Merge pull request #660 from azeey/azeey/11_to_main_20210809

11 ➡️  main

CMakeLists.txt

@@ -155,7 +155,6 @@ option(BUILD_SHARED_LIBS "Set this to true to generate shared libraries (recomme
 #####################################
 # Handle CFlags
 unset (CMAKE_C_FLAGS_ALL CACHE)
-unset (CMAKE_CXX_FLAGS CