeElem->GetElement("placement_frame")->Set(this->PlacementFrameName()); + + return includeElem; + } + + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("model.sdf", elem); + elem->GetAttribute("name")->Set(this->Name()); + + if (!this->dataPtr->canonicalLink.empty()) + { + elem->GetAttribute("canonical_link")->Set(this->dataPtr->canonicalLink); + } + + if (!this->dataPtr->placementFrameName.empty()) + { + elem->GetAttribute("placement_frame")->Set( + this->dataPtr->placementFrameName); + } + + elem->GetElement("static")->Set(this->Static()); + elem->GetElement("self_collide")->Set(this->SelfCollide()); + elem->GetElement("allow_auto_disable")->Set(this->AllowAutoDisable()); + elem->GetElement("enable_wind")->Set(this->EnableWind()); + + // Set pose + sdf::ElementPtr poseElem = elem->GetElement("pose"); + if (!this->dataPtr->poseRelativeTo.empty()) + { + poseElem->GetAttribute("relative_to")->Set( + this->dataPtr->poseRelativeTo); + } + poseElem->Set(this->RawPose()); + + // Links + for (const sdf::Link &link : this->dataPtr->links) + elem->InsertElement(link.ToElement(), true); + + // Joints + for (const sdf::Joint &joint : this->dataPtr->joints) + elem->InsertElement(joint.ToElement(), true); + + // Model + for (const sdf::Model &model : this->dataPtr->models) + elem->InsertElement(model.ToElement(_useIncludeTag), true); + + return elem; +} + ////////////////////////////////////////////////// bool Model::AddLink(const Link &_link) { diff --git a/src/Model_TEST.cc b/src/Model_TEST.cc index 6054d1fe7..f7406d01f 100644 --- a/src/Model_TEST.cc +++ b/src/Model_TEST.cc @@ -20,6 +20,8 @@ #include "sdf/Joint.hh" #include "sdf/Link.hh" #include "sdf/Model.hh" +#include "sdf/parser.hh" +#include "test_config.h" ///////////////////////////////////////////////// /// Test default construction of sdf::Model. @@ -282,3 +284,197 @@ TEST(DOMModel, AddModel) ASSERT_NE(nullptr, modelFromModel); EXPECT_EQ(modelFromModel->Name(), nestedModel.Name()); } + +///////////////////////////////////////////////// +TEST(DOMModel, ToElement) +{ + sdf::Model model; + + model.SetName("my-model"); + model.SetStatic(true); + model.SetSelfCollide(true); + model.SetAllowAutoDisable(true); + model.SetEnableWind(true); + model.SetRawPose(ignition::math::Pose3d(1, 2, 3, 0.1, 0.2, 0.3)); + + for (int j = 0; j <= 1; ++j) + { + for (int i = 0; i < 1; ++i) + { + sdf::Link link; + link.SetName("link" + std::to_string(i)); + EXPECT_TRUE(model.AddLink(link)); + EXPECT_FALSE(model.AddLink(link)); + } + if (j == 0) + model.ClearLinks(); + } + model.SetCanonicalLinkName("link1"); + model.SetPlacementFrameName("link0"); + + for (int j = 0; j <= 1; ++j) + { + for (int i = 0; i < 2; ++i) + { + sdf::Joint joint; + joint.SetName("joint" + std::to_string(i)); + EXPECT_TRUE(model.AddJoint(joint)); + EXPECT_FALSE(model.AddJoint(joint)); + } + if (j == 0) + model.ClearJoints(); + } + + for (int j = 0; j <= 1; ++j) + { + for (int i = 0; i < 3; ++i) + { + sdf::Model nestedModel; + nestedModel.SetName("model" + std::to_string(i)); + EXPECT_TRUE(model.AddModel(nestedModel)); + EXPECT_FALSE(model.AddModel(nestedModel)); + } + if (j == 0) + model.ClearModels(); + } + + sdf::ElementPtr elem = model.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Model model2; + model2.Load(elem); + + EXPECT_EQ(model.Name(), model2.Name()); + EXPECT_EQ(model.Static(), model2.Static()); + EXPECT_EQ(model.SelfCollide(), model2.SelfCollide()); + EXPECT_EQ(model.AllowAutoDisable(), model2.AllowAutoDisable()); + EXPECT_EQ(model.EnableWind(), model2.EnableWind()); + EXPECT_EQ(model.RawPose(), model2.RawPose()); + EXPECT_EQ(model.CanonicalLinkName(), model2.CanonicalLinkName()); + EXPECT_EQ(model.PlacementFrameName(), model2.PlacementFrameName()); + + EXPECT_EQ(model.LinkCount(), model2.LinkCount()); + for (uint64_t i = 0; i < model2.LinkCount(); ++i) + EXPECT_NE(nullptr, model2.LinkByIndex(i)); + + EXPECT_EQ(model.JointCount(), model2.JointCount()); + for (uint64_t i = 0; i < model2.JointCount(); ++i) + EXPECT_NE(nullptr, model2.JointByIndex(i)); + + EXPECT_EQ(model.ModelCount(), model2.ModelCount()); + for (uint64_t i = 0; i < model2.ModelCount(); ++i) + EXPECT_NE(nullptr, model2.ModelByIndex(i)); +} + +///////////////////////////////////////////////// +TEST(DOMModel, Uri) +{ + sdf::Model model; + std::string name = "my-model"; + ignition::math::Pose3d pose(1, 2, 3, 0.1, 0.2, 0.3); + std::string uri = + "https://fuel.ignitionrobotics.org/1.0/openrobotics/models/my-model"; + + model.SetName(name); + model.SetRawPose(pose); + model.SetStatic(true); + model.SetPlacementFrameName("link0"); + model.SetPoseRelativeTo("other"); + model.SetUri(uri); + EXPECT_EQ(uri, model.Uri()); + + // ToElement using the URI, which should result in an + { + sdf::ElementPtr elem = model.ToElement(); + EXPECT_EQ("include", elem->GetName()); + + sdf::ElementPtr uriElem = elem->FindElement("uri"); + ASSERT_NE(nullptr, uriElem); + EXPECT_EQ(uri, uriElem->Get()); + + sdf::ElementPtr nameElem = elem->FindElement("name"); + ASSERT_NE(nullptr, nameElem); + EXPECT_EQ(name, nameElem->Get()); + + sdf::ElementPtr poseElem = elem->FindElement("pose"); + ASSERT_NE(nullptr, poseElem); + EXPECT_EQ(pose, poseElem->Get()); + EXPECT_EQ("other", poseElem->GetAttribute("relative_to")->GetAsString()); + + EXPECT_EQ("link0", + elem->FindElement("placement_frame")->Get()); + + sdf::ElementPtr staticElem = elem->FindElement("static"); + ASSERT_NE(nullptr, staticElem); + EXPECT_EQ(true, staticElem->Get()); + } + + // ToElement NOT using the URI, which should result in a + { + sdf::ElementPtr elem = model.ToElement(false); + elem->PrintValues(" "); + + // Should be a + EXPECT_EQ("model", elem->GetName()); + + // URI should not exist + sdf::ElementPtr uriElem = elem->FindElement("uri"); + ASSERT_EQ(nullptr, uriElem); + + sdf::ParamPtr nameAttr = elem->GetAttribute("name"); + ASSERT_NE(nullptr, nameAttr); + EXPECT_EQ(name, nameAttr->GetAsString()); + + sdf::ParamPtr placementFrameAttr = elem->GetAttribute("placement_frame"); + ASSERT_NE(nullptr, placementFrameAttr); + EXPECT_EQ("link0", placementFrameAttr->GetAsString()); + + sdf::ElementPtr poseElem = elem->FindElement("pose"); + ASSERT_NE(nullptr, poseElem); + EXPECT_EQ(pose, poseElem->Get()); + EXPECT_EQ("other", poseElem->GetAttribute("relative_to")->GetAsString()); + + sdf::ElementPtr staticElem = elem->FindElement("static"); + ASSERT_NE(nullptr, staticElem); + EXPECT_EQ(true, staticElem->Get()); + } +} + +///////////////////////////////////////////////// +TEST(DOMModel, ToElementNestedHasUri) +{ + sdf::Model model; + model.SetName("parent"); + EXPECT_EQ(0u, model.ModelCount()); + + sdf::Model nestedModel; + nestedModel.SetName("child"); + nestedModel.SetUri("child-uri"); + EXPECT_TRUE(model.AddModel(nestedModel)); + EXPECT_EQ(1u, model.ModelCount()); + + sdf::Model nestedModel2; + nestedModel2.SetName("child2"); + EXPECT_TRUE(model.AddModel(nestedModel2)); + EXPECT_EQ(2u, model.ModelCount()); + + sdf::ElementPtr elem = model.ToElement(); + + // The parent model does not have a URI, so the element name should be + // "model". + ASSERT_NE(nullptr, elem); + EXPECT_EQ("model", elem->GetName()); + + // Get the child element, which should exist because the nested + // model has a URI. + sdf::ElementPtr includeElem = elem->FindElement("include"); + ASSERT_NE(nullptr, includeElem); + ASSERT_NE(nullptr, includeElem->FindElement("uri")); + EXPECT_EQ("child-uri", includeElem->FindElement("uri")->Get()); + + // Get the child element, which should exist because one nested + // model does not have a URI. + sdf::ElementPtr modelElem = elem->FindElement("model"); + ASSERT_NE(nullptr, modelElem); + EXPECT_EQ("child2", modelElem->GetAttribute("name")->GetAsString()); +} diff --git a/src/Param.cc b/src/Param.cc index 4c6ee2db1..fcf1633f2 100644 --- a/src/Param.cc +++ b/src/Param.cc @@ -308,13 +308,15 @@ void Param::Update() ////////////////////////////////////////////////// std::string Param::GetAsString(const PrintConfig &_config) const { - if (this->dataPtr->strValue.has_value() && !this->dataPtr->strValue->empty()) - { - return this->dataPtr->strValue.value(); - } - else if(!this->dataPtr->strValue.has_value()) + std::string valueStr; + if (this->GetSet() && + this->dataPtr->StringFromValueImpl(_config, + this->dataPtr->typeName, + this->dataPtr->value, + this->dataPtr->strValue, + valueStr)) { - return this->dataPtr->defaultStrValue; + return valueStr; } return this->GetDefaultAsString(_config); @@ -324,10 +326,12 @@ std::string Param::GetAsString(const PrintConfig &_config) const std::string Param::GetDefaultAsString(const PrintConfig &_config) const { std::string defaultStr; - if (this->dataPtr->StringFromValueImpl(_config, - this->dataPtr->typeName, - this->dataPtr->defaultValue, - defaultStr)) + if (this->dataPtr->StringFromValueImpl( + _config, + this->dataPtr->typeName, + this->dataPtr->defaultValue, + this->dataPtr->defaultStrValue, + defaultStr)) { return defaultStr; } @@ -636,14 +640,17 @@ bool ParamPrivate::ValueFromStringImpl(const std::string &_typeName, std::string tmp(trimmed); std::string lowerTmp = lowercase(trimmed); - // "true" and "false" doesn't work properly - if (lowerTmp == "true") + // "true" and "false" doesn't work properly (except for string) + if (_typeName != "string" && _typeName != "std::string") { - tmp = "1"; - } - else if (lowerTmp == "false") - { - tmp = "0"; + if (lowerTmp == "true") + { + tmp = "1"; + } + else if (lowerTmp == "false") + { + tmp = "0"; + } } bool isHex = lowerTmp.compare(0, 2, "0x") == 0; @@ -785,13 +792,22 @@ bool ParamPrivate::ValueFromStringImpl(const std::string &_typeName, return true; } +////////////////////////////////////////////////// +/// \brief Helper function for StringFromValueImpl for pose. +/// \param[in] _config Printing configuration for the output string. +/// \param[in] _parentAttributes Parent Element Attributes. +/// \param[in] _value The variant value of this pose. +/// \param[in] _originalStr The original string used to set this pose value. +/// \param[out] _valueStr The pose as a string. +/// \return True if the string was successfully retrieved from the pose, false +/// otherwise. ///////////////////////////////////////////////// bool PoseStringFromValue(const PrintConfig &_config, const Param_V &_parentAttributes, const ParamPrivate::ParamVariant &_value, + const std::optional &_originalStr, std::string &_valueStr) { - (void)_config; StringStreamClassicLocale ss; const ignition::math::Pose3d *pose = @@ -802,20 +818,6 @@ bool PoseStringFromValue(const PrintConfig &_config, return false; } - auto sanitizeZero = [](double _number) - { - StringStreamClassicLocale stream; - if (std::fpclassify(_number) == FP_ZERO) - { - stream << 0; - } - else - { - stream << _number; - } - return stream.str(); - }; - const bool defaultInDegrees = false; bool inDegrees = defaultInDegrees; @@ -828,6 +830,10 @@ bool PoseStringFromValue(const PrintConfig &_config, const std::string threeSpacedDelimiter = " "; std::string posRotDelimiter = defaultPosRotDelimiter; + const bool defaultSnapDegreesToInterval = false; + bool snapDegreesToInterval = defaultSnapDegreesToInterval; + + // Checking parent Element Attributes for desired pose representations. for (const auto &p : _parentAttributes) { const std::string key = p->GetKey(); @@ -854,6 +860,39 @@ bool PoseStringFromValue(const PrintConfig &_config, } } + // Checking PrintConfig for desired pose representations. This overrides + // any parent Element Attributes. + if (_config.RotationInDegrees()) + { + inDegrees = true; + rotationFormat = "euler_rpy"; + posRotDelimiter = threeSpacedDelimiter; + } + if (_config.RotationSnapToDegrees().has_value() && + _config.RotationSnapTolerance().has_value()) + { + inDegrees = true; + rotationFormat = "euler_rpy"; + snapDegreesToInterval = true; + posRotDelimiter = threeSpacedDelimiter; + } + + // Helper function that sanitizes zero values like '-0' + auto sanitizeZero = [](double _number) + { + StringStreamClassicLocale stream; + if (std::fpclassify(_number) == FP_ZERO) + { + stream << 0; + } + else + { + stream << _number; + } + return stream.str(); + }; + + // Returning pose string representations based on desired configurations. if (rotationFormat == "quat_xyzw" && inDegrees) { sdferr << "Invalid pose with //pose[@degrees='true'] and " @@ -870,6 +909,36 @@ bool PoseStringFromValue(const PrintConfig &_config, _valueStr = ss.str(); return true; } + else if (rotationFormat == "euler_rpy" && inDegrees && snapDegreesToInterval) + { + // Helper function that returns a snapped value if it is within the + // tolerance of multiples of interval, otherwise the orginal value is + // returned. + auto snapToInterval = + [](double _val, unsigned int _interval, double _tolerance) + { + double closestQuotient = std::round(_val / _interval); + double distance = std::abs(_val - closestQuotient * _interval); + if (distance < _tolerance) + { + return _interval * closestQuotient; + } + return _val; + }; + + const unsigned int interval = _config.RotationSnapToDegrees().value(); + const double tolerance = _config.RotationSnapTolerance().value(); + + ss << pose->Pos() << posRotDelimiter + << sanitizeZero(snapToInterval( + IGN_RTOD(pose->Rot().Roll()), interval, tolerance)) << " " + << sanitizeZero(snapToInterval( + IGN_RTOD(pose->Rot().Pitch()), interval, tolerance)) << " " + << sanitizeZero(snapToInterval( + IGN_RTOD(pose->Rot().Yaw()), interval, tolerance)); + _valueStr = ss.str(); + return true; + } else if (rotationFormat == "euler_rpy" && inDegrees) { ss << pose->Pos() << posRotDelimiter @@ -880,6 +949,17 @@ bool PoseStringFromValue(const PrintConfig &_config, return true; } + // If no modification to the value is needed, the original string is returned. + if (!_config.RotationInDegrees() && + !_config.RotationSnapToDegrees().has_value() && + !_config.RotationSnapTolerance().has_value() && + _originalStr.has_value() && + !_originalStr->empty()) + { + _valueStr = _originalStr.value(); + return true; + } + ss << pose->Pos() << posRotDelimiter << sanitizeZero(pose->Rot().Roll()) << " " << sanitizeZero(pose->Rot().Pitch()) << " " @@ -889,12 +969,42 @@ bool PoseStringFromValue(const PrintConfig &_config, } ///////////////////////////////////////////////// -bool ParamPrivate::StringFromValueImpl(const PrintConfig &_config, - const std::string &_typeName, - const ParamVariant &_value, - std::string &_valueStr) const +bool ParamPrivate::StringFromValueImpl( + const PrintConfig &_config, + const std::string &_typeName, + const ParamVariant &_value, + std::string &_valueStr) const { - if (_typeName == "ignition::math::Pose3d" || + return this->StringFromValueImpl( + _config, + _typeName, + _value, + std::nullopt, + _valueStr); +} + +///////////////////////////////////////////////// +bool ParamPrivate::StringFromValueImpl( + const PrintConfig &_config, + const std::string &_typeName, + const ParamVariant &_value, + const std::optional &_originalStr, + std::string &_valueStr) const +{ + // This will be handled in a type specific manner + if (_typeName == "bool") + { + const bool *val = std::get_if(&_value); + if (!val) + { + sdferr << "Unable to get bool value from variant.\n"; + return false; + } + + _valueStr = *val ? "true" : "false"; + return true; + } + else if (_typeName == "ignition::math::Pose3d" || _typeName == "pose" || _typeName == "Pose") { @@ -902,9 +1012,9 @@ bool ParamPrivate::StringFromValueImpl(const PrintConfig &_config, if (!this->ignoreParentAttributes && p) { return PoseStringFromValue( - _config, p->GetAttributes(), _value, _valueStr); + _config, p->GetAttributes(), _value, _originalStr, _valueStr); } - return PoseStringFromValue(_config, {}, _value, _valueStr); + return PoseStringFromValue(_config, {}, _value, _originalStr, _valueStr); } StringStreamClassicLocale ss; diff --git a/src/ParticleEmitter.cc b/src/ParticleEmitter.cc index f1e353a66..28c5414af 100644 --- a/src/ParticleEmitter.cc +++ b/src/ParticleEmitter.cc @@ -19,8 +19,9 @@ #include #include -#include "sdf/ParticleEmitter.hh" #include "sdf/Error.hh" +#include "sdf/parser.hh" +#include "sdf/ParticleEmitter.hh" #include "sdf/Types.hh" #include "FrameSemantics.hh" @@ -515,3 +516,45 @@ void ParticleEmitter::SetPoseRelativeToGraph( { this->dataPtr->poseRelativeToGraph = _graph; } + +///////////////////////////////////////////////// +sdf::ElementPtr ParticleEmitter::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("particle_emitter.sdf", elem); + + // Set pose + sdf::ElementPtr poseElem = elem->GetElement("pose"); + if (!this->dataPtr->poseRelativeTo.empty()) + { + poseElem->GetAttribute("relative_to")->Set( + this->dataPtr->poseRelativeTo); + } + poseElem->Set(this->RawPose()); + + elem->GetAttribute("name")->Set(this->Name()); + elem->GetAttribute("type")->Set(this->TypeStr()); + elem->GetElement("emitting")->Set(this->Emitting()); + elem->GetElement("duration")->Set(this->Duration()); + elem->GetElement("size")->Set(this->Size()); + elem->GetElement("particle_size")->Set(this->ParticleSize()); + elem->GetElement("lifetime")->Set(this->Lifetime()); + elem->GetElement("rate")->Set(this->Rate()); + elem->GetElement("min_velocity")->Set(this->MinVelocity()); + elem->GetElement("max_velocity")->Set(this->MaxVelocity()); + elem->GetElement("scale_rate")->Set(this->ScaleRate()); + elem->GetElement("color_start")->Set(this->ColorStart()); + elem->GetElement("color_end")->Set(this->ColorEnd()); + elem->GetElement("color_range_image")->Set(this->ColorRangeImage()); + elem->GetElement("topic")->Set(this->Topic()); + elem->GetElement("particle_scatter_ratio")->Set(this->ScatterRatio()); + + if (this->dataPtr->material) + { + elem->InsertElement(this->dataPtr->material->ToElement(), true); + } + + return elem; +} + + diff --git a/src/ParticleEmitter_TEST.cc b/src/ParticleEmitter_TEST.cc index 3cc03c85c..2ddb2b512 100644 --- a/src/ParticleEmitter_TEST.cc +++ b/src/ParticleEmitter_TEST.cc @@ -116,3 +116,54 @@ TEST(DOMParticleEmitter, Construction) emitter.SetPoseRelativeTo("/test/relative"); EXPECT_EQ("/test/relative", emitter.PoseRelativeTo()); } + +///////////////////////////////////////////////// +TEST(DOMParticleEmitter, ToElement) +{ + sdf::ParticleEmitter emitter; + + emitter.SetName("my-emitter"); + emitter.SetType(sdf::ParticleEmitterType::BOX); + emitter.SetEmitting(true); + emitter.SetDuration(1.2); + emitter.SetLifetime(3.4); + emitter.SetRate(12.5); + emitter.SetScaleRate(0.2); + emitter.SetMinVelocity(32.4); + emitter.SetMaxVelocity(50.1); + emitter.SetSize(ignition::math::Vector3d(1, 2, 3)); + emitter.SetParticleSize(ignition::math::Vector3d(4, 5, 6)); + emitter.SetColorStart(ignition::math::Color(0.1f, 0.2f, 0.3f, 1.0f)); + emitter.SetColorEnd(ignition::math::Color(0.4f, 0.5f, 0.6f, 1.0f)); + emitter.SetColorRangeImage("my-image"); + emitter.SetTopic("my-topic"); + emitter.SetScatterRatio(0.3f); + emitter.SetRawPose(ignition::math::Pose3d(1, 2, 3, 0.1, 0.2, 0.3)); + sdf::Material material; + emitter.SetMaterial(material); + + sdf::ElementPtr elem = emitter.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::ParticleEmitter emitter2; + emitter2.Load(elem); + + EXPECT_EQ(emitter.Name(), emitter2.Name()); + EXPECT_EQ(emitter.Type(), emitter2.Type()); + EXPECT_EQ(emitter.Emitting(), emitter2.Emitting()); + EXPECT_DOUBLE_EQ(emitter.Duration(), emitter2.Duration()); + EXPECT_DOUBLE_EQ(emitter.Lifetime(), emitter2.Lifetime()); + EXPECT_DOUBLE_EQ(emitter.Rate(), emitter2.Rate()); + EXPECT_DOUBLE_EQ(emitter.ScaleRate(), emitter2.ScaleRate()); + EXPECT_DOUBLE_EQ(emitter.MinVelocity(), emitter2.MinVelocity()); + EXPECT_DOUBLE_EQ(emitter.MaxVelocity(), emitter2.MaxVelocity()); + EXPECT_EQ(emitter.Size(), emitter2.Size()); + EXPECT_EQ(emitter.ParticleSize(), emitter2.ParticleSize()); + EXPECT_EQ(emitter.ColorStart(), emitter2.ColorStart()); + EXPECT_EQ(emitter.ColorEnd(), emitter2.ColorEnd()); + EXPECT_EQ(emitter.ColorRangeImage(), emitter2.ColorRangeImage()); + EXPECT_EQ(emitter.Topic(), emitter2.Topic()); + EXPECT_FLOAT_EQ(emitter.ScatterRatio(), emitter2.ScatterRatio()); + EXPECT_EQ(emitter.RawPose(), emitter2.RawPose()); + EXPECT_NE(nullptr, emitter2.Material()); +} diff --git a/src/Physics.cc b/src/Physics.cc index 480b85407..643e9329a 100644 --- a/src/Physics.cc +++ b/src/Physics.cc @@ -16,6 +16,7 @@ */ #include +#include "sdf/parser.hh" #include "sdf/Physics.hh" #include "Utils.hh" @@ -41,6 +42,9 @@ class sdf::Physics::Implementation /// \brief Desired realtime factor. public: double rtf {1.0}; + + /// \brief Maximum number of contacts allowed between two entities. + public: int maxContacts{20}; }; ///////////////////////////////////////////////// @@ -113,6 +117,9 @@ Errors Physics::Load(sdf::ElementPtr _sdf) } this->dataPtr->rtf = doublePair.first; + this->dataPtr->maxContacts = + _sdf->Get("max_contacts", this->dataPtr->maxContacts).first; + return errors; } @@ -181,3 +188,34 @@ void Physics::SetRealTimeFactor(const double _factor) { this->dataPtr->rtf = _factor; } + +///////////////////////////////////////////////// +int Physics::MaxContacts() const +{ + return this->dataPtr->maxContacts; +} + +///////////////////////////////////////////////// +void Physics::SetMaxContacts(int _maxContacts) +{ + this->dataPtr->maxContacts = _maxContacts; +} + +///////////////////////////////////////////////// +sdf::ElementPtr Physics::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("physics.sdf", elem); + + elem->GetAttribute("name")->Set(this->Name()); + elem->GetAttribute("default")->Set(this->IsDefault()); + elem->GetAttribute("type")->Set(this->EngineType()); + + elem->GetElement("max_step_size")->Set(this->MaxStepSize()); + elem->GetElement("real_time_factor")->Set(this->RealTimeFactor()); + elem->GetElement("max_contacts")->Set(this->MaxContacts()); + + /// \todo(nkoenig) Support engine specific parameters. + + return elem; +} diff --git a/src/Physics_TEST.cc b/src/Physics_TEST.cc index c02fcbc21..43bf95fa0 100644 --- a/src/Physics_TEST.cc +++ b/src/Physics_TEST.cc @@ -105,3 +105,29 @@ TEST(DOMPhysics, CopyAssignmentAfterMove) EXPECT_EQ("physics2", physics1.Name()); EXPECT_EQ("physics1", physics2.Name()); } + +///////////////////////////////////////////////// +TEST(DOMPhysics, ToElement) +{ + sdf::Physics physics; + physics.SetName("my-bullet-engine"); + physics.SetDefault(true); + physics.SetEngineType("bullet"); + physics.SetMaxStepSize(0.1); + physics.SetRealTimeFactor(20.4); + physics.SetMaxContacts(42); + + sdf::ElementPtr elem = physics.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Physics physics2; + physics2.Load(elem); + + // verify values after loading the element back + EXPECT_EQ(physics.Name(), physics2.Name()); + EXPECT_EQ(physics.IsDefault(), physics2.IsDefault()); + EXPECT_EQ(physics.EngineType(), physics2.EngineType()); + EXPECT_DOUBLE_EQ(physics.MaxStepSize(), physics2.MaxStepSize()); + EXPECT_DOUBLE_EQ(physics.RealTimeFactor(), physics2.RealTimeFactor()); + EXPECT_EQ(physics.MaxContacts(), physics2.MaxContacts()); +} diff --git a/src/Plane.cc b/src/Plane.cc index a24542080..408f72161 100644 --- a/src/Plane.cc +++ b/src/Plane.cc @@ -16,6 +16,7 @@ */ #include #include +#include "sdf/parser.hh" #include "sdf/Plane.hh" using namespace sdf; @@ -150,3 +151,18 @@ ignition::math::Planed &Plane::Shape() { return this->dataPtr->plane; } + +///////////////////////////////////////////////// +sdf::ElementPtr Plane::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("plane_shape.sdf", elem); + + sdf::ElementPtr normalElem = elem->GetElement("normal"); + normalElem->Set(this->Normal()); + + sdf::ElementPtr sizeElem = elem->GetElement("size"); + sizeElem->Set(this->Size()); + + return elem; +} diff --git a/src/Plane_TEST.cc b/src/Plane_TEST.cc index 97fd5f780..04aa0be11 100644 --- a/src/Plane_TEST.cc +++ b/src/Plane_TEST.cc @@ -167,3 +167,21 @@ TEST(DOMPlane, Shape) plane.Shape().Offset()); EXPECT_EQ(ignition::math::Vector2d(1, 2), plane.Size()); } + +///////////////////////////////////////////////// +TEST(DOMPlane, ToElement) +{ + sdf::Plane plane; + + plane.SetNormal(ignition::math::Vector3d(0, 1, 0)); + plane.SetSize(ignition::math::Vector2d(2, 4)); + + sdf::ElementPtr elem = plane.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Plane plane2; + plane2.Load(elem); + + EXPECT_EQ(plane.Normal(), plane2.Normal()); + EXPECT_EQ(plane.Size(), plane2.Size()); +} diff --git a/src/Plugin.cc b/src/Plugin.cc new file mode 100644 index 000000000..d59e6bb64 --- /dev/null +++ b/src/Plugin.cc @@ -0,0 +1,204 @@ +/* + * Copyright 2021 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 "sdf/Plugin.hh" +#include "sdf/parser.hh" +#include "Utils.hh" + +using namespace sdf; + +class sdf::PluginPrivate +{ + /// \brief Name of the plugin + public: std::string name = ""; + + /// \brief Filename of the shared library + public: std::string filename = ""; + + /// \brief The SDF element pointer used during load. + public: sdf::ElementPtr sdf; + + /// \brief SDF elements inside the plugin. + public: std::vector contents; +}; + +///////////////////////////////////////////////// +Plugin::Plugin() + : dataPtr(std::make_unique()) +{ +} + +///////////////////////////////////////////////// +Plugin::~Plugin() = default; + +///////////////////////////////////////////////// +Plugin::Plugin(const Plugin &_plugin) + : dataPtr(std::make_unique()) +{ + // Copy + *this = _plugin; +} + +///////////////////////////////////////////////// +Plugin::Plugin(Plugin &&_plugin) noexcept +{ + this->dataPtr = std::move(_plugin.dataPtr); +} + +///////////////////////////////////////////////// +Errors Plugin::Load(ElementPtr _sdf) +{ + Errors errors; + + this->dataPtr->sdf = _sdf; + + // Check that sdf is a valid pointer + if (!_sdf) + { + errors.push_back({ErrorCode::ELEMENT_MISSING, + "Attempting to load a plugin, but the provided SDF " + "element is null."}); + return errors; + } + + // We need a plugin element + if (_sdf->GetName() != "plugin") + { + errors.push_back({ErrorCode::ELEMENT_INCORRECT_TYPE, + "Attempting to load a plugin, but the provided SDF " + "element is not a ."}); + return errors; + } + + // Read the models's name + if (!loadName(_sdf, this->dataPtr->name)) + { + errors.push_back({ErrorCode::ATTRIBUTE_MISSING, + "A plugin name is required, but the name is not set."}); + } + + // Read the filename + std::pair filenamePair = + _sdf->Get("filename", this->dataPtr->filename); + this->dataPtr->filename = filenamePair.first; + if (!filenamePair.second) + { + errors.push_back({ErrorCode::ATTRIBUTE_MISSING, + "A plugin filename is required, but the filename is not set."}); + } + + // Copy the contents of the plugin + for (sdf::ElementPtr innerElem = _sdf->GetFirstElement(); + innerElem; innerElem = innerElem->GetNextElement("")) + { + this->dataPtr->contents.push_back(innerElem->Clone()); + } + + return errors; +} + +///////////////////////////////////////////////// +std::string Plugin::Name() const +{ + return this->dataPtr->name; +} + +///////////////////////////////////////////////// +void Plugin::SetName(const std::string &_name) +{ + this->dataPtr->name = _name; +} + +///////////////////////////////////////////////// +std::string Plugin::Filename() const +{ + return this->dataPtr->filename; +} + +///////////////////////////////////////////////// +void Plugin::SetFilename(const std::string &_filename) +{ + this->dataPtr->filename = _filename; +} + +///////////////////////////////////////////////// +sdf::ElementPtr Plugin::Element() const +{ + return this->dataPtr->sdf; +} + +///////////////////////////////////////////////// +sdf::ElementPtr Plugin::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("plugin.sdf", elem); + + elem->GetAttribute("name")->Set(this->Name()); + elem->GetAttribute("filename")->Set(this->Filename()); + + // Insert plugin content + for (const sdf::ElementPtr content : this->dataPtr->contents) + elem->InsertElement(content, true); + + return elem; +} + +///////////////////////////////////////////////// +void Plugin::ClearContents() +{ + this->dataPtr->contents.clear(); +} + +///////////////////////////////////////////////// +const std::vector &Plugin::Contents() const +{ + return this->dataPtr->contents; +} + +///////////////////////////////////////////////// +void Plugin::InsertContent(const sdf::ElementPtr _elem) +{ + this->dataPtr->contents.push_back(_elem->Clone()); +} + +///////////////////////////////////////////////// +Plugin &Plugin::operator=(const Plugin &_plugin) +{ + if (!this->dataPtr) + this->dataPtr = std::make_unique(); + + this->dataPtr->name = _plugin.Name(); + this->dataPtr->filename = _plugin.Filename(); + if (_plugin.Element()) + this->dataPtr->sdf = _plugin.Element()->Clone(); + + this->dataPtr->contents.clear(); + // Copy the contents of the plugin + for (const sdf::ElementPtr content : _plugin.Contents()) + { + this->dataPtr->contents.push_back(content->Clone()); + } + + return *this; +} + +///////////////////////////////////////////////// +Plugin &Plugin::operator=(Plugin &&_plugin) noexcept +{ + this->dataPtr = std::move(_plugin.dataPtr); + return *this; +} diff --git a/src/Plugin_TEST.cc b/src/Plugin_TEST.cc new file mode 100644 index 000000000..ca77bcede --- /dev/null +++ b/src/Plugin_TEST.cc @@ -0,0 +1,264 @@ +/* + * Copyright (C) 2021 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 +#include "sdf/parser.hh" +#include "sdf/Plugin.hh" +#include "sdf/Element.hh" + +///////////////////////////////////////////////// +TEST(DOMPlugin, Construction) +{ + sdf::Plugin plugin; + EXPECT_EQ(nullptr, plugin.Element()); + + EXPECT_TRUE(plugin.Name().empty()); + EXPECT_TRUE(plugin.Filename().empty()); + EXPECT_TRUE(plugin.Contents().empty()); + + plugin.SetName("my-plugin"); + EXPECT_EQ("my-plugin", plugin.Name()); + + plugin.SetFilename("filename.so"); + EXPECT_EQ("filename.so", plugin.Filename()); + + sdf::ElementPtr content(new sdf::Element); + content->SetName("an-element"); + plugin.InsertContent(content); + EXPECT_EQ(1u, plugin.Contents().size()); + + sdf::ElementPtr elem = plugin.ToElement(); + ASSERT_NE(nullptr, elem); + + ASSERT_NE(nullptr, elem->GetAttribute("name")); + EXPECT_EQ("my-plugin", elem->GetAttribute("name")->GetAsString()); + + ASSERT_NE(nullptr, elem->GetAttribute("filename")); + EXPECT_EQ("filename.so", elem->GetAttribute("filename")->GetAsString()); +} + +///////////////////////////////////////////////// +TEST(DOMPlugin, MoveConstructor) +{ + sdf::Plugin plugin; + plugin.SetName("pluginname"); + plugin.SetFilename("filename"); + + sdf::ElementPtr content(new sdf::Element); + content->SetName("an-element"); + plugin.InsertContent(content); + + sdf::Plugin plugin2(std::move(plugin)); + EXPECT_EQ("pluginname", plugin2.Name()); + EXPECT_EQ("filename", plugin2.Filename()); + ASSERT_EQ(1u, plugin2.Contents().size()); + EXPECT_EQ("an-element", plugin2.Contents()[0]->GetName()); +} + +///////////////////////////////////////////////// +TEST(DOMPlugin, CopyConstructor) +{ + sdf::Plugin plugin; + plugin.SetName("pluginname"); + plugin.SetFilename("filename"); + + sdf::Plugin plugin2(plugin); + EXPECT_EQ("pluginname", plugin2.Name()); + EXPECT_EQ("filename", plugin2.Filename()); + + EXPECT_EQ("pluginname", plugin.Name()); + EXPECT_EQ("filename", plugin.Filename()); +} + +///////////////////////////////////////////////// +TEST(DOMPlugin, CopyAssigmentOperator) +{ + sdf::Plugin plugin; + plugin.SetName("pluginname"); + plugin.SetFilename("filename"); + + sdf::Plugin plugin2; + plugin2 = plugin; + EXPECT_EQ("pluginname", plugin2.Name()); + EXPECT_EQ("filename", plugin2.Filename()); + + EXPECT_EQ("pluginname", plugin.Name()); + EXPECT_EQ("filename", plugin.Filename()); +} + +///////////////////////////////////////////////// +TEST(DOMPlugin, MoveAssignmentConstructor) +{ + sdf::Plugin plugin; + plugin.SetName("pluginname"); + plugin.SetFilename("filename"); + + sdf::Plugin plugin2; + plugin2 = std::move(plugin); + EXPECT_EQ("pluginname", plugin2.Name()); + EXPECT_EQ("filename", plugin2.Filename()); +} + +///////////////////////////////////////////////// +TEST(DOMPlugin, CopyAssignmentAfterMove) +{ + sdf::Plugin plugin; + plugin.SetName("pluginname"); + plugin.SetFilename("filename"); + + sdf::Plugin plugin2; + plugin2.SetName("pluginname2"); + plugin2.SetFilename("filename2"); + + // This is similar to what std::swap does except it uses std::move for each + // assignment + sdf::Plugin tmp = std::move(plugin); + plugin = plugin2; + plugin2 = tmp; + + EXPECT_EQ("pluginname", plugin2.Name()); + EXPECT_EQ("filename", plugin2.Filename()); + + EXPECT_EQ("pluginname2", plugin.Name()); + EXPECT_EQ("filename2", plugin.Filename()); +} + +///////////////////////////////////////////////// +TEST(DOMPlugin, Load) +{ + sdf::Plugin plugin; + sdf::Errors errors; + + // Null sdf + errors = plugin.Load(nullptr); + ASSERT_EQ(1u, errors.size()); + EXPECT_EQ(sdf::ErrorCode::ELEMENT_MISSING, errors[0].Code()); + + // Bad element name + sdf::ElementPtr sdf(new sdf::Element()); + sdf->SetName("bad"); + errors = plugin.Load(sdf); + ASSERT_EQ(1u, errors.size()); + EXPECT_EQ(sdf::ErrorCode::ELEMENT_INCORRECT_TYPE, errors[0].Code()); + EXPECT_NE(nullptr, plugin.Element()); + + sdf->SetName("plugin"); + + // Missing name and filename attribute + errors = plugin.Load(sdf); + ASSERT_EQ(2u, errors.size()); + EXPECT_EQ(sdf::ErrorCode::ATTRIBUTE_MISSING, errors[0].Code()); + EXPECT_EQ(sdf::ErrorCode::ATTRIBUTE_MISSING, errors[1].Code()); + + sdf->AddAttribute("name", "string", "__default__", true); + sdf->GetAttribute("name")->Set("my-plugin-name"); + + // Now just missing filename + errors = plugin.Load(sdf); + ASSERT_EQ(1u, errors.size()); + EXPECT_EQ(sdf::ErrorCode::ATTRIBUTE_MISSING, errors[0].Code()); + + sdf->AddAttribute("filename", "string", "__default__", true); + sdf->GetAttribute("filename")->Set("filename.so"); + + // No errors. + errors = plugin.Load(sdf); + ASSERT_TRUE(errors.empty()); +} + +///////////////////////////////////////////////// +TEST(DOMPlugin, LoadWithChildren) +{ + std::string pluginStr = R"( + + 3D View + false + 0 + docked + + ogre + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + -6 0 6 0 0.5 0 + +)"; + + std::string pluginStrWithSdf = std::string("") + + pluginStr + ""; + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("plugin.sdf", elem); + ASSERT_TRUE(sdf::readString(pluginStrWithSdf, elem)); + + sdf::Plugin plugin; + sdf::Errors errors; + errors = plugin.Load(elem); + ASSERT_EQ(0u, errors.size()); + + EXPECT_EQ("3D View", plugin.Name()); + EXPECT_EQ("MinimalScene", plugin.Filename()); + + // The elements should be the same + EXPECT_EQ(elem->ToString(""), plugin.Element()->ToString("")); + + sdf::ElementPtr toElem = plugin.ToElement(); + + // The elements should be the same + EXPECT_EQ(elem->ToString(""), toElem->ToString("")); + EXPECT_EQ(pluginStr, toElem->ToString("")); + + // Test plugin copy + sdf::Plugin plugin3; + plugin3 = plugin; + plugin.ClearContents(); + sdf::Plugin plugin4(plugin3); + + toElem = plugin3.ToElement(); + EXPECT_EQ(6u, plugin3.Contents().size()); + EXPECT_EQ(pluginStr, toElem->ToString("")); + + toElem = plugin4.ToElement(); + EXPECT_EQ(6u, plugin4.Contents().size()); + EXPECT_EQ(pluginStr, toElem->ToString("")); +} + +///////////////////////////////////////////////// +TEST(DOMPlugin, ToElement) +{ + sdf::Plugin plugin; + plugin.SetName("my-plugin"); + EXPECT_EQ("my-plugin", plugin.Name()); + + plugin.SetFilename("filename.so"); + EXPECT_EQ("filename.so", plugin.Filename()); + + sdf::ElementPtr content(new sdf::Element); + content->SetName("an-element"); + plugin.InsertContent(content); + EXPECT_EQ(1u, plugin.Contents().size()); + + sdf::ElementPtr elem = plugin.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Plugin plugin2; + plugin2.Load(elem); + + EXPECT_EQ(plugin.Name(), plugin2.Name()); + EXPECT_EQ(plugin.Filename(), plugin2.Filename()); + EXPECT_EQ(1u, plugin2.Contents().size()); + EXPECT_EQ("an-element", plugin2.Contents()[0]->GetName()); +} diff --git a/src/PrintConfig.cc b/src/PrintConfig.cc index fb9f41999..a36c441b5 100644 --- a/src/PrintConfig.cc +++ b/src/PrintConfig.cc @@ -16,15 +16,26 @@ */ #include "sdf/PrintConfig.hh" +#include "sdf/Console.hh" + +using namespace sdf; -namespace sdf -{ -inline namespace SDF_VERSION_NAMESPACE -{ ///////////////////////////////////////////////// class PrintConfig::Implementation { + /// \brief True if rotation in poses are to be printed in degrees. + public: bool rotationInDegrees = false; + + /// \brief The interval in degrees, which rotation in poses shall snap to, + /// if they are within the tolerance value of rotationSnapTolerance. + public: std::optional rotationSnapToDegrees = std::nullopt; + + /// \brief The tolerance which is used to determine whether snapping of + /// rotation in poses happen. + public: std::optional rotationSnapTolerance = std::nullopt; + /// \brief True to preserve tags, false to expand. + public: bool preserveIncludes = false; }; ///////////////////////////////////////////////// @@ -33,5 +44,75 @@ PrintConfig::PrintConfig() { } +///////////////////////////////////////////////// +void PrintConfig::SetRotationInDegrees(bool _value) +{ + this->dataPtr->rotationInDegrees = _value; +} + +///////////////////////////////////////////////// +bool PrintConfig::RotationInDegrees() const +{ + return this->dataPtr->rotationInDegrees; +} + +///////////////////////////////////////////////// +void PrintConfig::SetPreserveIncludes(bool _preserve) +{ + this->dataPtr->preserveIncludes = _preserve; +} + +///////////////////////////////////////////////// +bool PrintConfig::PreserveIncludes() const +{ + return this->dataPtr->preserveIncludes; +} + +///////////////////////////////////////////////// +bool PrintConfig::SetRotationSnapToDegrees(unsigned int _interval, + double _tolerance) +{ + if (_interval == 0 || _interval > 360) + { + sdferr << "Interval value to snap to must be larger than 0, and less than " + << "or equal to 360.\n"; + return false; + } + + if (_tolerance <= 0 || _tolerance > 360 || + _tolerance >= static_cast(_interval)) + { + sdferr << "Tolerance must be larger than 0, less than or equal to " + << "360, and less than the provided interval.\n"; + return false; + } + + this->dataPtr->rotationSnapToDegrees = _interval; + this->dataPtr->rotationSnapTolerance = _tolerance; + return true; +} + +///////////////////////////////////////////////// +std::optional PrintConfig::RotationSnapToDegrees() const +{ + return this->dataPtr->rotationSnapToDegrees; +} + +///////////////////////////////////////////////// +std::optional PrintConfig::RotationSnapTolerance() const +{ + return this->dataPtr->rotationSnapTolerance; } + +///////////////////////////////////////////////// +bool PrintConfig::operator==(const PrintConfig &_config) const +{ + if (this->RotationInDegrees() == _config.RotationInDegrees() && + this->RotationSnapToDegrees() == _config.RotationSnapToDegrees() && + this->RotationSnapTolerance() == _config.RotationSnapTolerance() && + this->PreserveIncludes() == _config.PreserveIncludes()) + { + return true; + } + return false; } diff --git a/src/PrintConfig_TEST.cc b/src/PrintConfig_TEST.cc new file mode 100644 index 000000000..9ac523c9e --- /dev/null +++ b/src/PrintConfig_TEST.cc @@ -0,0 +1,107 @@ +/* + * Copyright 2021 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 + +#include "sdf/PrintConfig.hh" +#include "test_config.h" + +///////////////////////////////////////////////// +TEST(PrintConfig, Construction) +{ + sdf::PrintConfig config; + EXPECT_FALSE(config.RotationInDegrees()); + EXPECT_FALSE(config.RotationSnapToDegrees()); + EXPECT_FALSE(config.PreserveIncludes()); +} + +///////////////////////////////////////////////// +TEST(PrintConfig, RotationInDegrees) +{ + sdf::PrintConfig config; + EXPECT_FALSE(config.RotationInDegrees()); + + config.SetRotationInDegrees(true); + EXPECT_TRUE(config.RotationInDegrees()); + + config.SetRotationInDegrees(false); + EXPECT_FALSE(config.RotationInDegrees()); +} + +///////////////////////////////////////////////// +TEST(PrintConfig, RotationSnapToDegrees) +{ + sdf::PrintConfig config; + EXPECT_FALSE(config.RotationSnapToDegrees().has_value()); + EXPECT_FALSE(config.RotationSnapTolerance().has_value()); + + EXPECT_TRUE(config.SetRotationSnapToDegrees(5, 0.01)); + ASSERT_TRUE(config.RotationSnapToDegrees().has_value()); + EXPECT_EQ(5u, config.RotationSnapToDegrees().value()); + ASSERT_TRUE(config.RotationSnapTolerance().has_value()); + EXPECT_DOUBLE_EQ(0.01, config.RotationSnapTolerance().value()); + + EXPECT_FALSE(config.SetRotationSnapToDegrees(0, 0.01)); + EXPECT_FALSE(config.SetRotationSnapToDegrees(360 + 1, 0.01)); + EXPECT_FALSE(config.SetRotationSnapToDegrees(5, -1e6)); + EXPECT_FALSE(config.SetRotationSnapToDegrees(5, 360 + 1e-6)); + + EXPECT_FALSE(config.SetRotationSnapToDegrees(5, 5 + 1e-6)); + EXPECT_TRUE(config.SetRotationSnapToDegrees(5, 5 - 1e-6)); + ASSERT_TRUE(config.RotationSnapToDegrees().has_value()); + EXPECT_EQ(5u, config.RotationSnapToDegrees().value()); + ASSERT_TRUE(config.RotationSnapTolerance().has_value()); + EXPECT_DOUBLE_EQ(5 - 1e-6, config.RotationSnapTolerance().value()); +} + +///////////////////////////////////////////////// +TEST(PrintConfig, Compare) +{ + sdf::PrintConfig first; + sdf::PrintConfig second; + EXPECT_TRUE(first == second); + EXPECT_TRUE(second == first); + + first.SetRotationInDegrees(true); + EXPECT_TRUE(first.RotationInDegrees()); + EXPECT_FALSE(second.RotationInDegrees()); + EXPECT_FALSE(first == second); + EXPECT_FALSE(second == first); + + second.SetRotationInDegrees(true); + EXPECT_TRUE(first == second); + EXPECT_TRUE(second == first); + + EXPECT_TRUE(first.SetRotationSnapToDegrees(5, 0.01)); + EXPECT_FALSE(first == second); + EXPECT_FALSE(second == first); + + EXPECT_TRUE(second.SetRotationSnapToDegrees(5, 0.01)); + EXPECT_TRUE(first == second); + EXPECT_TRUE(second == first); +} + +///////////////////////////////////////////////// +TEST(PrintConfig, PreserveIncludes) +{ + sdf::PrintConfig config; + EXPECT_FALSE(config.PreserveIncludes()); + config.SetPreserveIncludes(true); + EXPECT_TRUE(config.PreserveIncludes()); + config.SetPreserveIncludes(false); + EXPECT_FALSE(config.PreserveIncludes()); +} diff --git a/src/Scene.cc b/src/Scene.cc index f99430d47..9825d601d 100644 --- a/src/Scene.cc +++ b/src/Scene.cc @@ -14,6 +14,7 @@ * limitations under the License. * */ +#include "sdf/parser.hh" #include "sdf/Scene.hh" #include "Utils.hh" @@ -176,3 +177,21 @@ sdf::ElementPtr Scene::Element() const { return this->dataPtr->sdf; } + +///////////////////////////////////////////////// +sdf::ElementPtr Scene::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("scene.sdf", elem); + + elem->GetElement("ambient")->Set(this->Ambient()); + elem->GetElement("background")->Set(this->Background()); + elem->GetElement("grid")->Set(this->Grid()); + elem->GetElement("origin_visual")->Set(this->OriginVisual()); + elem->GetElement("shadows")->Set(this->Shadows()); + + if (this->dataPtr->sky) + elem->InsertElement(this->dataPtr->sky->ToElement(), true); + + return elem; +} diff --git a/src/Scene_TEST.cc b/src/Scene_TEST.cc index 0e10ece0d..97d3479ad 100644 --- a/src/Scene_TEST.cc +++ b/src/Scene_TEST.cc @@ -170,3 +170,33 @@ TEST(DOMScene, Set) scene.SetSky(sky); EXPECT_NE(nullptr, scene.Sky()); } + +///////////////////////////////////////////////// +TEST(DOMScene, ToElement) +{ + sdf::Scene scene; + + scene.SetAmbient(ignition::math::Color(0.1f, 0.2f, 0.3f, 1.0f)); + scene.SetBackground(ignition::math::Color(0.2f, 0.3f, 0.4f, 1.0f)); + scene.SetGrid(true); + scene.SetOriginVisual(true); + scene.SetShadows(true); + + sdf::Sky sky; + scene.SetSky(sky); + + sdf::ElementPtr elem = scene.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Scene scene2; + scene2.Load(elem); + + EXPECT_EQ(scene.Ambient(), scene2.Ambient()); + EXPECT_EQ(scene.Background(), scene2.Background()); + EXPECT_EQ(scene.Grid(), scene2.Grid()); + EXPECT_EQ(scene.OriginVisual(), scene2.OriginVisual()); + EXPECT_EQ(scene.Shadows(), scene2.Shadows()); + + const sdf::Sky *sky2 = scene2.Sky(); + ASSERT_NE(nullptr, sky2); +} diff --git a/src/Sky.cc b/src/Sky.cc index 2635ac1f8..21651b07f 100644 --- a/src/Sky.cc +++ b/src/Sky.cc @@ -14,6 +14,7 @@ * limitations under the License. * */ +#include "sdf/parser.hh" #include "sdf/Sky.hh" #include "Utils.hh" @@ -201,3 +202,24 @@ sdf::ElementPtr Sky::Element() const { return this->dataPtr->sdf; } + +///////////////////////////////////////////////// +sdf::ElementPtr Sky::ToElement() const +{ + sdf::ElementPtr sceneElem(new sdf::Element); + sdf::initFile("scene.sdf", sceneElem); + sdf::ElementPtr elem = sceneElem->GetElement("sky"); + + elem->GetElement("time")->Set(this->Time()); + elem->GetElement("sunrise")->Set(this->Sunrise()); + elem->GetElement("sunset")->Set(this->Sunset()); + + sdf::ElementPtr cloudElem = elem->GetElement("clouds"); + cloudElem->GetElement("speed")->Set(this->CloudSpeed()); + cloudElem->GetElement("direction")->Set(this->CloudDirection().Radian()); + cloudElem->GetElement("humidity")->Set(this->CloudHumidity()); + cloudElem->GetElement("mean_size")->Set(this->CloudMeanSize()); + cloudElem->GetElement("ambient")->Set(this->CloudAmbient()); + + return elem; +} diff --git a/src/Sky_TEST.cc b/src/Sky_TEST.cc index 03461bc43..e629493e5 100644 --- a/src/Sky_TEST.cc +++ b/src/Sky_TEST.cc @@ -186,3 +186,33 @@ TEST(DOMSky, Set) EXPECT_EQ(ignition::math::Color(0.1f, 0.2f, 0.3f), sky.CloudAmbient()); } + +///////////////////////////////////////////////// +TEST(DOMSky, ToElement) +{ + sdf::Sky sky; + + sky.SetTime(1.2); + sky.SetSunrise(0.5); + sky.SetSunset(10.2); + sky.SetCloudSpeed(100.2); + sky.SetCloudDirection(1.56); + sky.SetCloudHumidity(0.2); + sky.SetCloudMeanSize(0.5); + sky.SetCloudAmbient(ignition::math::Color(0.1f, 0.2f, 0.3f, 1.0f)); + + sdf::ElementPtr elem = sky.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Sky sky2; + sky2.Load(elem); + + EXPECT_DOUBLE_EQ(sky.Time(), sky2.Time()); + EXPECT_DOUBLE_EQ(sky.Sunrise(), sky2.Sunrise()); + EXPECT_DOUBLE_EQ(sky.Sunset(), sky2.Sunset()); + EXPECT_DOUBLE_EQ(sky.CloudSpeed(), sky2.CloudSpeed()); + EXPECT_EQ(sky.CloudDirection(), sky2.CloudDirection()); + EXPECT_DOUBLE_EQ(sky.CloudHumidity(), sky2.CloudHumidity()); + EXPECT_DOUBLE_EQ(sky.CloudMeanSize(), sky2.CloudMeanSize()); + EXPECT_EQ(sky.CloudAmbient(), sky2.CloudAmbient()); +} diff --git a/src/Sphere.cc b/src/Sphere.cc index e1c8ad3ed..df666c58b 100644 --- a/src/Sphere.cc +++ b/src/Sphere.cc @@ -14,6 +14,7 @@ * limitations under the License. * */ +#include "sdf/parser.hh" #include "sdf/Sphere.hh" using namespace sdf; @@ -111,3 +112,15 @@ sdf::ElementPtr Sphere::Element() const { return this->dataPtr->sdf; } + +///////////////////////////////////////////////// +sdf::ElementPtr Sphere::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("sphere_shape.sdf", elem); + + sdf::ElementPtr radiusElem = elem->GetElement("radius"); + radiusElem->Set(this->Radius()); + + return elem; +} diff --git a/src/Sphere_TEST.cc b/src/Sphere_TEST.cc index 107ccac36..5e8d0407d 100644 --- a/src/Sphere_TEST.cc +++ b/src/Sphere_TEST.cc @@ -133,3 +133,19 @@ TEST(DOMSphere, Shape) sphere.Shape().SetRadius(0.123); EXPECT_DOUBLE_EQ(0.123, sphere.Radius()); } + +///////////////////////////////////////////////// +TEST(DOMSphere, ToElement) +{ + sdf::Sphere sphere; + + sphere.SetRadius(1.2); + + sdf::ElementPtr elem = sphere.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Sphere sphere2; + sphere2.Load(elem); + + EXPECT_DOUBLE_EQ(sphere.Radius(), sphere2.Radius()); +} diff --git a/src/Surface.cc b/src/Surface.cc index 7e7283906..3977cf3fa 100644 --- a/src/Surface.cc +++ b/src/Surface.cc @@ -16,6 +16,7 @@ */ #include "sdf/Element.hh" +#include "sdf/parser.hh" #include "sdf/Surface.hh" #include "sdf/Types.hh" #include "sdf/sdf_config.h" @@ -79,6 +80,7 @@ Errors Contact::Load(ElementPtr _sdf) static_cast(_sdf->Get("collide_bitmask")); } + // \todo(nkoenig) Parse the remaining collide properties. return errors; } ///////////////////////////////////////////////// @@ -137,6 +139,7 @@ Errors Surface::Load(ElementPtr _sdf) errors.insert(errors.end(), err.begin(), err.end()); } + // \todo(nkoenig) Parse the remaining surface properties. return errors; } ///////////////////////////////////////////////// @@ -156,3 +159,16 @@ void Surface::SetContact(const sdf::Contact &_contact) { this->dataPtr->contact = _contact; } + +///////////////////////////////////////////////// +sdf::ElementPtr Surface::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("surface.sdf", elem); + + sdf::ElementPtr contactElem = elem->GetElement("contact"); + contactElem->GetElement("collide_bitmask")->Set( + this->dataPtr->contact.CollideBitmask()); + + return elem; +} diff --git a/src/Visual.cc b/src/Visual.cc index 6b6fe5e22..f49118c2e 100644 --- a/src/Visual.cc +++ b/src/Visual.cc @@ -17,12 +17,13 @@ #include #include #include +#include "FrameSemantics.hh" +#include "ScopedGraph.hh" #include "sdf/Error.hh" +#include "sdf/Geometry.hh" +#include "sdf/parser.hh" #include "sdf/Types.hh" #include "sdf/Visual.hh" -#include "sdf/Geometry.hh" -#include "FrameSemantics.hh" -#include "ScopedGraph.hh" #include "Utils.hh" using namespace sdf; @@ -300,3 +301,36 @@ void Visual::SetPoseRelativeToGraph( { this->dataPtr->poseRelativeToGraph = _graph; } + +///////////////////////////////////////////////// +sdf::ElementPtr Visual::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("visual.sdf", elem); + + elem->GetAttribute("name")->Set(this->Name()); + + // Set pose + sdf::ElementPtr poseElem = elem->GetElement("pose"); + if (!this->dataPtr->poseRelativeTo.empty()) + { + poseElem->GetAttribute("relative_to")->Set( + this->dataPtr->poseRelativeTo); + } + poseElem->Set(this->RawPose()); + + // Set the geometry + elem->InsertElement(this->dataPtr->geom.ToElement(), true); + + elem->GetElement("cast_shadows")->Set(this->CastShadows()); + elem->GetElement("laser_retro")->Set(this->LaserRetro()); + elem->GetElement("transparency")->Set(this->Transparency()); + elem->GetElement("visibility_flags")->Set(this->VisibilityFlags()); + + if (this->dataPtr->material) + { + elem->InsertElement(this->dataPtr->material->ToElement(), true); + } + + return elem; +} diff --git a/src/Visual_TEST.cc b/src/Visual_TEST.cc index 836abf3a8..6119416b7 100644 --- a/src/Visual_TEST.cc +++ b/src/Visual_TEST.cc @@ -285,3 +285,38 @@ TEST(DOMVisual, SetLaserRetro) EXPECT_TRUE(visual.HasLaserRetro()); EXPECT_DOUBLE_EQ(150, visual.LaserRetro()); } + +///////////////////////////////////////////////// +TEST(DOMVisual, ToElement) +{ + sdf::Visual visual; + visual.SetName("my-visual"); + visual.SetCastShadows(true); + visual.SetTransparency(0.2f); + visual.SetRawPose(ignition::math::Pose3d(1, 2, 3, 0.1, 0.2, 0.3)); + visual.SetVisibilityFlags(1234u); + visual.SetHasLaserRetro(true); + visual.SetLaserRetro(1.2); + + sdf::Geometry geom; + visual.SetGeom(geom); + + sdf::Material mat; + visual.SetMaterial(mat); + + sdf::ElementPtr elem = visual.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::Visual visual2; + visual2.Load(elem); + + EXPECT_EQ(visual.Name(), visual2.Name()); + EXPECT_EQ(visual.CastShadows(), visual2.CastShadows()); + EXPECT_DOUBLE_EQ(visual.Transparency(), visual2.Transparency()); + EXPECT_EQ(visual.RawPose(), visual2.RawPose()); + EXPECT_EQ(visual.VisibilityFlags(), visual2.VisibilityFlags()); + EXPECT_EQ(visual.HasLaserRetro(), visual2.HasLaserRetro()); + EXPECT_DOUBLE_EQ(visual.LaserRetro(), visual2.LaserRetro()); + EXPECT_NE(nullptr, visual2.Geom()); + EXPECT_NE(nullptr, visual2.Material()); +} diff --git a/src/World.cc b/src/World.cc index 64ed5ddb4..d9b3b1436 100644 --- a/src/World.cc +++ b/src/World.cc @@ -245,7 +245,7 @@ Errors World::Load(sdf::ElementPtr _sdf, const ParserConfig &_config) for (const auto &ifaceModelPair : this->dataPtr->interfaceModels) { - frameNames.insert(ifaceModelPair.second->Name()).second; + frameNames.insert(ifaceModelPair.second->Name()); } // Load all the physics. @@ -798,6 +798,72 @@ Errors World::Implementation::LoadSphericalCoordinates( return errors; } +///////////////////////////////////////////////// +sdf::ElementPtr World::ToElement() const +{ + sdf::ElementPtr elem(new sdf::Element); + sdf::initFile("world.sdf", elem); + + elem->GetAttribute("name")->Set(this->Name()); + elem->GetElement("gravity")->Set(this->Gravity()); + elem->GetElement("magnetic_field")->Set(this->MagneticField()); + + sdf::ElementPtr windElem = elem->GetElement("wind"); + windElem->GetElement("linear_velocity")->Set(this->WindLinearVelocity()); + + // Physics + for (const sdf::Physics &physics : this->dataPtr->physics) + elem->InsertElement(physics.ToElement(), true); + + // Models + for (const sdf::Model &model : this->dataPtr->models) + elem->InsertElement(model.ToElement(), true); + + // Actors + for (const sdf::Actor &actor : this->dataPtr->actors) + elem->InsertElement(actor.ToElement(), true); + + // Lights + for (const sdf::Light &light : this->dataPtr->lights) + elem->InsertElement(light.ToElement(), true); + + // Spherical coordinates. + if (this->dataPtr->sphericalCoordinates) + { + sdf::ElementPtr sphericalElem = elem->GetElement("spherical_coordinates"); + sphericalElem->GetElement("surface_model")->Set( + ignition::math::SphericalCoordinates::Convert( + this->dataPtr->sphericalCoordinates->Surface())); + sphericalElem->GetElement("world_frame_orientation")->Set("ENU"); + sphericalElem->GetElement("latitude_deg")->Set( + this->dataPtr->sphericalCoordinates->LatitudeReference().Degree()); + sphericalElem->GetElement("longitude_deg")->Set( + this->dataPtr->sphericalCoordinates->LongitudeReference().Degree()); + sphericalElem->GetElement("elevation")->Set( + this->dataPtr->sphericalCoordinates->ElevationReference()); + sphericalElem->GetElement("heading_deg")->Set( + this->dataPtr->sphericalCoordinates->HeadingOffset().Degree()); + } + + // Atmosphere + if (this->dataPtr->atmosphere) + elem->InsertElement(this->dataPtr->atmosphere->ToElement(), true); + + // Gui + if (this->dataPtr->gui) + elem->InsertElement(this->dataPtr->gui->ToElement(), true); + + // Scene + if (this->dataPtr->scene) + elem->InsertElement(this->dataPtr->scene->ToElement(), true); + + // Audio + if (this->dataPtr->audioDevice != "default") + elem->GetElement("audio")->GetElement("device")->Set(this->AudioDevice()); + + return elem; +} + ///////////////////////////////////////////////// void World::ClearModels() { @@ -816,6 +882,12 @@ void World::ClearLights() this->dataPtr->lights.clear(); } +///////////////////////////////////////////////// +void World::ClearPhysics() +{ + this->dataPtr->physics.clear(); +} + ///////////////////////////////////////////////// bool World::AddModel(const Model &_model) { @@ -844,3 +916,17 @@ bool World::AddLight(const Light &_light) return true; } + +///////////////////////////////////////////////// +bool World::AddPhysics(const Physics &_physics) +{ + if (this->PhysicsNameExists(_physics.Name())) + { + std::cout << "Not adding physics, it exists\n"; + return false; + } + std::cout << "Adding physics\n"; + this->dataPtr->physics.push_back(_physics); + + return true; +} diff --git a/src/World_TEST.cc b/src/World_TEST.cc index 7a76f33c8..74dd57e1b 100644 --- a/src/World_TEST.cc +++ b/src/World_TEST.cc @@ -21,6 +21,7 @@ #include "sdf/Light.hh" #include "sdf/Actor.hh" #include "sdf/Model.hh" +#include "sdf/Physics.hh" #include "sdf/World.hh" ///////////////////////////////////////////////// @@ -420,3 +421,115 @@ TEST(DOMWorld, AddLight) ASSERT_NE(nullptr, lightFromWorld); EXPECT_EQ(lightFromWorld->Name(), light.Name()); } + +///////////////////////////////////////////////// +TEST(DOMWorld, ToElement) +{ + sdf::World world; + + world.SetName("my-world"); + world.SetAudioDevice("my-audio"); + world.SetWindLinearVelocity(ignition::math::Vector3d(1, 2, 3)); + world.SetGravity(ignition::math::Vector3d(-1, 5, 10)); + world.SetMagneticField(ignition::math::Vector3d(2.0, 0.1, 0.5)); + world.SetSphericalCoordinates(ignition::math::SphericalCoordinates()); + + sdf::Atmosphere atmosphere; + world.SetAtmosphere(atmosphere); + + sdf::Gui gui; + world.SetGui(gui); + + sdf::Scene scene; + world.SetScene(scene); + + for (int j = 0; j <= 1; ++j) + { + for (int i = 0; i < 2; ++i) + { + sdf::Model model; + model.SetName("model" + std::to_string(i)); + EXPECT_TRUE(world.AddModel(model)); + EXPECT_FALSE(world.AddModel(model)); + } + if (j == 0) + world.ClearModels(); + } + + for (int j = 0; j <= 1; ++j) + { + for (int i = 0; i < 3; ++i) + { + sdf::Actor actor; + actor.SetName("actor" + std::to_string(i)); + EXPECT_TRUE(world.AddActor(actor)); + EXPECT_FALSE(world.AddActor(actor)); + } + if (j == 0) + world.ClearActors(); + } + + for (int j = 0; j <= 1; ++j) + { + for (int i = 0; i < 4; ++i) + { + sdf::Light light; + light.SetName("light" + std::to_string(i)); + EXPECT_TRUE(world.AddLight(light)); + EXPECT_FALSE(world.AddLight(light)); + } + if (j == 0) + world.ClearLights(); + } + + for (int j = 0; j <= 1; ++j) + { + for (int i = 0; i < 5; ++i) + { + sdf::Physics physics; + physics.SetName("physics" + std::to_string(i)); + EXPECT_TRUE(world.AddPhysics(physics)); + EXPECT_FALSE(world.AddPhysics(physics)); + } + if (j == 0) + world.ClearPhysics(); + } + + sdf::ElementPtr elem = world.ToElement(); + ASSERT_NE(nullptr, elem); + + sdf::World world2; + world2.Load(elem); + + EXPECT_EQ(world.Name(), world2.Name()); + EXPECT_EQ(world.AudioDevice(), world2.AudioDevice()); + EXPECT_EQ(world.WindLinearVelocity(), world2.WindLinearVelocity()); + EXPECT_EQ(world.Gravity(), world2.Gravity()); + EXPECT_EQ(world.MagneticField(), world2.MagneticField()); + EXPECT_EQ(*world.SphericalCoordinates(), *world2.SphericalCoordinates()); + + const sdf::Atmosphere *atmosphere2 = world2.Atmosphere(); + ASSERT_NE(nullptr, atmosphere2); + + const sdf::Gui *gui2 = world2.Gui(); + ASSERT_NE(nullptr, gui2); + + const sdf::Scene *scene2 = world2.Scene(); + ASSERT_NE(nullptr, scene2); + + EXPECT_EQ(world.ModelCount(), world2.ModelCount()); + for (uint64_t i = 0; i < world2.ModelCount(); ++i) + EXPECT_NE(nullptr, world2.ModelByIndex(i)); + + EXPECT_EQ(world.LightCount(), world2.LightCount()); + for (uint64_t i = 0; i < world2.LightCount(); ++i) + EXPECT_NE(nullptr, world2.LightByIndex(i)); + + EXPECT_EQ(world.ActorCount(), world2.ActorCount()); + for (uint64_t i = 0; i < world2.ActorCount(); ++i) + EXPECT_NE(nullptr, world2.ActorByIndex(i)); + + EXPECT_EQ(world.PhysicsCount(), world2.PhysicsCount()); + for (uint64_t i = 0; i < world2.PhysicsCount(); ++i) + EXPECT_NE(nullptr, world2.PhysicsByIndex(i)); +} diff --git a/src/cmd/CMakeLists.txt b/src/cmd/CMakeLists.txt index 9719e9430..e831d413a 100644 --- a/src/cmd/CMakeLists.txt +++ b/src/cmd/CMakeLists.txt @@ -2,12 +2,12 @@ # Generate the ruby script for internal testing. # Note that the major version of the library is included in the name. # Ex: cmdsdformat0.rb -set(cmd_script_generated_test "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${sdf_target}.rb") +set(cmd_script_generated_test "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${PROJECT_NAME}.rb") set(cmd_script_configured_test "${cmd_script_generated_test}.configured") # Set the library_location variable to the full path of the library file within # the build directory. -set(library_location "$") +set(library_location "$") configure_file( "cmd${PROJECT_NAME_NO_VERSION_LOWER}.rb.in" @@ -24,12 +24,12 @@ file(GENERATE # Generate the ruby script that gets installed. # Note that the major version of the library is included in the name. # Ex: cmdsdformat0.rb -set(cmd_script_generated "${CMAKE_CURRENT_BINARY_DIR}/cmd${sdf_target}.rb") +set(cmd_script_generated "${CMAKE_CURRENT_BINARY_DIR}/cmd${PROJECT_NAME}.rb") set(cmd_script_configured "${cmd_script_generated}.configured") # Set the library_location variable to the relative path to the library file # within the install directory structure. -set(library_location "../../../${CMAKE_INSTALL_LIBDIR}/$") +set(library_location "../../../${CMAKE_INSTALL_LIBDIR}/$") configure_file( "cmd${PROJECT_NAME_NO_VERSION_LOWER}.rb.in" @@ -42,21 +42,3 @@ file(GENERATE # Install the ruby command line library in an unversioned location. install(FILES ${cmd_script_generated} DESTINATION lib/ruby/ignition) - -#=============================================================================== -# SDF -> USD converter -add_executable(usdConverter - usdConverter.cc -) - -target_link_libraries(usdConverter - PUBLIC - ${sdf_target} -) - -install( - TARGETS - usdConverter - DESTINATION - ${BIN_INSTALL_DIR} -) diff --git a/src/cmd/cmdsdformat.rb.in b/src/cmd/cmdsdformat.rb.in index 52130611d..04562f03f 100644 --- a/src/cmd/cmdsdformat.rb.in +++ b/src/cmd/cmdsdformat.rb.in @@ -29,11 +29,11 @@ require 'optparse' # Constants. LIBRARY_NAME = '@library_location@' -LIBRARY_VERSION = '@SDF_VERSION_FULL@' +LIBRARY_VERSION = '@PROJECT_VERSION_FULL@' COMMON_OPTIONS = - " -h [ --help ] Print this help message.\n"\ - " --force-version Use a specific library version.\n"\ - ' --versions Show the available versions.' + " -h [ --help ] Print this help message.\n"\ + " --force-version Use a specific library version.\n"\ + ' --versions Show the available versions.' COMMANDS = { 'sdf' => "Utilities for SDF files.\n\n"\ " ign sdf [options]\n\n"\ @@ -43,6 +43,13 @@ COMMANDS = { 'sdf' => " -g [ --graph ] arg Print the PoseRelativeTo or FrameAttachedTo graph. (WARNING: This is for advanced\n" + " use only and the output may change without any promise of stability)\n" + " -p [ --print ] arg Print converted arg.\n" + + " -i [ --preserve-includes ] Preserve included tags when printing converted arg (does not preserve merge-includes).\n" + + " --degrees Pose rotation angles are printed in degrees.\n" + + " --snap-to-degrees arg Snap pose rotation angles to this specified interval in degrees. This value must be\n" + + " larger than 0, less than or equal to 360, and larger than the defined snap tolerance.\n" + + " --snap-tolerance arg Used in conjunction with --snap-to-degrees, specifies the tolerance at which snapping\n" + + " occurs. This value must be larger than 0, less than 360, and less than the defined\n" + + " degrees value to snap to. If unspecified, its default value is 0.01.\n" + COMMON_OPTIONS } @@ -56,6 +63,8 @@ class Cmd # def parse(args) options = {} + options['degrees'] = 0 + options['snap_tolerance'] = 0.01 usage = COMMANDS[args[0]] @@ -75,9 +84,30 @@ class Cmd opts.on('-d', '--describe [VERSION]', 'Print the aggregated SDFormat spec description. Default version (@SDF_PROTOCOL_VERSION@)') do |v| options['describe'] = v end - opts.on('-p arg', '--print arg', String, - 'Print converted arg') do |arg| - options['print'] = arg + opts.on('-p', '--print', 'Print converted arg') do + options['print'] = 1 + end + opts.on('-i', '--preserve-includes', 'Preserve included tags when printing converted arg (does not preserve merge-includes)') do + options['preserve_includes'] = 1 + end + opts.on('--degrees', 'Printed pose rotations are will be in degrees') do |degrees| + options['degrees'] = 1 + end + opts.on('--snap-to-degrees arg', Integer, + 'Printed rotations are snapped to specified degree intervals') do |arg| + if arg == 0 || arg > 360 + puts "Degree interval to snap to must be more than 0, and less than or equal to 360." + exit(-1) + end + options['snap_to_degrees'] = arg + end + opts.on('--snap-tolerance arg', Float, + 'Printed rotations are snapped if they are within this specified tolerance') do |arg| + if arg < 0 || arg > 360 + puts "Rotation snapping tolerance must be more than 0, and less than 360." + exit(-1) + end + options['snap_tolerance'] = arg end opts.on('-g arg', '--graph type', String, 'Print PoseRelativeTo or FrameAttachedTo graph') do |graph_type| @@ -101,6 +131,21 @@ class Cmd options['command'] = ARGV[0] + if options['preserve_includes'] and not options['print'] + puts usage + exit(-1) + end + + if options['print'] + filename = args.pop + if filename + options['print'] = filename + else + puts usage + exit(-1) + end + end + options end @@ -160,8 +205,22 @@ class Cmd Importer.extern 'int cmdDescribe(const char *)' exit(Importer.cmdDescribe(options['describe'])) elsif options.key?('print') - Importer.extern 'int cmdPrint(const char *)' - exit(Importer.cmdPrint(File.expand_path(options['print']))) + snap_to_degrees = 0 + if options['preserve_includes'] + Importer.extern 'int cmdPrintPreserveIncludes(const char *)' + exit(Importer.cmdPrintPreserveIncludes(File.expand_path(options['print']))) + elsif options.key?('snap_to_degrees') + if options['snap_to_degrees'] < options['snap_tolerance'] + puts "Rotation snapping tolerance must be larger than the snapping tolerance." + exit(-1) + end + snap_to_degrees = options['snap_to_degrees'] + end + Importer.extern 'int cmdPrint(const char *, int in_degrees, int snap_to_degrees, float snap_tolerance)' + exit(Importer.cmdPrint(File.expand_path(options['print']), + options['degrees'], + snap_to_degrees, + options['snap_tolerance'])) elsif options.key?('graph') Importer.extern 'int cmdGraph(const char *, const char *)' exit(Importer.cmdGraph(options['graph'][:type], File.expand_path(ARGV[1]))) diff --git a/src/ign.cc b/src/ign.cc index e046d6fc1..23f9625e8 100644 --- a/src/ign.cc +++ b/src/ign.cc @@ -18,12 +18,14 @@ #include #include #include +#include #include #include "sdf/sdf_config.h" #include "sdf/Filesystem.hh" #include "sdf/Root.hh" #include "sdf/parser.hh" +#include "sdf/PrintConfig.hh" #include "sdf/system_util.hh" #include "FrameSemantics.hh" @@ -131,7 +133,8 @@ extern "C" SDFORMAT_VISIBLE int cmdDescribe(const char *_version) } ////////////////////////////////////////////////// -extern "C" SDFORMAT_VISIBLE int cmdPrint(const char *_path) +extern "C" SDFORMAT_VISIBLE int cmdPrint(const char *_path, + int inDegrees, int snapToDegrees, float snapTolerance) { if (!sdf::filesystem::exists(_path)) { @@ -153,7 +156,47 @@ extern "C" SDFORMAT_VISIBLE int cmdPrint(const char *_path) return -1; } - sdf->PrintValues(); + sdf::PrintConfig config; + if (inDegrees!= 0) + { + config.SetRotationInDegrees(true); + } + if (snapToDegrees > 0) + { + config.SetRotationSnapToDegrees(static_cast(snapToDegrees), + static_cast(snapTolerance)); + } + + sdf->PrintValues(config); + return 0; +} + +////////////////////////////////////////////////// +extern "C" SDFORMAT_VISIBLE int cmdPrintPreserveIncludes(const char *_path) +{ + if (!sdf::filesystem::exists(_path)) + { + std::cerr << "Error: File [" << _path << "] does not exist.\n"; + return -1; + } + + sdf::SDFPtr sdf(new sdf::SDF()); + + if (!sdf::init(sdf)) + { + std::cerr << "Error: SDF schema initialization failed.\n"; + return -1; + } + + if (!sdf::readFile(_path, sdf)) + { + std::cerr << "Error: SDF parsing the xml failed.\n"; + return -1; + } + + sdf::PrintConfig config; + config.SetPreserveIncludes(true); + sdf->PrintValues(config); return 0; } diff --git a/src/ign_TEST.cc b/src/ign_TEST.cc index 50e387d7d..d93172742 100644 --- a/src/ign_TEST.cc +++ b/src/ign_TEST.cc @@ -948,6 +948,631 @@ TEST(print, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) } } +////////////////////////////////////////////////// +static bool contains(const std::string &_a, const std::string &_b) +{ + return _a.find(_b) != std::string::npos; +} + +///////////////////////////////////////////////// +TEST(print_rotations_in_degrees, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) +{ + const std::string path = + sdf::testing::TestFile("sdf", "rotations_in_degrees.sdf"); + + // Default printing + std::string output = custom_exec_str( + IgnCommand() + " sdf -p " + path + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "1 2 3 30.009 44.991 -60.009"); + + // Printing with in_degrees + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --degrees " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60.009"); + + // Printing with snap_to_degrees 5 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); + + // Printing with snap_to_degrees 2 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 2 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 44.991 -60"); + + // Printing with snap_to_degrees 20 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 20 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60"); + + // Printing with snap_to_degrees 5, snap_tolerance 0.008 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + "--snap-tolerance 0.008 " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60.009"); + + // Printing with snap_to_degrees 5, snap_tolerance 0.01 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + "--snap-tolerance 0.01 " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); +} + +///////////////////////////////////////////////// +TEST(print_rotations_in_radians, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) +{ + const std::string path = + sdf::testing::TestFile("sdf", "rotations_in_radians.sdf"); + + // Default printing + std::string output = custom_exec_str( + IgnCommand() + " sdf -p " + path + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "1 2 3 0.523756 0.785241 -1.04735"); + + // Printing with in_degrees + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --degrees " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60.0087"); + + // Printing with snap_to_degrees 5 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); + + // Printing with snap_to_degrees 2 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 2 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 44.991 -60"); + + // Printing with snap_to_degrees 20 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 20 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60"); + + // Printing with snap_to_degrees 5, snap_tolerance 0.008 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + "--snap-tolerance 0.008 " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60.0087"); + + // Printing with snap_to_degrees 5, snap_tolerance 0.01 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + "--snap-tolerance 0.01 " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); +} + +///////////////////////////////////////////////// +TEST(print_rotations_in_quaternions, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) +{ + const auto path = sdf::testing::TestFile( + "sdf", "rotations_in_quaternions.sdf"); + + // Default printing + std::string output = custom_exec_str( + IgnCommand() + " sdf -p " + path + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 0.391948 0.200425 -0.532046 0.723279"); + + // Printing with in_degrees + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --degrees " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60.009"); + + // Printing with snap_to_degrees 5 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); + + // Printing with snap_to_degrees 2 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 2 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 44.991 -60"); + + // Printing with snap_to_degrees 20 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 20 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60"); + + // Printing with snap_to_degrees 5, snap_tolerance 0.008 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + "--snap-tolerance 0.008 " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60.009"); + + // Printing with snap_to_degrees 5, snap_tolerance 0.01 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + "--snap-tolerance 0.01 " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); +} + +///////////////////////////////////////////////// +TEST(print_includes_rotations_in_degrees, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) +{ + // Set SDF_PATH so that included models can be found + sdf::testing::setenv( + "SDF_PATH", sdf::testing::SourceFile("test", "integration", "model")); + const std::string path = + sdf::testing::TestFile("sdf", "includes_rotations_in_degrees.sdf"); + + // Default printing + std::string output = custom_exec_str( + IgnCommand() + " sdf -p " + path + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "1 2 3 30.009 44.991 -60.009"); + + // Printing with in_degrees + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --degrees " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60.009"); + + // Printing with snap_to_degrees 5 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); + + // Printing with snap_to_degrees 2 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 2 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 44.991 -60"); + + // Printing with snap_to_degrees 20 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 20 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60"); + + // Printing with snap_to_degrees 5, snap_tolerance 0.008 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + "--snap-tolerance 0.008 " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60.009"); + + // Printing with snap_to_degrees 5, snap_tolerance 0.01 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + "--snap-tolerance 0.01 " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); +} + +///////////////////////////////////////////////// +TEST(print_includes_rotations_in_radians, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) +{ + // Set SDF_PATH so that included models can be found + sdf::testing::setenv( + "SDF_PATH", sdf::testing::SourceFile("test", "integration", "model")); + const std::string path = + sdf::testing::TestFile("sdf", "includes_rotations_in_radians.sdf"); + + // Default printing + std::string output = custom_exec_str( + IgnCommand() + " sdf -p " + path + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "1 2 3 0.523756 0.785241 -1.04735"); + + // Printing with in_degrees + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --degrees " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60.0087"); + + // Printing with snap_to_degrees 5 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); + + // Printing with snap_to_degrees 2 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 2 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 44.991 -60"); + + // Printing with snap_to_degrees 20 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 20 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60"); + + // Printing with snap_to_degrees 5, snap_tolerance 0.008 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + "--snap-tolerance 0.008 " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60.0087"); + + // Printing with snap_to_degrees 5, snap_tolerance 0.01 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + "--snap-tolerance 0.01 " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); +} + +///////////////////////////////////////////////// +TEST(print_includes_rotations_in_quaternions, + IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) +{ + // Set SDF_PATH so that included models can be found + sdf::testing::setenv( + "SDF_PATH", sdf::testing::SourceFile("test", "integration", "model")); + const auto path = sdf::testing::TestFile( + "sdf", "includes_rotations_in_quaternions.sdf"); + + // Default printing + std::string output = custom_exec_str( + IgnCommand() + " sdf -p " + path + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 0.391948 0.200425 -0.532046 0.723279"); + + // Printing with in_degrees + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --degrees " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60.009"); + + // Printing with snap_to_degrees 5 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); + + // Printing with snap_to_degrees 2 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 2 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 44.991 -60"); + + // Printing with snap_to_degrees 20 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 20 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60"); + + // Printing with snap_to_degrees 5, snap_tolerance 0.008 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + "--snap-tolerance 0.008 " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60.009"); + + // Printing with snap_to_degrees 5, snap_tolerance 0.01 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + "--snap-tolerance 0.01 " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); +} + +///////////////////////////////////////////////// +TEST(print_rotations_in_unnormalized_degrees, + IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) +{ + const std::string path = + sdf::testing::TestFile("sdf", "rotations_in_unnormalized_degrees.sdf"); + + // Default printing + // Unnormalized degree values cannot be returned as is, as its string is + // returned by parsing the pose value, whenever a parent Element Attribute, + // or PrintConfig is used. + std::string output = custom_exec_str( + IgnCommand() + " sdf -p " + path + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "1 2 3 30.009 44.991 -60.009"); + + // Printing with in_degrees + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --degrees " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60.009"); + + // Printing with snap_to_degrees 5 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); + + // Printing with snap_to_degrees 2 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 2 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 44.991 -60"); + + // Printing with snap_to_degrees 20 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 20 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60"); + + // Printing with snap_to_degrees 5, snap_tolerance 0.008 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + "--snap-tolerance 0.008 " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.991 -60.009"); + + // Printing with snap_to_degrees 5, snap_tolerance 0.01 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + "--snap-tolerance 0.01 " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); +} + +///////////////////////////////////////////////// +TEST(print_rotations_in_unnormalized_radians, + IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) +{ + const std::string path = + sdf::testing::TestFile("sdf", "rotations_in_unnormalized_radians.sdf"); + + // Default printing + std::string output = custom_exec_str( + IgnCommand() + " sdf -p " + path + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "1 2 3 -5.75943 -11.78112 5.23583"); + + // Printing with in_degrees + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --degrees " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.9915 -60.009"); + + // Printing with snap_to_degrees 5 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); + + // Printing with snap_to_degrees 2 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 2 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 44.9915 -60"); + + // Printing with snap_to_degrees 20 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 20 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.9915 -60"); + + // Printing with snap_to_degrees 5, snap_tolerance 0.008 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + "--snap-tolerance 0.008 " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.9915 -60.009"); + + // Printing with snap_to_degrees 5, snap_tolerance 0.01 + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + "--snap-tolerance 0.01 " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); +} + +///////////////////////////////////////////////// +TEST(shuffled_cmd_flags, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) +{ + const std::string path = + sdf::testing::TestFile("sdf", "rotations_in_unnormalized_radians.sdf"); + + // -p PATH --degrees + std::string output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --degrees " + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.9915 -60.009"); + + // --degrees -p PATH + output = custom_exec_str( + IgnCommand() + " sdf --degrees -p " + path + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30.009 44.9915 -60.009"); + + // -p PATH --snap-to-degrees ARG + output = custom_exec_str( + IgnCommand() + " sdf -p " + path + " --snap-to-degrees 5 " + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); + + // -p --snap-to-degrees ARG PATH + output = custom_exec_str( + IgnCommand() + " sdf -p --snap-to-degrees 5 " + path + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); + + // --snap-to-degrees ARG -p PATH + output = custom_exec_str( + IgnCommand() + " sdf --snap-to-degrees 5 -p " + path + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 45 -60"); +} + +///////////////////////////////////////////////// +TEST(print_snap_to_degrees_tolerance_too_high, + IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) +{ + const std::string path = sdf::testing::TestFile( + "sdf", + "rotations_in_degrees_high_snap_tolerance.sdf"); + + std::string output = custom_exec_str( + IgnCommand() + " sdf -p " + path + + " --snap-to-degrees 5 " + " --snap-tolerance 4" + + SdfVersion()); + ASSERT_FALSE(output.empty()); + EXPECT_PRED2(contains, output, + "" + "1 2 3 30 50 60"); +} + ///////////////////////////////////////////////// TEST(GraphCmd, IGN_UTILS_TEST_DISABLED_ON_WIN32(WorldPoseRelativeTo)) { @@ -981,10 +1606,10 @@ TEST(GraphCmd, IGN_UTILS_TEST_DISABLED_ON_WIN32(WorldPoseRelativeTo)) << " 16 [label=\"F7 (16)\"];\n" << " 0 -> 1 [label=1];\n" << " 2 -> 3 [label=0];\n" - << " 3 -> 4 [label=1];\n" - << " 3 -> 5 [label=1];\n" << " 8 -> 9 [label=0];\n" << " 9 -> 10 [label=1];\n" + << " 3 -> 4 [label=1];\n" + << " 3 -> 5 [label=1];\n" << " 5 -> 6 [label=1];\n" << " 5 -> 7 [label=1];\n" << " 3 -> 8 [label=1];\n" @@ -1041,12 +1666,11 @@ TEST(GraphCmd, IGN_UTILS_TEST_DISABLED_ON_WIN32(ModelPoseRelativeTo)) << " 29 [label=\"parent_model::M7::__model__ (29)\"];\n" << " 30 [label=\"parent_model::M7::L (30)\"];\n" << " 1 -> 2 [label=0];\n" - << " 2 -> 3 [label=1];\n" << " 4 -> 5 [label=0];\n" - << " 5 -> 6 [label=1];\n" - << " 5 -> 7 [label=1];\n" << " 10 -> 11 [label=0];\n" << " 11 -> 12 [label=1];\n" + << " 5 -> 6 [label=1];\n" + << " 5 -> 7 [label=1];\n" << " 7 -> 8 [label=1];\n" << " 7 -> 9 [label=1];\n" << " 5 -> 10 [label=1];\n" @@ -1062,6 +1686,7 @@ TEST(GraphCmd, IGN_UTILS_TEST_DISABLED_ON_WIN32(ModelPoseRelativeTo)) << " 26 -> 27 [label=1];\n" << " 28 -> 29 [label=0];\n" << " 29 -> 30 [label=1];\n" + << " 2 -> 3 [label=1];\n" << " 2 -> 4 [label=1];\n" << " 4 -> 13 [label=1];\n" << " 6 -> 16 [label=1];\n" diff --git a/src/parser.cc b/src/parser.cc index a3cec154a..7e9d65f46 100644 --- a/src/parser.cc +++ b/src/parser.cc @@ -203,8 +203,7 @@ static void insertIncludedElement(sdf::SDFPtr _includeSDF, if (!_merge) { - firstElem->SetParent(_parent); - _parent->InsertElement(firstElem); + _parent->InsertElement(firstElem, true); return; } else if (firstElem->GetName() != "model") @@ -347,8 +346,7 @@ static void insertIncludedElement(sdf::SDFPtr _includeSDF, (elem->GetName() == "gripper") || (elem->GetName() == "plugin") || (elem->GetName().find(':') != std::string::npos)) { - elem->SetParent(_parent); - _parent->InsertElement(elem); + _parent->InsertElement(elem, true); } } } @@ -1914,13 +1912,13 @@ void copyChildren(ElementPtr _sdf, for (elemXml = _xml->FirstChildElement(); elemXml; elemXml = elemXml->NextSiblingElement()) { - std::string elem_name = elemXml->Name(); + std::string elemName = elemXml->Name(); - if (_sdf->HasElementDescription(elem_name)) + if (_sdf->HasElementDescription(elemName)) { if (!_onlyUnknown) { - sdf::ElementPtr element = _sdf->AddElement(elem_name); + sdf::ElementPtr element = _sdf->AddElement(elemName); // FIXME: copy attributes for (const auto *attribute = elemXml->FirstAttribute(); @@ -1943,18 +1941,18 @@ void copyChildren(ElementPtr _sdf, { ElementPtr element(new Element); element->SetParent(_sdf); - element->SetName(elem_name); - if (elemXml->GetText() != nullptr) - { - element->AddValue("string", elemXml->GetText(), "1"); - } - + element->SetName(elemName); for (const tinyxml2::XMLAttribute *attribute = elemXml->FirstAttribute(); attribute; attribute = attribute->Next()) { element->AddAttribute(attribute->Name(), "string", "", 1, ""); element->GetAttribute(attribute->Name())->SetFromString( - attribute->Value()); + attribute->Value()); + } + + if (elemXml->GetText() != nullptr) + { + element->AddValue("string", elemXml->GetText(), true); } copyChildren(element, elemXml, _onlyUnknown); diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index 22926fd5a..466d6f637 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -1,33 +1,18 @@ -include_directories ( - ${PROJECT_SOURCE_DIR}/include - ${PROJECT_BINARY_DIR}/include - ${PROJECT_SOURCE_DIR}/test/gtest/include - ${PROJECT_SOURCE_DIR}/test/gtest - ${PROJECT_SOURCE_DIR}/test - ${IGNITION-MATH_INCLUDE_DIRS} -) - -link_directories( - ${IGNITION-MATH_LIBRARY_DIRS} -) - -if (USE_EXTERNAL_TINYXML) - include_directories(${tinyxml_INCLUDE_DIRS}) - link_directories(${tinyxml_LIBRARY_DIRS}) -endif() - -configure_file(test_config.h.in ${PROJECT_BINARY_DIR}/test_config.h) +get_filename_component(IGN_PATH ${IGN_PROGRAM} DIRECTORY) +configure_file(test_config.h.in ${PROJECT_BINARY_DIR}/include/test_config.h) # Build gtest add_library(gtest STATIC gtest/src/gtest-all.cc) +target_include_directories(gtest + PUBLIC + ${PROJECT_SOURCE_DIR}/test/gtest/include + ${PROJECT_SOURCE_DIR}/test/gtest +) add_library(gtest_main STATIC gtest/src/gtest_main.cc) target_link_libraries(gtest_main gtest) -set(GTEST_LIBRARY "${PROJECT_BINARY_DIR}/test/libgtest.a") -set(GTEST_MAIN_LIBRARY "${PROJECT_BINARY_DIR}/test/libgtest_main.a") execute_process(COMMAND cmake -E remove_directory ${CMAKE_BINARY_DIR}/test_results) execute_process(COMMAND cmake -E make_directory ${CMAKE_BINARY_DIR}/test_results) -include_directories(${GTEST_INCLUDE_DIRS}) add_subdirectory(integration) add_subdirectory(performance) diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt index bc2fb4481..ed83d8e70 100644 --- a/test/integration/CMakeLists.txt +++ b/test/integration/CMakeLists.txt @@ -40,6 +40,7 @@ set(tests plugin_bool.cc plugin_include.cc pose_1_9_sdf.cc + print_config.cc provide_feedback.cc root_dom.cc scene_dom.cc @@ -63,12 +64,10 @@ find_program(XMLLINT_EXE xmllint) if (EXISTS ${XMLLINT_EXE}) set (tests ${tests} schema_test.cc) else() - BUILD_WARNING("xmllint not found. schema_test won't be run") + ign_build_warning("xmllint not found. schema_test won't be run") endif() -link_directories(${PROJECT_BINARY_DIR}/test) - -sdf_build_tests(${tests}) +ign_build_tests(TYPE ${TEST_TYPE} SOURCES ${tests} INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/test) if (EXISTS ${XMLLINT_EXE}) # Need to run schema target (build .xsd files) before running schema_test @@ -79,5 +78,5 @@ endif() if (UNIX AND NOT APPLE) configure_file(all_symbols_have_version.bash.in ${CMAKE_CURRENT_BINARY_DIR}/all_symbols_have_version.bash @ONLY) add_test(NAME INTEGRATION_versioned_symbols - COMMAND bash ${CMAKE_CURRENT_BINARY_DIR}/all_symbols_have_version.bash ${CMAKE_BINARY_DIR}/src/libsdformat${SDF_MAJOR_VERSION}.so) + COMMAND bash ${CMAKE_CURRENT_BINARY_DIR}/all_symbols_have_version.bash $) endif() diff --git a/test/integration/all_symbols_have_version.bash.in b/test/integration/all_symbols_have_version.bash.in index cdb5055d1..d69a58442 100644 --- a/test/integration/all_symbols_have_version.bash.in +++ b/test/integration/all_symbols_have_version.bash.in @@ -1,7 +1,7 @@ # Returns non-zero exit code if there are symbols which don't contain the project major version LIBPATH=$1 -VERSIONED_NS=v@SDF_MAJOR_VERSION@ +VERSIONED_NS=v@PROJECT_VERSION_MAJOR@ # Sanity check - there should be at least one symbol NUM_SYMBOLS=$(nm $LIBPATH | grep -e "sdf" | wc -l) diff --git a/test/integration/default_elements.cc b/test/integration/default_elements.cc index fb8434db8..40767e6e2 100644 --- a/test/integration/default_elements.cc +++ b/test/integration/default_elements.cc @@ -187,27 +187,27 @@ TEST(ExplicitlySetInFile, ToString) << "\n" << " \n" << " \n" - << " 1.0\n" + << " 1\n" << " 0 0 0\n" << " \n" << " \n" << " EARTH_WGS84\n" - << " 0.0\n" - << " 0.0\n" - << " 0.0\n" - << " 0.0\n" + << " 0\n" + << " 0\n" + << " 0\n" + << " 0\n" << " \n" << " 0 0 -9.8\n" - << " 5.5645e-6 22.8758e-6 -42.3884e-6\n" + << " 6e-06 2.3e-05 -4.2e-05\n" << " \n" << " \n" << " 0.001\n" - << " 1.0\n" + << " 1\n" << " 1000\n" << " \n" << " \n" - << " 0.4 0.4 0.4 1.0\n" - << " .7 .7 .7 1\n" + << " 0.4 0.4 0.4 1\n" + << " 0.7 0.7 0.7 1\n" << " true\n" << " \n" << " \n" @@ -221,27 +221,27 @@ TEST(ExplicitlySetInFile, ToString) << "\n" << " \n" << " \n" - << " 1.0\n" + << " 1\n" << " 0 0 0\n" << " \n" << " \n" << " EARTH_WGS84\n" - << " 0.0\n" - << " 0.0\n" - << " 0.0\n" - << " 0.0\n" + << " 0\n" + << " 0\n" + << " 0\n" + << " 0\n" << " \n" << " 0 0 -9.8\n" - << " 5.5645e-6 22.8758e-6 -42.3884e-6\n" + << " 6e-06 2.3e-05 -4.2e-05\n" << " \n" << " \n" << " 0.001\n" - << " 1.0\n" + << " 1\n" << " 1000\n" << " \n" << " \n" - << " 0.4 0.4 0.4 1.0\n" - << " .7 .7 .7 1\n" + << " 0.4 0.4 0.4 1\n" + << " 0.7 0.7 0.7 1\n" << " true\n" << " \n" << " \n" diff --git a/test/integration/frame.cc b/test/integration/frame.cc index 90b15be93..ec2d112fc 100644 --- a/test/integration/frame.cc +++ b/test/integration/frame.cc @@ -489,7 +489,7 @@ TEST(DOMFrame, LoadModelFramesInvalidAttachedTo) for (auto e : errors) std::cout << e << std::endl; EXPECT_FALSE(errors.empty()); - EXPECT_EQ(10u, errors.size()); + ASSERT_EQ(10u, errors.size()); EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::FRAME_ATTACHED_TO_INVALID); EXPECT_NE(std::string::npos, errors[0].Message().find( @@ -745,7 +745,7 @@ TEST(DOMFrame, LoadWorldFramesInvalidAttachedTo) for (auto e : errors) std::cout << e << std::endl; EXPECT_FALSE(errors.empty()); - EXPECT_EQ(11u, errors.size()); + ASSERT_EQ(11u, errors.size()); EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::FRAME_ATTACHED_TO_INVALID); EXPECT_NE(std::string::npos, errors[0].Message().find( diff --git a/test/integration/include_custom_model_expected_output.sdf b/test/integration/include_custom_model_expected_output.sdf index e4584cd98..f554228c8 100644 --- a/test/integration/include_custom_model_expected_output.sdf +++ b/test/integration/include_custom_model_expected_output.sdf @@ -211,7 +211,7 @@ - 1.0469999999999999 + 1.047 1280 @@ -457,16 +457,16 @@ 0 0 -9.8 - 5.5645e-6 22.8758e-6 -42.3884e-6 + 6e-06 2.3e-05 -4.2e-05 0.001 - 1.0 + 1 1000 - 0.4 0.4 0.4 1.0 - .7 .7 .7 1 + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 true diff --git a/test/integration/include_custom_nested_model_expected_output.sdf b/test/integration/include_custom_nested_model_expected_output.sdf index 959a6b2cc..e7b3115f2 100644 --- a/test/integration/include_custom_nested_model_expected_output.sdf +++ b/test/integration/include_custom_nested_model_expected_output.sdf @@ -11,7 +11,7 @@ 0.126164 0 0 - 0.416519 + 0.41651899999999997 0 0.481014 @@ -80,13 +80,13 @@ -1.06 0 0 0 0 3.14 - 1.047 + 1.0469999999999999 320 240 - 0.1 + 0.10000000000000001 100 @@ -158,13 +158,13 @@ - 1.047 + 1.0469999999999999 320 240 - 0.1 + 0.10000000000000001 100 @@ -181,7 +181,7 @@ -0.2 0 0.3 0 0 3.14 - 0.05 + 0.050000000000000003 @@ -203,10 +203,10 @@ 2 - 0.145833 + 0.14583299999999999 0 0 - 0.145833 + 0.14583299999999999 0 0.125 @@ -214,7 +214,7 @@ - 0.3 + 0.29999999999999999 @@ -226,7 +226,7 @@ - 0.3 + 0.29999999999999999 @@ -239,10 +239,10 @@ 2 - 0.145833 + 0.14583299999999999 0 0 - 0.145833 + 0.14583299999999999 0 0.125 @@ -250,7 +250,7 @@ - 0.3 + 0.29999999999999999 @@ -262,7 +262,7 @@ - 0.3 + 0.29999999999999999 @@ -275,10 +275,10 @@ 2 - 0.145833 + 0.14583299999999999 0 0 - 0.145833 + 0.14583299999999999 0 0.125 @@ -286,7 +286,7 @@ - 0.3 + 0.29999999999999999 @@ -298,7 +298,7 @@ - 0.3 + 0.29999999999999999 @@ -311,8 +311,8 @@ 0 0 1 - -1.79769e+308 - 1.79769e+308 + -1.7976900000000001e+308 + 1.7976900000000001e+308 @@ -322,8 +322,8 @@ 0 0 1 - -1.79769e+308 - 1.79769e+308 + -1.7976900000000001e+308 + 1.7976900000000001e+308 @@ -334,16 +334,16 @@ 0 0 -9.8 - 5.5645e-6 22.8758e-6 -42.3884e-6 + 6e-06 2.3e-05 -4.2e-05 0.001 - 1.0 + 1 1000 - 0.4 0.4 0.4 1.0 - .7 .7 .7 1 + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 true diff --git a/test/integration/interface_api.cc b/test/integration/interface_api.cc index 05a60c2b9..a250f5cef 100644 --- a/test/integration/interface_api.cc +++ b/test/integration/interface_api.cc @@ -32,6 +32,7 @@ #include "sdf/InterfaceModel.hh" #include "sdf/Model.hh" #include "sdf/Param.hh" +#include "sdf/PrintConfig.hh" #include "sdf/Root.hh" #include "sdf/Types.hh" #include "sdf/World.hh" @@ -268,7 +269,7 @@ TEST_F(InterfaceAPI, CustomParserPrecedence) this->config.RegisterCustomModelParser(createCustomParser(3)); sdf::Root root; sdf::Errors errors = root.LoadSdfString(testSdf, this->config); - EXPECT_TRUE(errors.empty()); + EXPECT_TRUE(errors.empty()) << errors; // Check that custom parsers are called in reverse order of registration. ASSERT_EQ(3u, customParserCallOrder.size()); // Parser 0 will not be visited because parser 1 will be successful. @@ -860,3 +861,37 @@ TEST_F(InterfaceAPI, NameCollision) EXPECT_EQ(sdf::ErrorCode::DUPLICATE_NAME, errors[0].Code()); } } + +///////////////////////////////////////////////// +// Tests PrintConfig +TEST_F(InterfaceAPI, TomlParserModelIncludePrintConfig) +{ + const std::string testFile = sdf::testing::TestFile( + "sdf", "model_include_with_interface_api.sdf"); + + this->config.RegisterCustomModelParser(customTomlParser); + sdf::Root root; + sdf::Errors errors = root.Load(testFile, this->config); + EXPECT_TRUE(errors.empty()) << errors; + + const sdf::Model *model = root.Model(); + ASSERT_NE(nullptr, model); + const sdf::ElementPtr includeElem = model->Element()->GetFirstElement(); + ASSERT_NE(nullptr, includeElem); + + const std::string expectedIncludeStr = +R"( + double_pendulum.toml + 1 0 0 0 0 0 + + value1 + value2 + + +)"; + + sdf::PrintConfig printConfig; + EXPECT_EQ(includeElem->ToString("", printConfig), expectedIncludeStr); + printConfig.SetPreserveIncludes(true); + EXPECT_EQ(includeElem->ToString("", printConfig), expectedIncludeStr); +} diff --git a/test/integration/model/model_with_custom_elements/model.config b/test/integration/model/model_with_custom_elements/model.config new file mode 100644 index 000000000..f374803a5 --- /dev/null +++ b/test/integration/model/model_with_custom_elements/model.config @@ -0,0 +1,5 @@ + + + model_with_custom_elements + model.sdf + diff --git a/test/integration/model/model_with_custom_elements/model.sdf b/test/integration/model/model_with_custom_elements/model.sdf new file mode 100644 index 000000000..d11a9291a --- /dev/null +++ b/test/integration/model/model_with_custom_elements/model.sdf @@ -0,0 +1,22 @@ + + + + + + + L1 + L2 + + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + + + + diff --git a/test/integration/pose_1_9_sdf.cc b/test/integration/pose_1_9_sdf.cc index c70a98037..d806401d7 100644 --- a/test/integration/pose_1_9_sdf.cc +++ b/test/integration/pose_1_9_sdf.cc @@ -340,7 +340,6 @@ TEST(Pose1_9, PoseSet8ValuesFail) #endif buffer.str(""); - using Pose = ignition::math::Pose3d; sdf::ElementPtr poseElem(new sdf::Element); poseElem->SetName("pose"); @@ -788,7 +787,7 @@ TEST(Pose1_9, ToStringWithDegreesFalse) EXPECT_TRUE(poseValueParam->SetFromString("1 2 3 0.4 0.5 0.6")); std::string elemStr = poseElem->ToString(""); - EXPECT_PRED2(contains, elemStr, "degrees='0'"); + EXPECT_PRED2(contains, elemStr, "degrees='false'"); EXPECT_PRED2(contains, elemStr, "0.4 0.5 0.6"); } @@ -811,7 +810,7 @@ TEST(Pose1_9, ToStringWithDegreesTrue) EXPECT_TRUE(poseValueParam->SetFromString("1 2 3 0.4 0.5 0.6")); std::string elemStr = poseElem->ToString(""); - EXPECT_PRED2(contains, elemStr, "degrees='1'"); + EXPECT_PRED2(contains, elemStr, "degrees='true'"); EXPECT_PRED2(contains, elemStr, "0.4 0.5 0.6"); } @@ -863,7 +862,7 @@ TEST(Pose1_9, ToStringWithEulerRPYDegreesTrue) EXPECT_TRUE(poseValueParam->SetFromString("1 2 3 0.4 0.5 0.6")); std::string elemStr = poseElem->ToString(""); - EXPECT_PRED2(contains, elemStr, "degrees='1'"); + EXPECT_PRED2(contains, elemStr, "degrees='true'"); EXPECT_PRED2(contains, elemStr, "rotation_format='euler_rpy'"); EXPECT_PRED2(contains, elemStr, "0.4 0.5 0.6"); } @@ -887,9 +886,11 @@ TEST(Pose1_9, ToStringWithQuatXYZ) ASSERT_NE(nullptr, poseValueParam); EXPECT_TRUE(poseValueParam->SetFromString("1 2 3 0.7071068 0 0 0.7071068")); + // The string output has changed as it was parsed from the value, instead of + // the original string. std::string elemStr = poseElem->ToString(""); EXPECT_PRED2(contains, elemStr, "rotation_format='quat_xyzw'"); - EXPECT_PRED2(contains, elemStr, "0.7071068 0 0 0.7071068"); + EXPECT_PRED2(contains, elemStr, "0.707107 0 0 0.707107"); } ////////////////////////////////////////////////// @@ -915,17 +916,17 @@ TEST(Pose1_9, ToStringWithQuatXYZWDegreesFalse) ASSERT_NE(nullptr, poseValueParam); EXPECT_TRUE(poseValueParam->SetFromString("1 2 3 0.7071068 0 0 0.7071068")); + // The string output has changed as it was parsed from the value, instead of + // the original string. std::string elemStr = poseElem->ToString(""); - EXPECT_PRED2(contains, elemStr, "degrees='0'"); + EXPECT_PRED2(contains, elemStr, "degrees='false'"); EXPECT_PRED2(contains, elemStr, "rotation_format='quat_xyzw'"); - EXPECT_PRED2(contains, elemStr, "0.7071068 0 0 0.7071068"); + EXPECT_PRED2(contains, elemStr, "0.707107 0 0 0.707107"); } ////////////////////////////////////////////////// TEST(Pose1_9, ToStringAfterChangingDegreeAttribute) { - using Pose = ignition::math::Pose3d; - sdf::ElementPtr poseElem(new sdf::Element); poseElem->SetName("pose"); poseElem->AddValue("pose", "0 0 0 0 0 0", true); @@ -941,18 +942,22 @@ TEST(Pose1_9, ToStringAfterChangingDegreeAttribute) std::string elemStr = poseElem->ToString(""); EXPECT_PRED2(contains, elemStr, "0.4 0.5 0.6"); - // Changing to degrees + // Changing to attribute to degrees, however this does not modify the + // value of the underlying Param. Reparse needs to be called, which uses + // the input from SetFromString, to get a new value. sdf::ParamPtr degreesAttrib = poseElem->GetAttribute("degrees"); ASSERT_NE(nullptr, degreesAttrib); ASSERT_TRUE(degreesAttrib->Set(true)); + EXPECT_TRUE(valParam->Reparse()); + elemStr = poseElem->ToString(""); - EXPECT_PRED2(contains, elemStr, "degrees='1'"); + EXPECT_PRED2(contains, elemStr, "degrees='true'"); EXPECT_PRED2(contains, elemStr, "0.4 0.5 0.6"); // Changing back to radians ASSERT_TRUE(degreesAttrib->Set(false)); elemStr = poseElem->ToString(""); - EXPECT_PRED2(contains, elemStr, "degrees='0'"); + EXPECT_PRED2(contains, elemStr, "degrees='false'"); EXPECT_PRED2(contains, elemStr, "0.4 0.5 0.6"); } diff --git a/test/integration/print_config.cc b/test/integration/print_config.cc new file mode 100644 index 000000000..ded642ab2 --- /dev/null +++ b/test/integration/print_config.cc @@ -0,0 +1,226 @@ +/* + * Copyright 2021 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 + +#include +#include + +#include "sdf/sdf.hh" + +#include "test_config.h" + +///////////////////////////////////////////////// +TEST(PrintConfig, PreserveIncludes) +{ + const std::string modelPath = sdf::testing::TestFile("integration", "model"); + + sdf::ParserConfig parserConfig; + parserConfig.SetFindCallback( + [&](const std::string &_file) + { + return sdf::filesystem::append(modelPath, _file); + }); + + const std::string includeStr = +R"( + box + test_box + 1 2 3 0 0 0 + link + + +)"; + + const std::string modelWithIncludeStr = +R"( + + test_model + test_model + 1 2 3 0 0 0 + link + + + +)"; + + const std::string sdfStr = + "" + " " + + includeStr + + modelWithIncludeStr + + " " + ""; + + sdf::Root root; + sdf::Errors errors = root.LoadSdfString(sdfStr, parserConfig); + EXPECT_TRUE(errors.empty()) << errors; + + auto *world = root.WorldByIndex(0); + ASSERT_NE(world, nullptr); + auto *includedModel = world->ModelByIndex(0); + ASSERT_NE(includedModel, nullptr); + auto *modelWithInclude = world->ModelByIndex(1); + ASSERT_NE(modelWithInclude, nullptr); + + const std::string expandedIncludeStr = +R"( + 1 2 3 0 0 0 + + + + + 1 1 1 + + + + + + + 1 1 1 + + + + + + +)"; + + const std::string expandedModelWithIncludeStr = +R"( + + + + + + meshes/mesh.dae + + my_submesh +
true
+ + 0.1 0.2 0.3 + + + + + + + meshes/mesh.dae + + another_submesh +
false
+ + 1.2 2.3 3.4 + + + + + 1 2 3 0 0 0 + + + +)"; + + sdf::PrintConfig config; + // by default, included model should be expanded + EXPECT_EQ(includedModel->Element()->ToString("", config), expandedIncludeStr); + EXPECT_EQ(modelWithInclude->Element()->ToString("", config), + expandedModelWithIncludeStr); + + config.SetPreserveIncludes(true); + EXPECT_EQ(includedModel->Element()->ToString("", config), includeStr); + EXPECT_EQ(modelWithInclude->Element()->ToString("", config), + modelWithIncludeStr); +} + +///////////////////////////////////////////////// +// Test verifies preserving includes does not work for merge-includes. +// Need to update test if issue is addressed. +// https://github.com/ignitionrobotics/sdformat/issues/769 +TEST(PrintConfig, PreserveIncludesWithMerge) +{ + const std::string modelPath = sdf::testing::TestFile("integration", "model"); + + sdf::ParserConfig parserConfig; + parserConfig.SetFindCallback( + [&](const std::string &_file) + { + return sdf::filesystem::append(modelPath, _file); + }); + + const std::string includeMergeStr = +R"( + + box + test_box2 + + +)"; + + const std::string sdfStr = + "" + " " + + includeMergeStr + + " " + ""; + + sdf::Root root; + sdf::Errors errors = root.LoadSdfString(sdfStr, parserConfig); + EXPECT_TRUE(errors.empty()) << errors; + + auto *world = root.WorldByIndex(0); + ASSERT_NE(world, nullptr); + auto *includeMergedModel = world->ModelByIndex(0); + ASSERT_NE(includeMergedModel, nullptr); + + // The expected output pose string here still contains a -0 on the pitch value + // as it was set using ignition::math::Pose3d::operator<<, this test will have + // to be modified when we start using ignitionrobotics/ign-math#206. + const std::string expectedIncludeMerge = +R"( + + 0 0 0.5 0 -0 0 + + + + + + 1 1 1 + + + + + + + 1 1 1 + + + + 0 0 0 0 0 0 + + +)"; + + sdf::PrintConfig config; + EXPECT_EQ(includeMergedModel->Element()->ToString("", config), + expectedIncludeMerge); + config.SetPreserveIncludes(true); + EXPECT_NE(includeMergedModel->Element()->ToString("", config), + includeMergeStr); + EXPECT_EQ(includeMergedModel->Element()->ToString("", config), + expectedIncludeMerge); +} diff --git a/test/integration/sdf_custom.cc b/test/integration/sdf_custom.cc index 2b29d4f67..9f4a378cd 100644 --- a/test/integration/sdf_custom.cc +++ b/test/integration/sdf_custom.cc @@ -82,3 +82,294 @@ TEST(SDFParser, CustomElements) tranJointElement->Get("mysim:hardwareInterface"); EXPECT_EQ("EffortJointInterface", tranHwInterface); } + +///////////////////////////////////////////////// +TEST(SDFParser, ReloadCustomElements) +{ + const std::string sdfTestFile = + sdf::testing::TestFile("integration", "custom_elems_attrs.sdf"); + + // load file with custom elements + sdf::Root root1; + sdf::Errors errors = root1.Load(sdfTestFile); + EXPECT_TRUE(errors.empty()); + + // reload string output of root1 + sdf::Root root2; + errors = root2.LoadSdfString(root1.Element()->ToString("")); + EXPECT_TRUE(errors.empty()); + + // check that root1 and root2 equal + const sdf::World *world1 = root1.WorldByIndex(0); + const sdf::World *world2 = root2.WorldByIndex(0); + ASSERT_NE(nullptr, world1); + ASSERT_NE(nullptr, world2); + + const sdf::Model *model1 = world1->ModelByIndex(0); + const sdf::Model *model2 = world2->ModelByIndex(0); + ASSERT_NE(nullptr, model1); + ASSERT_NE(nullptr, model2); + EXPECT_EQ(model1->Element()->ToString(""), model2->Element()->ToString("")); + + const sdf::Link *link1 = model1->LinkByIndex(0); + const sdf::Link *link2 = model2->LinkByIndex(0); + ASSERT_NE(nullptr, link1); + ASSERT_NE(nullptr, link2); + EXPECT_EQ(link1->Element()->ToString(""), link2->Element()->ToString("")); + + sdf::ElementPtr customElem1 = + model1->Element()->FindElement("mysim:transmission"); + sdf::ElementPtr customElem2 = + model2->Element()->FindElement("mysim:transmission"); + ASSERT_NE(nullptr, customElem1); + ASSERT_NE(nullptr, customElem2); + + const std::string customElemStr = +R"( + transmission_interface/SimpleTransmission + + EffortJointInterface + + +)"; + EXPECT_EQ(customElemStr, customElem1->ToString("")); + EXPECT_EQ(customElemStr, customElem2->ToString("")); + + sdf::ElementPtr customDesc1 = + world1->Element()->FindElement("mysim:description"); + sdf::ElementPtr customDesc2 = + world2->Element()->FindElement("mysim:description"); + ASSERT_NE(nullptr, customDesc1); + ASSERT_NE(nullptr, customDesc2); + + const std::string customDescStr = + "Description of this world\n"; + EXPECT_EQ(customDescStr, customDesc1->ToString("")); + EXPECT_EQ(customDescStr, customDesc2->ToString("")); +} + +///////////////////////////////////////////////// +TEST(SDFParser, ReloadIncludedCustomElements) +{ + const std::string modelPath = sdf::testing::TestFile("integration", "model"); + + sdf::setFindCallback( + [&](const std::string &_file) + { + return sdf::filesystem::append(modelPath, _file); + }); + + const std::string sdfStr = +R"( + + + model_with_custom_elements + + + +)"; + + // load included file with custom elements + sdf::Root root1; + sdf::Errors errors = root1.LoadSdfString(sdfStr); + EXPECT_TRUE(errors.empty()); + + // reload string output of root1 + sdf::Root root2; + errors = root2.LoadSdfString(root1.Element()->ToString("")); + EXPECT_TRUE(errors.empty()); + + // check that root1 and root2 equal + EXPECT_EQ(root1.Element()->ToString(""), root2.Element()->ToString("")); + + const sdf::World *world1 = root1.WorldByIndex(0); + const sdf::World *world2 = root2.WorldByIndex(0); + ASSERT_NE(nullptr, world1); + ASSERT_NE(nullptr, world2); + + // //model[@name=M1] + const sdf::Model *model11 = world1->ModelByIndex(0); + const sdf::Model *model12 = world2->ModelByIndex(0); + ASSERT_NE(nullptr, model11); + ASSERT_NE(nullptr, model12); + EXPECT_EQ(model11->Element()->ToString(""), model12->Element()->ToString("")); + + // //model[@name=M1]/link[@name=L1] + const sdf::Link *model11link1 = model11->LinkByIndex(0); + const sdf::Link *model12link2 = model12->LinkByIndex(0); + ASSERT_NE(nullptr, model11link1); + ASSERT_NE(nullptr, model12link2); + + const std::string linkCustomAttrStr = + "\n"; + EXPECT_EQ(linkCustomAttrStr, model11link1->Element()->ToString("")); + EXPECT_EQ(linkCustomAttrStr, model12link2->Element()->ToString("")); + + // //model[@name=M1]/model[@name=M2] + const sdf::Model *model21 = model11->ModelByIndex(0); + const sdf::Model *model22 = model12->ModelByIndex(0); + ASSERT_NE(nullptr, model21); + ASSERT_NE(nullptr, model22); + EXPECT_EQ(model21->Element()->ToString(""), model22->Element()->ToString("")); + + // //model[@name=M1]/model[@name=M2]/link[@name=L1] + const sdf::Link *model21link1 = model21->LinkByIndex(0); + const sdf::Link *model22link2 = model22->LinkByIndex(0); + ASSERT_NE(nullptr, model21link1); + ASSERT_NE(nullptr, model22link2); + EXPECT_EQ(model21link1->Element()->ToString(""), + model22link2->Element()->ToString("")); + + // check custom attributes + sdf::ParamPtr param1 = + model21link1->Element()->GetAttribute("mysim:custom_attr_str"); + sdf::ParamPtr param2 = + model22link2->Element()->GetAttribute("mysim:custom_attr_str"); + ASSERT_NE(nullptr, param1); + ASSERT_NE(nullptr, param2); + EXPECT_EQ("B", param1->GetAsString()); + EXPECT_EQ("B", param2->GetAsString()); + + // //model[@name=M1]/model[@name=M2]/link[@name=L1]/mysim:transmission + sdf::ElementPtr customElem1 = + model21link1->Element()->FindElement("mysim:transmission"); + sdf::ElementPtr customElem2 = + model22link2->Element()->FindElement("mysim:transmission"); + ASSERT_NE(nullptr, customElem1); + ASSERT_NE(nullptr, customElem2); + + const std::string customElemStr = +R"( + transmission_interface/SimpleTransmission + + EffortJointInterface + + +)"; + EXPECT_EQ(customElemStr, customElem1->ToString("")); + EXPECT_EQ(customElemStr, customElem2->ToString("")); +} + +///////////////////////////////////////////////// +TEST(SDFParser, ReloadNestedIncludedCustomElements) +{ + const std::string modelPath = sdf::testing::TestFile("integration", "model"); + + sdf::setFindCallback( + [&](const std::string &_file) + { + return sdf::filesystem::append(modelPath, _file); + }); + + const std::string sdfStr = +R"( + + + + model_with_custom_elements + + + + +)"; + + sdf::Root root1; + sdf::Errors errors = root1.LoadSdfString(sdfStr); + EXPECT_TRUE(errors.empty()); + + for (auto &e : errors) + std::cout << e.Message() << std::endl; + + sdf::Root root2; + errors = root2.LoadSdfString(root1.Element()->ToString("")); + EXPECT_TRUE(errors.empty()); + + // check that root1 and root2 equal + EXPECT_EQ(root1.Element()->ToString(""), root2.Element()->ToString("")); + + const sdf::World *world1 = root1.WorldByIndex(0); + const sdf::World *world2 = root2.WorldByIndex(0); + ASSERT_NE(nullptr, world1); + ASSERT_NE(nullptr, world2); + + // //model[@name=test] + const sdf::Model *model01 = world1->ModelByIndex(0); + const sdf::Model *model02 = world2->ModelByIndex(0); + ASSERT_NE(nullptr, model01); + ASSERT_NE(nullptr, model02); + EXPECT_EQ("test", model01->Name()); + EXPECT_EQ("test", model02->Name()); + EXPECT_EQ(model01->Element()->ToString(""), model02->Element()->ToString("")); + + // //model[@name=test]/model[@name=M1] + const sdf::Model *model11 = model01->ModelByIndex(0); + const sdf::Model *model12 = model02->ModelByIndex(0); + ASSERT_NE(nullptr, model11); + ASSERT_NE(nullptr, model12); + EXPECT_EQ("M1", model11->Name()); + EXPECT_EQ("M1", model12->Name()); + EXPECT_EQ(model11->Element()->ToString(""), model12->Element()->ToString("")); + + // //model[@name=test]/model[@name=M1]/link[@name=L1] + const sdf::Link *model11link1 = model11->LinkByIndex(0); + const sdf::Link *model12link2 = model12->LinkByIndex(0); + ASSERT_NE(nullptr, model11link1); + ASSERT_NE(nullptr, model12link2); + EXPECT_EQ("L1", model11link1->Name()); + EXPECT_EQ("L1", model12link2->Name()); + + const std::string linkCustomAttrStr = +R"( +)"; + EXPECT_EQ(linkCustomAttrStr, model11link1->Element()->ToString("")); + EXPECT_EQ(linkCustomAttrStr, model12link2->Element()->ToString("")); + + // //model[@name=test]/model[@name=M1]/model[@name=M2] + const sdf::Model *model21 = model11->ModelByIndex(0); + const sdf::Model *model22 = model12->ModelByIndex(0); + ASSERT_NE(nullptr, model21); + ASSERT_NE(nullptr, model22); + EXPECT_EQ("M2", model21->Name()); + EXPECT_EQ("M2", model22->Name()); + EXPECT_EQ(model21->Element()->ToString(""), model22->Element()->ToString("")); + + // //model[@name=test]/model[@name=M1]/model[@name=M2]/link[@name=L1] + const sdf::Link *model21link1 = model21->LinkByIndex(0); + const sdf::Link *model22link2 = model22->LinkByIndex(0); + ASSERT_NE(nullptr, model21link1); + ASSERT_NE(nullptr, model22link2); + EXPECT_EQ("L1", model21link1->Name()); + EXPECT_EQ("L1", model22link2->Name()); + EXPECT_EQ(model21link1->Element()->ToString(""), + model22link2->Element()->ToString("")); + + // check custom attributes + sdf::ParamPtr param1 = + model21link1->Element()->GetAttribute("mysim:custom_attr_str"); + sdf::ParamPtr param2 = + model22link2->Element()->GetAttribute("mysim:custom_attr_str"); + ASSERT_NE(nullptr, param1); + ASSERT_NE(nullptr, param2); + EXPECT_EQ("B", param1->GetAsString()); + EXPECT_EQ("B", param2->GetAsString()); + + // //model[@name=test]/model[@name=M1::M2]/link[@name=M1::L1] + // /mysim:transmission + sdf::ElementPtr customElem1 = + model21link1->Element()->FindElement("mysim:transmission"); + sdf::ElementPtr customElem2 = + model22link2->Element()->FindElement("mysim:transmission"); + ASSERT_NE(nullptr, customElem1); + ASSERT_NE(nullptr, customElem2); + + const std::string customElemStr = +R"( + transmission_interface/SimpleTransmission + + EffortJointInterface + + +)"; + EXPECT_EQ(customElemStr, customElem1->ToString("")); + EXPECT_EQ(customElemStr, customElem2->ToString("")); +} diff --git a/test/performance/CMakeLists.txt b/test/performance/CMakeLists.txt index 8df89ac74..807cb38e6 100644 --- a/test/performance/CMakeLists.txt +++ b/test/performance/CMakeLists.txt @@ -4,6 +4,4 @@ set(tests parser_urdf.cc ) -link_directories(${PROJECT_BINARY_DIR}/test) - -sdf_build_tests(${tests}) +ign_build_tests(TYPE ${TEST_TYPE} SOURCES ${tests} INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/test) diff --git a/test/sdf/includes_rotations_in_degrees.sdf b/test/sdf/includes_rotations_in_degrees.sdf new file mode 100644 index 000000000..ae04da1d6 --- /dev/null +++ b/test/sdf/includes_rotations_in_degrees.sdf @@ -0,0 +1,12 @@ + + + + + + test_model + parent_model + 1 2 3 30.009 44.991 -60.009 + + + + diff --git a/test/sdf/includes_rotations_in_quaternions.sdf b/test/sdf/includes_rotations_in_quaternions.sdf new file mode 100644 index 000000000..08795bd22 --- /dev/null +++ b/test/sdf/includes_rotations_in_quaternions.sdf @@ -0,0 +1,14 @@ + + + + + + test_model + parent_model + + 1 2 3 0.391948 0.200425 -0.532046 0.723279 + + + + + diff --git a/test/sdf/includes_rotations_in_radians.sdf b/test/sdf/includes_rotations_in_radians.sdf new file mode 100644 index 000000000..ef91f408a --- /dev/null +++ b/test/sdf/includes_rotations_in_radians.sdf @@ -0,0 +1,12 @@ + + + + + + test_model + parent_model + 1 2 3 0.523756 0.785241 -1.04735 + + + + diff --git a/test/sdf/rotations_in_degrees.sdf b/test/sdf/rotations_in_degrees.sdf new file mode 100644 index 000000000..9dbba3c44 --- /dev/null +++ b/test/sdf/rotations_in_degrees.sdf @@ -0,0 +1,8 @@ + + + + + 1 2 3 30.009 44.991 -60.009 + + + diff --git a/test/sdf/rotations_in_degrees_high_snap_tolerance.sdf b/test/sdf/rotations_in_degrees_high_snap_tolerance.sdf new file mode 100644 index 000000000..273564354 --- /dev/null +++ b/test/sdf/rotations_in_degrees_high_snap_tolerance.sdf @@ -0,0 +1,8 @@ + + + + + 1 2 3 30 48.5 60 + + + diff --git a/test/sdf/rotations_in_quaternions.sdf b/test/sdf/rotations_in_quaternions.sdf new file mode 100644 index 000000000..2a8447f38 --- /dev/null +++ b/test/sdf/rotations_in_quaternions.sdf @@ -0,0 +1,10 @@ + + + + + + 1 2 3 0.391948 0.200425 -0.532046 0.723279 + + + + diff --git a/test/sdf/rotations_in_radians.sdf b/test/sdf/rotations_in_radians.sdf new file mode 100644 index 000000000..36a218bd8 --- /dev/null +++ b/test/sdf/rotations_in_radians.sdf @@ -0,0 +1,8 @@ + + + + + 1 2 3 0.523756 0.785241 -1.04735 + + + diff --git a/test/sdf/rotations_in_unnormalized_degrees.sdf b/test/sdf/rotations_in_unnormalized_degrees.sdf new file mode 100644 index 000000000..ba688c750 --- /dev/null +++ b/test/sdf/rotations_in_unnormalized_degrees.sdf @@ -0,0 +1,8 @@ + + + + + 1 2 3 390.009 764.991 -420.009 + + + diff --git a/test/sdf/rotations_in_unnormalized_radians.sdf b/test/sdf/rotations_in_unnormalized_radians.sdf new file mode 100644 index 000000000..4d9578932 --- /dev/null +++ b/test/sdf/rotations_in_unnormalized_radians.sdf @@ -0,0 +1,8 @@ + + + + + 1 2 3 -5.75943 -11.78112 5.23583 + + + diff --git a/test/test_config.h.in b/test/test_config.h.in index 672862263..41ab951fa 100644 --- a/test/test_config.h.in +++ b/test/test_config.h.in @@ -19,7 +19,7 @@ #define SDF_TEST_CONFIG_HH_ #define IGN_CONFIG_PATH "@CMAKE_BINARY_DIR@/test/conf" -#define IGN_PATH "@IGNITION-TOOLS_BINARY_DIRS@" +#define IGN_PATH "@IGN_PATH@" #define IGN_TEST_LIBRARY_PATH "${PROJECT_BINARY_DIR}/src:"\ "@IGNITION-MSGS_LIBRARY_DIRS@:" #define PROJECT_SOURCE_PATH "${PROJECT_SOURCE_DIR}" diff --git a/tools/check_test_ran.py b/tools/check_test_ran.py deleted file mode 100755 index 304eb7cab..000000000 --- a/tools/check_test_ran.py +++ /dev/null @@ -1,79 +0,0 @@ -#!/usr/bin/env python -# Software License Agreement (BSD License) -# -# Copyright (c) 2008, Willow Garage, Inc. -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of Willow Garage, Inc. nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -# Revision $Id: check_test_ran.py 16671 2012-04-27 16:15:28Z dthomas $ - -""" -Writes a test failure out to test file if it doesn't exist. -""" - -# Adapted from rosunit/check_test_ran.py - -from __future__ import print_function -NAME="check_test_ran.py" - -import os -import sys - -def usage(): - print("""Usage: -\t%s test-file.xml -"""%(NAME), file=sys.stderr) - print(sys.argv) - sys.exit(getattr(os, 'EX_USAGE', 1)) - -def check_main(): - if len(sys.argv) < 2: - usage() - test_file = sys.argv[1] - - print("Checking for test results in %s"%test_file) - - if not os.path.exists(test_file): - if not os.path.exists(os.path.dirname(test_file)): - os.makedirs(os.path.dirname(test_file)) - - print("Cannot find results, writing failure results to", test_file) - - with open(test_file, 'w') as f: - test_name = os.path.basename(test_file) - d = {'test': test_name, 'test_file': test_file } - f.write(""" - - - - -"""%d) - -if __name__ == '__main__': - check_main() diff --git a/tools/code_check.sh b/tools/code_check.sh deleted file mode 100755 index bd24da512..000000000 --- a/tools/code_check.sh +++ /dev/null @@ -1,67 +0,0 @@ -#!/bin/sh - -# Jenkins will pass -xml, in which case we want to generate XML output -xmlout=0 -if test "$1" = "-xmldir" -a -n "$2"; then - xmlout=1 - xmldir=$2 - mkdir -p $xmldir - rm -rf $xmldir/*.xml - # Assuming that Jenkins called, the `build` directory is a sibling to the src dir - builddir=../build -else - # This is a heuristic guess; not every developer puts the `build` dir in the src dir - builddir=./build -fi - -# Use a suppression file for spurious errors -SUPPRESS=/tmp/sdf_cpp_check.suppress -echo "" > $SUPPRESS - -# Use another suppression file for unused function checking -SUPPRESS2=/tmp/sdf_cpp_check2.suppress -echo "*:src/parser_urdf.cc" > $SUPPRESS2 - -CHECK_FILE_DIRS="./src ./include ./examples ./test/performance ./test/integration" - -#cppcheck -CPPCHECK_BASE="cppcheck -q --suppressions-list=$SUPPRESS --inline-suppr" -CPPCHECK_BASE2="cppcheck -q --suppressions-list=$SUPPRESS2 --inline-suppr" -CPPCHECK_FILES=`find $CHECK_FILE_DIRS -name "*.cc"` -CPPCHECK_INCLUDES="-I include -I test -I . -I $builddir -I $builddir/include" -CPPCHECK_COMMAND1="-j 4 --enable=style,performance,portability,information $CPPCHECK_FILES" -# Unused function checking must happen in one job -CPPCHECK_COMMAND2="--enable=unusedFunction $CPPCHECK_FILES" -# -j 4 was used previously in CPPCHECK_COMMAND3 but it will generate a false -# warning as described in bug: -# http://sourceforge.net/apps/trac/cppcheck/ticket/4946 -CPPCHECK_COMMAND3="-j 1 --enable=missingInclude --suppress=missingIncludeSystem $CPPCHECK_FILES $CPPCHECK_INCLUDES --check-config" -if [ $xmlout -eq 1 ]; then - # Performance, style, portability, and information - ($CPPCHECK_BASE --xml --xml-version=2 $CPPCHECK_COMMAND1) 2> $xmldir/cppcheck.xml - - # Unused function checking - ($CPPCHECK_BASE2 --xml --xml-version=2 $CPPCHECK_COMMAND2) 2> $xmldir/cppcheck-unused-functions.xml - - # Check the configuration - ($CPPCHECK_BASE --xml --xml-version=2 $CPPCHECK_COMMAND3) 2> $xmldir/cppcheck-configuration.xml -else - # Performance, style, portability, and information - $CPPCHECK_BASE $CPPCHECK_COMMAND1 2>&1 - - # Unused function checking - $CPPCHECK_BASE2 $CPPCHECK_COMMAND2 2>&1 - - # Check the configuration - $CPPCHECK_BASE $CPPCHECK_COMMAND3 2>&1 -fi - -# cpplint -# exclude urdf files for now, since they generate lots of errors -CPPLINT_FILES=`find $CHECK_FILE_DIRS -name "*.cc" -o -name "*.hh" | grep -iv "/urdf"` -if [ $xmlout -eq 1 ]; then - (echo $CPPLINT_FILES | xargs python tools/cpplint.py 2>&1) \ - | python tools/cpplint_to_cppcheckxml.py 2> $xmldir/cpplint.xml -else - echo $CPPLINT_FILES | xargs python tools/cpplint.py 2>&1 -fi diff --git a/tools/cpplint.py b/tools/cpplint.py deleted file mode 100644 index 1632bed19..000000000 --- a/tools/cpplint.py +++ /dev/null @@ -1,6923 +0,0 @@ -#!/usr/bin/env python -# -# Copyright (c) 2009 Google Inc. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are -# met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following disclaimer -# in the documentation and/or other materials provided with the -# distribution. -# * Neither the name of Google Inc. nor the names of its -# contributors may be used to endorse or promote products derived from -# this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -# OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# Imported from https://github.com/cpplint/cpplint: -# https://github.com/cpplint/cpplint/blob/0f2319741f3407d8638cdc7c41e4fc9bad217f68/cpplint.py - -"""Does google-lint on c++ files. - -The goal of this script is to identify places in the code that *may* -be in non-compliance with google style. It does not attempt to fix -up these problems -- the point is to educate. It does also not -attempt to find all problems, or to ensure that everything it does -find is legitimately a problem. - -In particular, we can get very confused by /* and // inside strings! -We do a small hack, which is to ignore //'s with "'s after them on the -same line, but it is far from perfect (in either direction). -""" - -import codecs -import copy -import getopt -import glob -import itertools -import math # for log -import os -import re -import sre_compile -import string -import sys -import sysconfig -import unicodedata -import xml.etree.ElementTree - -# if empty, use defaults -_valid_extensions = set([]) - -__VERSION__ = '1.5.4' - -try: - xrange # Python 2 -except NameError: - # -- pylint: disable=redefined-builtin - xrange = range # Python 3 - - -_USAGE = """ -Syntax: cpplint.py [--verbose=#] [--output=emacs|eclipse|vs7|junit|sed|gsed] - [--filter=-x,+y,...] - [--counting=total|toplevel|detailed] [--root=subdir] - [--repository=path] - [--linelength=digits] [--headers=x,y,...] - [--recursive] - [--exclude=path] - [--extensions=hpp,cpp,...] - [--includeorder=default|standardcfirst] - [--quiet] - [--version] - [file] ... - - Style checker for C/C++ source files. - This is a fork of the Google style checker with minor extensions. - - The style guidelines this tries to follow are those in - https://google.github.io/styleguide/cppguide.html - - Every problem is given a confidence score from 1-5, with 5 meaning we are - certain of the problem, and 1 meaning it could be a legitimate construct. - This will miss some errors, and is not a substitute for a code review. - - To suppress false-positive errors of a certain category, add a - 'NOLINT(category)' comment to the line. NOLINT or NOLINT(*) - suppresses errors of all categories on that line. - - The files passed in will be linted; at least one file must be provided. - Default linted extensions are %s. - Other file types will be ignored. - Change the extensions with the --extensions flag. - - Flags: - - output=emacs|eclipse|vs7|junit|sed|gsed - By default, the output is formatted to ease emacs parsing. Visual Studio - compatible output (vs7) may also be used. Further support exists for - eclipse (eclipse), and JUnit (junit). XML parsers such as those used - in Jenkins and Bamboo may also be used. - The sed format outputs sed commands that should fix some of the errors. - Note that this requires gnu sed. If that is installed as gsed on your - system (common e.g. on macOS with homebrew) you can use the gsed output - format. Sed commands are written to stdout, not stderr, so you should be - able to pipe output straight to a shell to run the fixes. - - verbose=# - Specify a number 0-5 to restrict errors to certain verbosity levels. - Errors with lower verbosity levels have lower confidence and are more - likely to be false positives. - - quiet - Don't print anything if no errors are found. - - filter=-x,+y,... - Specify a comma-separated list of category-filters to apply: only - error messages whose category names pass the filters will be printed. - (Category names are printed with the message and look like - "[whitespace/indent]".) Filters are evaluated left to right. - "-FOO" and "FOO" means "do not print categories that start with FOO". - "+FOO" means "do print categories that start with FOO". - - Examples: --filter=-whitespace,+whitespace/braces - --filter=whitespace,runtime/printf,+runtime/printf_format - --filter=-,+build/include_what_you_use - - To see a list of all the categories used in cpplint, pass no arg: - --filter= - - counting=total|toplevel|detailed - The total number of errors found is always printed. If - 'toplevel' is provided, then the count of errors in each of - the top-level categories like 'build' and 'whitespace' will - also be printed. If 'detailed' is provided, then a count - is provided for each category like 'build/class'. - - repository=path - The top level directory of the repository, used to derive the header - guard CPP variable. By default, this is determined by searching for a - path that contains .git, .hg, or .svn. When this flag is specified, the - given path is used instead. This option allows the header guard CPP - variable to remain consistent even if members of a team have different - repository root directories (such as when checking out a subdirectory - with SVN). In addition, users of non-mainstream version control systems - can use this flag to ensure readable header guard CPP variables. - - Examples: - Assuming that Alice checks out ProjectName and Bob checks out - ProjectName/trunk and trunk contains src/chrome/ui/browser.h, then - with no --repository flag, the header guard CPP variable will be: - - Alice => TRUNK_SRC_CHROME_BROWSER_UI_BROWSER_H_ - Bob => SRC_CHROME_BROWSER_UI_BROWSER_H_ - - If Alice uses the --repository=trunk flag and Bob omits the flag or - uses --repository=. then the header guard CPP variable will be: - - Alice => SRC_CHROME_BROWSER_UI_BROWSER_H_ - Bob => SRC_CHROME_BROWSER_UI_BROWSER_H_ - - root=subdir - The root directory used for deriving header guard CPP variable. - This directory is relative to the top level directory of the repository - which by default is determined by searching for a directory that contains - .git, .hg, or .svn but can also be controlled with the --repository flag. - If the specified directory does not exist, this flag is ignored. - - Examples: - Assuming that src is the top level directory of the repository (and - cwd=top/src), the header guard CPP variables for - src/chrome/browser/ui/browser.h are: - - No flag => CHROME_BROWSER_UI_BROWSER_H_ - --root=chrome => BROWSER_UI_BROWSER_H_ - --root=chrome/browser => UI_BROWSER_H_ - --root=.. => SRC_CHROME_BROWSER_UI_BROWSER_H_ - - linelength=digits - This is the allowed line length for the project. The default value is - 80 characters. - - Examples: - --linelength=120 - - recursive - Search for files to lint recursively. Each directory given in the list - of files to be linted is replaced by all files that descend from that - directory. Files with extensions not in the valid extensions list are - excluded. - - exclude=path - Exclude the given path from the list of files to be linted. Relative - paths are evaluated relative to the current directory and shell globbing - is performed. This flag can be provided multiple times to exclude - multiple files. - - Examples: - --exclude=one.cc - --exclude=src/*.cc - --exclude=src/*.cc --exclude=test/*.cc - - extensions=extension,extension,... - The allowed file extensions that cpplint will check - - Examples: - --extensions=%s - - includeorder=default|standardcfirst - For the build/include_order rule, the default is to blindly assume angle - bracket includes with file extension are c-system-headers (default), - even knowing this will have false classifications. - The default is established at google. - standardcfirst means to instead use an allow-list of known c headers and - treat all others as separate group of "other system headers". The C headers - included are those of the C-standard lib and closely related ones. - - headers=x,y,... - The header extensions that cpplint will treat as .h in checks. Values are - automatically added to --extensions list. - (by default, only files with extensions %s will be assumed to be headers) - - Examples: - --headers=%s - --headers=hpp,hxx - --headers=hpp - - cpplint.py supports per-directory configurations specified in CPPLINT.cfg - files. CPPLINT.cfg file can contain a number of key=value pairs. - Currently the following options are supported: - - set noparent - filter=+filter1,-filter2,... - exclude_files=regex - linelength=80 - root=subdir - headers=x,y,... - - "set noparent" option prevents cpplint from traversing directory tree - upwards looking for more .cfg files in parent directories. This option - is usually placed in the top-level project directory. - - The "filter" option is similar in function to --filter flag. It specifies - message filters in addition to the |_DEFAULT_FILTERS| and those specified - through --filter command-line flag. - - "exclude_files" allows to specify a regular expression to be matched against - a file name. If the expression matches, the file is skipped and not run - through the linter. - - "linelength" allows to specify the allowed line length for the project. - - The "root" option is similar in function to the --root flag (see example - above). Paths are relative to the directory of the CPPLINT.cfg. - - The "headers" option is similar in function to the --headers flag - (see example above). - - CPPLINT.cfg has an effect on files in the same directory and all - sub-directories, unless overridden by a nested configuration file. - - Example file: - filter=-build/include_order,+build/include_alpha - exclude_files=.*\\.cc - - The above example disables build/include_order warning and enables - build/include_alpha as well as excludes all .cc from being - processed by linter, in the current directory (where the .cfg - file is located) and all sub-directories. -""" - -# We categorize each error message we print. Here are the categories. -# We want an explicit list so we can list them all in cpplint --filter=. -# If you add a new error message with a new category, add it to the list -# here! cpplint_unittest.py should tell you if you forget to do this. -_ERROR_CATEGORIES = [ - 'build/class', - 'build/c++11', - 'build/c++14', - 'build/c++tr1', - 'build/deprecated', - 'build/endif_comment', - 'build/explicit_make_pair', - 'build/forward_decl', - 'build/header_guard', - 'build/include', - 'build/include_subdir', - 'build/include_alpha', - 'build/include_order', - 'build/include_what_you_use', - 'build/namespaces_headers', - 'build/namespaces_literals', - 'build/namespaces', - 'build/printf_format', - 'build/storage_class', - 'legal/copyright', - 'readability/alt_tokens', - 'readability/braces', - 'readability/casting', - 'readability/check', - 'readability/constructors', - 'readability/fn_size', - 'readability/inheritance', - 'readability/multiline_comment', - 'readability/multiline_string', - 'readability/namespace', - 'readability/nolint', - 'readability/nul', - 'readability/strings', - 'readability/todo', - 'readability/utf8', - 'runtime/arrays', - 'runtime/casting', - 'runtime/explicit', - 'runtime/int', - 'runtime/init', - 'runtime/invalid_increment', - 'runtime/member_string_references', - 'runtime/memset', - 'runtime/indentation_namespace', - 'runtime/operator', - 'runtime/printf', - 'runtime/printf_format', - 'runtime/references', - 'runtime/string', - 'runtime/threadsafe_fn', - 'runtime/vlog', - 'whitespace/blank_line', - 'whitespace/braces', - 'whitespace/comma', - 'whitespace/comments', - 'whitespace/empty_conditional_body', - 'whitespace/empty_if_body', - 'whitespace/empty_loop_body', - 'whitespace/end_of_line', - 'whitespace/ending_newline', - 'whitespace/forcolon', - 'whitespace/indent', - 'whitespace/line_length', - 'whitespace/newline', - 'whitespace/operators', - 'whitespace/parens', - 'whitespace/semicolon', - 'whitespace/tab', - 'whitespace/todo', - ] - -# keywords to use with --outputs which generate stdout for machine processing -_MACHINE_OUTPUTS = [ - 'junit', - 'sed', - 'gsed' -] - -# These error categories are no longer enforced by cpplint, but for backwards- -# compatibility they may still appear in NOLINT comments. -_LEGACY_ERROR_CATEGORIES = [ - 'readability/streams', - 'readability/function', - ] - -# The default state of the category filter. This is overridden by the --filter= -# flag. By default all errors are on, so only add here categories that should be -# off by default (i.e., categories that must be enabled by the --filter= flags). -# All entries here should start with a '-' or '+', as in the --filter= flag. -_DEFAULT_FILTERS = [ - '-build/c++11', - '-build/header_guard', - '-build/include_alpha', - '-build/include_order', - '-build/include_subdir', - '-build/namespaces', - '-readability/namespace', - '-runtime/indentation_namespace', - '-runtime/references', - '-whitespace/blank_line', - '-whitespace/braces', - '-whitespace/indent', - '-whitespace/newline', - '-whitespace/parens', - ] - -# The default list of categories suppressed for C (not C++) files. -_DEFAULT_C_SUPPRESSED_CATEGORIES = [ - 'readability/casting', - ] - -# The default list of categories suppressed for Linux Kernel files. -_DEFAULT_KERNEL_SUPPRESSED_CATEGORIES = [ - 'whitespace/tab', - ] - -# We used to check for high-bit characters, but after much discussion we -# decided those were OK, as long as they were in UTF-8 and didn't represent -# hard-coded international strings, which belong in a separate i18n file. - -# C++ headers -_CPP_HEADERS = frozenset([ - # Legacy - 'algobase.h', - 'algo.h', - 'alloc.h', - 'builtinbuf.h', - 'bvector.h', - 'complex.h', - 'defalloc.h', - 'deque.h', - 'editbuf.h', - 'fstream.h', - 'function.h', - 'hash_map', - 'hash_map.h', - 'hash_set', - 'hash_set.h', - 'hashtable.h', - 'heap.h', - 'indstream.h', - 'iomanip.h', - 'iostream.h', - 'istream.h', - 'iterator.h', - 'list.h', - 'map.h', - 'multimap.h', - 'multiset.h', - 'ostream.h', - 'pair.h', - 'parsestream.h', - 'pfstream.h', - 'procbuf.h', - 'pthread_alloc', - 'pthread_alloc.h', - 'rope', - 'rope.h', - 'ropeimpl.h', - 'set.h', - 'slist', - 'slist.h', - 'stack.h', - 'stdiostream.h', - 'stl_alloc.h', - 'stl_relops.h', - 'streambuf.h', - 'stream.h', - 'strfile.h', - 'strstream.h', - 'tempbuf.h', - 'tree.h', - 'type_traits.h', - 'vector.h', - # 17.6.1.2 C++ library headers - 'algorithm', - 'array', - 'atomic', - 'bitset', - 'chrono', - 'codecvt', - 'complex', - 'condition_variable', - 'deque', - 'exception', - 'forward_list', - 'fstream', - 'functional', - 'future', - 'initializer_list', - 'iomanip', - 'ios', - 'iosfwd', - 'iostream', - 'istream', - 'iterator', - 'limits', - 'list', - 'locale', - 'map', - 'memory', - 'mutex', - 'new', - 'numeric', - 'ostream', - 'queue', - 'random', - 'ratio', - 'regex', - 'scoped_allocator', - 'set', - 'sstream', - 'stack', - 'stdexcept', - 'streambuf', - 'string', - 'strstream', - 'system_error', - 'thread', - 'tuple', - 'typeindex', - 'typeinfo', - 'type_traits', - 'unordered_map', - 'unordered_set', - 'utility', - 'valarray', - 'vector', - # 17.6.1.2 C++14 headers - 'shared_mutex', - # 17.6.1.2 C++17 headers - 'any', - 'charconv', - 'codecvt', - 'execution', - 'filesystem', - 'memory_resource', - 'optional', - 'string_view', - 'variant', - # 17.6.1.2 C++ headers for C library facilities - 'cassert', - 'ccomplex', - 'cctype', - 'cerrno', - 'cfenv', - 'cfloat', - 'cinttypes', - 'ciso646', - 'climits', - 'clocale', - 'cmath', - 'csetjmp', - 'csignal', - 'cstdalign', - 'cstdarg', - 'cstdbool', - 'cstddef', - 'cstdint', - 'cstdio', - 'cstdlib', - 'cstring', - 'ctgmath', - 'ctime', - 'cuchar', - 'cwchar', - 'cwctype', - ]) - -# C headers -_C_HEADERS = frozenset([ - # System C headers - 'assert.h', - 'complex.h', - 'ctype.h', - 'errno.h', - 'fenv.h', - 'float.h', - 'inttypes.h', - 'iso646.h', - 'limits.h', - 'locale.h', - 'math.h', - 'setjmp.h', - 'signal.h', - 'stdalign.h', - 'stdarg.h', - 'stdatomic.h', - 'stdbool.h', - 'stddef.h', - 'stdint.h', - 'stdio.h', - 'stdlib.h', - 'stdnoreturn.h', - 'string.h', - 'tgmath.h', - 'threads.h', - 'time.h', - 'uchar.h', - 'wchar.h', - 'wctype.h', - # additional POSIX C headers - 'aio.h', - 'arpa/inet.h', - 'cpio.h', - 'dirent.h', - 'dlfcn.h', - 'fcntl.h', - 'fmtmsg.h', - 'fnmatch.h', - 'ftw.h', - 'glob.h', - 'grp.h', - 'iconv.h', - 'langinfo.h', - 'libgen.h', - 'monetary.h', - 'mqueue.h', - 'ndbm.h', - 'net/if.h', - 'netdb.h', - 'netinet/in.h', - 'netinet/tcp.h', - 'nl_types.h', - 'poll.h', - 'pthread.h', - 'pwd.h', - 'regex.h', - 'sched.h', - 'search.h', - 'semaphore.h', - 'setjmp.h', - 'signal.h', - 'spawn.h', - 'strings.h', - 'stropts.h', - 'syslog.h', - 'tar.h', - 'termios.h', - 'trace.h', - 'ulimit.h', - 'unistd.h', - 'utime.h', - 'utmpx.h', - 'wordexp.h', - # additional GNUlib headers - 'a.out.h', - 'aliases.h', - 'alloca.h', - 'ar.h', - 'argp.h', - 'argz.h', - 'byteswap.h', - 'crypt.h', - 'endian.h', - 'envz.h', - 'err.h', - 'error.h', - 'execinfo.h', - 'fpu_control.h', - 'fstab.h', - 'fts.h', - 'getopt.h', - 'gshadow.h', - 'ieee754.h', - 'ifaddrs.h', - 'libintl.h', - 'mcheck.h', - 'mntent.h', - 'obstack.h', - 'paths.h', - 'printf.h', - 'pty.h', - 'resolv.h', - 'shadow.h', - 'sysexits.h', - 'ttyent.h', - # Additional linux glibc headers - 'dlfcn.h', - 'elf.h', - 'features.h', - 'gconv.h', - 'gnu-versions.h', - 'lastlog.h', - 'libio.h', - 'link.h', - 'malloc.h', - 'memory.h', - 'netash/ash.h', - 'netatalk/at.h', - 'netax25/ax25.h', - 'neteconet/ec.h', - 'netipx/ipx.h', - 'netiucv/iucv.h', - 'netpacket/packet.h', - 'netrom/netrom.h', - 'netrose/rose.h', - 'nfs/nfs.h', - 'nl_types.h', - 'nss.h', - 're_comp.h', - 'regexp.h', - 'sched.h', - 'sgtty.h', - 'stab.h', - 'stdc-predef.h', - 'stdio_ext.h', - 'syscall.h', - 'termio.h', - 'thread_db.h', - 'ucontext.h', - 'ustat.h', - 'utmp.h', - 'values.h', - 'wait.h', - 'xlocale.h', - # Hardware specific headers - 'arm_neon.h', - 'emmintrin.h', - 'xmmintin.h', - ]) - -# Folders of C libraries so commonly used in C++, -# that they have parity with standard C libraries. -C_STANDARD_HEADER_FOLDERS = frozenset([ - # standard C library - "sys", - # glibc for linux - "arpa", - "asm-generic", - "bits", - "gnu", - "net", - "netinet", - "protocols", - "rpc", - "rpcsvc", - "scsi", - # linux kernel header - "drm", - "linux", - "misc", - "mtd", - "rdma", - "sound", - "video", - "xen", - ]) - -# Type names -_TYPES = re.compile( - r'^(?:' - # [dcl.type.simple] - r'(char(16_t|32_t)?)|wchar_t|' - r'bool|short|int|long|signed|unsigned|float|double|' - # [support.types] - r'(ptrdiff_t|size_t|max_align_t|nullptr_t)|' - # [cstdint.syn] - r'(u?int(_fast|_least)?(8|16|32|64)_t)|' - r'(u?int(max|ptr)_t)|' - r')$') - - -# These headers are excluded from [build/include] and [build/include_order] -# checks: -# - Anything not following google file name conventions (containing an -# uppercase character, such as Python.h or nsStringAPI.h, for example). -# - Lua headers. -_THIRD_PARTY_HEADERS_PATTERN = re.compile( - r'^(?:[^/]*[A-Z][^/]*\.h|lua\.h|lauxlib\.h|lualib\.h)$') - -# Pattern for matching FileInfo.BaseName() against test file name -_test_suffixes = ['_test', '_regtest', '_unittest'] -_TEST_FILE_SUFFIX = '(' + '|'.join(_test_suffixes) + r')$' - -# Pattern that matches only complete whitespace, possibly across multiple lines. -_EMPTY_CONDITIONAL_BODY_PATTERN = re.compile(r'^\s*$', re.DOTALL) - -# Assertion macros. These are defined in base/logging.h and -# testing/base/public/gunit.h. -_CHECK_MACROS = [ - 'DCHECK', 'CHECK', - 'EXPECT_TRUE', 'ASSERT_TRUE', - 'EXPECT_FALSE', 'ASSERT_FALSE', - ] - -# Replacement macros for CHECK/DCHECK/EXPECT_TRUE/EXPECT_FALSE -_CHECK_REPLACEMENT = dict([(macro_var, {}) for macro_var in _CHECK_MACROS]) - -for op, replacement in [('==', 'EQ'), ('!=', 'NE'), - ('>=', 'GE'), ('>', 'GT'), - ('<=', 'LE'), ('<', 'LT')]: - _CHECK_REPLACEMENT['DCHECK'][op] = 'DCHECK_%s' % replacement - _CHECK_REPLACEMENT['CHECK'][op] = 'CHECK_%s' % replacement - _CHECK_REPLACEMENT['EXPECT_TRUE'][op] = 'EXPECT_%s' % replacement - _CHECK_REPLACEMENT['ASSERT_TRUE'][op] = 'ASSERT_%s' % replacement - -for op, inv_replacement in [('==', 'NE'), ('!=', 'EQ'), - ('>=', 'LT'), ('>', 'LE'), - ('<=', 'GT'), ('<', 'GE')]: - _CHECK_REPLACEMENT['EXPECT_FALSE'][op] = 'EXPECT_%s' % inv_replacement - _CHECK_REPLACEMENT['ASSERT_FALSE'][op] = 'ASSERT_%s' % inv_replacement - -# Alternative tokens and their replacements. For full list, see section 2.5 -# Alternative tokens [lex.digraph] in the C++ standard. -# -# Digraphs (such as '%:') are not included here since it's a mess to -# match those on a word boundary. -_ALT_TOKEN_REPLACEMENT = { - 'and': '&&', - 'bitor': '|', - 'or': '||', - 'xor': '^', - 'compl': '~', - 'bitand': '&', - 'and_eq': '&=', - 'or_eq': '|=', - 'xor_eq': '^=', - 'not': '!', - 'not_eq': '!=' - } - -# Compile regular expression that matches all the above keywords. The "[ =()]" -# bit is meant to avoid matching these keywords outside of boolean expressions. -# -# False positives include C-style multi-line comments and multi-line strings -# but those have always been troublesome for cpplint. -_ALT_TOKEN_REPLACEMENT_PATTERN = re.compile( - r'[ =()](' + ('|'.join(_ALT_TOKEN_REPLACEMENT.keys())) + r')(?=[ (]|$)') - - -# These constants define types of headers for use with -# _IncludeState.CheckNextIncludeOrder(). -_C_SYS_HEADER = 1 -_CPP_SYS_HEADER = 2 -_OTHER_SYS_HEADER = 3 -_LIKELY_MY_HEADER = 4 -_POSSIBLE_MY_HEADER = 5 -_OTHER_HEADER = 6 - -# These constants define the current inline assembly state -_NO_ASM = 0 # Outside of inline assembly block -_INSIDE_ASM = 1 # Inside inline assembly block -_END_ASM = 2 # Last line of inline assembly block -_BLOCK_ASM = 3 # The whole block is an inline assembly block - -# Match start of assembly blocks -_MATCH_ASM = re.compile(r'^\s*(?:asm|_asm|__asm|__asm__)' - r'(?:\s+(volatile|__volatile__))?' - r'\s*[{(]') - -# Match strings that indicate we're working on a C (not C++) file. -_SEARCH_C_FILE = re.compile(r'\b(?:LINT_C_FILE|' - r'vim?:\s*.*(\s*|:)filetype=c(\s*|:|$))') - -# Match string that indicates we're working on a Linux Kernel file. -_SEARCH_KERNEL_FILE = re.compile(r'\b(?:LINT_KERNEL_FILE)') - -# Commands for sed to fix the problem -_SED_FIXUPS = { - 'Remove spaces around =': r's/ = /=/', - 'Remove spaces around !=': r's/ != /!=/', - 'Remove space before ( in if (': r's/if (/if(/', - 'Remove space before ( in for (': r's/for (/for(/', - 'Remove space before ( in while (': r's/while (/while(/', - 'Remove space before ( in switch (': r's/switch (/switch(/', - 'Should have a space between // and comment': r's/\/\//\/\/ /', - 'Missing space before {': r's/\([^ ]\){/\1 {/', - 'Tab found, replace by spaces': r's/\t/ /g', - 'Line ends in whitespace. Consider deleting these extra spaces.': r's/\s*$//', - 'You don\'t need a ; after a }': r's/};/}/', - 'Missing space after ,': r's/,\([^ ]\)/, \1/g', -} - -_regexp_compile_cache = {} - -# {str, set(int)}: a map from error categories to sets of linenumbers -# on which those errors are expected and should be suppressed. -_error_suppressions = {} - -# The root directory used for deriving header guard CPP variable. -# This is set by --root flag. -_root = None -_root_debug = False - -# The top level repository directory. If set, _root is calculated relative to -# this directory instead of the directory containing version control artifacts. -# This is set by the --repository flag. -_repository = None - -# Files to exclude from linting. This is set by the --exclude flag. -_excludes = None - -# Whether to supress all PrintInfo messages, UNRELATED to --quiet flag -_quiet = False - -# The allowed line length of files. -# This is set by --linelength flag. -_line_length = 80 - -# This allows to use different include order rule than default -_include_order = "default" - -try: - unicode -except NameError: - # -- pylint: disable=redefined-builtin - basestring = unicode = str - -try: - long -except NameError: - # -- pylint: disable=redefined-builtin - long = int - -if sys.version_info < (3,): - # -- pylint: disable=no-member - # BINARY_TYPE = str - itervalues = dict.itervalues - iteritems = dict.iteritems -else: - # BINARY_TYPE = bytes - itervalues = dict.values - iteritems = dict.items - -def unicode_escape_decode(x): - if sys.version_info < (3,): - return codecs.unicode_escape_decode(x)[0] - else: - return x - -# Treat all headers starting with 'h' equally: .h, .hpp, .hxx etc. -# This is set by --headers flag. -_hpp_headers = set([]) - -# {str, bool}: a map from error categories to booleans which indicate if the -# category should be suppressed for every line. -_global_error_suppressions = {} - -def ProcessHppHeadersOption(val): - global _hpp_headers - try: - _hpp_headers = {ext.strip() for ext in val.split(',')} - except ValueError: - PrintUsage('Header extensions must be comma separated list.') - -def ProcessIncludeOrderOption(val): - if val is None or val == "default": - pass - elif val == "standardcfirst": - global _include_order - _include_order = val - else: - PrintUsage('Invalid includeorder value %s. Expected default|standardcfirst') - -def IsHeaderExtension(file_extension): - return file_extension in GetHeaderExtensions() - -def GetHeaderExtensions(): - if _hpp_headers: - return _hpp_headers - if _valid_extensions: - return {h for h in _valid_extensions if 'h' in h} - return set(['h', 'hh', 'hpp', 'hxx', 'h++', 'cuh']) - -# The allowed extensions for file names -# This is set by --extensions flag -def GetAllExtensions(): - return GetHeaderExtensions().union(_valid_extensions or set( - ['c', 'cc', 'cpp', 'cxx', 'c++', 'cu'])) - -def ProcessExtensionsOption(val): - global _valid_extensions - try: - extensions = [ext.strip() for ext in val.split(',')] - _valid_extensions = set(extensions) - except ValueError: - PrintUsage('Extensions should be a comma-separated list of values;' - 'for example: extensions=hpp,cpp\n' - 'This could not be parsed: "%s"' % (val,)) - -def GetNonHeaderExtensions(): - return GetAllExtensions().difference(GetHeaderExtensions()) - -def ParseNolintSuppressions(filename, raw_line, linenum, error): - """Updates the global list of line error-suppressions. - - Parses any NOLINT comments on the current line, updating the global - error_suppressions store. Reports an error if the NOLINT comment - was malformed. - - Args: - filename: str, the name of the input file. - raw_line: str, the line of input text, with comments. - linenum: int, the number of the current line. - error: function, an error handler. - """ - matched = Search(r'\bNOLINT(NEXTLINE)?\b(\([^)]+\))?', raw_line) - if matched: - if matched.group(1): - suppressed_line = linenum + 1 - else: - suppressed_line = linenum - category = matched.group(2) - if category in (None, '(*)'): # => "suppress all" - _error_suppressions.setdefault(None, set()).add(suppressed_line) - else: - if category.startswith('(') and category.endswith(')'): - category = category[1:-1] - if category in _ERROR_CATEGORIES: - _error_suppressions.setdefault(category, set()).add(suppressed_line) - elif category not in _LEGACY_ERROR_CATEGORIES: - error(filename, linenum, 'readability/nolint', 5, - 'Unknown NOLINT error category: %s' % category) - - -def ProcessGlobalSuppresions(lines): - """Updates the list of global error suppressions. - - Parses any lint directives in the file that have global effect. - - Args: - lines: An array of strings, each representing a line of the file, with the - last element being empty if the file is terminated with a newline. - """ - for line in lines: - if _SEARCH_C_FILE.search(line): - for category in _DEFAULT_C_SUPPRESSED_CATEGORIES: - _global_error_suppressions[category] = True - if _SEARCH_KERNEL_FILE.search(line): - for category in _DEFAULT_KERNEL_SUPPRESSED_CATEGORIES: - _global_error_suppressions[category] = True - - -def ResetNolintSuppressions(): - """Resets the set of NOLINT suppressions to empty.""" - _error_suppressions.clear() - _global_error_suppressions.clear() - - -def IsErrorSuppressedByNolint(category, linenum): - """Returns true if the specified error category is suppressed on this line. - - Consults the global error_suppressions map populated by - ParseNolintSuppressions/ProcessGlobalSuppresions/ResetNolintSuppressions. - - Args: - category: str, the category of the error. - linenum: int, the current line number. - Returns: - bool, True iff the error should be suppressed due to a NOLINT comment or - global suppression. - """ - return (_global_error_suppressions.get(category, False) or - linenum in _error_suppressions.get(category, set()) or - linenum in _error_suppressions.get(None, set())) - - -def Match(pattern, s): - """Matches the string with the pattern, caching the compiled regexp.""" - # The regexp compilation caching is inlined in both Match and Search for - # performance reasons; factoring it out into a separate function turns out - # to be noticeably expensive. - if pattern not in _regexp_compile_cache: - _regexp_compile_cache[pattern] = sre_compile.compile(pattern) - return _regexp_compile_cache[pattern].match(s) - - -def ReplaceAll(pattern, rep, s): - """Replaces instances of pattern in a string with a replacement. - - The compiled regex is kept in a cache shared by Match and Search. - - Args: - pattern: regex pattern - rep: replacement text - s: search string - - Returns: - string with replacements made (or original string if no replacements) - """ - if pattern not in _regexp_compile_cache: - _regexp_compile_cache[pattern] = sre_compile.compile(pattern) - return _regexp_compile_cache[pattern].sub(rep, s) - - -def Search(pattern, s): - """Searches the string for the pattern, caching the compiled regexp.""" - if pattern not in _regexp_compile_cache: - _regexp_compile_cache[pattern] = sre_compile.compile(pattern) - return _regexp_compile_cache[pattern].search(s) - - -def _IsSourceExtension(s): - """File extension (excluding dot) matches a source file extension.""" - return s in GetNonHeaderExtensions() - - -class _IncludeState(object): - """Tracks line numbers for includes, and the order in which includes appear. - - include_list contains list of lists of (header, line number) pairs. - It's a lists of lists rather than just one flat list to make it - easier to update across preprocessor boundaries. - - Call CheckNextIncludeOrder() once for each header in the file, passing - in the type constants defined above. Calls in an illegal order will - raise an _IncludeError with an appropriate error message. - - """ - # self._section will move monotonically through this set. If it ever - # needs to move backwards, CheckNextIncludeOrder will raise an error. - _INITIAL_SECTION = 0 - _MY_H_SECTION = 1 - _C_SECTION = 2 - _CPP_SECTION = 3 - _OTHER_SYS_SECTION = 4 - _OTHER_H_SECTION = 5 - - _TYPE_NAMES = { - _C_SYS_HEADER: 'C system header', - _CPP_SYS_HEADER: 'C++ system header', - _OTHER_SYS_HEADER: 'other system header', - _LIKELY_MY_HEADER: 'header this file implements', - _POSSIBLE_MY_HEADER: 'header this file may implement', - _OTHER_HEADER: 'other header', - } - _SECTION_NAMES = { - _INITIAL_SECTION: "... nothing. (This can't be an error.)", - _MY_H_SECTION: 'a header this file implements', - _C_SECTION: 'C system header', - _CPP_SECTION: 'C++ system header', - _OTHER_SYS_SECTION: 'other system header', - _OTHER_H_SECTION: 'other header', - } - - def __init__(self): - self.include_list = [[]] - self._section = None - self._last_header = None - self.ResetSection('') - - def FindHeader(self, header): - """Check if a header has already been included. - - Args: - header: header to check. - Returns: - Line number of previous occurrence, or -1 if the header has not - been seen before. - """ - for section_list in self.include_list: - for f in section_list: - if f[0] == header: - return f[1] - return -1 - - def ResetSection(self, directive): - """Reset section checking for preprocessor directive. - - Args: - directive: preprocessor directive (e.g. "if", "else"). - """ - # The name of the current section. - self._section = self._INITIAL_SECTION - # The path of last found header. - self._last_header = '' - - # Update list of includes. Note that we never pop from the - # include list. - if directive in ('if', 'ifdef', 'ifndef'): - self.include_list.append([]) - elif directive in ('else', 'elif'): - self.include_list[-1] = [] - - def SetLastHeader(self, header_path): - self._last_header = header_path - - def CanonicalizeAlphabeticalOrder(self, header_path): - """Returns a path canonicalized for alphabetical comparison. - - - replaces "-" with "_" so they both cmp the same. - - removes '-inl' since we don't require them to be after the main header. - - lowercase everything, just in case. - - Args: - header_path: Path to be canonicalized. - - Returns: - Canonicalized path. - """ - return header_path.replace('-inl.h', '.h').replace('-', '_').lower() - - def IsInAlphabeticalOrder(self, clean_lines, linenum, header_path): - """Check if a header is in alphabetical order with the previous header. - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - header_path: Canonicalized header to be checked. - - Returns: - Returns true if the header is in alphabetical order. - """ - # If previous section is different from current section, _last_header will - # be reset to empty string, so it's always less than current header. - # - # If previous line was a blank line, assume that the headers are - # intentionally sorted the way they are. - if (self._last_header > header_path and - Match(r'^\s*#\s*include\b', clean_lines.elided[linenum - 1])): - return False - return True - - def CheckNextIncludeOrder(self, header_type): - """Returns a non-empty error message if the next header is out of order. - - This function also updates the internal state to be ready to check - the next include. - - Args: - header_type: One of the _XXX_HEADER constants defined above. - - Returns: - The empty string if the header is in the right order, or an - error message describing what's wrong. - - """ - error_message = ('Found %s after %s' % - (self._TYPE_NAMES[header_type], - self._SECTION_NAMES[self._section])) - - last_section = self._section - - if header_type == _C_SYS_HEADER: - if self._section <= self._C_SECTION: - self._section = self._C_SECTION - else: - self._last_header = '' - return error_message - elif header_type == _CPP_SYS_HEADER: - if self._section <= self._CPP_SECTION: - self._section = self._CPP_SECTION - else: - self._last_header = '' - return error_message - elif header_type == _OTHER_SYS_HEADER: - if self._section <= self._OTHER_SYS_SECTION: - self._section = self._OTHER_SYS_SECTION - else: - self._last_header = '' - return error_message - elif header_type == _LIKELY_MY_HEADER: - if self._section <= self._MY_H_SECTION: - self._section = self._MY_H_SECTION - else: - self._section = self._OTHER_H_SECTION - elif header_type == _POSSIBLE_MY_HEADER: - if self._section <= self._MY_H_SECTION: - self._section = self._MY_H_SECTION - else: - # This will always be the fallback because we're not sure - # enough that the header is associated with this file. - self._section = self._OTHER_H_SECTION - else: - assert header_type == _OTHER_HEADER - self._section = self._OTHER_H_SECTION - - if last_section != self._section: - self._last_header = '' - - return '' - - -class _CppLintState(object): - """Maintains module-wide state..""" - - def __init__(self): - self.verbose_level = 1 # global setting. - self.error_count = 0 # global count of reported errors - # filters to apply when emitting error messages - self.filters = _DEFAULT_FILTERS[:] - # backup of filter list. Used to restore the state after each file. - self._filters_backup = self.filters[:] - self.counting = 'total' # In what way are we counting errors? - self.errors_by_category = {} # string to int dict storing error counts - self.quiet = False # Suppress non-error messagess? - - # output format: - # "emacs" - format that emacs can parse (default) - # "eclipse" - format that eclipse can parse - # "vs7" - format that Microsoft Visual Studio 7 can parse - # "junit" - format that Jenkins, Bamboo, etc can parse - # "sed" - returns a gnu sed command to fix the problem - # "gsed" - like sed, but names the command gsed, e.g. for macOS homebrew users - self.output_format = 'emacs' - - # For JUnit output, save errors and failures until the end so that they - # can be written into the XML - self._junit_errors = [] - self._junit_failures = [] - - def SetOutputFormat(self, output_format): - """Sets the output format for errors.""" - self.output_format = output_format - - def SetQuiet(self, quiet): - """Sets the module's quiet settings, and returns the previous setting.""" - last_quiet = self.quiet - self.quiet = quiet - return last_quiet - - def SetVerboseLevel(self, level): - """Sets the module's verbosity, and returns the previous setting.""" - last_verbose_level = self.verbose_level - self.verbose_level = level - return last_verbose_level - - def SetCountingStyle(self, counting_style): - """Sets the module's counting options.""" - self.counting = counting_style - - def SetFilters(self, filters): - """Sets the error-message filters. - - These filters are applied when deciding whether to emit a given - error message. - - Args: - filters: A string of comma-separated filters (eg "+whitespace/indent"). - Each filter should start with + or -; else we die. - - Raises: - ValueError: The comma-separated filters did not all start with '+' or '-'. - E.g. "-,+whitespace,-whitespace/indent,whitespace/badfilter" - """ - # Default filters always have less priority than the flag ones. - self.filters = _DEFAULT_FILTERS[:] - self.AddFilters(filters) - - def AddFilters(self, filters): - """ Adds more filters to the existing list of error-message filters. """ - for filt in filters.split(','): - clean_filt = filt.strip() - if clean_filt: - self.filters.append(clean_filt) - for filt in self.filters: - if not (filt.startswith('+') or filt.startswith('-')): - raise ValueError('Every filter in --filters must start with + or -' - ' (%s does not)' % filt) - - def BackupFilters(self): - """ Saves the current filter list to backup storage.""" - self._filters_backup = self.filters[:] - - def RestoreFilters(self): - """ Restores filters previously backed up.""" - self.filters = self._filters_backup[:] - - def ResetErrorCounts(self): - """Sets the module's error statistic back to zero.""" - self.error_count = 0 - self.errors_by_category = {} - - def IncrementErrorCount(self, category): - """Bumps the module's error statistic.""" - self.error_count += 1 - if self.counting in ('toplevel', 'detailed'): - if self.counting != 'detailed': - category = category.split('/')[0] - if category not in self.errors_by_category: - self.errors_by_category[category] = 0 - self.errors_by_category[category] += 1 - - def PrintErrorCounts(self): - """Print a summary of errors by category, and the total.""" - for category, count in sorted(iteritems(self.errors_by_category)): - self.PrintInfo('Category \'%s\' errors found: %d\n' % - (category, count)) - if self.error_count > 0: - self.PrintInfo('Total errors found: %d\n' % self.error_count) - - def PrintInfo(self, message): - # _quiet does not represent --quiet flag. - # Hide infos from stdout to keep stdout pure for machine consumption - if not _quiet and self.output_format not in _MACHINE_OUTPUTS: - sys.stdout.write(message) - - def PrintError(self, message): - if self.output_format == 'junit': - self._junit_errors.append(message) - else: - sys.stderr.write(message) - - def AddJUnitFailure(self, filename, linenum, message, category, confidence): - self._junit_failures.append((filename, linenum, message, category, - confidence)) - - def FormatJUnitXML(self): - num_errors = len(self._junit_errors) - num_failures = len(self._junit_failures) - - testsuite = xml.etree.ElementTree.Element('testsuite') - testsuite.attrib['errors'] = str(num_errors) - testsuite.attrib['failures'] = str(num_failures) - testsuite.attrib['name'] = 'cpplint' - - if num_errors == 0 and num_failures == 0: - testsuite.attrib['tests'] = str(1) - xml.etree.ElementTree.SubElement(testsuite, 'testcase', name='passed') - - else: - testsuite.attrib['tests'] = str(num_errors + num_failures) - if num_errors > 0: - testcase = xml.etree.ElementTree.SubElement(testsuite, 'testcase') - testcase.attrib['name'] = 'errors' - error = xml.etree.ElementTree.SubElement(testcase, 'error') - error.text = '\n'.join(self._junit_errors) - if num_failures > 0: - # Group failures by file - failed_file_order = [] - failures_by_file = {} - for failure in self._junit_failures: - failed_file = failure[0] - if failed_file not in failed_file_order: - failed_file_order.append(failed_file) - failures_by_file[failed_file] = [] - failures_by_file[failed_file].append(failure) - # Create a testcase for each file - for failed_file in failed_file_order: - failures = failures_by_file[failed_file] - testcase = xml.etree.ElementTree.SubElement(testsuite, 'testcase') - testcase.attrib['name'] = failed_file - failure = xml.etree.ElementTree.SubElement(testcase, 'failure') - template = '{0}: {1} [{2}] [{3}]' - texts = [template.format(f[1], f[2], f[3], f[4]) for f in failures] - failure.text = '\n'.join(texts) - - xml_decl = '\n' - return xml_decl + xml.etree.ElementTree.tostring(testsuite, 'utf-8').decode('utf-8') - - -_cpplint_state = _CppLintState() - - -def _OutputFormat(): - """Gets the module's output format.""" - return _cpplint_state.output_format - - -def _SetOutputFormat(output_format): - """Sets the module's output format.""" - _cpplint_state.SetOutputFormat(output_format) - -def _Quiet(): - """Return's the module's quiet setting.""" - return _cpplint_state.quiet - -def _SetQuiet(quiet): - """Set the module's quiet status, and return previous setting.""" - return _cpplint_state.SetQuiet(quiet) - - -def _VerboseLevel(): - """Returns the module's verbosity setting.""" - return _cpplint_state.verbose_level - - -def _SetVerboseLevel(level): - """Sets the module's verbosity, and returns the previous setting.""" - return _cpplint_state.SetVerboseLevel(level) - - -def _SetCountingStyle(level): - """Sets the module's counting options.""" - _cpplint_state.SetCountingStyle(level) - - -def _Filters(): - """Returns the module's list of output filters, as a list.""" - return _cpplint_state.filters - - -def _SetFilters(filters): - """Sets the module's error-message filters. - - These filters are applied when deciding whether to emit a given - error message. - - Args: - filters: A string of comma-separated filters (eg "whitespace/indent"). - Each filter should start with + or -; else we die. - """ - _cpplint_state.SetFilters(filters) - -def _AddFilters(filters): - """Adds more filter overrides. - - Unlike _SetFilters, this function does not reset the current list of filters - available. - - Args: - filters: A string of comma-separated filters (eg "whitespace/indent"). - Each filter should start with + or -; else we die. - """ - _cpplint_state.AddFilters(filters) - -def _BackupFilters(): - """ Saves the current filter list to backup storage.""" - _cpplint_state.BackupFilters() - -def _RestoreFilters(): - """ Restores filters previously backed up.""" - _cpplint_state.RestoreFilters() - -class _FunctionState(object): - """Tracks current function name and the number of lines in its body.""" - - _NORMAL_TRIGGER = 250 # for --v=0, 500 for --v=1, etc. - _TEST_TRIGGER = 400 # about 50% more than _NORMAL_TRIGGER. - - def __init__(self): - self.in_a_function = False - self.lines_in_function = 0 - self.current_function = '' - - def Begin(self, function_name): - """Start analyzing function body. - - Args: - function_name: The name of the function being tracked. - """ - self.in_a_function = True - self.lines_in_function = 0 - self.current_function = function_name - - def Count(self): - """Count line in current function body.""" - if self.in_a_function: - self.lines_in_function += 1 - - def Check(self, error, filename, linenum): - """Report if too many lines in function body. - - Args: - error: The function to call with any errors found. - filename: The name of the current file. - linenum: The number of the line to check. - """ - if not self.in_a_function: - return - - if Match(r'T(EST|est)', self.current_function): - base_trigger = self._TEST_TRIGGER - else: - base_trigger = self._NORMAL_TRIGGER - trigger = base_trigger * 2**_VerboseLevel() - - if self.lines_in_function > trigger: - error_level = int(math.log(self.lines_in_function / base_trigger, 2)) - # 50 => 0, 100 => 1, 200 => 2, 400 => 3, 800 => 4, 1600 => 5, ... - if error_level > 5: - error_level = 5 - error(filename, linenum, 'readability/fn_size', error_level, - 'Small and focused functions are preferred:' - ' %s has %d non-comment lines' - ' (error triggered by exceeding %d lines).' % ( - self.current_function, self.lines_in_function, trigger)) - - def End(self): - """Stop analyzing function body.""" - self.in_a_function = False - - -class _IncludeError(Exception): - """Indicates a problem with the include order in a file.""" - pass - - -class FileInfo(object): - """Provides utility functions for filenames. - - FileInfo provides easy access to the components of a file's path - relative to the project root. - """ - - def __init__(self, filename): - self._filename = filename - - def FullName(self): - """Make Windows paths like Unix.""" - return os.path.abspath(self._filename).replace('\\', '/') - - def RepositoryName(self): - r"""FullName after removing the local path to the repository. - - If we have a real absolute path name here we can try to do something smart: - detecting the root of the checkout and truncating /path/to/checkout from - the name so that we get header guards that don't include things like - "C:\\Documents and Settings\\..." or "/home/username/..." in them and thus - people on different computers who have checked the source out to different - locations won't see bogus errors. - """ - fullname = self.FullName() - - if os.path.exists(fullname): - project_dir = os.path.dirname(fullname) - - # If the user specified a repository path, it exists, and the file is - # contained in it, use the specified repository path - if _repository: - repo = FileInfo(_repository).FullName() - root_dir = project_dir - while os.path.exists(root_dir): - # allow case insensitive compare on Windows - if os.path.normcase(root_dir) == os.path.normcase(repo): - return os.path.relpath(fullname, root_dir).replace('\\', '/') - one_up_dir = os.path.dirname(root_dir) - if one_up_dir == root_dir: - break - root_dir = one_up_dir - - if os.path.exists(os.path.join(project_dir, ".svn")): - # If there's a .svn file in the current directory, we recursively look - # up the directory tree for the top of the SVN checkout - root_dir = project_dir - one_up_dir = os.path.dirname(root_dir) - while os.path.exists(os.path.join(one_up_dir, ".svn")): - root_dir = os.path.dirname(root_dir) - one_up_dir = os.path.dirname(one_up_dir) - - prefix = os.path.commonprefix([root_dir, project_dir]) - return fullname[len(prefix) + 1:] - - # Not SVN <= 1.6? Try to find a git, hg, or svn top level directory by - # searching up from the current path. - root_dir = current_dir = os.path.dirname(fullname) - while current_dir != os.path.dirname(current_dir): - if (os.path.exists(os.path.join(current_dir, ".git")) or - os.path.exists(os.path.join(current_dir, ".hg")) or - os.path.exists(os.path.join(current_dir, ".svn"))): - root_dir = current_dir - current_dir = os.path.dirname(current_dir) - - if (os.path.exists(os.path.join(root_dir, ".git")) or - os.path.exists(os.path.join(root_dir, ".hg")) or - os.path.exists(os.path.join(root_dir, ".svn"))): - prefix = os.path.commonprefix([root_dir, project_dir]) - return fullname[len(prefix) + 1:] - - # Don't know what to do; header guard warnings may be wrong... - return fullname - - def Split(self): - """Splits the file into the directory, basename, and extension. - - For 'chrome/browser/browser.cc', Split() would - return ('chrome/browser', 'browser', '.cc') - - Returns: - A tuple of (directory, basename, extension). - """ - - googlename = self.RepositoryName() - project, rest = os.path.split(googlename) - return (project,) + os.path.splitext(rest) - - def BaseName(self): - """File base name - text after the final slash, before the final period.""" - return self.Split()[1] - - def Extension(self): - """File extension - text following the final period, includes that period.""" - return self.Split()[2] - - def NoExtension(self): - """File has no source file extension.""" - return '/'.join(self.Split()[0:2]) - - def IsSource(self): - """File has a source file extension.""" - return _IsSourceExtension(self.Extension()[1:]) - - -def _ShouldPrintError(category, confidence, linenum): - """If confidence >= verbose, category passes filter and is not suppressed.""" - - # There are three ways we might decide not to print an error message: - # a "NOLINT(category)" comment appears in the source, - # the verbosity level isn't high enough, or the filters filter it out. - if IsErrorSuppressedByNolint(category, linenum): - return False - - if confidence < _cpplint_state.verbose_level: - return False - - is_filtered = False - for one_filter in _Filters(): - if one_filter.startswith('-'): - if category.startswith(one_filter[1:]): - is_filtered = True - elif one_filter.startswith('+'): - if category.startswith(one_filter[1:]): - is_filtered = False - else: - assert False # should have been checked for in SetFilter. - if is_filtered: - return False - - return True - - -def Error(filename, linenum, category, confidence, message): - """Logs the fact we've found a lint error. - - We log where the error was found, and also our confidence in the error, - that is, how certain we are this is a legitimate style regression, and - not a misidentification or a use that's sometimes justified. - - False positives can be suppressed by the use of - "cpplint(category)" comments on the offending line. These are - parsed into _error_suppressions. - - Args: - filename: The name of the file containing the error. - linenum: The number of the line containing the error. - category: A string used to describe the "category" this bug - falls under: "whitespace", say, or "runtime". Categories - may have a hierarchy separated by slashes: "whitespace/indent". - confidence: A number from 1-5 representing a confidence score for - the error, with 5 meaning that we are certain of the problem, - and 1 meaning that it could be a legitimate construct. - message: The error message. - """ - if _ShouldPrintError(category, confidence, linenum): - _cpplint_state.IncrementErrorCount(category) - if _cpplint_state.output_format == 'vs7': - _cpplint_state.PrintError('%s(%s): error cpplint: [%s] %s [%d]\n' % ( - filename, linenum, category, message, confidence)) - elif _cpplint_state.output_format == 'eclipse': - sys.stderr.write('%s:%s: warning: %s [%s] [%d]\n' % ( - filename, linenum, message, category, confidence)) - elif _cpplint_state.output_format == 'junit': - _cpplint_state.AddJUnitFailure(filename, linenum, message, category, - confidence) - elif _cpplint_state.output_format in ['sed', 'gsed']: - if message in _SED_FIXUPS: - sys.stdout.write(_cpplint_state.output_format + " -i '%s%s' %s # %s [%s] [%d]\n" % ( - linenum, _SED_FIXUPS[message], filename, message, category, confidence)) - else: - sys.stderr.write('# %s:%s: "%s" [%s] [%d]\n' % ( - filename, linenum, message, category, confidence)) - else: - final_message = '%s:%s: %s [%s] [%d]\n' % ( - filename, linenum, message, category, confidence) - sys.stderr.write(final_message) - -# Matches standard C++ escape sequences per 2.13.2.3 of the C++ standard. -_RE_PATTERN_CLEANSE_LINE_ESCAPES = re.compile( - r'\\([abfnrtv?"\\\']|\d+|x[0-9a-fA-F]+)') -# Match a single C style comment on the same line. -_RE_PATTERN_C_COMMENTS = r'/\*(?:[^*]|\*(?!/))*\*/' -# Matches multi-line C style comments. -# This RE is a little bit more complicated than one might expect, because we -# have to take care of space removals tools so we can handle comments inside -# statements better. -# The current rule is: We only clear spaces from both sides when we're at the -# end of the line. Otherwise, we try to remove spaces from the right side, -# if this doesn't work we try on left side but only if there's a non-character -# on the right. -_RE_PATTERN_CLEANSE_LINE_C_COMMENTS = re.compile( - r'(\s*' + _RE_PATTERN_C_COMMENTS + r'\s*$|' + - _RE_PATTERN_C_COMMENTS + r'\s+|' + - r'\s+' + _RE_PATTERN_C_COMMENTS + r'(?=\W)|' + - _RE_PATTERN_C_COMMENTS + r')') - - -def IsCppString(line): - """Does line terminate so, that the next symbol is in string constant. - - This function does not consider single-line nor multi-line comments. - - Args: - line: is a partial line of code starting from the 0..n. - - Returns: - True, if next character appended to 'line' is inside a - string constant. - """ - - line = line.replace(r'\\', 'XX') # after this, \\" does not match to \" - return ((line.count('"') - line.count(r'\"') - line.count("'\"'")) & 1) == 1 - - -def CleanseRawStrings(raw_lines): - """Removes C++11 raw strings from lines. - - Before: - static const char kData[] = R"( - multi-line string - )"; - - After: - static const char kData[] = "" - (replaced by blank line) - ""; - - Args: - raw_lines: list of raw lines. - - Returns: - list of lines with C++11 raw strings replaced by empty strings. - """ - - delimiter = None - lines_without_raw_strings = [] - for line in raw_lines: - if delimiter: - # Inside a raw string, look for the end - end = line.find(delimiter) - if end >= 0: - # Found the end of the string, match leading space for this - # line and resume copying the original lines, and also insert - # a "" on the last line. - leading_space = Match(r'^(\s*)\S', line) - line = leading_space.group(1) + '""' + line[end + len(delimiter):] - delimiter = None - else: - # Haven't found the end yet, append a blank line. - line = '""' - - # Look for beginning of a raw string, and replace them with - # empty strings. This is done in a loop to handle multiple raw - # strings on the same line. - while delimiter is None: - # Look for beginning of a raw string. - # See 2.14.15 [lex.string] for syntax. - # - # Once we have matched a raw string, we check the prefix of the - # line to make sure that the line is not part of a single line - # comment. It's done this way because we remove raw strings - # before removing comments as opposed to removing comments - # before removing raw strings. This is because there are some - # cpplint checks that requires the comments to be preserved, but - # we don't want to check comments that are inside raw strings. - matched = Match(r'^(.*?)\b(?:R|u8R|uR|UR|LR)"([^\s\\()]*)\((.*)$', line) - if (matched and - not Match(r'^([^\'"]|\'(\\.|[^\'])*\'|"(\\.|[^"])*")*//', - matched.group(1))): - delimiter = ')' + matched.group(2) + '"' - - end = matched.group(3).find(delimiter) - if end >= 0: - # Raw string ended on same line - line = (matched.group(1) + '""' + - matched.group(3)[end + len(delimiter):]) - delimiter = None - else: - # Start of a multi-line raw string - line = matched.group(1) + '""' - else: - break - - lines_without_raw_strings.append(line) - - # TODO(unknown): if delimiter is not None here, we might want to - # emit a warning for unterminated string. - return lines_without_raw_strings - - -def FindNextMultiLineCommentStart(lines, lineix): - """Find the beginning marker for a multiline comment.""" - while lineix < len(lines): - if lines[lineix].strip().startswith('/*'): - # Only return this marker if the comment goes beyond this line - if lines[lineix].strip().find('*/', 2) < 0: - return lineix - lineix += 1 - return len(lines) - - -def FindNextMultiLineCommentEnd(lines, lineix): - """We are inside a comment, find the end marker.""" - while lineix < len(lines): - if lines[lineix].strip().endswith('*/'): - return lineix - lineix += 1 - return len(lines) - - -def RemoveMultiLineCommentsFromRange(lines, begin, end): - """Clears a range of lines for multi-line comments.""" - # Having // comments makes the lines non-empty, so we will not get - # unnecessary blank line warnings later in the code. - for i in range(begin, end): - lines[i] = '/**/' - - -def RemoveMultiLineComments(filename, lines, error): - """Removes multiline (c-style) comments from lines.""" - lineix = 0 - while lineix < len(lines): - lineix_begin = FindNextMultiLineCommentStart(lines, lineix) - if lineix_begin >= len(lines): - return - lineix_end = FindNextMultiLineCommentEnd(lines, lineix_begin) - if lineix_end >= len(lines): - error(filename, lineix_begin + 1, 'readability/multiline_comment', 5, - 'Could not find end of multi-line comment') - return - RemoveMultiLineCommentsFromRange(lines, lineix_begin, lineix_end + 1) - lineix = lineix_end + 1 - - -def CleanseComments(line): - """Removes //-comments and single-line C-style /* */ comments. - - Args: - line: A line of C++ source. - - Returns: - The line with single-line comments removed. - """ - commentpos = line.find('//') - if commentpos != -1 and not IsCppString(line[:commentpos]): - line = line[:commentpos].rstrip() - # get rid of /* ... */ - return _RE_PATTERN_CLEANSE_LINE_C_COMMENTS.sub('', line) - - -class CleansedLines(object): - """Holds 4 copies of all lines with different preprocessing applied to them. - - 1) elided member contains lines without strings and comments. - 2) lines member contains lines without comments. - 3) raw_lines member contains all the lines without processing. - 4) lines_without_raw_strings member is same as raw_lines, but with C++11 raw - strings removed. - All these members are of , and of the same length. - """ - - def __init__(self, lines): - self.elided = [] - self.lines = [] - self.raw_lines = lines - self.num_lines = len(lines) - self.lines_without_raw_strings = CleanseRawStrings(lines) - for linenum in range(len(self.lines_without_raw_strings)): - self.lines.append(CleanseComments( - self.lines_without_raw_strings[linenum])) - elided = self._CollapseStrings(self.lines_without_raw_strings[linenum]) - self.elided.append(CleanseComments(elided)) - - def NumLines(self): - """Returns the number of lines represented.""" - return self.num_lines - - @staticmethod - def _CollapseStrings(elided): - """Collapses strings and chars on a line to simple "" or '' blocks. - - We nix strings first so we're not fooled by text like '"http://"' - - Args: - elided: The line being processed. - - Returns: - The line with collapsed strings. - """ - if _RE_PATTERN_INCLUDE.match(elided): - return elided - - # Remove escaped characters first to make quote/single quote collapsing - # basic. Things that look like escaped characters shouldn't occur - # outside of strings and chars. - elided = _RE_PATTERN_CLEANSE_LINE_ESCAPES.sub('', elided) - - # Replace quoted strings and digit separators. Both single quotes - # and double quotes are processed in the same loop, otherwise - # nested quotes wouldn't work. - collapsed = '' - while True: - # Find the first quote character - match = Match(r'^([^\'"]*)([\'"])(.*)$', elided) - if not match: - collapsed += elided - break - head, quote, tail = match.groups() - - if quote == '"': - # Collapse double quoted strings - second_quote = tail.find('"') - if second_quote >= 0: - collapsed += head + '""' - elided = tail[second_quote + 1:] - else: - # Unmatched double quote, don't bother processing the rest - # of the line since this is probably a multiline string. - collapsed += elided - break - else: - # Found single quote, check nearby text to eliminate digit separators. - # - # There is no special handling for floating point here, because - # the integer/fractional/exponent parts would all be parsed - # correctly as long as there are digits on both sides of the - # separator. So we are fine as long as we don't see something - # like "0.'3" (gcc 4.9.0 will not allow this literal). - if Search(r'\b(?:0[bBxX]?|[1-9])[0-9a-fA-F]*$', head): - match_literal = Match(r'^((?:\'?[0-9a-zA-Z_])*)(.*)$', "'" + tail) - collapsed += head + match_literal.group(1).replace("'", '') - elided = match_literal.group(2) - else: - second_quote = tail.find('\'') - if second_quote >= 0: - collapsed += head + "''" - elided = tail[second_quote + 1:] - else: - # Unmatched single quote - collapsed += elided - break - - return collapsed - - -def FindEndOfExpressionInLine(line, startpos, stack): - """Find the position just after the end of current parenthesized expression. - - Args: - line: a CleansedLines line. - startpos: start searching at this position. - stack: nesting stack at startpos. - - Returns: - On finding matching end: (index just after matching end, None) - On finding an unclosed expression: (-1, None) - Otherwise: (-1, new stack at end of this line) - """ - for i in xrange(startpos, len(line)): - char = line[i] - if char in '([{': - # Found start of parenthesized expression, push to expression stack - stack.append(char) - elif char == '<': - # Found potential start of template argument list - if i > 0 and line[i - 1] == '<': - # Left shift operator - if stack and stack[-1] == '<': - stack.pop() - if not stack: - return (-1, None) - elif i > 0 and Search(r'\boperator\s*$', line[0:i]): - # operator<, don't add to stack - continue - else: - # Tentative start of template argument list - stack.append('<') - elif char in ')]}': - # Found end of parenthesized expression. - # - # If we are currently expecting a matching '>', the pending '<' - # must have been an operator. Remove them from expression stack. - while stack and stack[-1] == '<': - stack.pop() - if not stack: - return (-1, None) - if ((stack[-1] == '(' and char == ')') or - (stack[-1] == '[' and char == ']') or - (stack[-1] == '{' and char == '}')): - stack.pop() - if not stack: - return (i + 1, None) - else: - # Mismatched parentheses - return (-1, None) - elif char == '>': - # Found potential end of template argument list. - - # Ignore "->" and operator functions - if (i > 0 and - (line[i - 1] == '-' or Search(r'\boperator\s*$', line[0:i - 1]))): - continue - - # Pop the stack if there is a matching '<'. Otherwise, ignore - # this '>' since it must be an operator. - if stack: - if stack[-1] == '<': - stack.pop() - if not stack: - return (i + 1, None) - elif char == ';': - # Found something that look like end of statements. If we are currently - # expecting a '>', the matching '<' must have been an operator, since - # template argument list should not contain statements. - while stack and stack[-1] == '<': - stack.pop() - if not stack: - return (-1, None) - - # Did not find end of expression or unbalanced parentheses on this line - return (-1, stack) - - -def CloseExpression(clean_lines, linenum, pos): - """If input points to ( or { or [ or <, finds the position that closes it. - - If lines[linenum][pos] points to a '(' or '{' or '[' or '<', finds the - linenum/pos that correspond to the closing of the expression. - - TODO(unknown): cpplint spends a fair bit of time matching parentheses. - Ideally we would want to index all opening and closing parentheses once - and have CloseExpression be just a simple lookup, but due to preprocessor - tricks, this is not so easy. - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - pos: A position on the line. - - Returns: - A tuple (line, linenum, pos) pointer *past* the closing brace, or - (line, len(lines), -1) if we never find a close. Note we ignore - strings and comments when matching; and the line we return is the - 'cleansed' line at linenum. - """ - - line = clean_lines.elided[linenum] - if (line[pos] not in '({[<') or Match(r'<[<=]', line[pos:]): - return (line, clean_lines.NumLines(), -1) - - # Check first line - (end_pos, stack) = FindEndOfExpressionInLine(line, pos, []) - if end_pos > -1: - return (line, linenum, end_pos) - - # Continue scanning forward - while stack and linenum < clean_lines.NumLines() - 1: - linenum += 1 - line = clean_lines.elided[linenum] - (end_pos, stack) = FindEndOfExpressionInLine(line, 0, stack) - if end_pos > -1: - return (line, linenum, end_pos) - - # Did not find end of expression before end of file, give up - return (line, clean_lines.NumLines(), -1) - - -def FindStartOfExpressionInLine(line, endpos, stack): - """Find position at the matching start of current expression. - - This is almost the reverse of FindEndOfExpressionInLine, but note - that the input position and returned position differs by 1. - - Args: - line: a CleansedLines line. - endpos: start searching at this position. - stack: nesting stack at endpos. - - Returns: - On finding matching start: (index at matching start, None) - On finding an unclosed expression: (-1, None) - Otherwise: (-1, new stack at beginning of this line) - """ - i = endpos - while i >= 0: - char = line[i] - if char in ')]}': - # Found end of expression, push to expression stack - stack.append(char) - elif char == '>': - # Found potential end of template argument list. - # - # Ignore it if it's a "->" or ">=" or "operator>" - if (i > 0 and - (line[i - 1] == '-' or - Match(r'\s>=\s', line[i - 1:]) or - Search(r'\boperator\s*$', line[0:i]))): - i -= 1 - else: - stack.append('>') - elif char == '<': - # Found potential start of template argument list - if i > 0 and line[i - 1] == '<': - # Left shift operator - i -= 1 - else: - # If there is a matching '>', we can pop the expression stack. - # Otherwise, ignore this '<' since it must be an operator. - if stack and stack[-1] == '>': - stack.pop() - if not stack: - return (i, None) - elif char in '([{': - # Found start of expression. - # - # If there are any unmatched '>' on the stack, they must be - # operators. Remove those. - while stack and stack[-1] == '>': - stack.pop() - if not stack: - return (-1, None) - if ((char == '(' and stack[-1] == ')') or - (char == '[' and stack[-1] == ']') or - (char == '{' and stack[-1] == '}')): - stack.pop() - if not stack: - return (i, None) - else: - # Mismatched parentheses - return (-1, None) - elif char == ';': - # Found something that look like end of statements. If we are currently - # expecting a '<', the matching '>' must have been an operator, since - # template argument list should not contain statements. - while stack and stack[-1] == '>': - stack.pop() - if not stack: - return (-1, None) - - i -= 1 - - return (-1, stack) - - -def ReverseCloseExpression(clean_lines, linenum, pos): - """If input points to ) or } or ] or >, finds the position that opens it. - - If lines[linenum][pos] points to a ')' or '}' or ']' or '>', finds the - linenum/pos that correspond to the opening of the expression. - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - pos: A position on the line. - - Returns: - A tuple (line, linenum, pos) pointer *at* the opening brace, or - (line, 0, -1) if we never find the matching opening brace. Note - we ignore strings and comments when matching; and the line we - return is the 'cleansed' line at linenum. - """ - line = clean_lines.elided[linenum] - if line[pos] not in ')}]>': - return (line, 0, -1) - - # Check last line - (start_pos, stack) = FindStartOfExpressionInLine(line, pos, []) - if start_pos > -1: - return (line, linenum, start_pos) - - # Continue scanning backward - while stack and linenum > 0: - linenum -= 1 - line = clean_lines.elided[linenum] - (start_pos, stack) = FindStartOfExpressionInLine(line, len(line) - 1, stack) - if start_pos > -1: - return (line, linenum, start_pos) - - # Did not find start of expression before beginning of file, give up - return (line, 0, -1) - - -def CheckForCopyright(filename, lines, error): - """Logs an error if no Copyright message appears at the top of the file.""" - - # We'll say it should occur by line 10. Don't forget there's a - # placeholder line at the front. - for line in xrange(1, min(len(lines), 11)): - if re.search(r'Copyright', lines[line], re.I): break - else: # means no copyright line was found - error(filename, 0, 'legal/copyright', 5, - 'No copyright message found. ' - 'You should have a line: "Copyright [year] "') - - -def GetIndentLevel(line): - """Return the number of leading spaces in line. - - Args: - line: A string to check. - - Returns: - An integer count of leading spaces, possibly zero. - """ - indent = Match(r'^( *)\S', line) - if indent: - return len(indent.group(1)) - else: - return 0 - -def PathSplitToList(path): - """Returns the path split into a list by the separator. - - Args: - path: An absolute or relative path (e.g. '/a/b/c/' or '../a') - - Returns: - A list of path components (e.g. ['a', 'b', 'c]). - """ - lst = [] - while True: - (head, tail) = os.path.split(path) - if head == path: # absolute paths end - lst.append(head) - break - if tail == path: # relative paths end - lst.append(tail) - break - - path = head - lst.append(tail) - - lst.reverse() - return lst - -def GetHeaderGuardCPPVariable(filename): - """Returns the CPP variable that should be used as a header guard. - - Args: - filename: The name of a C++ header file. - - Returns: - The CPP variable that should be used as a header guard in the - named file. - - """ - - # Restores original filename in case that cpplint is invoked from Emacs's - # flymake. - filename = re.sub(r'_flymake\.h$', '.h', filename) - filename = re.sub(r'/\.flymake/([^/]*)$', r'/\1', filename) - # Replace 'c++' with 'cpp'. - filename = filename.replace('C++', 'cpp').replace('c++', 'cpp') - - fileinfo = FileInfo(filename) - file_path_from_root = fileinfo.RepositoryName() - - def FixupPathFromRoot(): - if _root_debug: - sys.stderr.write("\n_root fixup, _root = '%s', repository name = '%s'\n" - % (_root, fileinfo.RepositoryName())) - - # Process the file path with the --root flag if it was set. - if not _root: - if _root_debug: - sys.stderr.write("_root unspecified\n") - return file_path_from_root - - def StripListPrefix(lst, prefix): - # f(['x', 'y'], ['w, z']) -> None (not a valid prefix) - if lst[:len(prefix)] != prefix: - return None - # f(['a, 'b', 'c', 'd'], ['a', 'b']) -> ['c', 'd'] - return lst[(len(prefix)):] - - # root behavior: - # --root=subdir , lstrips subdir from the header guard - maybe_path = StripListPrefix(PathSplitToList(file_path_from_root), - PathSplitToList(_root)) - - if _root_debug: - sys.stderr.write(("_root lstrip (maybe_path=%s, file_path_from_root=%s," + - " _root=%s)\n") % (maybe_path, file_path_from_root, _root)) - - if maybe_path: - return os.path.join(*maybe_path) - - # --root=.. , will prepend the outer directory to the header guard - full_path = fileinfo.FullName() - # adapt slashes for windows - root_abspath = os.path.abspath(_root).replace('\\', '/') - - maybe_path = StripListPrefix(PathSplitToList(full_path), - PathSplitToList(root_abspath)) - - if _root_debug: - sys.stderr.write(("_root prepend (maybe_path=%s, full_path=%s, " + - "root_abspath=%s)\n") % (maybe_path, full_path, root_abspath)) - - if maybe_path: - return os.path.join(*maybe_path) - - if _root_debug: - sys.stderr.write("_root ignore, returning %s\n" % (file_path_from_root)) - - # --root=FAKE_DIR is ignored - return file_path_from_root - - file_path_from_root = FixupPathFromRoot() - return re.sub(r'[^a-zA-Z0-9]', '_', file_path_from_root).upper() + '_' - - -def CheckForHeaderGuard(filename, clean_lines, error): - """Checks that the file contains a header guard. - - Logs an error if no #ifndef header guard is present. For other - headers, checks that the full pathname is used. - - Args: - filename: The name of the C++ header file. - clean_lines: A CleansedLines instance containing the file. - error: The function to call with any errors found. - """ - - # Don't check for header guards if there are error suppression - # comments somewhere in this file. - # - # Because this is silencing a warning for a nonexistent line, we - # only support the very specific NOLINT(build/header_guard) syntax, - # and not the general NOLINT or NOLINT(*) syntax. - raw_lines = clean_lines.lines_without_raw_strings - for i in raw_lines: - if Search(r'//\s*NOLINT\(build/header_guard\)', i): - return - - # Allow pragma once instead of header guards - for i in raw_lines: - if Search(r'^\s*#pragma\s+once', i): - return - - cppvar = GetHeaderGuardCPPVariable(filename) - - ifndef = '' - ifndef_linenum = 0 - define = '' - endif = '' - endif_linenum = 0 - for linenum, line in enumerate(raw_lines): - linesplit = line.split() - if len(linesplit) >= 2: - # find the first occurrence of #ifndef and #define, save arg - if not ifndef and linesplit[0] == '#ifndef': - # set ifndef to the header guard presented on the #ifndef line. - ifndef = linesplit[1] - ifndef_linenum = linenum - if not define and linesplit[0] == '#define': - define = linesplit[1] - # find the last occurrence of #endif, save entire line - if line.startswith('#endif'): - endif = line - endif_linenum = linenum - - if not ifndef or not define or ifndef != define: - error(filename, 0, 'build/header_guard', 5, - 'No #ifndef header guard found, suggested CPP variable is: %s' % - cppvar) - return - - # The guard should be PATH_FILE_H_, but we also allow PATH_FILE_H__ - # for backward compatibility. - if ifndef != cppvar: - error_level = 0 - if ifndef != cppvar + '_': - error_level = 5 - - ParseNolintSuppressions(filename, raw_lines[ifndef_linenum], ifndef_linenum, - error) - error(filename, ifndef_linenum, 'build/header_guard', error_level, - '#ifndef header guard has wrong style, please use: %s' % cppvar) - - # Check for "//" comments on endif line. - ParseNolintSuppressions(filename, raw_lines[endif_linenum], endif_linenum, - error) - match = Match(r'#endif\s*//\s*' + cppvar + r'(_)?\b', endif) - if match: - if match.group(1) == '_': - # Issue low severity warning for deprecated double trailing underscore - error(filename, endif_linenum, 'build/header_guard', 0, - '#endif line should be "#endif // %s"' % cppvar) - return - - # Didn't find the corresponding "//" comment. If this file does not - # contain any "//" comments at all, it could be that the compiler - # only wants "/**/" comments, look for those instead. - no_single_line_comments = True - for i in xrange(1, len(raw_lines) - 1): - line = raw_lines[i] - if Match(r'^(?:(?:\'(?:\.|[^\'])*\')|(?:"(?:\.|[^"])*")|[^\'"])*//', line): - no_single_line_comments = False - break - - if no_single_line_comments: - match = Match(r'#endif\s*/\*\s*' + cppvar + r'(_)?\s*\*/', endif) - if match: - if match.group(1) == '_': - # Low severity warning for double trailing underscore - error(filename, endif_linenum, 'build/header_guard', 0, - '#endif line should be "#endif /* %s */"' % cppvar) - return - - # Didn't find anything - error(filename, endif_linenum, 'build/header_guard', 5, - '#endif line should be "#endif // %s"' % cppvar) - - -def CheckHeaderFileIncluded(filename, include_state, error): - """Logs an error if a source file does not include its header.""" - - # Do not check test files - fileinfo = FileInfo(filename) - if Search(_TEST_FILE_SUFFIX, fileinfo.BaseName()): - return - - for ext in GetHeaderExtensions(): - basefilename = filename[0:len(filename) - len(fileinfo.Extension())] - headerfile = basefilename + '.' + ext - if not os.path.exists(headerfile): - continue - headername = FileInfo(headerfile).RepositoryName() - first_include = None - include_uses_unix_dir_aliases = False - for section_list in include_state.include_list: - for f in section_list: - include_text = f[0] - if "./" in include_text: - include_uses_unix_dir_aliases = True - if headername in include_text or include_text in headername: - return - if not first_include: - first_include = f[1] - - message = '%s should include its header file %s' % (fileinfo.RepositoryName(), headername) - if include_uses_unix_dir_aliases: - message += ". Relative paths like . and .. are not allowed." - - error(filename, first_include, 'build/include', 5, message) - - -def CheckForBadCharacters(filename, lines, error): - """Logs an error for each line containing bad characters. - - Two kinds of bad characters: - - 1. Unicode replacement characters: These indicate that either the file - contained invalid UTF-8 (likely) or Unicode replacement characters (which - it shouldn't). Note that it's possible for this to throw off line - numbering if the invalid UTF-8 occurred adjacent to a newline. - - 2. NUL bytes. These are problematic for some tools. - - Args: - filename: The name of the current file. - lines: An array of strings, each representing a line of the file. - error: The function to call with any errors found. - """ - for linenum, line in enumerate(lines): - if unicode_escape_decode('\ufffd') in line: - error(filename, linenum, 'readability/utf8', 5, - 'Line contains invalid UTF-8 (or Unicode replacement character).') - if '\0' in line: - error(filename, linenum, 'readability/nul', 5, 'Line contains NUL byte.') - - -def CheckForNewlineAtEOF(filename, lines, error): - """Logs an error if there is no newline char at the end of the file. - - Args: - filename: The name of the current file. - lines: An array of strings, each representing a line of the file. - error: The function to call with any errors found. - """ - - # The array lines() was created by adding two newlines to the - # original file (go figure), then splitting on \n. - # To verify that the file ends in \n, we just have to make sure the - # last-but-two element of lines() exists and is empty. - if len(lines) < 3 or lines[-2]: - error(filename, len(lines) - 2, 'whitespace/ending_newline', 5, - 'Could not find a newline character at the end of the file.') - - -def CheckForMultilineCommentsAndStrings(filename, clean_lines, linenum, error): - """Logs an error if we see /* ... */ or "..." that extend past one line. - - /* ... */ comments are legit inside macros, for one line. - Otherwise, we prefer // comments, so it's ok to warn about the - other. Likewise, it's ok for strings to extend across multiple - lines, as long as a line continuation character (backslash) - terminates each line. Although not currently prohibited by the C++ - style guide, it's ugly and unnecessary. We don't do well with either - in this lint program, so we warn about both. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # Remove all \\ (escaped backslashes) from the line. They are OK, and the - # second (escaped) slash may trigger later \" detection erroneously. - line = line.replace('\\\\', '') - - if line.count('/*') > line.count('*/'): - error(filename, linenum, 'readability/multiline_comment', 5, - 'Complex multi-line /*...*/-style comment found. ' - 'Lint may give bogus warnings. ' - 'Consider replacing these with //-style comments, ' - 'with #if 0...#endif, ' - 'or with more clearly structured multi-line comments.') - - if (line.count('"') - line.count('\\"')) % 2: - error(filename, linenum, 'readability/multiline_string', 5, - 'Multi-line string ("...") found. This lint script doesn\'t ' - 'do well with such strings, and may give bogus warnings. ' - 'Use C++11 raw strings or concatenation instead.') - - -# (non-threadsafe name, thread-safe alternative, validation pattern) -# -# The validation pattern is used to eliminate false positives such as: -# _rand(); // false positive due to substring match. -# ->rand(); // some member function rand(). -# ACMRandom rand(seed); // some variable named rand. -# ISAACRandom rand(); // another variable named rand. -# -# Basically we require the return value of these functions to be used -# in some expression context on the same line by matching on some -# operator before the function name. This eliminates constructors and -# member function calls. -_UNSAFE_FUNC_PREFIX = r'(?:[-+*/=%^&|(<]\s*|>\s+)' -_THREADING_LIST = ( - ('asctime(', 'asctime_r(', _UNSAFE_FUNC_PREFIX + r'asctime\([^)]+\)'), - ('ctime(', 'ctime_r(', _UNSAFE_FUNC_PREFIX + r'ctime\([^)]+\)'), - ('getgrgid(', 'getgrgid_r(', _UNSAFE_FUNC_PREFIX + r'getgrgid\([^)]+\)'), - ('getgrnam(', 'getgrnam_r(', _UNSAFE_FUNC_PREFIX + r'getgrnam\([^)]+\)'), - ('getlogin(', 'getlogin_r(', _UNSAFE_FUNC_PREFIX + r'getlogin\(\)'), - ('getpwnam(', 'getpwnam_r(', _UNSAFE_FUNC_PREFIX + r'getpwnam\([^)]+\)'), - ('getpwuid(', 'getpwuid_r(', _UNSAFE_FUNC_PREFIX + r'getpwuid\([^)]+\)'), - ('gmtime(', 'gmtime_r(', _UNSAFE_FUNC_PREFIX + r'gmtime\([^)]+\)'), - ('localtime(', 'localtime_r(', _UNSAFE_FUNC_PREFIX + r'localtime\([^)]+\)'), - ('rand(', 'rand_r(', _UNSAFE_FUNC_PREFIX + r'rand\(\)'), - ('strtok(', 'strtok_r(', - _UNSAFE_FUNC_PREFIX + r'strtok\([^)]+\)'), - ('ttyname(', 'ttyname_r(', _UNSAFE_FUNC_PREFIX + r'ttyname\([^)]+\)'), - ) - - -def CheckPosixThreading(filename, clean_lines, linenum, error): - """Checks for calls to thread-unsafe functions. - - Much code has been originally written without consideration of - multi-threading. Also, engineers are relying on their old experience; - they have learned posix before threading extensions were added. These - tests guide the engineers to use thread-safe functions (when using - posix directly). - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - for single_thread_func, multithread_safe_func, pattern in _THREADING_LIST: - # Additional pattern matching check to confirm that this is the - # function we are looking for - if Search(pattern, line): - error(filename, linenum, 'runtime/threadsafe_fn', 2, - 'Consider using ' + multithread_safe_func + - '...) instead of ' + single_thread_func + - '...) for improved thread safety.') - - -def CheckVlogArguments(filename, clean_lines, linenum, error): - """Checks that VLOG() is only used for defining a logging level. - - For example, VLOG(2) is correct. VLOG(INFO), VLOG(WARNING), VLOG(ERROR), and - VLOG(FATAL) are not. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - if Search(r'\bVLOG\((INFO|ERROR|WARNING|DFATAL|FATAL)\)', line): - error(filename, linenum, 'runtime/vlog', 5, - 'VLOG() should be used with numeric verbosity level. ' - 'Use LOG() if you want symbolic severity levels.') - -# Matches invalid increment: *count++, which moves pointer instead of -# incrementing a value. -_RE_PATTERN_INVALID_INCREMENT = re.compile( - r'^\s*\*\w+(\+\+|--);') - - -def CheckInvalidIncrement(filename, clean_lines, linenum, error): - """Checks for invalid increment *count++. - - For example following function: - void increment_counter(int* count) { - *count++; - } - is invalid, because it effectively does count++, moving pointer, and should - be replaced with ++*count, (*count)++ or *count += 1. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - if _RE_PATTERN_INVALID_INCREMENT.match(line): - error(filename, linenum, 'runtime/invalid_increment', 5, - 'Changing pointer instead of value (or unused value of operator*).') - - -def IsMacroDefinition(clean_lines, linenum): - if Search(r'^#define', clean_lines[linenum]): - return True - - if linenum > 0 and Search(r'\\$', clean_lines[linenum - 1]): - return True - - return False - - -def IsForwardClassDeclaration(clean_lines, linenum): - return Match(r'^\s*(\btemplate\b)*.*class\s+\w+;\s*$', clean_lines[linenum]) - - -class _BlockInfo(object): - """Stores information about a generic block of code.""" - - def __init__(self, linenum, seen_open_brace): - self.starting_linenum = linenum - self.seen_open_brace = seen_open_brace - self.open_parentheses = 0 - self.inline_asm = _NO_ASM - self.check_namespace_indentation = False - - def CheckBegin(self, filename, clean_lines, linenum, error): - """Run checks that applies to text up to the opening brace. - - This is mostly for checking the text after the class identifier - and the "{", usually where the base class is specified. For other - blocks, there isn't much to check, so we always pass. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - pass - - def CheckEnd(self, filename, clean_lines, linenum, error): - """Run checks that applies to text after the closing brace. - - This is mostly used for checking end of namespace comments. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - pass - - def IsBlockInfo(self): - """Returns true if this block is a _BlockInfo. - - This is convenient for verifying that an object is an instance of - a _BlockInfo, but not an instance of any of the derived classes. - - Returns: - True for this class, False for derived classes. - """ - return self.__class__ == _BlockInfo - - -class _ExternCInfo(_BlockInfo): - """Stores information about an 'extern "C"' block.""" - - def __init__(self, linenum): - _BlockInfo.__init__(self, linenum, True) - - -class _ClassInfo(_BlockInfo): - """Stores information about a class.""" - - def __init__(self, name, class_or_struct, clean_lines, linenum): - _BlockInfo.__init__(self, linenum, False) - self.name = name - self.is_derived = False - self.check_namespace_indentation = True - if class_or_struct == 'struct': - self.access = 'public' - self.is_struct = True - else: - self.access = 'private' - self.is_struct = False - - # Remember initial indentation level for this class. Using raw_lines here - # instead of elided to account for leading comments. - self.class_indent = GetIndentLevel(clean_lines.raw_lines[linenum]) - - # Try to find the end of the class. This will be confused by things like: - # class A { - # } *x = { ... - # - # But it's still good enough for CheckSectionSpacing. - self.last_line = 0 - depth = 0 - for i in range(linenum, clean_lines.NumLines()): - line = clean_lines.elided[i] - depth += line.count('{') - line.count('}') - if not depth: - self.last_line = i - break - - def CheckBegin(self, filename, clean_lines, linenum, error): - # Look for a bare ':' - if Search('(^|[^:]):($|[^:])', clean_lines.elided[linenum]): - self.is_derived = True - - def CheckEnd(self, filename, clean_lines, linenum, error): - # If there is a DISALLOW macro, it should appear near the end of - # the class. - seen_last_thing_in_class = False - for i in xrange(linenum - 1, self.starting_linenum, -1): - match = Search( - r'\b(DISALLOW_COPY_AND_ASSIGN|DISALLOW_IMPLICIT_CONSTRUCTORS)\(' + - self.name + r'\)', - clean_lines.elided[i]) - if match: - if seen_last_thing_in_class: - error(filename, i, 'readability/constructors', 3, - match.group(1) + ' should be the last thing in the class') - break - - if not Match(r'^\s*$', clean_lines.elided[i]): - seen_last_thing_in_class = True - - # Check that closing brace is aligned with beginning of the class. - # Only do this if the closing brace is indented by only whitespaces. - # This means we will not check single-line class definitions. - indent = Match(r'^( *)\}', clean_lines.elided[linenum]) - if indent and len(indent.group(1)) != self.class_indent: - if self.is_struct: - parent = 'struct ' + self.name - else: - parent = 'class ' + self.name - error(filename, linenum, 'whitespace/indent', 3, - 'Closing brace should be aligned with beginning of %s' % parent) - - -class _NamespaceInfo(_BlockInfo): - """Stores information about a namespace.""" - - def __init__(self, name, linenum): - _BlockInfo.__init__(self, linenum, False) - self.name = name or '' - self.check_namespace_indentation = True - - def CheckEnd(self, filename, clean_lines, linenum, error): - """Check end of namespace comments.""" - line = clean_lines.raw_lines[linenum] - - # Check how many lines is enclosed in this namespace. Don't issue - # warning for missing namespace comments if there aren't enough - # lines. However, do apply checks if there is already an end of - # namespace comment and it's incorrect. - # - # TODO(unknown): We always want to check end of namespace comments - # if a namespace is large, but sometimes we also want to apply the - # check if a short namespace contained nontrivial things (something - # other than forward declarations). There is currently no logic on - # deciding what these nontrivial things are, so this check is - # triggered by namespace size only, which works most of the time. - if (linenum - self.starting_linenum < 10 - and not Match(r'^\s*};*\s*(//|/\*).*\bnamespace\b', line)): - return - - # Look for matching comment at end of namespace. - # - # Note that we accept C style "/* */" comments for terminating - # namespaces, so that code that terminate namespaces inside - # preprocessor macros can be cpplint clean. - # - # We also accept stuff like "// end of namespace ." with the - # period at the end. - # - # Besides these, we don't accept anything else, otherwise we might - # get false negatives when existing comment is a substring of the - # expected namespace. - if self.name: - # Named namespace - if not Match((r'^\s*};*\s*(//|/\*).*\bnamespace\s+' + - re.escape(self.name) + r'[\*/\.\\\s]*$'), - line): - error(filename, linenum, 'readability/namespace', 5, - 'Namespace should be terminated with "// namespace %s"' % - self.name) - else: - # Anonymous namespace - if not Match(r'^\s*};*\s*(//|/\*).*\bnamespace[\*/\.\\\s]*$', line): - # If "// namespace anonymous" or "// anonymous namespace (more text)", - # mention "// anonymous namespace" as an acceptable form - if Match(r'^\s*}.*\b(namespace anonymous|anonymous namespace)\b', line): - error(filename, linenum, 'readability/namespace', 5, - 'Anonymous namespace should be terminated with "// namespace"' - ' or "// anonymous namespace"') - else: - error(filename, linenum, 'readability/namespace', 5, - 'Anonymous namespace should be terminated with "// namespace"') - - -class _PreprocessorInfo(object): - """Stores checkpoints of nesting stacks when #if/#else is seen.""" - - def __init__(self, stack_before_if): - # The entire nesting stack before #if - self.stack_before_if = stack_before_if - - # The entire nesting stack up to #else - self.stack_before_else = [] - - # Whether we have already seen #else or #elif - self.seen_else = False - - -class NestingState(object): - """Holds states related to parsing braces.""" - - def __init__(self): - # Stack for tracking all braces. An object is pushed whenever we - # see a "{", and popped when we see a "}". Only 3 types of - # objects are possible: - # - _ClassInfo: a class or struct. - # - _NamespaceInfo: a namespace. - # - _BlockInfo: some other type of block. - self.stack = [] - - # Top of the previous stack before each Update(). - # - # Because the nesting_stack is updated at the end of each line, we - # had to do some convoluted checks to find out what is the current - # scope at the beginning of the line. This check is simplified by - # saving the previous top of nesting stack. - # - # We could save the full stack, but we only need the top. Copying - # the full nesting stack would slow down cpplint by ~10%. - self.previous_stack_top = [] - - # Stack of _PreprocessorInfo objects. - self.pp_stack = [] - - def SeenOpenBrace(self): - """Check if we have seen the opening brace for the innermost block. - - Returns: - True if we have seen the opening brace, False if the innermost - block is still expecting an opening brace. - """ - return (not self.stack) or self.stack[-1].seen_open_brace - - def InNamespaceBody(self): - """Check if we are currently one level inside a namespace body. - - Returns: - True if top of the stack is a namespace block, False otherwise. - """ - return self.stack and isinstance(self.stack[-1], _NamespaceInfo) - - def InExternC(self): - """Check if we are currently one level inside an 'extern "C"' block. - - Returns: - True if top of the stack is an extern block, False otherwise. - """ - return self.stack and isinstance(self.stack[-1], _ExternCInfo) - - def InClassDeclaration(self): - """Check if we are currently one level inside a class or struct declaration. - - Returns: - True if top of the stack is a class/struct, False otherwise. - """ - return self.stack and isinstance(self.stack[-1], _ClassInfo) - - def InAsmBlock(self): - """Check if we are currently one level inside an inline ASM block. - - Returns: - True if the top of the stack is a block containing inline ASM. - """ - return self.stack and self.stack[-1].inline_asm != _NO_ASM - - def InTemplateArgumentList(self, clean_lines, linenum, pos): - """Check if current position is inside template argument list. - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - pos: position just after the suspected template argument. - Returns: - True if (linenum, pos) is inside template arguments. - """ - while linenum < clean_lines.NumLines(): - # Find the earliest character that might indicate a template argument - line = clean_lines.elided[linenum] - match = Match(r'^[^{};=\[\]\.<>]*(.)', line[pos:]) - if not match: - linenum += 1 - pos = 0 - continue - token = match.group(1) - pos += len(match.group(0)) - - # These things do not look like template argument list: - # class Suspect { - # class Suspect x; } - if token in ('{', '}', ';'): return False - - # These things look like template argument list: - # template - # template - # template - # template - if token in ('>', '=', '[', ']', '.'): return True - - # Check if token is an unmatched '<'. - # If not, move on to the next character. - if token != '<': - pos += 1 - if pos >= len(line): - linenum += 1 - pos = 0 - continue - - # We can't be sure if we just find a single '<', and need to - # find the matching '>'. - (_, end_line, end_pos) = CloseExpression(clean_lines, linenum, pos - 1) - if end_pos < 0: - # Not sure if template argument list or syntax error in file - return False - linenum = end_line - pos = end_pos - return False - - def UpdatePreprocessor(self, line): - """Update preprocessor stack. - - We need to handle preprocessors due to classes like this: - #ifdef SWIG - struct ResultDetailsPageElementExtensionPoint { - #else - struct ResultDetailsPageElementExtensionPoint : public Extension { - #endif - - We make the following assumptions (good enough for most files): - - Preprocessor condition evaluates to true from #if up to first - #else/#elif/#endif. - - - Preprocessor condition evaluates to false from #else/#elif up - to #endif. We still perform lint checks on these lines, but - these do not affect nesting stack. - - Args: - line: current line to check. - """ - if Match(r'^\s*#\s*(if|ifdef|ifndef)\b', line): - # Beginning of #if block, save the nesting stack here. The saved - # stack will allow us to restore the parsing state in the #else case. - self.pp_stack.append(_PreprocessorInfo(copy.deepcopy(self.stack))) - elif Match(r'^\s*#\s*(else|elif)\b', line): - # Beginning of #else block - if self.pp_stack: - if not self.pp_stack[-1].seen_else: - # This is the first #else or #elif block. Remember the - # whole nesting stack up to this point. This is what we - # keep after the #endif. - self.pp_stack[-1].seen_else = True - self.pp_stack[-1].stack_before_else = copy.deepcopy(self.stack) - - # Restore the stack to how it was before the #if - self.stack = copy.deepcopy(self.pp_stack[-1].stack_before_if) - else: - # TODO(unknown): unexpected #else, issue warning? - pass - elif Match(r'^\s*#\s*endif\b', line): - # End of #if or #else blocks. - if self.pp_stack: - # If we saw an #else, we will need to restore the nesting - # stack to its former state before the #else, otherwise we - # will just continue from where we left off. - if self.pp_stack[-1].seen_else: - # Here we can just use a shallow copy since we are the last - # reference to it. - self.stack = self.pp_stack[-1].stack_before_else - # Drop the corresponding #if - self.pp_stack.pop() - else: - # TODO(unknown): unexpected #endif, issue warning? - pass - - # TODO(unknown): Update() is too long, but we will refactor later. - def Update(self, filename, clean_lines, linenum, error): - """Update nesting state with current line. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # Remember top of the previous nesting stack. - # - # The stack is always pushed/popped and not modified in place, so - # we can just do a shallow copy instead of copy.deepcopy. Using - # deepcopy would slow down cpplint by ~28%. - if self.stack: - self.previous_stack_top = self.stack[-1] - else: - self.previous_stack_top = None - - # Update pp_stack - self.UpdatePreprocessor(line) - - # Count parentheses. This is to avoid adding struct arguments to - # the nesting stack. - if self.stack: - inner_block = self.stack[-1] - depth_change = line.count('(') - line.count(')') - inner_block.open_parentheses += depth_change - - # Also check if we are starting or ending an inline assembly block. - if inner_block.inline_asm in (_NO_ASM, _END_ASM): - if (depth_change != 0 and - inner_block.open_parentheses == 1 and - _MATCH_ASM.match(line)): - # Enter assembly block - inner_block.inline_asm = _INSIDE_ASM - else: - # Not entering assembly block. If previous line was _END_ASM, - # we will now shift to _NO_ASM state. - inner_block.inline_asm = _NO_ASM - elif (inner_block.inline_asm == _INSIDE_ASM and - inner_block.open_parentheses == 0): - # Exit assembly block - inner_block.inline_asm = _END_ASM - - # Consume namespace declaration at the beginning of the line. Do - # this in a loop so that we catch same line declarations like this: - # namespace proto2 { namespace bridge { class MessageSet; } } - while True: - # Match start of namespace. The "\b\s*" below catches namespace - # declarations even if it weren't followed by a whitespace, this - # is so that we don't confuse our namespace checker. The - # missing spaces will be flagged by CheckSpacing. - namespace_decl_match = Match(r'^\s*namespace\b\s*([:\w]+)?(.*)$', line) - if not namespace_decl_match: - break - - new_namespace = _NamespaceInfo(namespace_decl_match.group(1), linenum) - self.stack.append(new_namespace) - - line = namespace_decl_match.group(2) - if line.find('{') != -1: - new_namespace.seen_open_brace = True - line = line[line.find('{') + 1:] - - # Look for a class declaration in whatever is left of the line - # after parsing namespaces. The regexp accounts for decorated classes - # such as in: - # class LOCKABLE API Object { - # }; - class_decl_match = Match( - r'^(\s*(?:template\s*<[\w\s<>,:=]*>\s*)?' - r'(class|struct)\s+(?:[a-zA-Z0-9_]+\s+)*(\w+(?:::\w+)*))' - r'(.*)$', line) - if (class_decl_match and - (not self.stack or self.stack[-1].open_parentheses == 0)): - # We do not want to accept classes that are actually template arguments: - # template , - # template class Ignore3> - # void Function() {}; - # - # To avoid template argument cases, we scan forward and look for - # an unmatched '>'. If we see one, assume we are inside a - # template argument list. - end_declaration = len(class_decl_match.group(1)) - if not self.InTemplateArgumentList(clean_lines, linenum, end_declaration): - self.stack.append(_ClassInfo( - class_decl_match.group(3), class_decl_match.group(2), - clean_lines, linenum)) - line = class_decl_match.group(4) - - # If we have not yet seen the opening brace for the innermost block, - # run checks here. - if not self.SeenOpenBrace(): - self.stack[-1].CheckBegin(filename, clean_lines, linenum, error) - - # Update access control if we are inside a class/struct - if self.stack and isinstance(self.stack[-1], _ClassInfo): - classinfo = self.stack[-1] - access_match = Match( - r'^(.*)\b(public|private|protected|signals)(\s+(?:slots\s*)?)?' - r':(?:[^:]|$)', - line) - if access_match: - classinfo.access = access_match.group(2) - - # Check that access keywords are indented +1 space. Skip this - # check if the keywords are not preceded by whitespaces. - indent = access_match.group(1) - if (len(indent) != classinfo.class_indent + 1 and - Match(r'^\s*$', indent)): - if classinfo.is_struct: - parent = 'struct ' + classinfo.name - else: - parent = 'class ' + classinfo.name - slots = '' - if access_match.group(3): - slots = access_match.group(3) - error(filename, linenum, 'whitespace/indent', 3, - '%s%s: should be indented +1 space inside %s' % ( - access_match.group(2), slots, parent)) - - # Consume braces or semicolons from what's left of the line - while True: - # Match first brace, semicolon, or closed parenthesis. - matched = Match(r'^[^{;)}]*([{;)}])(.*)$', line) - if not matched: - break - - token = matched.group(1) - if token == '{': - # If namespace or class hasn't seen a opening brace yet, mark - # namespace/class head as complete. Push a new block onto the - # stack otherwise. - if not self.SeenOpenBrace(): - self.stack[-1].seen_open_brace = True - elif Match(r'^extern\s*"[^"]*"\s*\{', line): - self.stack.append(_ExternCInfo(linenum)) - else: - self.stack.append(_BlockInfo(linenum, True)) - if _MATCH_ASM.match(line): - self.stack[-1].inline_asm = _BLOCK_ASM - - elif token == ';' or token == ')': - # If we haven't seen an opening brace yet, but we already saw - # a semicolon, this is probably a forward declaration. Pop - # the stack for these. - # - # Similarly, if we haven't seen an opening brace yet, but we - # already saw a closing parenthesis, then these are probably - # function arguments with extra "class" or "struct" keywords. - # Also pop these stack for these. - if not self.SeenOpenBrace(): - self.stack.pop() - else: # token == '}' - # Perform end of block checks and pop the stack. - if self.stack: - self.stack[-1].CheckEnd(filename, clean_lines, linenum, error) - self.stack.pop() - line = matched.group(2) - - def InnermostClass(self): - """Get class info on the top of the stack. - - Returns: - A _ClassInfo object if we are inside a class, or None otherwise. - """ - for i in range(len(self.stack), 0, -1): - classinfo = self.stack[i - 1] - if isinstance(classinfo, _ClassInfo): - return classinfo - return None - - def CheckCompletedBlocks(self, filename, error): - """Checks that all classes and namespaces have been completely parsed. - - Call this when all lines in a file have been processed. - Args: - filename: The name of the current file. - error: The function to call with any errors found. - """ - # Note: This test can result in false positives if #ifdef constructs - # get in the way of brace matching. See the testBuildClass test in - # cpplint_unittest.py for an example of this. - for obj in self.stack: - if isinstance(obj, _ClassInfo): - error(filename, obj.starting_linenum, 'build/class', 5, - 'Failed to find complete declaration of class %s' % - obj.name) - elif isinstance(obj, _NamespaceInfo): - error(filename, obj.starting_linenum, 'build/namespaces', 5, - 'Failed to find complete declaration of namespace %s' % - obj.name) - - -def CheckForNonStandardConstructs(filename, clean_lines, linenum, - nesting_state, error): - r"""Logs an error if we see certain non-ANSI constructs ignored by gcc-2. - - Complain about several constructs which gcc-2 accepts, but which are - not standard C++. Warning about these in lint is one way to ease the - transition to new compilers. - - put storage class first (e.g. "static const" instead of "const static"). - - "%lld" instead of %qd" in printf-type functions. - - "%1$d" is non-standard in printf-type functions. - - "\%" is an undefined character escape sequence. - - text after #endif is not allowed. - - invalid inner-style forward declaration. - - >? and ?= and )\?=?\s*(\w+|[+-]?\d+)(\.\d*)?', - line): - error(filename, linenum, 'build/deprecated', 3, - '>? and ))?' - # r'\s*const\s*' + type_name + '\s*&\s*\w+\s*;' - error(filename, linenum, 'runtime/member_string_references', 2, - 'const string& members are dangerous. It is much better to use ' - 'alternatives, such as pointers or simple constants.') - - # Everything else in this function operates on class declarations. - # Return early if the top of the nesting stack is not a class, or if - # the class head is not completed yet. - classinfo = nesting_state.InnermostClass() - if not classinfo or not classinfo.seen_open_brace: - return - - # The class may have been declared with namespace or classname qualifiers. - # The constructor and destructor will not have those qualifiers. - base_classname = classinfo.name.split('::')[-1] - - # Look for single-argument constructors that aren't marked explicit. - # Technically a valid construct, but against style. - explicit_constructor_match = Match( - r'\s+(?:(?:inline|constexpr)\s+)*(explicit\s+)?' - r'(?:(?:inline|constexpr)\s+)*%s\s*' - r'\(((?:[^()]|\([^()]*\))*)\)' - % re.escape(base_classname), - line) - - if explicit_constructor_match: - is_marked_explicit = explicit_constructor_match.group(1) - - if not explicit_constructor_match.group(2): - constructor_args = [] - else: - constructor_args = explicit_constructor_match.group(2).split(',') - - # collapse arguments so that commas in template parameter lists and function - # argument parameter lists don't split arguments in two - i = 0 - while i < len(constructor_args): - constructor_arg = constructor_args[i] - while (constructor_arg.count('<') > constructor_arg.count('>') or - constructor_arg.count('(') > constructor_arg.count(')')): - constructor_arg += ',' + constructor_args[i + 1] - del constructor_args[i + 1] - constructor_args[i] = constructor_arg - i += 1 - - variadic_args = [arg for arg in constructor_args if '&&...' in arg] - defaulted_args = [arg for arg in constructor_args if '=' in arg] - noarg_constructor = (not constructor_args or # empty arg list - # 'void' arg specifier - (len(constructor_args) == 1 and - constructor_args[0].strip() == 'void')) - onearg_constructor = ((len(constructor_args) == 1 and # exactly one arg - not noarg_constructor) or - # all but at most one arg defaulted - (len(constructor_args) >= 1 and - not noarg_constructor and - len(defaulted_args) >= len(constructor_args) - 1) or - # variadic arguments with zero or one argument - (len(constructor_args) <= 2 and - len(variadic_args) >= 1)) - initializer_list_constructor = bool( - onearg_constructor and - Search(r'\bstd\s*::\s*initializer_list\b', constructor_args[0])) - copy_constructor = bool( - onearg_constructor and - Match(r'((const\s+(volatile\s+)?)?|(volatile\s+(const\s+)?))?' - r'%s(\s*<[^>]*>)?(\s+const)?\s*(?:<\w+>\s*)?&' - % re.escape(base_classname), constructor_args[0].strip())) - - if (not is_marked_explicit and - onearg_constructor and - not initializer_list_constructor and - not copy_constructor): - if defaulted_args or variadic_args: - error(filename, linenum, 'runtime/explicit', 5, - 'Constructors callable with one argument ' - 'should be marked explicit.') - else: - error(filename, linenum, 'runtime/explicit', 5, - 'Single-parameter constructors should be marked explicit.') - elif is_marked_explicit and not onearg_constructor: - if noarg_constructor: - error(filename, linenum, 'runtime/explicit', 5, - 'Zero-parameter constructors should not be marked explicit.') - - -def CheckSpacingForFunctionCall(filename, clean_lines, linenum, error): - """Checks for the correctness of various spacing around function calls. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # Since function calls often occur inside if/for/while/switch - # expressions - which have their own, more liberal conventions - we - # first see if we should be looking inside such an expression for a - # function call, to which we can apply more strict standards. - fncall = line # if there's no control flow construct, look at whole line - for pattern in (r'\bif\s*\((.*)\)\s*{', - r'\bfor\s*\((.*)\)\s*{', - r'\bwhile\s*\((.*)\)\s*[{;]', - r'\bswitch\s*\((.*)\)\s*{'): - match = Search(pattern, line) - if match: - fncall = match.group(1) # look inside the parens for function calls - break - - # Except in if/for/while/switch, there should never be space - # immediately inside parens (eg "f( 3, 4 )"). We make an exception - # for nested parens ( (a+b) + c ). Likewise, there should never be - # a space before a ( when it's a function argument. I assume it's a - # function argument when the char before the whitespace is legal in - # a function name (alnum + _) and we're not starting a macro. Also ignore - # pointers and references to arrays and functions coz they're too tricky: - # we use a very simple way to recognize these: - # " (something)(maybe-something)" or - # " (something)(maybe-something," or - # " (something)[something]" - # Note that we assume the contents of [] to be short enough that - # they'll never need to wrap. - if ( # Ignore control structures. - not Search(r'\b(if|for|while|switch|return|new|delete|catch|sizeof)\b', - fncall) and - # Ignore pointers/references to functions. - not Search(r' \([^)]+\)\([^)]*(\)|,$)', fncall) and - # Ignore pointers/references to arrays. - not Search(r' \([^)]+\)\[[^\]]+\]', fncall)): - if Search(r'\w\s*\(\s(?!\s*\\$)', fncall): # a ( used for a fn call - error(filename, linenum, 'whitespace/parens', 4, - 'Extra space after ( in function call') - elif Search(r'\(\s+(?!(\s*\\)|\()', fncall): - error(filename, linenum, 'whitespace/parens', 2, - 'Extra space after (') - if (Search(r'\w\s+\(', fncall) and - not Search(r'_{0,2}asm_{0,2}\s+_{0,2}volatile_{0,2}\s+\(', fncall) and - not Search(r'#\s*define|typedef|using\s+\w+\s*=', fncall) and - not Search(r'\w\s+\((\w+::)*\*\w+\)\(', fncall) and - not Search(r'\bcase\s+\(', fncall)): - # TODO(unknown): Space after an operator function seem to be a common - # error, silence those for now by restricting them to highest verbosity. - if Search(r'\boperator_*\b', line): - error(filename, linenum, 'whitespace/parens', 0, - 'Extra space before ( in function call') - else: - error(filename, linenum, 'whitespace/parens', 4, - 'Extra space before ( in function call') - # If the ) is followed only by a newline or a { + newline, assume it's - # part of a control statement (if/while/etc), and don't complain - if Search(r'[^)]\s+\)\s*[^{\s]', fncall): - # If the closing parenthesis is preceded by only whitespaces, - # try to give a more descriptive error message. - if Search(r'^\s+\)', fncall): - error(filename, linenum, 'whitespace/parens', 2, - 'Closing ) should be moved to the previous line') - else: - error(filename, linenum, 'whitespace/parens', 2, - 'Extra space before )') - - -def IsBlankLine(line): - """Returns true if the given line is blank. - - We consider a line to be blank if the line is empty or consists of - only white spaces. - - Args: - line: A line of a string. - - Returns: - True, if the given line is blank. - """ - return not line or line.isspace() - - -def CheckForNamespaceIndentation(filename, nesting_state, clean_lines, line, - error): - is_namespace_indent_item = ( - len(nesting_state.stack) > 1 and - nesting_state.stack[-1].check_namespace_indentation and - isinstance(nesting_state.previous_stack_top, _NamespaceInfo) and - nesting_state.previous_stack_top == nesting_state.stack[-2]) - - if ShouldCheckNamespaceIndentation(nesting_state, is_namespace_indent_item, - clean_lines.elided, line): - CheckItemIndentationInNamespace(filename, clean_lines.elided, - line, error) - - -def CheckForFunctionLengths(filename, clean_lines, linenum, - function_state, error): - """Reports for long function bodies. - - For an overview why this is done, see: - https://google-styleguide.googlecode.com/svn/trunk/cppguide.xml#Write_Short_Functions - - Uses a simplistic algorithm assuming other style guidelines - (especially spacing) are followed. - Only checks unindented functions, so class members are unchecked. - Trivial bodies are unchecked, so constructors with huge initializer lists - may be missed. - Blank/comment lines are not counted so as to avoid encouraging the removal - of vertical space and comments just to get through a lint check. - NOLINT *on the last line of a function* disables this check. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - function_state: Current function name and lines in body so far. - error: The function to call with any errors found. - """ - lines = clean_lines.lines - line = lines[linenum] - joined_line = '' - - starting_func = False - regexp = r'(\w(\w|::|\*|\&|\s)*)\(' # decls * & space::name( ... - match_result = Match(regexp, line) - if match_result: - # If the name is all caps and underscores, figure it's a macro and - # ignore it, unless it's TEST or TEST_F. - function_name = match_result.group(1).split()[-1] - if function_name == 'TEST' or function_name == 'TEST_F' or ( - not Match(r'[A-Z_]+$', function_name)): - starting_func = True - - if starting_func: - body_found = False - for start_linenum in xrange(linenum, clean_lines.NumLines()): - start_line = lines[start_linenum] - joined_line += ' ' + start_line.lstrip() - if Search(r'(;|})', start_line): # Declarations and trivial functions - body_found = True - break # ... ignore - if Search(r'{', start_line): - body_found = True - function = Search(r'((\w|:)*)\(', line).group(1) - if Match(r'TEST', function): # Handle TEST... macros - parameter_regexp = Search(r'(\(.*\))', joined_line) - if parameter_regexp: # Ignore bad syntax - function += parameter_regexp.group(1) - else: - function += '()' - function_state.Begin(function) - break - if not body_found: - # No body for the function (or evidence of a non-function) was found. - error(filename, linenum, 'readability/fn_size', 5, - 'Lint failed to find start of function body.') - elif Match(r'^\}\s*$', line): # function end - function_state.Check(error, filename, linenum) - function_state.End() - elif not Match(r'^\s*$', line): - function_state.Count() # Count non-blank/non-comment lines. - - -_RE_PATTERN_TODO = re.compile(r'^//(\s*)TODO(\(.+?\))?:?(\s|$)?') - - -def CheckComment(line, filename, linenum, next_line_start, error): - """Checks for common mistakes in comments. - - Args: - line: The line in question. - filename: The name of the current file. - linenum: The number of the line to check. - next_line_start: The first non-whitespace column of the next line. - error: The function to call with any errors found. - """ - commentpos = line.find('//') - if commentpos != -1: - # Check if the // may be in quotes. If so, ignore it - if re.sub(r'\\.', '', line[0:commentpos]).count('"') % 2 == 0: - # Allow one space for new scopes, two spaces otherwise: - if (not (Match(r'^.*{ *//', line) and next_line_start == commentpos) and - ((commentpos >= 1 and - line[commentpos-1] not in string.whitespace) or - (commentpos >= 2 and - line[commentpos-2] not in string.whitespace))): - error(filename, linenum, 'whitespace/comments', 2, - 'At least two spaces is best between code and comments') - - # Checks for common mistakes in TODO comments. - comment = line[commentpos:] - match = _RE_PATTERN_TODO.match(comment) - if match: - # One whitespace is correct; zero whitespace is handled elsewhere. - leading_whitespace = match.group(1) - if len(leading_whitespace) > 1: - error(filename, linenum, 'whitespace/todo', 2, - 'Too many spaces before TODO') - - username = match.group(2) - if not username: - error(filename, linenum, 'readability/todo', 2, - 'Missing username in TODO; it should look like ' - '"// TODO(my_username): Stuff."') - - middle_whitespace = match.group(3) - # Comparisons made explicit for correctness -- pylint: disable=g-explicit-bool-comparison - if middle_whitespace != ' ' and middle_whitespace != '': - error(filename, linenum, 'whitespace/todo', 2, - 'TODO(my_username) should be followed by a space') - - # If the comment contains an alphanumeric character, there - # should be a space somewhere between it and the // unless - # it's a /// or //! Doxygen comment. - if (Match(r'//[^ ]*\w', comment) and - not Match(r'(///|//\!)(\s+|$)', comment)): - error(filename, linenum, 'whitespace/comments', 4, - 'Should have a space between // and comment') - - -def CheckSpacing(filename, clean_lines, linenum, nesting_state, error): - """Checks for the correctness of various spacing issues in the code. - - Things we check for: spaces around operators, spaces after - if/for/while/switch, no spaces around parens in function calls, two - spaces between code and comment, don't start a block with a blank - line, don't end a function with a blank line, don't add a blank line - after public/protected/private, don't have too many blank lines in a row. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - nesting_state: A NestingState instance which maintains information about - the current stack of nested blocks being parsed. - error: The function to call with any errors found. - """ - - # Don't use "elided" lines here, otherwise we can't check commented lines. - # Don't want to use "raw" either, because we don't want to check inside C++11 - # raw strings, - raw = clean_lines.lines_without_raw_strings - line = raw[linenum] - - # Before nixing comments, check if the line is blank for no good - # reason. This includes the first line after a block is opened, and - # blank lines at the end of a function (ie, right before a line like '}' - # - # Skip all the blank line checks if we are immediately inside a - # namespace body. In other words, don't issue blank line warnings - # for this block: - # namespace { - # - # } - # - # A warning about missing end of namespace comments will be issued instead. - # - # Also skip blank line checks for 'extern "C"' blocks, which are formatted - # like namespaces. - if (IsBlankLine(line) and - not nesting_state.InNamespaceBody() and - not nesting_state.InExternC()): - elided = clean_lines.elided - prev_line = elided[linenum - 1] - prevbrace = prev_line.rfind('{') - # TODO(unknown): Don't complain if line before blank line, and line after, - # both start with alnums and are indented the same amount. - # This ignores whitespace at the start of a namespace block - # because those are not usually indented. - if prevbrace != -1 and prev_line[prevbrace:].find('}') == -1: - # OK, we have a blank line at the start of a code block. Before we - # complain, we check if it is an exception to the rule: The previous - # non-empty line has the parameters of a function header that are indented - # 4 spaces (because they did not fit in a 80 column line when placed on - # the same line as the function name). We also check for the case where - # the previous line is indented 6 spaces, which may happen when the - # initializers of a constructor do not fit into a 80 column line. - exception = False - if Match(r' {6}\w', prev_line): # Initializer list? - # We are looking for the opening column of initializer list, which - # should be indented 4 spaces to cause 6 space indentation afterwards. - search_position = linenum-2 - while (search_position >= 0 - and Match(r' {6}\w', elided[search_position])): - search_position -= 1 - exception = (search_position >= 0 - and elided[search_position][:5] == ' :') - else: - # Search for the function arguments or an initializer list. We use a - # simple heuristic here: If the line is indented 4 spaces; and we have a - # closing paren, without the opening paren, followed by an opening brace - # or colon (for initializer lists) we assume that it is the last line of - # a function header. If we have a colon indented 4 spaces, it is an - # initializer list. - exception = (Match(r' {4}\w[^\(]*\)\s*(const\s*)?(\{\s*$|:)', - prev_line) - or Match(r' {4}:', prev_line)) - - if not exception: - error(filename, linenum, 'whitespace/blank_line', 2, - 'Redundant blank line at the start of a code block ' - 'should be deleted.') - # Ignore blank lines at the end of a block in a long if-else - # chain, like this: - # if (condition1) { - # // Something followed by a blank line - # - # } else if (condition2) { - # // Something else - # } - if linenum + 1 < clean_lines.NumLines(): - next_line = raw[linenum + 1] - if (next_line - and Match(r'\s*}', next_line) - and next_line.find('} else ') == -1): - error(filename, linenum, 'whitespace/blank_line', 3, - 'Redundant blank line at the end of a code block ' - 'should be deleted.') - - matched = Match(r'\s*(public|protected|private):', prev_line) - if matched: - error(filename, linenum, 'whitespace/blank_line', 3, - 'Do not leave a blank line after "%s:"' % matched.group(1)) - - # Next, check comments - next_line_start = 0 - if linenum + 1 < clean_lines.NumLines(): - next_line = raw[linenum + 1] - next_line_start = len(next_line) - len(next_line.lstrip()) - CheckComment(line, filename, linenum, next_line_start, error) - - # get rid of comments and strings - line = clean_lines.elided[linenum] - - # You shouldn't have spaces before your brackets, except for C++11 attributes - # or maybe after 'delete []', 'return []() {};', or 'auto [abc, ...] = ...;'. - if (Search(r'\w\s+\[(?!\[)', line) and - not Search(r'(?:auto&?|delete|return)\s+\[', line)): - error(filename, linenum, 'whitespace/braces', 5, - 'Extra space before [') - - # In range-based for, we wanted spaces before and after the colon, but - # not around "::" tokens that might appear. - if (Search(r'for *\(.*[^:]:[^: ]', line) or - Search(r'for *\(.*[^: ]:[^:]', line)): - error(filename, linenum, 'whitespace/forcolon', 2, - 'Missing space around colon in range-based for loop') - - -def CheckOperatorSpacing(filename, clean_lines, linenum, error): - """Checks for horizontal spacing around operators. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # Don't try to do spacing checks for operator methods. Do this by - # replacing the troublesome characters with something else, - # preserving column position for all other characters. - # - # The replacement is done repeatedly to avoid false positives from - # operators that call operators. - while True: - match = Match(r'^(.*\boperator\b)(\S+)(\s*\(.*)$', line) - if match: - line = match.group(1) + ('_' * len(match.group(2))) + match.group(3) - else: - break - - # We allow no-spaces around = within an if: "if ( (a=Foo()) == 0 )". - # Otherwise not. Note we only check for non-spaces on *both* sides; - # sometimes people put non-spaces on one side when aligning ='s among - # many lines (not that this is behavior that I approve of...) - if ((Search(r'[\w.]=', line) or - Search(r'=[\w.]', line)) - and not Search(r'\b(if|while|for) ', line) - # Operators taken from [lex.operators] in C++11 standard. - and not Search(r'(>=|<=|==|!=|&=|\^=|\|=|\+=|\*=|\/=|\%=)', line) - and not Search(r'operator=', line)): - error(filename, linenum, 'whitespace/operators', 4, - 'Missing spaces around =') - - # It's ok not to have spaces around binary operators like + - * /, but if - # there's too little whitespace, we get concerned. It's hard to tell, - # though, so we punt on this one for now. TODO. - - # You should always have whitespace around binary operators. - # - # Check <= and >= first to avoid false positives with < and >, then - # check non-include lines for spacing around < and >. - # - # If the operator is followed by a comma, assume it's be used in a - # macro context and don't do any checks. This avoids false - # positives. - # - # Note that && is not included here. This is because there are too - # many false positives due to RValue references. - match = Search(r'[^<>=!\s](==|!=|<=|>=|\|\|)[^<>=!\s,;\)]', line) - if match: - error(filename, linenum, 'whitespace/operators', 3, - 'Missing spaces around %s' % match.group(1)) - elif not Match(r'#.*include', line): - # Look for < that is not surrounded by spaces. This is only - # triggered if both sides are missing spaces, even though - # technically should should flag if at least one side is missing a - # space. This is done to avoid some false positives with shifts. - match = Match(r'^(.*[^\s<])<[^\s=<,]', line) - if match: - (_, _, end_pos) = CloseExpression( - clean_lines, linenum, len(match.group(1))) - if end_pos <= -1: - error(filename, linenum, 'whitespace/operators', 3, - 'Missing spaces around <') - - # Look for > that is not surrounded by spaces. Similar to the - # above, we only trigger if both sides are missing spaces to avoid - # false positives with shifts. - match = Match(r'^(.*[^-\s>])>[^\s=>,]', line) - if match: - (_, _, start_pos) = ReverseCloseExpression( - clean_lines, linenum, len(match.group(1))) - if start_pos <= -1: - error(filename, linenum, 'whitespace/operators', 3, - 'Missing spaces around >') - - # We allow no-spaces around << when used like this: 10<<20, but - # not otherwise (particularly, not when used as streams) - # - # We also allow operators following an opening parenthesis, since - # those tend to be macros that deal with operators. - match = Search(r'(operator|[^\s(<])(?:L|UL|LL|ULL|l|ul|ll|ull)?<<([^\s,=<])', line) - if (match and not (match.group(1).isdigit() and match.group(2).isdigit()) and - not (match.group(1) == 'operator' and match.group(2) == ';')): - error(filename, linenum, 'whitespace/operators', 3, - 'Missing spaces around <<') - - # We allow no-spaces around >> for almost anything. This is because - # C++11 allows ">>" to close nested templates, which accounts for - # most cases when ">>" is not followed by a space. - # - # We still warn on ">>" followed by alpha character, because that is - # likely due to ">>" being used for right shifts, e.g.: - # value >> alpha - # - # When ">>" is used to close templates, the alphanumeric letter that - # follows would be part of an identifier, and there should still be - # a space separating the template type and the identifier. - # type> alpha - match = Search(r'>>[a-zA-Z_]', line) - if match: - error(filename, linenum, 'whitespace/operators', 3, - 'Missing spaces around >>') - - # There shouldn't be space around unary operators - match = Search(r'(!\s|~\s|[\s]--[\s;]|[\s]\+\+[\s;])', line) - if match: - error(filename, linenum, 'whitespace/operators', 4, - 'Extra space for operator %s' % match.group(1)) - - -def CheckParenthesisSpacing(filename, clean_lines, linenum, error): - """Checks for horizontal spacing around parentheses. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # No spaces after an if, while, switch, or for - match = Search(r' (if\(|for\(|while\(|switch\()', line) - if match: - error(filename, linenum, 'whitespace/parens', 5, - 'Missing space before ( in %s' % match.group(1)) - - # For if/for/while/switch, the left and right parens should be - # consistent about how many spaces are inside the parens, and - # there should either be zero or one spaces inside the parens. - # We don't want: "if ( foo)" or "if ( foo )". - # Exception: "for ( ; foo; bar)" and "for (foo; bar; )" are allowed. - match = Search(r'\b(if|for|while|switch)\s*' - r'\(([ ]*)(.).*[^ ]+([ ]*)\)\s*{\s*$', - line) - if match: - if len(match.group(2)) != len(match.group(4)): - if not (match.group(3) == ';' and - len(match.group(2)) == 1 + len(match.group(4)) or - not match.group(2) and Search(r'\bfor\s*\(.*; \)', line)): - error(filename, linenum, 'whitespace/parens', 5, - 'Mismatching spaces inside () in %s' % match.group(1)) - if len(match.group(2)) not in [0, 1]: - error(filename, linenum, 'whitespace/parens', 5, - 'Should have zero or one spaces inside ( and ) in %s' % - match.group(1)) - - -def CheckCommaSpacing(filename, clean_lines, linenum, error): - """Checks for horizontal spacing near commas and semicolons. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - raw = clean_lines.lines_without_raw_strings - line = clean_lines.elided[linenum] - - # You should always have a space after a comma (either as fn arg or operator) - # - # This does not apply when the non-space character following the - # comma is another comma, since the only time when that happens is - # for empty macro arguments. - # - # We run this check in two passes: first pass on elided lines to - # verify that lines contain missing whitespaces, second pass on raw - # lines to confirm that those missing whitespaces are not due to - # elided comments. - if (Search(r',[^,\s]', ReplaceAll(r'\boperator\s*,\s*\(', 'F(', line)) and - Search(r',[^,\s]', raw[linenum])): - error(filename, linenum, 'whitespace/comma', 3, - 'Missing space after ,') - - # You should always have a space after a semicolon - # except for few corner cases - # TODO(unknown): clarify if 'if (1) { return 1;}' is requires one more - # space after ; - if Search(r';[^\s};\\)/]', line): - error(filename, linenum, 'whitespace/semicolon', 3, - 'Missing space after ;') - - -def _IsType(clean_lines, nesting_state, expr): - """Check if expression looks like a type name, returns true if so. - - Args: - clean_lines: A CleansedLines instance containing the file. - nesting_state: A NestingState instance which maintains information about - the current stack of nested blocks being parsed. - expr: The expression to check. - Returns: - True, if token looks like a type. - """ - # Keep only the last token in the expression - last_word = Match(r'^.*(\b\S+)$', expr) - if last_word: - token = last_word.group(1) - else: - token = expr - - # Match native types and stdint types - if _TYPES.match(token): - return True - - # Try a bit harder to match templated types. Walk up the nesting - # stack until we find something that resembles a typename - # declaration for what we are looking for. - typename_pattern = (r'\b(?:typename|class|struct)\s+' + re.escape(token) + - r'\b') - block_index = len(nesting_state.stack) - 1 - while block_index >= 0: - if isinstance(nesting_state.stack[block_index], _NamespaceInfo): - return False - - # Found where the opening brace is. We want to scan from this - # line up to the beginning of the function, minus a few lines. - # template - # class C - # : public ... { // start scanning here - last_line = nesting_state.stack[block_index].starting_linenum - - next_block_start = 0 - if block_index > 0: - next_block_start = nesting_state.stack[block_index - 1].starting_linenum - first_line = last_line - while first_line >= next_block_start: - if clean_lines.elided[first_line].find('template') >= 0: - break - first_line -= 1 - if first_line < next_block_start: - # Didn't find any "template" keyword before reaching the next block, - # there are probably no template things to check for this block - block_index -= 1 - continue - - # Look for typename in the specified range - for i in xrange(first_line, last_line + 1, 1): - if Search(typename_pattern, clean_lines.elided[i]): - return True - block_index -= 1 - - return False - - -def CheckBracesSpacing(filename, clean_lines, linenum, nesting_state, error): - """Checks for horizontal spacing near commas. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - nesting_state: A NestingState instance which maintains information about - the current stack of nested blocks being parsed. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # Except after an opening paren, or after another opening brace (in case of - # an initializer list, for instance), you should have spaces before your - # braces when they are delimiting blocks, classes, namespaces etc. - # And since you should never have braces at the beginning of a line, - # this is an easy test. Except that braces used for initialization don't - # follow the same rule; we often don't want spaces before those. - match = Match(r'^(.*[^ ({>]){', line) - - if match: - # Try a bit harder to check for brace initialization. This - # happens in one of the following forms: - # Constructor() : initializer_list_{} { ... } - # Constructor{}.MemberFunction() - # Type variable{}; - # FunctionCall(type{}, ...); - # LastArgument(..., type{}); - # LOG(INFO) << type{} << " ..."; - # map_of_type[{...}] = ...; - # ternary = expr ? new type{} : nullptr; - # OuterTemplate{}> - # - # We check for the character following the closing brace, and - # silence the warning if it's one of those listed above, i.e. - # "{.;,)<>]:". - # - # To account for nested initializer list, we allow any number of - # closing braces up to "{;,)<". We can't simply silence the - # warning on first sight of closing brace, because that would - # cause false negatives for things that are not initializer lists. - # Silence this: But not this: - # Outer{ if (...) { - # Inner{...} if (...){ // Missing space before { - # }; } - # - # There is a false negative with this approach if people inserted - # spurious semicolons, e.g. "if (cond){};", but we will catch the - # spurious semicolon with a separate check. - leading_text = match.group(1) - (endline, endlinenum, endpos) = CloseExpression( - clean_lines, linenum, len(match.group(1))) - trailing_text = '' - if endpos > -1: - trailing_text = endline[endpos:] - for offset in xrange(endlinenum + 1, - min(endlinenum + 3, clean_lines.NumLines() - 1)): - trailing_text += clean_lines.elided[offset] - # We also suppress warnings for `uint64_t{expression}` etc., as the style - # guide recommends brace initialization for integral types to avoid - # overflow/truncation. - if (not Match(r'^[\s}]*[{.;,)<>\]:]', trailing_text) - and not _IsType(clean_lines, nesting_state, leading_text)): - error(filename, linenum, 'whitespace/braces', 5, - 'Missing space before {') - - # Make sure '} else {' has spaces. - if Search(r'}else', line): - error(filename, linenum, 'whitespace/braces', 5, - 'Missing space before else') - - # You shouldn't have a space before a semicolon at the end of the line. - # There's a special case for "for" since the style guide allows space before - # the semicolon there. - if Search(r':\s*;\s*$', line): - error(filename, linenum, 'whitespace/semicolon', 5, - 'Semicolon defining empty statement. Use {} instead.') - elif Search(r'^\s*;\s*$', line): - error(filename, linenum, 'whitespace/semicolon', 5, - 'Line contains only semicolon. If this should be an empty statement, ' - 'use {} instead.') - elif (Search(r'\s+;\s*$', line) and - not Search(r'\bfor\b', line)): - error(filename, linenum, 'whitespace/semicolon', 5, - 'Extra space before last semicolon. If this should be an empty ' - 'statement, use {} instead.') - - -def IsDecltype(clean_lines, linenum, column): - """Check if the token ending on (linenum, column) is decltype(). - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: the number of the line to check. - column: end column of the token to check. - Returns: - True if this token is decltype() expression, False otherwise. - """ - (text, _, start_col) = ReverseCloseExpression(clean_lines, linenum, column) - if start_col < 0: - return False - if Search(r'\bdecltype\s*$', text[0:start_col]): - return True - return False - -def CheckSectionSpacing(filename, clean_lines, class_info, linenum, error): - """Checks for additional blank line issues related to sections. - - Currently the only thing checked here is blank line before protected/private. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - class_info: A _ClassInfo objects. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - # Skip checks if the class is small, where small means 25 lines or less. - # 25 lines seems like a good cutoff since that's the usual height of - # terminals, and any class that can't fit in one screen can't really - # be considered "small". - # - # Also skip checks if we are on the first line. This accounts for - # classes that look like - # class Foo { public: ... }; - # - # If we didn't find the end of the class, last_line would be zero, - # and the check will be skipped by the first condition. - if (class_info.last_line - class_info.starting_linenum <= 24 or - linenum <= class_info.starting_linenum): - return - - matched = Match(r'\s*(public|protected|private):', clean_lines.lines[linenum]) - if matched: - # Issue warning if the line before public/protected/private was - # not a blank line, but don't do this if the previous line contains - # "class" or "struct". This can happen two ways: - # - We are at the beginning of the class. - # - We are forward-declaring an inner class that is semantically - # private, but needed to be public for implementation reasons. - # Also ignores cases where the previous line ends with a backslash as can be - # common when defining classes in C macros. - prev_line = clean_lines.lines[linenum - 1] - if (not IsBlankLine(prev_line) and - not Search(r'\b(class|struct)\b', prev_line) and - not Search(r'\\$', prev_line)): - # Try a bit harder to find the beginning of the class. This is to - # account for multi-line base-specifier lists, e.g.: - # class Derived - # : public Base { - end_class_head = class_info.starting_linenum - for i in range(class_info.starting_linenum, linenum): - if Search(r'\{\s*$', clean_lines.lines[i]): - end_class_head = i - break - if end_class_head < linenum - 1: - error(filename, linenum, 'whitespace/blank_line', 3, - '"%s:" should be preceded by a blank line' % matched.group(1)) - - -def GetPreviousNonBlankLine(clean_lines, linenum): - """Return the most recent non-blank line and its line number. - - Args: - clean_lines: A CleansedLines instance containing the file contents. - linenum: The number of the line to check. - - Returns: - A tuple with two elements. The first element is the contents of the last - non-blank line before the current line, or the empty string if this is the - first non-blank line. The second is the line number of that line, or -1 - if this is the first non-blank line. - """ - - prevlinenum = linenum - 1 - while prevlinenum >= 0: - prevline = clean_lines.elided[prevlinenum] - if not IsBlankLine(prevline): # if not a blank line... - return (prevline, prevlinenum) - prevlinenum -= 1 - return ('', -1) - - -def CheckBraces(filename, clean_lines, linenum, error): - """Looks for misplaced braces (e.g. at the end of line). - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - - line = clean_lines.elided[linenum] # get rid of comments and strings - - if Match(r'\s*{\s*$', line): - # We allow an open brace to start a line in the case where someone is using - # braces in a block to explicitly create a new scope, which is commonly used - # to control the lifetime of stack-allocated variables. Braces are also - # used for brace initializers inside function calls. We don't detect this - # perfectly: we just don't complain if the last non-whitespace character on - # the previous non-blank line is ',', ';', ':', '(', '{', or '}', or if the - # previous line starts a preprocessor block. We also allow a brace on the - # following line if it is part of an array initialization and would not fit - # within the 80 character limit of the preceding line. - prevline = GetPreviousNonBlankLine(clean_lines, linenum)[0] - if (not Search(r'[,;:}{(]\s*$', prevline) and - not Match(r'\s*#', prevline) and - not (GetLineWidth(prevline) > _line_length - 2 and '[]' in prevline)): - error(filename, linenum, 'whitespace/braces', 4, - '{ should almost always be at the end of the previous line') - - # An else clause should be on the same line as the preceding closing brace. - if Match(r'\s*else\b\s*(?:if\b|\{|$)', line): - prevline = GetPreviousNonBlankLine(clean_lines, linenum)[0] - if Match(r'\s*}\s*$', prevline): - error(filename, linenum, 'whitespace/newline', 4, - 'An else should appear on the same line as the preceding }') - - # If braces come on one side of an else, they should be on both. - # However, we have to worry about "else if" that spans multiple lines! - if Search(r'else if\s*\(', line): # could be multi-line if - brace_on_left = bool(Search(r'}\s*else if\s*\(', line)) - # find the ( after the if - pos = line.find('else if') - pos = line.find('(', pos) - if pos > 0: - (endline, _, endpos) = CloseExpression(clean_lines, linenum, pos) - brace_on_right = endline[endpos:].find('{') != -1 - if brace_on_left != brace_on_right: # must be brace after if - error(filename, linenum, 'readability/braces', 5, - 'If an else has a brace on one side, it should have it on both') - elif Search(r'}\s*else[^{]*$', line) or Match(r'[^}]*else\s*{', line): - error(filename, linenum, 'readability/braces', 5, - 'If an else has a brace on one side, it should have it on both') - - # Likewise, an else should never have the else clause on the same line - if Search(r'\belse [^\s{]', line) and not Search(r'\belse if\b', line): - error(filename, linenum, 'whitespace/newline', 4, - 'Else clause should never be on same line as else (use 2 lines)') - - # In the same way, a do/while should never be on one line - if Match(r'\s*do [^\s{]', line): - error(filename, linenum, 'whitespace/newline', 4, - 'do/while clauses should not be on a single line') - - # Check single-line if/else bodies. The style guide says 'curly braces are not - # required for single-line statements'. We additionally allow multi-line, - # single statements, but we reject anything with more than one semicolon in - # it. This means that the first semicolon after the if should be at the end of - # its line, and the line after that should have an indent level equal to or - # lower than the if. We also check for ambiguous if/else nesting without - # braces. - if_else_match = Search(r'\b(if\s*(|constexpr)\s*\(|else\b)', line) - if if_else_match and not Match(r'\s*#', line): - if_indent = GetIndentLevel(line) - endline, endlinenum, endpos = line, linenum, if_else_match.end() - if_match = Search(r'\bif\s*(|constexpr)\s*\(', line) - if if_match: - # This could be a multiline if condition, so find the end first. - pos = if_match.end() - 1 - (endline, endlinenum, endpos) = CloseExpression(clean_lines, linenum, pos) - # Check for an opening brace, either directly after the if or on the next - # line. If found, this isn't a single-statement conditional. - if (not Match(r'\s*{', endline[endpos:]) - and not (Match(r'\s*$', endline[endpos:]) - and endlinenum < (len(clean_lines.elided) - 1) - and Match(r'\s*{', clean_lines.elided[endlinenum + 1]))): - while (endlinenum < len(clean_lines.elided) - and ';' not in clean_lines.elided[endlinenum][endpos:]): - endlinenum += 1 - endpos = 0 - if endlinenum < len(clean_lines.elided): - endline = clean_lines.elided[endlinenum] - # We allow a mix of whitespace and closing braces (e.g. for one-liner - # methods) and a single \ after the semicolon (for macros) - endpos = endline.find(';') - if not Match(r';[\s}]*(\\?)$', endline[endpos:]): - # Semicolon isn't the last character, there's something trailing. - # Output a warning if the semicolon is not contained inside - # a lambda expression. - if not Match(r'^[^{};]*\[[^\[\]]*\][^{}]*\{[^{}]*\}\s*\)*[;,]\s*$', - endline): - error(filename, linenum, 'readability/braces', 4, - 'If/else bodies with multiple statements require braces') - elif endlinenum < len(clean_lines.elided) - 1: - # Make sure the next line is dedented - next_line = clean_lines.elided[endlinenum + 1] - next_indent = GetIndentLevel(next_line) - # With ambiguous nested if statements, this will error out on the - # if that *doesn't* match the else, regardless of whether it's the - # inner one or outer one. - if (if_match and Match(r'\s*else\b', next_line) - and next_indent != if_indent): - error(filename, linenum, 'readability/braces', 4, - 'Else clause should be indented at the same level as if. ' - 'Ambiguous nested if/else chains require braces.') - elif next_indent > if_indent: - error(filename, linenum, 'readability/braces', 4, - 'If/else bodies with multiple statements require braces') - - -def CheckTrailingSemicolon(filename, clean_lines, linenum, error): - """Looks for redundant trailing semicolon. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - - line = clean_lines.elided[linenum] - - # Block bodies should not be followed by a semicolon. Due to C++11 - # brace initialization, there are more places where semicolons are - # required than not, so we explicitly list the allowed rules rather - # than listing the disallowed ones. These are the places where "};" - # should be replaced by just "}": - # 1. Some flavor of block following closing parenthesis: - # for (;;) {}; - # while (...) {}; - # switch (...) {}; - # Function(...) {}; - # if (...) {}; - # if (...) else if (...) {}; - # - # 2. else block: - # if (...) else {}; - # - # 3. const member function: - # Function(...) const {}; - # - # 4. Block following some statement: - # x = 42; - # {}; - # - # 5. Block at the beginning of a function: - # Function(...) { - # {}; - # } - # - # Note that naively checking for the preceding "{" will also match - # braces inside multi-dimensional arrays, but this is fine since - # that expression will not contain semicolons. - # - # 6. Block following another block: - # while (true) {} - # {}; - # - # 7. End of namespaces: - # namespace {}; - # - # These semicolons seems far more common than other kinds of - # redundant semicolons, possibly due to people converting classes - # to namespaces. For now we do not warn for this case. - # - # Try matching case 1 first. - match = Match(r'^(.*\)\s*)\{', line) - if match: - # Matched closing parenthesis (case 1). Check the token before the - # matching opening parenthesis, and don't warn if it looks like a - # macro. This avoids these false positives: - # - macro that defines a base class - # - multi-line macro that defines a base class - # - macro that defines the whole class-head - # - # But we still issue warnings for macros that we know are safe to - # warn, specifically: - # - TEST, TEST_F, TEST_P, MATCHER, MATCHER_P - # - TYPED_TEST - # - INTERFACE_DEF - # - EXCLUSIVE_LOCKS_REQUIRED, SHARED_LOCKS_REQUIRED, LOCKS_EXCLUDED: - # - # We implement a list of safe macros instead of a list of - # unsafe macros, even though the latter appears less frequently in - # google code and would have been easier to implement. This is because - # the downside for getting the allowed checks wrong means some extra - # semicolons, while the downside for getting disallowed checks wrong - # would result in compile errors. - # - # In addition to macros, we also don't want to warn on - # - Compound literals - # - Lambdas - # - alignas specifier with anonymous structs - # - decltype - closing_brace_pos = match.group(1).rfind(')') - opening_parenthesis = ReverseCloseExpression( - clean_lines, linenum, closing_brace_pos) - if opening_parenthesis[2] > -1: - line_prefix = opening_parenthesis[0][0:opening_parenthesis[2]] - macro = Search(r'\b([A-Z_][A-Z0-9_]*)\s*$', line_prefix) - func = Match(r'^(.*\])\s*$', line_prefix) - if ((macro and - macro.group(1) not in ( - 'TEST', 'TEST_F', 'MATCHER', 'MATCHER_P', 'TYPED_TEST', - 'EXCLUSIVE_LOCKS_REQUIRED', 'SHARED_LOCKS_REQUIRED', - 'LOCKS_EXCLUDED', 'INTERFACE_DEF')) or - (func and not Search(r'\boperator\s*\[\s*\]', func.group(1))) or - Search(r'\b(?:struct|union)\s+alignas\s*$', line_prefix) or - Search(r'\bdecltype$', line_prefix) or - Search(r'\s+=\s*$', line_prefix)): - match = None - if (match and - opening_parenthesis[1] > 1 and - Search(r'\]\s*$', clean_lines.elided[opening_parenthesis[1] - 1])): - # Multi-line lambda-expression - match = None - - else: - # Try matching cases 2-3. - match = Match(r'^(.*(?:else|\)\s*const)\s*)\{', line) - if not match: - # Try matching cases 4-6. These are always matched on separate lines. - # - # Note that we can't simply concatenate the previous line to the - # current line and do a single match, otherwise we may output - # duplicate warnings for the blank line case: - # if (cond) { - # // blank line - # } - prevline = GetPreviousNonBlankLine(clean_lines, linenum)[0] - if prevline and Search(r'[;{}]\s*$', prevline): - match = Match(r'^(\s*)\{', line) - - # Check matching closing brace - if match: - (endline, endlinenum, endpos) = CloseExpression( - clean_lines, linenum, len(match.group(1))) - if endpos > -1 and Match(r'^\s*;', endline[endpos:]): - # Current {} pair is eligible for semicolon check, and we have found - # the redundant semicolon, output warning here. - # - # Note: because we are scanning forward for opening braces, and - # outputting warnings for the matching closing brace, if there are - # nested blocks with trailing semicolons, we will get the error - # messages in reversed order. - - # We need to check the line forward for NOLINT - raw_lines = clean_lines.raw_lines - ParseNolintSuppressions(filename, raw_lines[endlinenum-1], endlinenum-1, - error) - ParseNolintSuppressions(filename, raw_lines[endlinenum], endlinenum, - error) - - error(filename, endlinenum, 'readability/braces', 4, - "You don't need a ; after a }") - - -def CheckEmptyBlockBody(filename, clean_lines, linenum, error): - """Look for empty loop/conditional body with only a single semicolon. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - - # Search for loop keywords at the beginning of the line. Because only - # whitespaces are allowed before the keywords, this will also ignore most - # do-while-loops, since those lines should start with closing brace. - # - # We also check "if" blocks here, since an empty conditional block - # is likely an error. - line = clean_lines.elided[linenum] - matched = Match(r'\s*(for|while|if)\s*\(', line) - if matched: - # Find the end of the conditional expression. - (end_line, end_linenum, end_pos) = CloseExpression( - clean_lines, linenum, line.find('(')) - - # Output warning if what follows the condition expression is a semicolon. - # No warning for all other cases, including whitespace or newline, since we - # have a separate check for semicolons preceded by whitespace. - if end_pos >= 0 and Match(r';', end_line[end_pos:]): - if matched.group(1) == 'if': - error(filename, end_linenum, 'whitespace/empty_conditional_body', 5, - 'Empty conditional bodies should use {}') - else: - error(filename, end_linenum, 'whitespace/empty_loop_body', 5, - 'Empty loop bodies should use {} or continue') - - # Check for if statements that have completely empty bodies (no comments) - # and no else clauses. - if end_pos >= 0 and matched.group(1) == 'if': - # Find the position of the opening { for the if statement. - # Return without logging an error if it has no brackets. - opening_linenum = end_linenum - opening_line_fragment = end_line[end_pos:] - # Loop until EOF or find anything that's not whitespace or opening {. - while not Search(r'^\s*\{', opening_line_fragment): - if Search(r'^(?!\s*$)', opening_line_fragment): - # Conditional has no brackets. - return - opening_linenum += 1 - if opening_linenum == len(clean_lines.elided): - # Couldn't find conditional's opening { or any code before EOF. - return - opening_line_fragment = clean_lines.elided[opening_linenum] - # Set opening_line (opening_line_fragment may not be entire opening line). - opening_line = clean_lines.elided[opening_linenum] - - # Find the position of the closing }. - opening_pos = opening_line_fragment.find('{') - if opening_linenum == end_linenum: - # We need to make opening_pos relative to the start of the entire line. - opening_pos += end_pos - (closing_line, closing_linenum, closing_pos) = CloseExpression( - clean_lines, opening_linenum, opening_pos) - if closing_pos < 0: - return - - # Now construct the body of the conditional. This consists of the portion - # of the opening line after the {, all lines until the closing line, - # and the portion of the closing line before the }. - if (clean_lines.raw_lines[opening_linenum] != - CleanseComments(clean_lines.raw_lines[opening_linenum])): - # Opening line ends with a comment, so conditional isn't empty. - return - if closing_linenum > opening_linenum: - # Opening line after the {. Ignore comments here since we checked above. - bodylist = list(opening_line[opening_pos+1:]) - # All lines until closing line, excluding closing line, with comments. - bodylist.extend(clean_lines.raw_lines[opening_linenum+1:closing_linenum]) - # Closing line before the }. Won't (and can't) have comments. - bodylist.append(clean_lines.elided[closing_linenum][:closing_pos-1]) - body = '\n'.join(bodylist) - else: - # If statement has brackets and fits on a single line. - body = opening_line[opening_pos+1:closing_pos-1] - - # Check if the body is empty - if not _EMPTY_CONDITIONAL_BODY_PATTERN.search(body): - return - # The body is empty. Now make sure there's not an else clause. - current_linenum = closing_linenum - current_line_fragment = closing_line[closing_pos:] - # Loop until EOF or find anything that's not whitespace or else clause. - while Search(r'^\s*$|^(?=\s*else)', current_line_fragment): - if Search(r'^(?=\s*else)', current_line_fragment): - # Found an else clause, so don't log an error. - return - current_linenum += 1 - if current_linenum == len(clean_lines.elided): - break - current_line_fragment = clean_lines.elided[current_linenum] - - # The body is empty and there's no else clause until EOF or other code. - error(filename, end_linenum, 'whitespace/empty_if_body', 4, - ('If statement had no body and no else clause')) - - -def FindCheckMacro(line): - """Find a replaceable CHECK-like macro. - - Args: - line: line to search on. - Returns: - (macro name, start position), or (None, -1) if no replaceable - macro is found. - """ - for macro in _CHECK_MACROS: - i = line.find(macro) - if i >= 0: - # Find opening parenthesis. Do a regular expression match here - # to make sure that we are matching the expected CHECK macro, as - # opposed to some other macro that happens to contain the CHECK - # substring. - matched = Match(r'^(.*\b' + macro + r'\s*)\(', line) - if not matched: - continue - return (macro, len(matched.group(1))) - return (None, -1) - - -def CheckCheck(filename, clean_lines, linenum, error): - """Checks the use of CHECK and EXPECT macros. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - - # Decide the set of replacement macros that should be suggested - lines = clean_lines.elided - (check_macro, start_pos) = FindCheckMacro(lines[linenum]) - if not check_macro: - return - - # Find end of the boolean expression by matching parentheses - (last_line, end_line, end_pos) = CloseExpression( - clean_lines, linenum, start_pos) - if end_pos < 0: - return - - # If the check macro is followed by something other than a - # semicolon, assume users will log their own custom error messages - # and don't suggest any replacements. - if not Match(r'\s*;', last_line[end_pos:]): - return - - if linenum == end_line: - expression = lines[linenum][start_pos + 1:end_pos - 1] - else: - expression = lines[linenum][start_pos + 1:] - for i in xrange(linenum + 1, end_line): - expression += lines[i] - expression += last_line[0:end_pos - 1] - - # Parse expression so that we can take parentheses into account. - # This avoids false positives for inputs like "CHECK((a < 4) == b)", - # which is not replaceable by CHECK_LE. - lhs = '' - rhs = '' - operator = None - while expression: - matched = Match(r'^\s*(<<|<<=|>>|>>=|->\*|->|&&|\|\||' - r'==|!=|>=|>|<=|<|\()(.*)$', expression) - if matched: - token = matched.group(1) - if token == '(': - # Parenthesized operand - expression = matched.group(2) - (end, _) = FindEndOfExpressionInLine(expression, 0, ['(']) - if end < 0: - return # Unmatched parenthesis - lhs += '(' + expression[0:end] - expression = expression[end:] - elif token in ('&&', '||'): - # Logical and/or operators. This means the expression - # contains more than one term, for example: - # CHECK(42 < a && a < b); - # - # These are not replaceable with CHECK_LE, so bail out early. - return - elif token in ('<<', '<<=', '>>', '>>=', '->*', '->'): - # Non-relational operator - lhs += token - expression = matched.group(2) - else: - # Relational operator - operator = token - rhs = matched.group(2) - break - else: - # Unparenthesized operand. Instead of appending to lhs one character - # at a time, we do another regular expression match to consume several - # characters at once if possible. Trivial benchmark shows that this - # is more efficient when the operands are longer than a single - # character, which is generally the case. - matched = Match(r'^([^-=!<>()&|]+)(.*)$', expression) - if not matched: - matched = Match(r'^(\s*\S)(.*)$', expression) - if not matched: - break - lhs += matched.group(1) - expression = matched.group(2) - - # Only apply checks if we got all parts of the boolean expression - if not (lhs and operator and rhs): - return - - # Check that rhs do not contain logical operators. We already know - # that lhs is fine since the loop above parses out && and ||. - if rhs.find('&&') > -1 or rhs.find('||') > -1: - return - - # At least one of the operands must be a constant literal. This is - # to avoid suggesting replacements for unprintable things like - # CHECK(variable != iterator) - # - # The following pattern matches decimal, hex integers, strings, and - # characters (in that order). - lhs = lhs.strip() - rhs = rhs.strip() - match_constant = r'^([-+]?(\d+|0[xX][0-9a-fA-F]+)[lLuU]{0,3}|".*"|\'.*\')$' - if Match(match_constant, lhs) or Match(match_constant, rhs): - # Note: since we know both lhs and rhs, we can provide a more - # descriptive error message like: - # Consider using CHECK_EQ(x, 42) instead of CHECK(x == 42) - # Instead of: - # Consider using CHECK_EQ instead of CHECK(a == b) - # - # We are still keeping the less descriptive message because if lhs - # or rhs gets long, the error message might become unreadable. - error(filename, linenum, 'readability/check', 2, - 'Consider using %s instead of %s(a %s b)' % ( - _CHECK_REPLACEMENT[check_macro][operator], - check_macro, operator)) - - -def CheckAltTokens(filename, clean_lines, linenum, error): - """Check alternative keywords being used in boolean expressions. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # Avoid preprocessor lines - if Match(r'^\s*#', line): - return - - # Last ditch effort to avoid multi-line comments. This will not help - # if the comment started before the current line or ended after the - # current line, but it catches most of the false positives. At least, - # it provides a way to workaround this warning for people who use - # multi-line comments in preprocessor macros. - # - # TODO(unknown): remove this once cpplint has better support for - # multi-line comments. - if line.find('/*') >= 0 or line.find('*/') >= 0: - return - - for match in _ALT_TOKEN_REPLACEMENT_PATTERN.finditer(line): - error(filename, linenum, 'readability/alt_tokens', 2, - 'Use operator %s instead of %s' % ( - _ALT_TOKEN_REPLACEMENT[match.group(1)], match.group(1))) - - -def GetLineWidth(line): - """Determines the width of the line in column positions. - - Args: - line: A string, which may be a Unicode string. - - Returns: - The width of the line in column positions, accounting for Unicode - combining characters and wide characters. - """ - if isinstance(line, unicode): - width = 0 - for uc in unicodedata.normalize('NFC', line): - if unicodedata.east_asian_width(uc) in ('W', 'F'): - width += 2 - elif not unicodedata.combining(uc): - # Issue 337 - # https://mail.python.org/pipermail/python-list/2012-August/628809.html - if (sys.version_info.major, sys.version_info.minor) <= (3, 2): - # https://github.com/python/cpython/blob/2.7/Include/unicodeobject.h#L81 - is_wide_build = sysconfig.get_config_var("Py_UNICODE_SIZE") >= 4 - # https://github.com/python/cpython/blob/2.7/Objects/unicodeobject.c#L564 - is_low_surrogate = 0xDC00 <= ord(uc) <= 0xDFFF - if not is_wide_build and is_low_surrogate: - width -= 1 - - width += 1 - return width - else: - return len(line) - - -def CheckStyle(filename, clean_lines, linenum, file_extension, nesting_state, - error): - """Checks rules from the 'C++ style rules' section of cppguide.html. - - Most of these rules are hard to test (naming, comment style), but we - do what we can. In particular we check for 2-space indents, line lengths, - tab usage, spaces inside code, etc. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - file_extension: The extension (without the dot) of the filename. - nesting_state: A NestingState instance which maintains information about - the current stack of nested blocks being parsed. - error: The function to call with any errors found. - """ - - # Don't use "elided" lines here, otherwise we can't check commented lines. - # Don't want to use "raw" either, because we don't want to check inside C++11 - # raw strings, - raw_lines = clean_lines.lines_without_raw_strings - line = raw_lines[linenum] - prev = raw_lines[linenum - 1] if linenum > 0 else '' - - if line.find('\t') != -1: - error(filename, linenum, 'whitespace/tab', 1, - 'Tab found; better to use spaces') - - # One or three blank spaces at the beginning of the line is weird; it's - # hard to reconcile that with 2-space indents. - # NOTE: here are the conditions rob pike used for his tests. Mine aren't - # as sophisticated, but it may be worth becoming so: RLENGTH==initial_spaces - # if(RLENGTH > 20) complain = 0; - # if(match($0, " +(error|private|public|protected):")) complain = 0; - # if(match(prev, "&& *$")) complain = 0; - # if(match(prev, "\\|\\| *$")) complain = 0; - # if(match(prev, "[\",=><] *$")) complain = 0; - # if(match($0, " <<")) complain = 0; - # if(match(prev, " +for \\(")) complain = 0; - # if(prevodd && match(prevprev, " +for \\(")) complain = 0; - scope_or_label_pattern = r'\s*(?:public|private|protected|signals)(?:\s+(?:slots\s*)?)?:\s*\\?$' - classinfo = nesting_state.InnermostClass() - initial_spaces = 0 - cleansed_line = clean_lines.elided[linenum] - while initial_spaces < len(line) and line[initial_spaces] == ' ': - initial_spaces += 1 - # There are certain situations we allow one space, notably for - # section labels, and also lines containing multi-line raw strings. - # We also don't check for lines that look like continuation lines - # (of lines ending in double quotes, commas, equals, or angle brackets) - # because the rules for how to indent those are non-trivial. - if (not Search(r'[",=><] *$', prev) and - (initial_spaces == 1 or initial_spaces == 3) and - not Match(scope_or_label_pattern, cleansed_line) and - not (clean_lines.raw_lines[linenum] != line and - Match(r'^\s*""', line))): - error(filename, linenum, 'whitespace/indent', 3, - 'Weird number of spaces at line-start. ' - 'Are you using a 2-space indent?') - - if line and line[-1].isspace(): - error(filename, linenum, 'whitespace/end_of_line', 4, - 'Line ends in whitespace. Consider deleting these extra spaces.') - - # Check if the line is a header guard. - is_header_guard = False - if IsHeaderExtension(file_extension): - cppvar = GetHeaderGuardCPPVariable(filename) - if (line.startswith('#ifndef %s' % cppvar) or - line.startswith('#define %s' % cppvar) or - line.startswith('#endif // %s' % cppvar)): - is_header_guard = True - # #include lines and header guards can be long, since there's no clean way to - # split them. - # - # URLs can be long too. It's possible to split these, but it makes them - # harder to cut&paste. - # - # The "$Id:...$" comment may also get very long without it being the - # developers fault. - # - # Doxygen documentation copying can get pretty long when using an overloaded - # function declaration - if (not line.startswith('#include') and not is_header_guard and - not Match(r'^\s*//.*http(s?)://\S*$', line) and - not Match(r'^\s*//\s*[^\s]*$', line) and - not Match(r'^// \$Id:.*#[0-9]+ \$$', line) and - not Match(r'^\s*/// [@\\](copydoc|copydetails|copybrief) .*$', line)): - line_width = GetLineWidth(line) - if line_width > _line_length: - error(filename, linenum, 'whitespace/line_length', 2, - 'Lines should be <= %i characters long' % _line_length) - - if (cleansed_line.count(';') > 1 and - # allow simple single line lambdas - not Match(r'^[^{};]*\[[^\[\]]*\][^{}]*\{[^{}\n\r]*\}', - line) and - # for loops are allowed two ;'s (and may run over two lines). - cleansed_line.find('for') == -1 and - (GetPreviousNonBlankLine(clean_lines, linenum)[0].find('for') == -1 or - GetPreviousNonBlankLine(clean_lines, linenum)[0].find(';') != -1) and - # It's ok to have many commands in a switch case that fits in 1 line - not ((cleansed_line.find('case ') != -1 or - cleansed_line.find('default:') != -1) and - cleansed_line.find('break;') != -1)): - error(filename, linenum, 'whitespace/newline', 0, - 'More than one command on the same line') - - # Some more style checks - CheckBraces(filename, clean_lines, linenum, error) - CheckTrailingSemicolon(filename, clean_lines, linenum, error) - CheckEmptyBlockBody(filename, clean_lines, linenum, error) - CheckSpacing(filename, clean_lines, linenum, nesting_state, error) - CheckOperatorSpacing(filename, clean_lines, linenum, error) - CheckParenthesisSpacing(filename, clean_lines, linenum, error) - CheckCommaSpacing(filename, clean_lines, linenum, error) - CheckBracesSpacing(filename, clean_lines, linenum, nesting_state, error) - CheckSpacingForFunctionCall(filename, clean_lines, linenum, error) - CheckCheck(filename, clean_lines, linenum, error) - CheckAltTokens(filename, clean_lines, linenum, error) - classinfo = nesting_state.InnermostClass() - if classinfo: - CheckSectionSpacing(filename, clean_lines, classinfo, linenum, error) - - -_RE_PATTERN_INCLUDE = re.compile(r'^\s*#\s*include\s*([<"])([^>"]*)[>"].*$') -# Matches the first component of a filename delimited by -s and _s. That is: -# _RE_FIRST_COMPONENT.match('foo').group(0) == 'foo' -# _RE_FIRST_COMPONENT.match('foo.cc').group(0) == 'foo' -# _RE_FIRST_COMPONENT.match('foo-bar_baz.cc').group(0) == 'foo' -# _RE_FIRST_COMPONENT.match('foo_bar-baz.cc').group(0) == 'foo' -_RE_FIRST_COMPONENT = re.compile(r'^[^-_.]+') - - -def _DropCommonSuffixes(filename): - """Drops common suffixes like _test.cc or -inl.h from filename. - - For example: - >>> _DropCommonSuffixes('foo/foo-inl.h') - 'foo/foo' - >>> _DropCommonSuffixes('foo/bar/foo.cc') - 'foo/bar/foo' - >>> _DropCommonSuffixes('foo/foo_internal.h') - 'foo/foo' - >>> _DropCommonSuffixes('foo/foo_unusualinternal.h') - 'foo/foo_unusualinternal' - - Args: - filename: The input filename. - - Returns: - The filename with the common suffix removed. - """ - for suffix in itertools.chain( - ('%s.%s' % (test_suffix.lstrip('_'), ext) - for test_suffix, ext in itertools.product(_test_suffixes, GetNonHeaderExtensions())), - ('%s.%s' % (suffix, ext) - for suffix, ext in itertools.product(['inl', 'imp', 'internal'], GetHeaderExtensions()))): - if (filename.endswith(suffix) and len(filename) > len(suffix) and - filename[-len(suffix) - 1] in ('-', '_')): - return filename[:-len(suffix) - 1] - return os.path.splitext(filename)[0] - - -def _ClassifyInclude(fileinfo, include, used_angle_brackets, include_order="default"): - """Figures out what kind of header 'include' is. - - Args: - fileinfo: The current file cpplint is running over. A FileInfo instance. - include: The path to a #included file. - used_angle_brackets: True if the #include used <> rather than "". - include_order: "default" or other value allowed in program arguments - - Returns: - One of the _XXX_HEADER constants. - - For example: - >>> _ClassifyInclude(FileInfo('foo/foo.cc'), 'stdio.h', True) - _C_SYS_HEADER - >>> _ClassifyInclude(FileInfo('foo/foo.cc'), 'string', True) - _CPP_SYS_HEADER - >>> _ClassifyInclude(FileInfo('foo/foo.cc'), 'foo/foo.h', True, "standardcfirst") - _OTHER_SYS_HEADER - >>> _ClassifyInclude(FileInfo('foo/foo.cc'), 'foo/foo.h', False) - _LIKELY_MY_HEADER - >>> _ClassifyInclude(FileInfo('foo/foo_unknown_extension.cc'), - ... 'bar/foo_other_ext.h', False) - _POSSIBLE_MY_HEADER - >>> _ClassifyInclude(FileInfo('foo/foo.cc'), 'foo/bar.h', False) - _OTHER_HEADER - """ - # This is a list of all standard c++ header files, except - # those already checked for above. - is_cpp_header = include in _CPP_HEADERS - - # Mark include as C header if in list or in a known folder for standard-ish C headers. - is_std_c_header = (include_order == "default") or (include in _C_HEADERS - # additional linux glibc header folders - or Search(r'(?:%s)\/.*\.h' % "|".join(C_STANDARD_HEADER_FOLDERS), include)) - - # Headers with C++ extensions shouldn't be considered C system headers - is_system = used_angle_brackets and not os.path.splitext(include)[1] in ['.hpp', '.hxx', '.h++'] - - if is_system: - if is_cpp_header: - return _CPP_SYS_HEADER - if is_std_c_header: - return _C_SYS_HEADER - else: - return _OTHER_SYS_HEADER - - # If the target file and the include we're checking share a - # basename when we drop common extensions, and the include - # lives in . , then it's likely to be owned by the target file. - target_dir, target_base = ( - os.path.split(_DropCommonSuffixes(fileinfo.RepositoryName()))) - include_dir, include_base = os.path.split(_DropCommonSuffixes(include)) - target_dir_pub = os.path.normpath(target_dir + '/../public') - target_dir_pub = target_dir_pub.replace('\\', '/') - if target_base == include_base and ( - include_dir == target_dir or - include_dir == target_dir_pub): - return _LIKELY_MY_HEADER - - # If the target and include share some initial basename - # component, it's possible the target is implementing the - # include, so it's allowed to be first, but we'll never - # complain if it's not there. - target_first_component = _RE_FIRST_COMPONENT.match(target_base) - include_first_component = _RE_FIRST_COMPONENT.match(include_base) - if (target_first_component and include_first_component and - target_first_component.group(0) == - include_first_component.group(0)): - return _POSSIBLE_MY_HEADER - - return _OTHER_HEADER - - - -def CheckIncludeLine(filename, clean_lines, linenum, include_state, error): - """Check rules that are applicable to #include lines. - - Strings on #include lines are NOT removed from elided line, to make - certain tasks easier. However, to prevent false positives, checks - applicable to #include lines in CheckLanguage must be put here. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - include_state: An _IncludeState instance in which the headers are inserted. - error: The function to call with any errors found. - """ - fileinfo = FileInfo(filename) - line = clean_lines.lines[linenum] - - # "include" should use the new style "foo/bar.h" instead of just "bar.h" - # Only do this check if the included header follows google naming - # conventions. If not, assume that it's a 3rd party API that - # requires special include conventions. - # - # We also make an exception for Lua headers, which follow google - # naming convention but not the include convention. - match = Match(r'#include\s*"([^/]+\.h)"', line) - if match and not _THIRD_PARTY_HEADERS_PATTERN.match(match.group(1)): - error(filename, linenum, 'build/include_subdir', 4, - 'Include the directory when naming .h files') - - # we shouldn't include a file more than once. actually, there are a - # handful of instances where doing so is okay, but in general it's - # not. - match = _RE_PATTERN_INCLUDE.search(line) - if match: - include = match.group(2) - used_angle_brackets = (match.group(1) == '<') - duplicate_line = include_state.FindHeader(include) - if duplicate_line >= 0: - error(filename, linenum, 'build/include', 4, - '"%s" already included at %s:%s' % - (include, filename, duplicate_line)) - return - - for extension in GetNonHeaderExtensions(): - if (include.endswith('.' + extension) and - os.path.dirname(fileinfo.RepositoryName()) != os.path.dirname(include)): - error(filename, linenum, 'build/include', 4, - 'Do not include .' + extension + ' files from other packages') - return - - # We DO want to include a 3rd party looking header if it matches the - # filename. Otherwise we get an erroneous error "...should include its - # header" error later. - third_src_header = False - for ext in GetHeaderExtensions(): - basefilename = filename[0:len(filename) - len(fileinfo.Extension())] - headerfile = basefilename + '.' + ext - headername = FileInfo(headerfile).RepositoryName() - if headername in include or include in headername: - third_src_header = True - break - - if third_src_header or not _THIRD_PARTY_HEADERS_PATTERN.match(include): - include_state.include_list[-1].append((include, linenum)) - - # We want to ensure that headers appear in the right order: - # 1) for foo.cc, foo.h (preferred location) - # 2) c system files - # 3) cpp system files - # 4) for foo.cc, foo.h (deprecated location) - # 5) other google headers - # - # We classify each include statement as one of those 5 types - # using a number of techniques. The include_state object keeps - # track of the highest type seen, and complains if we see a - # lower type after that. - error_message = include_state.CheckNextIncludeOrder( - _ClassifyInclude(fileinfo, include, used_angle_brackets, _include_order)) - if error_message: - error(filename, linenum, 'build/include_order', 4, - '%s. Should be: %s.h, c system, c++ system, other.' % - (error_message, fileinfo.BaseName())) - canonical_include = include_state.CanonicalizeAlphabeticalOrder(include) - if not include_state.IsInAlphabeticalOrder( - clean_lines, linenum, canonical_include): - error(filename, linenum, 'build/include_alpha', 4, - 'Include "%s" not in alphabetical order' % include) - include_state.SetLastHeader(canonical_include) - - - -def _GetTextInside(text, start_pattern): - r"""Retrieves all the text between matching open and close parentheses. - - Given a string of lines and a regular expression string, retrieve all the text - following the expression and between opening punctuation symbols like - (, [, or {, and the matching close-punctuation symbol. This properly nested - occurrences of the punctuations, so for the text like - printf(a(), b(c())); - a call to _GetTextInside(text, r'printf\(') will return 'a(), b(c())'. - start_pattern must match string having an open punctuation symbol at the end. - - Args: - text: The lines to extract text. Its comments and strings must be elided. - It can be single line and can span multiple lines. - start_pattern: The regexp string indicating where to start extracting - the text. - Returns: - The extracted text. - None if either the opening string or ending punctuation could not be found. - """ - # TODO(unknown): Audit cpplint.py to see what places could be profitably - # rewritten to use _GetTextInside (and use inferior regexp matching today). - - # Give opening punctuations to get the matching close-punctuations. - matching_punctuation = {'(': ')', '{': '}', '[': ']'} - closing_punctuation = set(itervalues(matching_punctuation)) - - # Find the position to start extracting text. - match = re.search(start_pattern, text, re.M) - if not match: # start_pattern not found in text. - return None - start_position = match.end(0) - - assert start_position > 0, ( - 'start_pattern must ends with an opening punctuation.') - assert text[start_position - 1] in matching_punctuation, ( - 'start_pattern must ends with an opening punctuation.') - # Stack of closing punctuations we expect to have in text after position. - punctuation_stack = [matching_punctuation[text[start_position - 1]]] - position = start_position - while punctuation_stack and position < len(text): - if text[position] == punctuation_stack[-1]: - punctuation_stack.pop() - elif text[position] in closing_punctuation: - # A closing punctuation without matching opening punctuations. - return None - elif text[position] in matching_punctuation: - punctuation_stack.append(matching_punctuation[text[position]]) - position += 1 - if punctuation_stack: - # Opening punctuations left without matching close-punctuations. - return None - # punctuations match. - return text[start_position:position - 1] - - -# Patterns for matching call-by-reference parameters. -# -# Supports nested templates up to 2 levels deep using this messy pattern: -# < (?: < (?: < [^<>]* -# > -# | [^<>] )* -# > -# | [^<>] )* -# > -_RE_PATTERN_IDENT = r'[_a-zA-Z]\w*' # =~ [[:alpha:]][[:alnum:]]* -_RE_PATTERN_TYPE = ( - r'(?:const\s+)?(?:typename\s+|class\s+|struct\s+|union\s+|enum\s+)?' - r'(?:\w|' - r'\s*<(?:<(?:<[^<>]*>|[^<>])*>|[^<>])*>|' - r'::)+') -# A call-by-reference parameter ends with '& identifier'. -_RE_PATTERN_REF_PARAM = re.compile( - r'(' + _RE_PATTERN_TYPE + r'(?:\s*(?:\bconst\b|[*]))*\s*' - r'&\s*' + _RE_PATTERN_IDENT + r')\s*(?:=[^,()]+)?[,)]') -# A call-by-const-reference parameter either ends with 'const& identifier' -# or looks like 'const type& identifier' when 'type' is atomic. -_RE_PATTERN_CONST_REF_PARAM = ( - r'(?:.*\s*\bconst\s*&\s*' + _RE_PATTERN_IDENT + - r'|const\s+' + _RE_PATTERN_TYPE + r'\s*&\s*' + _RE_PATTERN_IDENT + r')') -# Stream types. -_RE_PATTERN_REF_STREAM_PARAM = ( - r'(?:.*stream\s*&\s*' + _RE_PATTERN_IDENT + r')') - - -def CheckLanguage(filename, clean_lines, linenum, file_extension, - include_state, nesting_state, error): - """Checks rules from the 'C++ language rules' section of cppguide.html. - - Some of these rules are hard to test (function overloading, using - uint32 inappropriately), but we do the best we can. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - file_extension: The extension (without the dot) of the filename. - include_state: An _IncludeState instance in which the headers are inserted. - nesting_state: A NestingState instance which maintains information about - the current stack of nested blocks being parsed. - error: The function to call with any errors found. - """ - # If the line is empty or consists of entirely a comment, no need to - # check it. - line = clean_lines.elided[linenum] - if not line: - return - - match = _RE_PATTERN_INCLUDE.search(line) - if match: - CheckIncludeLine(filename, clean_lines, linenum, include_state, error) - return - - # Reset include state across preprocessor directives. This is meant - # to silence warnings for conditional includes. - match = Match(r'^\s*#\s*(if|ifdef|ifndef|elif|else|endif)\b', line) - if match: - include_state.ResetSection(match.group(1)) - - - # Perform other checks now that we are sure that this is not an include line - CheckCasts(filename, clean_lines, linenum, error) - CheckGlobalStatic(filename, clean_lines, linenum, error) - CheckPrintf(filename, clean_lines, linenum, error) - - if IsHeaderExtension(file_extension): - # TODO(unknown): check that 1-arg constructors are explicit. - # How to tell it's a constructor? - # (handled in CheckForNonStandardConstructs for now) - # TODO(unknown): check that classes declare or disable copy/assign - # (level 1 error) - pass - - # Check if people are using the verboten C basic types. The only exception - # we regularly allow is "unsigned short port" for port. - if Search(r'\bshort port\b', line): - if not Search(r'\bunsigned short port\b', line): - error(filename, linenum, 'runtime/int', 4, - 'Use "unsigned short" for ports, not "short"') - else: - match = Search(r'\b(short|long(?! +double)|long long)\b', line) - if match: - error(filename, linenum, 'runtime/int', 4, - 'Use int16/int64/etc, rather than the C type %s' % match.group(1)) - - # Check if some verboten operator overloading is going on - # TODO(unknown): catch out-of-line unary operator&: - # class X {}; - # int operator&(const X& x) { return 42; } // unary operator& - # The trick is it's hard to tell apart from binary operator&: - # class Y { int operator&(const Y& x) { return 23; } }; // binary operator& - if Search(r'\boperator\s*&\s*\(\s*\)', line): - error(filename, linenum, 'runtime/operator', 4, - 'Unary operator& is dangerous. Do not use it.') - - # Check for suspicious usage of "if" like - # } if (a == b) { - if Search(r'\}\s*if\s*\(', line): - error(filename, linenum, 'readability/braces', 4, - 'Did you mean "else if"? If not, start a new line for "if".') - - # Check for potential format string bugs like printf(foo). - # We constrain the pattern not to pick things like DocidForPrintf(foo). - # Not perfect but it can catch printf(foo.c_str()) and printf(foo->c_str()) - # TODO(unknown): Catch the following case. Need to change the calling - # convention of the whole function to process multiple line to handle it. - # printf( - # boy_this_is_a_really_long_variable_that_cannot_fit_on_the_prev_line); - printf_args = _GetTextInside(line, r'(?i)\b(string)?printf\s*\(') - if printf_args: - match = Match(r'([\w.\->()]+)$', printf_args) - if match and match.group(1) != '__VA_ARGS__': - function_name = re.search(r'\b((?:string)?printf)\s*\(', - line, re.I).group(1) - error(filename, linenum, 'runtime/printf', 4, - 'Potential format string bug. Do %s("%%s", %s) instead.' - % (function_name, match.group(1))) - - # Check for potential memset bugs like memset(buf, sizeof(buf), 0). - match = Search(r'memset\s*\(([^,]*),\s*([^,]*),\s*0\s*\)', line) - if match and not Match(r"^''|-?[0-9]+|0x[0-9A-Fa-f]$", match.group(2)): - error(filename, linenum, 'runtime/memset', 4, - 'Did you mean "memset(%s, 0, %s)"?' - % (match.group(1), match.group(2))) - - if Search(r'\busing namespace\b', line): - if Search(r'\bliterals\b', line): - error(filename, linenum, 'build/namespaces_literals', 5, - 'Do not use namespace using-directives. ' - 'Use using-declarations instead.') - else: - error(filename, linenum, 'build/namespaces', 5, - 'Do not use namespace using-directives. ' - 'Use using-declarations instead.') - - # Detect variable-length arrays. - match = Match(r'\s*(.+::)?(\w+) [a-z]\w*\[(.+)];', line) - if (match and match.group(2) != 'return' and match.group(2) != 'delete' and - match.group(3).find(']') == -1): - # Split the size using space and arithmetic operators as delimiters. - # If any of the resulting tokens are not compile time constants then - # report the error. - tokens = re.split(r'\s|\+|\-|\*|\/|<<|>>]', match.group(3)) - is_const = True - skip_next = False - for tok in tokens: - if skip_next: - skip_next = False - continue - - if Search(r'sizeof\(.+\)', tok): continue - if Search(r'arraysize\(\w+\)', tok): continue - - tok = tok.lstrip('(') - tok = tok.rstrip(')') - if not tok: continue - if Match(r'\d+', tok): continue - if Match(r'0[xX][0-9a-fA-F]+', tok): continue - if Match(r'k[A-Z0-9]\w*', tok): continue - if Match(r'(.+::)?k[A-Z0-9]\w*', tok): continue - if Match(r'(.+::)?[A-Z][A-Z0-9_]*', tok): continue - # A catch all for tricky sizeof cases, including 'sizeof expression', - # 'sizeof(*type)', 'sizeof(const type)', 'sizeof(struct StructName)' - # requires skipping the next token because we split on ' ' and '*'. - if tok.startswith('sizeof'): - skip_next = True - continue - is_const = False - break - if not is_const: - error(filename, linenum, 'runtime/arrays', 1, - 'Do not use variable-length arrays. Use an appropriately named ' - "('k' followed by CamelCase) compile-time constant for the size.") - - # Check for use of unnamed namespaces in header files. Registration - # macros are typically OK, so we allow use of "namespace {" on lines - # that end with backslashes. - if (IsHeaderExtension(file_extension) - and Search(r'\bnamespace\s*{', line) - and line[-1] != '\\'): - error(filename, linenum, 'build/namespaces_headers', 4, - 'Do not use unnamed namespaces in header files. See ' - 'https://google-styleguide.googlecode.com/svn/trunk/cppguide.xml#Namespaces' - ' for more information.') - - -def CheckGlobalStatic(filename, clean_lines, linenum, error): - """Check for unsafe global or static objects. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # Match two lines at a time to support multiline declarations - if linenum + 1 < clean_lines.NumLines() and not Search(r'[;({]', line): - line += clean_lines.elided[linenum + 1].strip() - - # Check for people declaring static/global STL strings at the top level. - # This is dangerous because the C++ language does not guarantee that - # globals with constructors are initialized before the first access, and - # also because globals can be destroyed when some threads are still running. - # TODO(unknown): Generalize this to also find static unique_ptr instances. - # TODO(unknown): File bugs for clang-tidy to find these. - match = Match( - r'((?:|static +)(?:|const +))(?::*std::)?string( +const)? +' - r'([a-zA-Z0-9_:]+)\b(.*)', - line) - - # Remove false positives: - # - String pointers (as opposed to values). - # string *pointer - # const string *pointer - # string const *pointer - # string *const pointer - # - # - Functions and template specializations. - # string Function(... - # string Class::Method(... - # - # - Operators. These are matched separately because operator names - # cross non-word boundaries, and trying to match both operators - # and functions at the same time would decrease accuracy of - # matching identifiers. - # string Class::operator*() - if (match and - not Search(r'\bstring\b(\s+const)?\s*[\*\&]\s*(const\s+)?\w', line) and - not Search(r'\boperator\W', line) and - not Match(r'\s*(<.*>)?(::[a-zA-Z0-9_]+)*\s*\(([^"]|$)', match.group(4))): - if Search(r'\bconst\b', line): - error(filename, linenum, 'runtime/string', 4, - 'For a static/global string constant, use a C style string ' - 'instead: "%schar%s %s[]".' % - (match.group(1), match.group(2) or '', match.group(3))) - else: - error(filename, linenum, 'runtime/string', 4, - 'Static/global string variables are not permitted.') - - if (Search(r'\b([A-Za-z0-9_]*_)\(\1\)', line) or - Search(r'\b([A-Za-z0-9_]*_)\(CHECK_NOTNULL\(\1\)\)', line)): - error(filename, linenum, 'runtime/init', 4, - 'You seem to be initializing a member variable with itself.') - - -def CheckPrintf(filename, clean_lines, linenum, error): - """Check for printf related issues. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # When snprintf is used, the second argument shouldn't be a literal. - match = Search(r'snprintf\s*\(([^,]*),\s*([0-9]*)\s*,', line) - if match and match.group(2) != '0': - # If 2nd arg is zero, snprintf is used to calculate size. - error(filename, linenum, 'runtime/printf', 3, - 'If you can, use sizeof(%s) instead of %s as the 2nd arg ' - 'to snprintf.' % (match.group(1), match.group(2))) - - # Check if some verboten C functions are being used. - if Search(r'\bsprintf\s*\(', line): - error(filename, linenum, 'runtime/printf', 5, - 'Never use sprintf. Use snprintf instead.') - match = Search(r'\b(strcpy|strcat)\s*\(', line) - if match: - error(filename, linenum, 'runtime/printf', 4, - 'Almost always, snprintf is better than %s' % match.group(1)) - - -def IsDerivedFunction(clean_lines, linenum): - """Check if current line contains an inherited function. - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - Returns: - True if current line contains a function with "override" - virt-specifier. - """ - # Scan back a few lines for start of current function - for i in xrange(linenum, max(-1, linenum - 10), -1): - match = Match(r'^([^()]*\w+)\(', clean_lines.elided[i]) - if match: - # Look for "override" after the matching closing parenthesis - line, _, closing_paren = CloseExpression( - clean_lines, i, len(match.group(1))) - return (closing_paren >= 0 and - Search(r'\boverride\b', line[closing_paren:])) - return False - - -def IsOutOfLineMethodDefinition(clean_lines, linenum): - """Check if current line contains an out-of-line method definition. - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - Returns: - True if current line contains an out-of-line method definition. - """ - # Scan back a few lines for start of current function - for i in xrange(linenum, max(-1, linenum - 10), -1): - if Match(r'^([^()]*\w+)\(', clean_lines.elided[i]): - return Match(r'^[^()]*\w+::\w+\(', clean_lines.elided[i]) is not None - return False - - -def IsInitializerList(clean_lines, linenum): - """Check if current line is inside constructor initializer list. - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - Returns: - True if current line appears to be inside constructor initializer - list, False otherwise. - """ - for i in xrange(linenum, 1, -1): - line = clean_lines.elided[i] - if i == linenum: - remove_function_body = Match(r'^(.*)\{\s*$', line) - if remove_function_body: - line = remove_function_body.group(1) - - if Search(r'\s:\s*\w+[({]', line): - # A lone colon tend to indicate the start of a constructor - # initializer list. It could also be a ternary operator, which - # also tend to appear in constructor initializer lists as - # opposed to parameter lists. - return True - if Search(r'\}\s*,\s*$', line): - # A closing brace followed by a comma is probably the end of a - # brace-initialized member in constructor initializer list. - return True - if Search(r'[{};]\s*$', line): - # Found one of the following: - # - A closing brace or semicolon, probably the end of the previous - # function. - # - An opening brace, probably the start of current class or namespace. - # - # Current line is probably not inside an initializer list since - # we saw one of those things without seeing the starting colon. - return False - - # Got to the beginning of the file without seeing the start of - # constructor initializer list. - return False - - -def CheckForNonConstReference(filename, clean_lines, linenum, - nesting_state, error): - """Check for non-const references. - - Separate from CheckLanguage since it scans backwards from current - line, instead of scanning forward. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - nesting_state: A NestingState instance which maintains information about - the current stack of nested blocks being parsed. - error: The function to call with any errors found. - """ - # Do nothing if there is no '&' on current line. - line = clean_lines.elided[linenum] - if '&' not in line: - return - - # If a function is inherited, current function doesn't have much of - # a choice, so any non-const references should not be blamed on - # derived function. - if IsDerivedFunction(clean_lines, linenum): - return - - # Don't warn on out-of-line method definitions, as we would warn on the - # in-line declaration, if it isn't marked with 'override'. - if IsOutOfLineMethodDefinition(clean_lines, linenum): - return - - # Long type names may be broken across multiple lines, usually in one - # of these forms: - # LongType - # ::LongTypeContinued &identifier - # LongType:: - # LongTypeContinued &identifier - # LongType< - # ...>::LongTypeContinued &identifier - # - # If we detected a type split across two lines, join the previous - # line to current line so that we can match const references - # accordingly. - # - # Note that this only scans back one line, since scanning back - # arbitrary number of lines would be expensive. If you have a type - # that spans more than 2 lines, please use a typedef. - if linenum > 1: - previous = None - if Match(r'\s*::(?:[\w<>]|::)+\s*&\s*\S', line): - # previous_line\n + ::current_line - previous = Search(r'\b((?:const\s*)?(?:[\w<>]|::)+[\w<>])\s*$', - clean_lines.elided[linenum - 1]) - elif Match(r'\s*[a-zA-Z_]([\w<>]|::)+\s*&\s*\S', line): - # previous_line::\n + current_line - previous = Search(r'\b((?:const\s*)?(?:[\w<>]|::)+::)\s*$', - clean_lines.elided[linenum - 1]) - if previous: - line = previous.group(1) + line.lstrip() - else: - # Check for templated parameter that is split across multiple lines - endpos = line.rfind('>') - if endpos > -1: - (_, startline, startpos) = ReverseCloseExpression( - clean_lines, linenum, endpos) - if startpos > -1 and startline < linenum: - # Found the matching < on an earlier line, collect all - # pieces up to current line. - line = '' - for i in xrange(startline, linenum + 1): - line += clean_lines.elided[i].strip() - - # Check for non-const references in function parameters. A single '&' may - # found in the following places: - # inside expression: binary & for bitwise AND - # inside expression: unary & for taking the address of something - # inside declarators: reference parameter - # We will exclude the first two cases by checking that we are not inside a - # function body, including one that was just introduced by a trailing '{'. - # TODO(unknown): Doesn't account for 'catch(Exception& e)' [rare]. - if (nesting_state.previous_stack_top and - not (isinstance(nesting_state.previous_stack_top, _ClassInfo) or - isinstance(nesting_state.previous_stack_top, _NamespaceInfo))): - # Not at toplevel, not within a class, and not within a namespace - return - - # Avoid initializer lists. We only need to scan back from the - # current line for something that starts with ':'. - # - # We don't need to check the current line, since the '&' would - # appear inside the second set of parentheses on the current line as - # opposed to the first set. - if linenum > 0: - for i in xrange(linenum - 1, max(0, linenum - 10), -1): - previous_line = clean_lines.elided[i] - if not Search(r'[),]\s*$', previous_line): - break - if Match(r'^\s*:\s+\S', previous_line): - return - - # Avoid preprocessors - if Search(r'\\\s*$', line): - return - - # Avoid constructor initializer lists - if IsInitializerList(clean_lines, linenum): - return - - # We allow non-const references in a few standard places, like functions - # called "swap()" or iostream operators like "<<" or ">>". Do not check - # those function parameters. - # - # We also accept & in static_assert, which looks like a function but - # it's actually a declaration expression. - allowed_functions = (r'(?:[sS]wap(?:<\w:+>)?|' - r'operator\s*[<>][<>]|' - r'static_assert|COMPILE_ASSERT' - r')\s*\(') - if Search(allowed_functions, line): - return - elif not Search(r'\S+\([^)]*$', line): - # Don't see an allowed function on this line. Actually we - # didn't see any function name on this line, so this is likely a - # multi-line parameter list. Try a bit harder to catch this case. - for i in xrange(2): - if (linenum > i and - Search(allowed_functions, clean_lines.elided[linenum - i - 1])): - return - - decls = ReplaceAll(r'{[^}]*}', ' ', line) # exclude function body - for parameter in re.findall(_RE_PATTERN_REF_PARAM, decls): - if (not Match(_RE_PATTERN_CONST_REF_PARAM, parameter) and - not Match(_RE_PATTERN_REF_STREAM_PARAM, parameter)): - error(filename, linenum, 'runtime/references', 2, - 'Is this a non-const reference? ' - 'If so, make const or use a pointer: ' + - ReplaceAll(' *<', '<', parameter)) - - -def CheckCasts(filename, clean_lines, linenum, error): - """Various cast related checks. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # Check to see if they're using an conversion function cast. - # I just try to capture the most common basic types, though there are more. - # Parameterless conversion functions, such as bool(), are allowed as they are - # probably a member operator declaration or default constructor. - match = Search( - r'(\bnew\s+(?:const\s+)?|\S<\s*(?:const\s+)?)?\b' - r'(int|float|double|bool|char|int32|uint32|int64|uint64)' - r'(\([^)].*)', line) - expecting_function = ExpectingFunctionArgs(clean_lines, linenum) - if match and not expecting_function: - matched_type = match.group(2) - - # matched_new_or_template is used to silence two false positives: - # - New operators - # - Template arguments with function types - # - # For template arguments, we match on types immediately following - # an opening bracket without any spaces. This is a fast way to - # silence the common case where the function type is the first - # template argument. False negative with less-than comparison is - # avoided because those operators are usually followed by a space. - # - # function // bracket + no space = false positive - # value < double(42) // bracket + space = true positive - matched_new_or_template = match.group(1) - - # Avoid arrays by looking for brackets that come after the closing - # parenthesis. - if Match(r'\([^()]+\)\s*\[', match.group(3)): - return - - # Other things to ignore: - # - Function pointers - # - Casts to pointer types - # - Placement new - # - Alias declarations - matched_funcptr = match.group(3) - if (matched_new_or_template is None and - not (matched_funcptr and - (Match(r'\((?:[^() ]+::\s*\*\s*)?[^() ]+\)\s*\(', - matched_funcptr) or - matched_funcptr.startswith('(*)'))) and - not Match(r'\s*using\s+\S+\s*=\s*' + matched_type, line) and - not Search(r'new\(\S+\)\s*' + matched_type, line)): - error(filename, linenum, 'readability/casting', 4, - 'Using deprecated casting style. ' - 'Use static_cast<%s>(...) instead' % - matched_type) - - if not expecting_function: - CheckCStyleCast(filename, clean_lines, linenum, 'static_cast', - r'\((int|float|double|bool|char|u?int(16|32|64))\)', error) - - # This doesn't catch all cases. Consider (const char * const)"hello". - # - # (char *) "foo" should always be a const_cast (reinterpret_cast won't - # compile). - if CheckCStyleCast(filename, clean_lines, linenum, 'const_cast', - r'\((char\s?\*+\s?)\)\s*"', error): - pass - else: - # Check pointer casts for other than string constants - CheckCStyleCast(filename, clean_lines, linenum, 'reinterpret_cast', - r'\((\w+\s?\*+\s?)\)', error) - - # In addition, we look for people taking the address of a cast. This - # is dangerous -- casts can assign to temporaries, so the pointer doesn't - # point where you think. - # - # Some non-identifier character is required before the '&' for the - # expression to be recognized as a cast. These are casts: - # expression = &static_cast(temporary()); - # function(&(int*)(temporary())); - # - # This is not a cast: - # reference_type&(int* function_param); - match = Search( - r'(?:[^\w]&\(([^)*][^)]*)\)[\w(])|' - r'(?:[^\w]&(static|dynamic|down|reinterpret)_cast\b)', line) - if match: - # Try a better error message when the & is bound to something - # dereferenced by the casted pointer, as opposed to the casted - # pointer itself. - parenthesis_error = False - match = Match(r'^(.*&(?:static|dynamic|down|reinterpret)_cast\b)<', line) - if match: - _, y1, x1 = CloseExpression(clean_lines, linenum, len(match.group(1))) - if x1 >= 0 and clean_lines.elided[y1][x1] == '(': - _, y2, x2 = CloseExpression(clean_lines, y1, x1) - if x2 >= 0: - extended_line = clean_lines.elided[y2][x2:] - if y2 < clean_lines.NumLines() - 1: - extended_line += clean_lines.elided[y2 + 1] - if Match(r'\s*(?:->|\[)', extended_line): - parenthesis_error = True - - if parenthesis_error: - error(filename, linenum, 'readability/casting', 4, - ('Are you taking an address of something dereferenced ' - 'from a cast? Wrapping the dereferenced expression in ' - 'parentheses will make the binding more obvious')) - else: - error(filename, linenum, 'runtime/casting', 4, - ('Are you taking an address of a cast? ' - 'This is dangerous: could be a temp var. ' - 'Take the address before doing the cast, rather than after')) - - -def CheckCStyleCast(filename, clean_lines, linenum, cast_type, pattern, error): - """Checks for a C-style cast by looking for the pattern. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - cast_type: The string for the C++ cast to recommend. This is either - reinterpret_cast, static_cast, or const_cast, depending. - pattern: The regular expression used to find C-style casts. - error: The function to call with any errors found. - - Returns: - True if an error was emitted. - False otherwise. - """ - line = clean_lines.elided[linenum] - match = Search(pattern, line) - if not match: - return False - - # Exclude lines with keywords that tend to look like casts - context = line[0:match.start(1) - 1] - if Match(r'.*\b(?:sizeof|alignof|alignas|[_A-Z][_A-Z0-9]*)\s*$', context): - return False - - # Try expanding current context to see if we one level of - # parentheses inside a macro. - if linenum > 0: - for i in xrange(linenum - 1, max(0, linenum - 5), -1): - context = clean_lines.elided[i] + context - if Match(r'.*\b[_A-Z][_A-Z0-9]*\s*\((?:\([^()]*\)|[^()])*$', context): - return False - - # operator++(int) and operator--(int) - if context.endswith(' operator++') or context.endswith(' operator--'): - return False - - # A single unnamed argument for a function tends to look like old style cast. - # If we see those, don't issue warnings for deprecated casts. - remainder = line[match.end(0):] - if Match(r'^\s*(?:;|const\b|throw\b|final\b|override\b|[=>{),]|->)', - remainder): - return False - - # At this point, all that should be left is actual casts. - error(filename, linenum, 'readability/casting', 4, - 'Using C-style cast. Use %s<%s>(...) instead' % - (cast_type, match.group(1))) - - return True - - -def ExpectingFunctionArgs(clean_lines, linenum): - """Checks whether where function type arguments are expected. - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - - Returns: - True if the line at 'linenum' is inside something that expects arguments - of function types. - """ - line = clean_lines.elided[linenum] - return (Match(r'^\s*MOCK_(CONST_)?METHOD\d+(_T)?\(', line) or - (linenum >= 2 and - (Match(r'^\s*MOCK_(?:CONST_)?METHOD\d+(?:_T)?\((?:\S+,)?\s*$', - clean_lines.elided[linenum - 1]) or - Match(r'^\s*MOCK_(?:CONST_)?METHOD\d+(?:_T)?\(\s*$', - clean_lines.elided[linenum - 2]) or - Search(r'\bstd::m?function\s*\<\s*$', - clean_lines.elided[linenum - 1])))) - - -_HEADERS_CONTAINING_TEMPLATES = ( - ('', ('deque',)), - ('', ('unary_function', 'binary_function', - 'plus', 'minus', 'multiplies', 'divides', 'modulus', - 'negate', - 'equal_to', 'not_equal_to', 'greater', 'less', - 'greater_equal', 'less_equal', - 'logical_and', 'logical_or', 'logical_not', - 'unary_negate', 'not1', 'binary_negate', 'not2', - 'bind1st', 'bind2nd', - 'pointer_to_unary_function', - 'pointer_to_binary_function', - 'ptr_fun', - 'mem_fun_t', 'mem_fun', 'mem_fun1_t', 'mem_fun1_ref_t', - 'mem_fun_ref_t', - 'const_mem_fun_t', 'const_mem_fun1_t', - 'const_mem_fun_ref_t', 'const_mem_fun1_ref_t', - 'mem_fun_ref', - )), - ('', ('numeric_limits',)), - ('', ('list',)), - ('', ('multimap',)), - ('', ('allocator', 'make_shared', 'make_unique', 'shared_ptr', - 'unique_ptr', 'weak_ptr')), - ('', ('queue', 'priority_queue',)), - ('', ('multiset',)), - ('', ('stack',)), - ('', ('char_traits', 'basic_string',)), - ('', ('tuple',)), - ('', ('unordered_map', 'unordered_multimap')), - ('', ('unordered_set', 'unordered_multiset')), - ('', ('pair',)), - ('', ('vector',)), - - # gcc extensions. - # Note: std::hash is their hash, ::hash is our hash - ('', ('hash_map', 'hash_multimap',)), - ('', ('hash_set', 'hash_multiset',)), - ('', ('slist',)), - ) - -_HEADERS_MAYBE_TEMPLATES = ( - ('', ('copy', 'max', 'min', 'min_element', 'sort', - 'transform', - )), - ('', ('forward', 'make_pair', 'move', 'swap')), - ) - -_RE_PATTERN_STRING = re.compile(r'\bstring\b') - -_re_pattern_headers_maybe_templates = [] -for _header, _templates in _HEADERS_MAYBE_TEMPLATES: - for _template in _templates: - # Match max(..., ...), max(..., ...), but not foo->max, foo.max or - # 'type::max()'. - _re_pattern_headers_maybe_templates.append( - (re.compile(r'[^>.]\b' + _template + r'(<.*?>)?\([^\)]'), - _template, - _header)) -# Match set, but not foo->set, foo.set -_re_pattern_headers_maybe_templates.append( - (re.compile(r'[^>.]\bset\s*\<'), - 'set<>', - '')) -# Match 'map var' and 'std::map(...)', but not 'map(...)'' -_re_pattern_headers_maybe_templates.append( - (re.compile(r'(std\b::\bmap\s*\<)|(^(std\b::\b)map\b\(\s*\<)'), - 'map<>', - '')) - -# Other scripts may reach in and modify this pattern. -_re_pattern_templates = [] -for _header, _templates in _HEADERS_CONTAINING_TEMPLATES: - for _template in _templates: - _re_pattern_templates.append( - (re.compile(r'(\<|\b)' + _template + r'\s*\<'), - _template + '<>', - _header)) - - -def FilesBelongToSameModule(filename_cc, filename_h): - """Check if these two filenames belong to the same module. - - The concept of a 'module' here is a as follows: - foo.h, foo-inl.h, foo.cc, foo_test.cc and foo_unittest.cc belong to the - same 'module' if they are in the same directory. - some/path/public/xyzzy and some/path/internal/xyzzy are also considered - to belong to the same module here. - - If the filename_cc contains a longer path than the filename_h, for example, - '/absolute/path/to/base/sysinfo.cc', and this file would include - 'base/sysinfo.h', this function also produces the prefix needed to open the - header. This is used by the caller of this function to more robustly open the - header file. We don't have access to the real include paths in this context, - so we need this guesswork here. - - Known bugs: tools/base/bar.cc and base/bar.h belong to the same module - according to this implementation. Because of this, this function gives - some false positives. This should be sufficiently rare in practice. - - Args: - filename_cc: is the path for the source (e.g. .cc) file - filename_h: is the path for the header path - - Returns: - Tuple with a bool and a string: - bool: True if filename_cc and filename_h belong to the same module. - string: the additional prefix needed to open the header file. - """ - fileinfo_cc = FileInfo(filename_cc) - if not fileinfo_cc.Extension().lstrip('.') in GetNonHeaderExtensions(): - return (False, '') - - fileinfo_h = FileInfo(filename_h) - if not IsHeaderExtension(fileinfo_h.Extension().lstrip('.')): - return (False, '') - - filename_cc = filename_cc[:-(len(fileinfo_cc.Extension()))] - matched_test_suffix = Search(_TEST_FILE_SUFFIX, fileinfo_cc.BaseName()) - if matched_test_suffix: - filename_cc = filename_cc[:-len(matched_test_suffix.group(1))] - - filename_cc = filename_cc.replace('/public/', '/') - filename_cc = filename_cc.replace('/internal/', '/') - - filename_h = filename_h[:-(len(fileinfo_h.Extension()))] - if filename_h.endswith('-inl'): - filename_h = filename_h[:-len('-inl')] - filename_h = filename_h.replace('/public/', '/') - filename_h = filename_h.replace('/internal/', '/') - - files_belong_to_same_module = filename_cc.endswith(filename_h) - common_path = '' - if files_belong_to_same_module: - common_path = filename_cc[:-len(filename_h)] - return files_belong_to_same_module, common_path - - -def UpdateIncludeState(filename, include_dict, io=codecs): - """Fill up the include_dict with new includes found from the file. - - Args: - filename: the name of the header to read. - include_dict: a dictionary in which the headers are inserted. - io: The io factory to use to read the file. Provided for testability. - - Returns: - True if a header was successfully added. False otherwise. - """ - headerfile = None - try: - with io.open(filename, 'r', 'utf8', 'replace') as headerfile: - linenum = 0 - for line in headerfile: - linenum += 1 - clean_line = CleanseComments(line) - match = _RE_PATTERN_INCLUDE.search(clean_line) - if match: - include = match.group(2) - include_dict.setdefault(include, linenum) - return True - except IOError: - return False - - - -def CheckForIncludeWhatYouUse(filename, clean_lines, include_state, error, - io=codecs): - """Reports for missing stl includes. - - This function will output warnings to make sure you are including the headers - necessary for the stl containers and functions that you use. We only give one - reason to include a header. For example, if you use both equal_to<> and - less<> in a .h file, only one (the latter in the file) of these will be - reported as a reason to include the . - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - include_state: An _IncludeState instance. - error: The function to call with any errors found. - io: The IO factory to use to read the header file. Provided for unittest - injection. - """ - required = {} # A map of header name to linenumber and the template entity. - # Example of required: { '': (1219, 'less<>') } - - for linenum in xrange(clean_lines.NumLines()): - line = clean_lines.elided[linenum] - if not line or line[0] == '#': - continue - - # String is special -- it is a non-templatized type in STL. - matched = _RE_PATTERN_STRING.search(line) - if matched: - # Don't warn about strings in non-STL namespaces: - # (We check only the first match per line; good enough.) - prefix = line[:matched.start()] - if prefix.endswith('std::') or not prefix.endswith('::'): - required[''] = (linenum, 'string') - - for pattern, template, header in _re_pattern_headers_maybe_templates: - if pattern.search(line): - required[header] = (linenum, template) - - # The following function is just a speed up, no semantics are changed. - if not '<' in line: # Reduces the cpu time usage by skipping lines. - continue - - for pattern, template, header in _re_pattern_templates: - matched = pattern.search(line) - if matched: - # Don't warn about IWYU in non-STL namespaces: - # (We check only the first match per line; good enough.) - prefix = line[:matched.start()] - if prefix.endswith('std::') or not prefix.endswith('::'): - required[header] = (linenum, template) - - # The policy is that if you #include something in foo.h you don't need to - # include it again in foo.cc. Here, we will look at possible includes. - # Let's flatten the include_state include_list and copy it into a dictionary. - include_dict = dict([item for sublist in include_state.include_list - for item in sublist]) - - # Did we find the header for this file (if any) and successfully load it? - header_found = False - - # Use the absolute path so that matching works properly. - abs_filename = FileInfo(filename).FullName() - - # For Emacs's flymake. - # If cpplint is invoked from Emacs's flymake, a temporary file is generated - # by flymake and that file name might end with '_flymake.cc'. In that case, - # restore original file name here so that the corresponding header file can be - # found. - # e.g. If the file name is 'foo_flymake.cc', we should search for 'foo.h' - # instead of 'foo_flymake.h' - abs_filename = re.sub(r'_flymake\.cc$', '.cc', abs_filename) - - # include_dict is modified during iteration, so we iterate over a copy of - # the keys. - header_keys = list(include_dict.keys()) - for header in header_keys: - (same_module, common_path) = FilesBelongToSameModule(abs_filename, header) - fullpath = common_path + header - if same_module and UpdateIncludeState(fullpath, include_dict, io): - header_found = True - - # If we can't find the header file for a .cc, assume it's because we don't - # know where to look. In that case we'll give up as we're not sure they - # didn't include it in the .h file. - # TODO(unknown): Do a better job of finding .h files so we are confident that - # not having the .h file means there isn't one. - if not header_found: - for extension in GetNonHeaderExtensions(): - if filename.endswith('.' + extension): - return - - # All the lines have been processed, report the errors found. - for required_header_unstripped in sorted(required, key=required.__getitem__): - template = required[required_header_unstripped][1] - if required_header_unstripped.strip('<>"') not in include_dict: - error(filename, required[required_header_unstripped][0], - 'build/include_what_you_use', 4, - 'Add #include ' + required_header_unstripped + ' for ' + template) - - -_RE_PATTERN_EXPLICIT_MAKEPAIR = re.compile(r'\bmake_pair\s*<') - - -def CheckMakePairUsesDeduction(filename, clean_lines, linenum, error): - """Check that make_pair's template arguments are deduced. - - G++ 4.6 in C++11 mode fails badly if make_pair's template arguments are - specified explicitly, and such use isn't intended in any case. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - match = _RE_PATTERN_EXPLICIT_MAKEPAIR.search(line) - if match: - error(filename, linenum, 'build/explicit_make_pair', - 4, # 4 = high confidence - 'For C++11-compatibility, omit template arguments from make_pair' - ' OR use pair directly OR if appropriate, construct a pair directly') - - -def CheckRedundantVirtual(filename, clean_lines, linenum, error): - """Check if line contains a redundant "virtual" function-specifier. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - # Look for "virtual" on current line. - line = clean_lines.elided[linenum] - virtual = Match(r'^(.*)(\bvirtual\b)(.*)$', line) - if not virtual: return - - # Ignore "virtual" keywords that are near access-specifiers. These - # are only used in class base-specifier and do not apply to member - # functions. - if (Search(r'\b(public|protected|private)\s+$', virtual.group(1)) or - Match(r'^\s+(public|protected|private)\b', virtual.group(3))): - return - - # Ignore the "virtual" keyword from virtual base classes. Usually - # there is a column on the same line in these cases (virtual base - # classes are rare in google3 because multiple inheritance is rare). - if Match(r'^.*[^:]:[^:].*$', line): return - - # Look for the next opening parenthesis. This is the start of the - # parameter list (possibly on the next line shortly after virtual). - # TODO(unknown): doesn't work if there are virtual functions with - # decltype() or other things that use parentheses, but csearch suggests - # that this is rare. - end_col = -1 - end_line = -1 - start_col = len(virtual.group(2)) - for start_line in xrange(linenum, min(linenum + 3, clean_lines.NumLines())): - line = clean_lines.elided[start_line][start_col:] - parameter_list = Match(r'^([^(]*)\(', line) - if parameter_list: - # Match parentheses to find the end of the parameter list - (_, end_line, end_col) = CloseExpression( - clean_lines, start_line, start_col + len(parameter_list.group(1))) - break - start_col = 0 - - if end_col < 0: - return # Couldn't find end of parameter list, give up - - # Look for "override" or "final" after the parameter list - # (possibly on the next few lines). - for i in xrange(end_line, min(end_line + 3, clean_lines.NumLines())): - line = clean_lines.elided[i][end_col:] - match = Search(r'\b(override|final)\b', line) - if match: - error(filename, linenum, 'readability/inheritance', 4, - ('"virtual" is redundant since function is ' - 'already declared as "%s"' % match.group(1))) - - # Set end_col to check whole lines after we are done with the - # first line. - end_col = 0 - if Search(r'[^\w]\s*$', line): - break - - -def CheckRedundantOverrideOrFinal(filename, clean_lines, linenum, error): - """Check if line contains a redundant "override" or "final" virt-specifier. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - # Look for closing parenthesis nearby. We need one to confirm where - # the declarator ends and where the virt-specifier starts to avoid - # false positives. - line = clean_lines.elided[linenum] - declarator_end = line.rfind(')') - if declarator_end >= 0: - fragment = line[declarator_end:] - else: - if linenum > 1 and clean_lines.elided[linenum - 1].rfind(')') >= 0: - fragment = line - else: - return - - # Check that at most one of "override" or "final" is present, not both - if Search(r'\boverride\b', fragment) and Search(r'\bfinal\b', fragment): - error(filename, linenum, 'readability/inheritance', 4, - ('"override" is redundant since function is ' - 'already declared as "final"')) - - - - -# Returns true if we are at a new block, and it is directly -# inside of a namespace. -def IsBlockInNameSpace(nesting_state, is_forward_declaration): - """Checks that the new block is directly in a namespace. - - Args: - nesting_state: The _NestingState object that contains info about our state. - is_forward_declaration: If the class is a forward declared class. - Returns: - Whether or not the new block is directly in a namespace. - """ - if is_forward_declaration: - return len(nesting_state.stack) >= 1 and ( - isinstance(nesting_state.stack[-1], _NamespaceInfo)) - - - return (len(nesting_state.stack) > 1 and - nesting_state.stack[-1].check_namespace_indentation and - isinstance(nesting_state.stack[-2], _NamespaceInfo)) - - -def ShouldCheckNamespaceIndentation(nesting_state, is_namespace_indent_item, - raw_lines_no_comments, linenum): - """This method determines if we should apply our namespace indentation check. - - Args: - nesting_state: The current nesting state. - is_namespace_indent_item: If we just put a new class on the stack, True. - If the top of the stack is not a class, or we did not recently - add the class, False. - raw_lines_no_comments: The lines without the comments. - linenum: The current line number we are processing. - - Returns: - True if we should apply our namespace indentation check. Currently, it - only works for classes and namespaces inside of a namespace. - """ - - is_forward_declaration = IsForwardClassDeclaration(raw_lines_no_comments, - linenum) - - if not (is_namespace_indent_item or is_forward_declaration): - return False - - # If we are in a macro, we do not want to check the namespace indentation. - if IsMacroDefinition(raw_lines_no_comments, linenum): - return False - - return IsBlockInNameSpace(nesting_state, is_forward_declaration) - - -# Call this method if the line is directly inside of a namespace. -# If the line above is blank (excluding comments) or the start of -# an inner namespace, it cannot be indented. -def CheckItemIndentationInNamespace(filename, raw_lines_no_comments, linenum, - error): - line = raw_lines_no_comments[linenum] - if Match(r'^\s+', line): - error(filename, linenum, 'runtime/indentation_namespace', 4, - 'Do not indent within a namespace') - - -def ProcessLine(filename, file_extension, clean_lines, line, - include_state, function_state, nesting_state, error, - extra_check_functions=None): - """Processes a single line in the file. - - Args: - filename: Filename of the file that is being processed. - file_extension: The extension (dot not included) of the file. - clean_lines: An array of strings, each representing a line of the file, - with comments stripped. - line: Number of line being processed. - include_state: An _IncludeState instance in which the headers are inserted. - function_state: A _FunctionState instance which counts function lines, etc. - nesting_state: A NestingState instance which maintains information about - the current stack of nested blocks being parsed. - error: A callable to which errors are reported, which takes 4 arguments: - filename, line number, error level, and message - extra_check_functions: An array of additional check functions that will be - run on each source line. Each function takes 4 - arguments: filename, clean_lines, line, error - """ - raw_lines = clean_lines.raw_lines - ParseNolintSuppressions(filename, raw_lines[line], line, error) - nesting_state.Update(filename, clean_lines, line, error) - CheckForNamespaceIndentation(filename, nesting_state, clean_lines, line, - error) - if nesting_state.InAsmBlock(): return - CheckForFunctionLengths(filename, clean_lines, line, function_state, error) - CheckForMultilineCommentsAndStrings(filename, clean_lines, line, error) - CheckStyle(filename, clean_lines, line, file_extension, nesting_state, error) - CheckLanguage(filename, clean_lines, line, file_extension, include_state, - nesting_state, error) - CheckForNonConstReference(filename, clean_lines, line, nesting_state, error) - CheckForNonStandardConstructs(filename, clean_lines, line, - nesting_state, error) - CheckVlogArguments(filename, clean_lines, line, error) - CheckPosixThreading(filename, clean_lines, line, error) - CheckInvalidIncrement(filename, clean_lines, line, error) - CheckMakePairUsesDeduction(filename, clean_lines, line, error) - CheckRedundantVirtual(filename, clean_lines, line, error) - CheckRedundantOverrideOrFinal(filename, clean_lines, line, error) - if extra_check_functions: - for check_fn in extra_check_functions: - check_fn(filename, clean_lines, line, error) - -def FlagCxx11Features(filename, clean_lines, linenum, error): - """Flag those c++11 features that we only allow in certain places. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - include = Match(r'\s*#\s*include\s+[<"]([^<"]+)[">]', line) - - # Flag unapproved C++ TR1 headers. - if include and include.group(1).startswith('tr1/'): - error(filename, linenum, 'build/c++tr1', 5, - ('C++ TR1 headers such as <%s> are unapproved.') % include.group(1)) - - # Flag unapproved C++11 headers. - if include and include.group(1) in ('cfenv', - 'condition_variable', - 'fenv.h', - 'future', - 'mutex', - 'thread', - 'chrono', - 'ratio', - 'regex', - 'system_error', - ): - error(filename, linenum, 'build/c++11', 5, - ('<%s> is an unapproved C++11 header.') % include.group(1)) - - # The only place where we need to worry about C++11 keywords and library - # features in preprocessor directives is in macro definitions. - if Match(r'\s*#', line) and not Match(r'\s*#\s*define\b', line): return - - # These are classes and free functions. The classes are always - # mentioned as std::*, but we only catch the free functions if - # they're not found by ADL. They're alphabetical by header. - for top_name in ( - # type_traits - 'alignment_of', - 'aligned_union', - ): - if Search(r'\bstd::%s\b' % top_name, line): - error(filename, linenum, 'build/c++11', 5, - ('std::%s is an unapproved C++11 class or function. Send c-style ' - 'an example of where it would make your code more readable, and ' - 'they may let you use it.') % top_name) - - -def FlagCxx14Features(filename, clean_lines, linenum, error): - """Flag those C++14 features that we restrict. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - include = Match(r'\s*#\s*include\s+[<"]([^<"]+)[">]', line) - - # Flag unapproved C++14 headers. - if include and include.group(1) in ('scoped_allocator', 'shared_mutex'): - error(filename, linenum, 'build/c++14', 5, - ('<%s> is an unapproved C++14 header.') % include.group(1)) - - -def ProcessFileData(filename, file_extension, lines, error, - extra_check_functions=None): - """Performs lint checks and reports any errors to the given error function. - - Args: - filename: Filename of the file that is being processed. - file_extension: The extension (dot not included) of the file. - lines: An array of strings, each representing a line of the file, with the - last element being empty if the file is terminated with a newline. - error: A callable to which errors are reported, which takes 4 arguments: - filename, line number, error level, and message - extra_check_functions: An array of additional check functions that will be - run on each source line. Each function takes 4 - arguments: filename, clean_lines, line, error - """ - lines = (['// marker so line numbers and indices both start at 1'] + lines + - ['// marker so line numbers end in a known way']) - - include_state = _IncludeState() - function_state = _FunctionState() - nesting_state = NestingState() - - ResetNolintSuppressions() - - CheckForCopyright(filename, lines, error) - ProcessGlobalSuppresions(lines) - RemoveMultiLineComments(filename, lines, error) - clean_lines = CleansedLines(lines) - - if IsHeaderExtension(file_extension): - CheckForHeaderGuard(filename, clean_lines, error) - - for line in xrange(clean_lines.NumLines()): - ProcessLine(filename, file_extension, clean_lines, line, - include_state, function_state, nesting_state, error, - extra_check_functions) - FlagCxx11Features(filename, clean_lines, line, error) - nesting_state.CheckCompletedBlocks(filename, error) - - CheckForIncludeWhatYouUse(filename, clean_lines, include_state, error) - - # Check that the .cc file has included its header if it exists. - if _IsSourceExtension(file_extension): - CheckHeaderFileIncluded(filename, include_state, error) - - # We check here rather than inside ProcessLine so that we see raw - # lines rather than "cleaned" lines. - CheckForBadCharacters(filename, lines, error) - - CheckForNewlineAtEOF(filename, lines, error) - -def ProcessConfigOverrides(filename): - """ Loads the configuration files and processes the config overrides. - - Args: - filename: The name of the file being processed by the linter. - - Returns: - False if the current |filename| should not be processed further. - """ - - abs_filename = os.path.abspath(filename) - cfg_filters = [] - keep_looking = True - while keep_looking: - abs_path, base_name = os.path.split(abs_filename) - if not base_name: - break # Reached the root directory. - - cfg_file = os.path.join(abs_path, "CPPLINT.cfg") - abs_filename = abs_path - if not os.path.isfile(cfg_file): - continue - - try: - with open(cfg_file) as file_handle: - for line in file_handle: - line, _, _ = line.partition('#') # Remove comments. - if not line.strip(): - continue - - name, _, val = line.partition('=') - name = name.strip() - val = val.strip() - if name == 'set noparent': - keep_looking = False - elif name == 'filter': - cfg_filters.append(val) - elif name == 'exclude_files': - # When matching exclude_files pattern, use the base_name of - # the current file name or the directory name we are processing. - # For example, if we are checking for lint errors in /foo/bar/baz.cc - # and we found the .cfg file at /foo/CPPLINT.cfg, then the config - # file's "exclude_files" filter is meant to be checked against "bar" - # and not "baz" nor "bar/baz.cc". - if base_name: - pattern = re.compile(val) - if pattern.match(base_name): - if _cpplint_state.quiet: - # Suppress "Ignoring file" warning when using --quiet. - return False - _cpplint_state.PrintInfo('Ignoring "%s": file excluded by "%s". ' - 'File path component "%s" matches ' - 'pattern "%s"\n' % - (filename, cfg_file, base_name, val)) - return False - elif name == 'linelength': - global _line_length - try: - _line_length = int(val) - except ValueError: - _cpplint_state.PrintError('Line length must be numeric.') - elif name == 'extensions': - ProcessExtensionsOption(val) - elif name == 'root': - global _root - # root directories are specified relative to CPPLINT.cfg dir. - _root = os.path.join(os.path.dirname(cfg_file), val) - elif name == 'headers': - ProcessHppHeadersOption(val) - elif name == 'includeorder': - ProcessIncludeOrderOption(val) - else: - _cpplint_state.PrintError( - 'Invalid configuration option (%s) in file %s\n' % - (name, cfg_file)) - - except IOError: - _cpplint_state.PrintError( - "Skipping config file '%s': Can't open for reading\n" % cfg_file) - keep_looking = False - - # Apply all the accumulated filters in reverse order (top-level directory - # config options having the least priority). - for cfg_filter in reversed(cfg_filters): - _AddFilters(cfg_filter) - - return True - - -def ProcessFile(filename, vlevel, extra_check_functions=None): - """Does google-lint on a single file. - - Args: - filename: The name of the file to parse. - - vlevel: The level of errors to report. Every error of confidence - >= verbose_level will be reported. 0 is a good default. - - extra_check_functions: An array of additional check functions that will be - run on each source line. Each function takes 4 - arguments: filename, clean_lines, line, error - """ - - _SetVerboseLevel(vlevel) - _BackupFilters() - old_errors = _cpplint_state.error_count - - if not ProcessConfigOverrides(filename): - _RestoreFilters() - return - - lf_lines = [] - crlf_lines = [] - try: - # Support the UNIX convention of using "-" for stdin. Note that - # we are not opening the file with universal newline support - # (which codecs doesn't support anyway), so the resulting lines do - # contain trailing '\r' characters if we are reading a file that - # has CRLF endings. - # If after the split a trailing '\r' is present, it is removed - # below. - if filename == '-': - lines = codecs.StreamReaderWriter(sys.stdin, - codecs.getreader('utf8'), - codecs.getwriter('utf8'), - 'replace').read().split('\n') - else: - with codecs.open(filename, 'r', 'utf8', 'replace') as target_file: - lines = target_file.read().split('\n') - - # Remove trailing '\r'. - # The -1 accounts for the extra trailing blank line we get from split() - for linenum in range(len(lines) - 1): - if lines[linenum].endswith('\r'): - lines[linenum] = lines[linenum].rstrip('\r') - crlf_lines.append(linenum + 1) - else: - lf_lines.append(linenum + 1) - - except IOError: - _cpplint_state.PrintError( - "Skipping input '%s': Can't open for reading\n" % filename) - _RestoreFilters() - return - - # Note, if no dot is found, this will give the entire filename as the ext. - file_extension = filename[filename.rfind('.') + 1:] - - # When reading from stdin, the extension is unknown, so no cpplint tests - # should rely on the extension. - if filename != '-' and file_extension not in GetAllExtensions(): - pass - # Ignition: never print this - # _cpplint_state.PrintError('Ignoring %s; not a valid file name ' - # '(%s)\n' % (filename, ', '.join(GetAllExtensions()))) - else: - ProcessFileData(filename, file_extension, lines, Error, - extra_check_functions) - - # If end-of-line sequences are a mix of LF and CR-LF, issue - # warnings on the lines with CR. - # - # Don't issue any warnings if all lines are uniformly LF or CR-LF, - # since critique can handle these just fine, and the style guide - # doesn't dictate a particular end of line sequence. - # - # We can't depend on os.linesep to determine what the desired - # end-of-line sequence should be, since that will return the - # server-side end-of-line sequence. - if lf_lines and crlf_lines: - # Warn on every line with CR. An alternative approach might be to - # check whether the file is mostly CRLF or just LF, and warn on the - # minority, we bias toward LF here since most tools prefer LF. - for linenum in crlf_lines: - Error(filename, linenum, 'whitespace/newline', 1, - 'Unexpected \\r (^M) found; better to use only \\n') - - # Suppress printing anything if --quiet was passed unless the error - # count has increased after processing this file. - if not _cpplint_state.quiet or old_errors != _cpplint_state.error_count: - pass - # Ignition: never print "Done Processing" - # _cpplint_state.PrintInfo('Done processing %s\n' % filename) - _RestoreFilters() - - -def PrintUsage(message): - """Prints a brief usage string and exits, optionally with an error message. - - Args: - message: The optional error message. - """ - sys.stderr.write(_USAGE % (list(GetAllExtensions()), - ','.join(list(GetAllExtensions())), - GetHeaderExtensions(), - ','.join(GetHeaderExtensions()))) - - if message: - sys.exit('\nFATAL ERROR: ' + message) - else: - sys.exit(0) - -def PrintVersion(): - sys.stdout.write('Cpplint fork (https://github.com/cpplint/cpplint)\n') - sys.stdout.write('cpplint ' + __VERSION__ + '\n') - sys.stdout.write('Python ' + sys.version + '\n') - sys.exit(0) - -def PrintCategories(): - """Prints a list of all the error-categories used by error messages. - - These are the categories used to filter messages via --filter. - """ - sys.stderr.write(''.join(' %s\n' % cat for cat in _ERROR_CATEGORIES)) - sys.exit(0) - - -def ParseArguments(args): - """Parses the command line arguments. - - This may set the output format and verbosity level as side-effects. - - Args: - args: The command line arguments: - - Returns: - The list of filenames to lint. - """ - try: - (opts, filenames) = getopt.getopt(args, '', ['help', 'output=', 'verbose=', - 'v=', - 'version', - 'counting=', - 'filter=', - 'root=', - 'repository=', - 'linelength=', - 'extensions=', - 'exclude=', - 'recursive', - 'headers=', - 'includeorder=', - 'quiet']) - except getopt.GetoptError: - PrintUsage('Invalid arguments.') - - verbosity = _VerboseLevel() - output_format = _OutputFormat() - filters = '' - quiet = _Quiet() - counting_style = '' - recursive = False - - for (opt, val) in opts: - if opt == '--help': - PrintUsage(None) - if opt == '--version': - PrintVersion() - elif opt == '--output': - if val not in ('emacs', 'vs7', 'eclipse', 'junit', 'sed', 'gsed'): - PrintUsage('The only allowed output formats are emacs, vs7, eclipse ' - 'sed, gsed and junit.') - output_format = val - elif opt == '--quiet': - quiet = True - elif opt == '--verbose' or opt == '--v': - verbosity = int(val) - elif opt == '--filter': - filters = val - if not filters: - PrintCategories() - elif opt == '--counting': - if val not in ('total', 'toplevel', 'detailed'): - PrintUsage('Valid counting options are total, toplevel, and detailed') - counting_style = val - elif opt == '--root': - global _root - _root = val - elif opt == '--repository': - global _repository - _repository = val - elif opt == '--linelength': - global _line_length - try: - _line_length = int(val) - except ValueError: - PrintUsage('Line length must be digits.') - elif opt == '--exclude': - global _excludes - if not _excludes: - _excludes = set() - _excludes.update(glob.glob(val)) - elif opt == '--extensions': - ProcessExtensionsOption(val) - elif opt == '--headers': - ProcessHppHeadersOption(val) - elif opt == '--recursive': - recursive = True - elif opt == '--includeorder': - ProcessIncludeOrderOption(val) - - if not filenames: - PrintUsage('No files were specified.') - - if recursive: - filenames = _ExpandDirectories(filenames) - - if _excludes: - filenames = _FilterExcludedFiles(filenames) - - _SetOutputFormat(output_format) - _SetQuiet(quiet) - _SetVerboseLevel(verbosity) - _SetFilters(filters) - _SetCountingStyle(counting_style) - - filenames.sort() - return filenames - -def _ExpandDirectories(filenames): - """Searches a list of filenames and replaces directories in the list with - all files descending from those directories. Files with extensions not in - the valid extensions list are excluded. - - Args: - filenames: A list of files or directories - - Returns: - A list of all files that are members of filenames or descended from a - directory in filenames - """ - expanded = set() - for filename in filenames: - if not os.path.isdir(filename): - expanded.add(filename) - continue - - for root, _, files in os.walk(filename): - for loopfile in files: - fullname = os.path.join(root, loopfile) - if fullname.startswith('.' + os.path.sep): - fullname = fullname[len('.' + os.path.sep):] - expanded.add(fullname) - - filtered = [] - for filename in expanded: - if os.path.splitext(filename)[1][1:] in GetAllExtensions(): - filtered.append(filename) - return filtered - -def _FilterExcludedFiles(fnames): - """Filters out files listed in the --exclude command line switch. File paths - in the switch are evaluated relative to the current working directory - """ - exclude_paths = [os.path.abspath(f) for f in _excludes] - # because globbing does not work recursively, exclude all subpath of all excluded entries - return [f for f in fnames - if not any(e for e in exclude_paths - if _IsParentOrSame(e, os.path.abspath(f)))] - -def _IsParentOrSame(parent, child): - """Return true if child is subdirectory of parent. - Assumes both paths are absolute and don't contain symlinks. - """ - parent = os.path.normpath(parent) - child = os.path.normpath(child) - if parent == child: - return True - - prefix = os.path.commonprefix([parent, child]) - if prefix != parent: - return False - # Note: os.path.commonprefix operates on character basis, so - # take extra care of situations like '/foo/ba' and '/foo/bar/baz' - child_suffix = child[len(prefix):] - child_suffix = child_suffix.lstrip(os.sep) - return child == os.path.join(prefix, child_suffix) - -def main(): - filenames = ParseArguments(sys.argv[1:]) - backup_err = sys.stderr - try: - # Change stderr to write with replacement characters so we don't die - # if we try to print something containing non-ASCII characters. - sys.stderr = codecs.StreamReader(sys.stderr, 'replace') - - _cpplint_state.ResetErrorCounts() - for filename in filenames: - ProcessFile(filename, _cpplint_state.verbose_level) - # If --quiet is passed, suppress printing error count unless there are errors. - if not _cpplint_state.quiet or _cpplint_state.error_count > 0: - _cpplint_state.PrintErrorCounts() - - if _cpplint_state.output_format == 'junit': - sys.stderr.write(_cpplint_state.FormatJUnitXML()) - - finally: - sys.stderr = backup_err - - sys.exit(_cpplint_state.error_count > 0) - - -if __name__ == '__main__': - main() diff --git a/tools/cpplint_to_cppcheckxml.py b/tools/cpplint_to_cppcheckxml.py deleted file mode 100644 index 2809ad9e8..000000000 --- a/tools/cpplint_to_cppcheckxml.py +++ /dev/null @@ -1,53 +0,0 @@ -#!/usr/bin/env python - -# Convert output from Google's cpplint.py to the cppcheck XML format for -# consumption by the Jenkins cppcheck plugin. - -# Reads from stdin and writes to stderr (to mimic cppcheck) - - -import sys -import re -import xml.sax.saxutils - -def cpplint_score_to_cppcheck_severity(score): - # I'm making this up - if score == 1: - return 'style' - elif score == 2: - return 'style' - elif score == 3: - return 'warning' - elif score == 4: - return 'warning' - elif score == 5: - return 'error' - -def parse(): - # TODO: do this properly, using the xml module. - # Write header - sys.stderr.write('''\n''') - sys.stderr.write('''\n''') - - # Do line-by-line conversion - r = re.compile('([^:]*):([0-9]*): ([^\[]*)\[([^\]]*)\] \[([0-9]*)\].*') - - for l in sys.stdin.readlines(): - m = r.match(l.strip()) - if not m: - continue - g = m.groups() - if len(g) != 5: - continue - fname, lineno, rawmsg, label, score = g - # Protect Jenkins from bad XML, which makes it barf - msg = xml.sax.saxutils.escape(rawmsg) - severity = cpplint_score_to_cppcheck_severity(int(score)) - sys.stderr.write('''\n'''%(fname, lineno, label, severity, msg)) - - # Write footer - sys.stderr.write('''\n''') - - -if __name__ == '__main__': - parse() diff --git a/usd/include/sdf/CMakeLists.txt b/usd/include/sdf/CMakeLists.txt new file mode 100644 index 000000000..f2909dd9d --- /dev/null +++ b/usd/include/sdf/CMakeLists.txt @@ -0,0 +1 @@ +ign_install_all_headers(COMPONENT usd) diff --git a/src/usd/sdf_usd_parser/geometry.hh b/usd/include/sdf/geometry.hh similarity index 95% rename from src/usd/sdf_usd_parser/geometry.hh rename to usd/include/sdf/geometry.hh index e61ed11bf..019db91cc 100644 --- a/src/usd/sdf_usd_parser/geometry.hh +++ b/usd/include/sdf/geometry.hh @@ -15,8 +15,8 @@ * */ -#ifndef SDF_PARSER_GEOMETRY_HH_ -#define SDF_PARSER_GEOMETRY_HH_ +#ifndef SDF_USD_GEOMETRY_HH_ +#define SDF_USD_GEOMETRY_HH_ #include diff --git a/src/usd/sdf_usd_parser/joint.hh b/usd/include/sdf/joint.hh similarity index 96% rename from src/usd/sdf_usd_parser/joint.hh rename to usd/include/sdf/joint.hh index fadf2ddc1..d5c84ce25 100644 --- a/src/usd/sdf_usd_parser/joint.hh +++ b/usd/include/sdf/joint.hh @@ -15,8 +15,8 @@ * */ -#ifndef SDF_PARSER_JOINT_HH_ -#define SDF_PARSER_JOINT_HH_ +#ifndef SDF_USD_JOINT_HH_ +#define SDF_USD_JOINT_HH_ #include diff --git a/src/usd/sdf_usd_parser/light.hh b/usd/include/sdf/light.hh similarity index 95% rename from src/usd/sdf_usd_parser/light.hh rename to usd/include/sdf/light.hh index fc37d539c..2e8aab283 100644 --- a/src/usd/sdf_usd_parser/light.hh +++ b/usd/include/sdf/light.hh @@ -15,8 +15,8 @@ * */ -#ifndef SDF_PARSER_LIGHT_HH_ -#define SDF_PARSER_LIGHT_HH_ +#ifndef SDF_USD_LIGHT_HH_ +#define SDF_USD_LIGHT_HH_ #include diff --git a/src/usd/sdf_usd_parser/link.hh b/usd/include/sdf/link.hh similarity index 96% rename from src/usd/sdf_usd_parser/link.hh rename to usd/include/sdf/link.hh index c0286a5d9..553ccda3f 100644 --- a/src/usd/sdf_usd_parser/link.hh +++ b/usd/include/sdf/link.hh @@ -15,8 +15,8 @@ * */ -#ifndef SDF_PARSER_LINK_HH_ -#define SDF_PARSER_LINK_HH_ +#ifndef SDF_USD_LINK_HH_ +#define SDF_USD_LINK_HH_ #include diff --git a/src/usd/sdf_usd_parser/model.hh b/usd/include/sdf/model.hh similarity index 96% rename from src/usd/sdf_usd_parser/model.hh rename to usd/include/sdf/model.hh index 8cfec2ec3..af83b29fd 100644 --- a/src/usd/sdf_usd_parser/model.hh +++ b/usd/include/sdf/model.hh @@ -15,8 +15,8 @@ * */ -#ifndef SDF_PARSER_MODEL_HH_ -#define SDF_PARSER_MODEL_HH_ +#ifndef SDF_USD_MODEL_HH_ +#define SDF_USD_MODEL_HH_ #include diff --git a/src/usd/sdf_usd_parser/sensor.hh b/usd/include/sdf/sensor.hh similarity index 95% rename from src/usd/sdf_usd_parser/sensor.hh rename to usd/include/sdf/sensor.hh index 244fcb741..bedd393b4 100644 --- a/src/usd/sdf_usd_parser/sensor.hh +++ b/usd/include/sdf/sensor.hh @@ -15,8 +15,8 @@ * */ -#ifndef SDF_PARSER_SENSOR_HH_ -#define SDF_PARSER_SENSOR_HH_ +#ifndef SDF_USD_SENSOR_HH_ +#define SDF_USD_SENSOR_HH_ #include diff --git a/src/usd/sdf_usd_parser/utils.hh b/usd/include/sdf/utils.hh similarity index 98% rename from src/usd/sdf_usd_parser/utils.hh rename to usd/include/sdf/utils.hh index 320470aba..15a4422c4 100644 --- a/src/usd/sdf_usd_parser/utils.hh +++ b/usd/include/sdf/utils.hh @@ -15,8 +15,8 @@ * */ -#ifndef SDF_PARSER_UTILS_HH_ -#define SDF_PARSER_UTILS_HH_ +#ifndef SDF_USD_UTILS_HH_ +#define SDF_USD_UTILS_HH_ #include #include diff --git a/src/usd/sdf_usd_parser/visual.hh b/usd/include/sdf/visual.hh similarity index 95% rename from src/usd/sdf_usd_parser/visual.hh rename to usd/include/sdf/visual.hh index 98d6586b1..b1fa143e2 100644 --- a/src/usd/sdf_usd_parser/visual.hh +++ b/usd/include/sdf/visual.hh @@ -15,8 +15,8 @@ * */ -#ifndef SDF_PARSER_VISUAL_HH_ -#define SDF_PARSER_VISUAL_HH_ +#ifndef SDF_USD_VISUAL_HH_ +#define SDF_USD_VISUAL_HH_ #include diff --git a/src/usd/sdf_usd_parser/world.hh b/usd/include/sdf/world.hh similarity index 95% rename from src/usd/sdf_usd_parser/world.hh rename to usd/include/sdf/world.hh index aeae014ba..7d6b1d0c1 100644 --- a/src/usd/sdf_usd_parser/world.hh +++ b/usd/include/sdf/world.hh @@ -15,8 +15,8 @@ * */ -#ifndef SDF_PARSER_WORLD_HH_ -#define SDF_PARSER_WORLD_HH_ +#ifndef SDF_USD_WORLD_HH_ +#define SDF_USD_WORLD_HH_ #include diff --git a/usd/src/CMakeLists.txt b/usd/src/CMakeLists.txt new file mode 100644 index 000000000..2c5b292ee --- /dev/null +++ b/usd/src/CMakeLists.txt @@ -0,0 +1,20 @@ +# Collect source files into the "sources" variable and unit test files into the +# "gtest_sources" variable. +ign_get_libsources_and_unittests(sources gtest_sources) + +ign_add_component(usd SOURCES ${sources} GET_TARGET_NAME usd_target) + +target_include_directories(${usd_target} + PUBLIC + ${PXR_INCLUDE_DIRS} +) + +target_link_libraries(${usd_target} + PUBLIC + ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} + ignition-common${IGN_COMMON_VER}::graphics + ${PXR_LIBRARIES} +) + +# Build the unit tests +ign_build_tests(TYPE UNIT SOURCES ${gtest_sources} LIB_DEPS ${usd_target}) diff --git a/src/usd/sdf_usd_parser/geometry.cc b/usd/src/geometry.cc similarity index 99% rename from src/usd/sdf_usd_parser/geometry.cc rename to usd/src/geometry.cc index 727527c6c..8a79363f5 100644 --- a/src/usd/sdf_usd_parser/geometry.cc +++ b/usd/src/geometry.cc @@ -15,7 +15,7 @@ * */ -#include "sdf_usd_parser/geometry.hh" +#include "sdf/geometry.hh" #include #include @@ -44,7 +44,7 @@ #include "sdf/Mesh.hh" #include "sdf/Plane.hh" #include "sdf/Sphere.hh" -#include "sdf_usd_parser/utils.hh" +#include "sdf/utils.hh" namespace usd { @@ -240,7 +240,7 @@ namespace usd bool ParseSdfEllipsoid(const sdf::Geometry &_geometry, pxr::UsdStageRefPtr &_stage, const std::string &_path) { const auto sdfEllipsoid = _geometry.EllipsoidShape(); - + auto usdEllipsoid = pxr::UsdGeomSphere::Define(_stage, pxr::SdfPath(_path)); const auto &maxRadii = sdfEllipsoid->Radii().Max(); usdEllipsoid.CreateRadiusAttr().Set(maxRadii); diff --git a/src/usd/sdf_usd_parser/joint.cc b/usd/src/joint.cc similarity index 99% rename from src/usd/sdf_usd_parser/joint.cc rename to usd/src/joint.cc index 68c029b77..23bf08fc2 100644 --- a/src/usd/sdf_usd_parser/joint.cc +++ b/usd/src/joint.cc @@ -15,7 +15,7 @@ * */ -#include "sdf_usd_parser/joint.hh" +#include "sdf/joint.hh" #include #include @@ -41,7 +41,7 @@ #include "sdf/JointAxis.hh" #include "sdf/Link.hh" #include "sdf/Model.hh" -#include "sdf_usd_parser/utils.hh" +#include "sdf/utils.hh" namespace usd { diff --git a/src/usd/sdf_usd_parser/light.cc b/usd/src/light.cc similarity index 98% rename from src/usd/sdf_usd_parser/light.cc rename to usd/src/light.cc index c94cb65a5..977083565 100644 --- a/src/usd/sdf_usd_parser/light.cc +++ b/usd/src/light.cc @@ -15,7 +15,7 @@ * */ -#include "sdf_usd_parser/light.hh" +#include "sdf/light.hh" #include @@ -29,7 +29,7 @@ #include #include "sdf/Light.hh" -#include "sdf_usd_parser/utils.hh" +#include "sdf/utils.hh" namespace usd { diff --git a/src/usd/sdf_usd_parser/link.cc b/usd/src/link.cc similarity index 95% rename from src/usd/sdf_usd_parser/link.cc rename to usd/src/link.cc index c2b59a397..566930bb9 100644 --- a/src/usd/sdf_usd_parser/link.cc +++ b/usd/src/link.cc @@ -15,7 +15,7 @@ * */ -#include "sdf_usd_parser/link.hh" +#include "sdf/link.hh" #include @@ -26,10 +26,10 @@ #include #include "sdf/Link.hh" -#include "sdf_usd_parser/light.hh" -#include "sdf_usd_parser/sensor.hh" -#include "sdf_usd_parser/utils.hh" -#include "sdf_usd_parser/visual.hh" +#include "sdf/light.hh" +#include "sdf/sensor.hh" +#include "sdf/utils.hh" +#include "sdf/visual.hh" namespace usd { diff --git a/src/usd/sdf_usd_parser/model.cc b/usd/src/model.cc similarity index 96% rename from src/usd/sdf_usd_parser/model.cc rename to usd/src/model.cc index f7cbccb7d..d63b15aa4 100644 --- a/src/usd/sdf_usd_parser/model.cc +++ b/usd/src/model.cc @@ -15,7 +15,7 @@ * */ -#include "sdf_usd_parser/model.hh" +#include "sdf/model.hh" #include #include @@ -28,9 +28,9 @@ #include #include "sdf/Model.hh" -#include "sdf_usd_parser/joint.hh" -#include "sdf_usd_parser/link.hh" -#include "sdf_usd_parser/utils.hh" +#include "sdf/joint.hh" +#include "sdf/link.hh" +#include "sdf/utils.hh" namespace usd { diff --git a/src/usd/sdf_usd_parser/sensor.cc b/usd/src/sensor.cc similarity index 98% rename from src/usd/sdf_usd_parser/sensor.cc rename to usd/src/sensor.cc index f3afdf1b7..163605a3a 100644 --- a/src/usd/sdf_usd_parser/sensor.cc +++ b/usd/src/sensor.cc @@ -15,7 +15,7 @@ * */ -#include "sdf_usd_parser/sensor.hh" +#include "sdf/sensor.hh" #include @@ -32,7 +32,7 @@ #include "sdf/Camera.hh" #include "sdf/Lidar.hh" #include "sdf/Sensor.hh" -#include "sdf_usd_parser/utils.hh" +#include "sdf/utils.hh" namespace usd { diff --git a/src/usd/sdf_usd_parser/visual.cc b/usd/src/visual.cc similarity index 92% rename from src/usd/sdf_usd_parser/visual.cc rename to usd/src/visual.cc index e50c4ddbf..b6ef94159 100644 --- a/src/usd/sdf_usd_parser/visual.cc +++ b/usd/src/visual.cc @@ -15,7 +15,7 @@ * */ -#include "sdf_usd_parser/visual.hh" +#include "sdf/visual.hh" #include #include @@ -25,8 +25,8 @@ #include #include "sdf/Visual.hh" -#include "sdf_usd_parser/geometry.hh" -#include "sdf_usd_parser/utils.hh" +#include "sdf/geometry.hh" +#include "sdf/utils.hh" namespace usd { diff --git a/src/usd/sdf_usd_parser/world.cc b/usd/src/world.cc similarity index 97% rename from src/usd/sdf_usd_parser/world.cc rename to usd/src/world.cc index aad6e8e2d..9faf48068 100644 --- a/src/usd/sdf_usd_parser/world.cc +++ b/usd/src/world.cc @@ -15,7 +15,7 @@ * */ -#include "sdf_usd_parser/world.hh" +#include "sdf/world.hh" #include #include @@ -31,8 +31,8 @@ #include "sdf/Joint.hh" #include "sdf/World.hh" -#include "sdf_usd_parser/light.hh" -#include "sdf_usd_parser/model.hh" +#include "sdf/light.hh" +#include "sdf/model.hh" namespace usd {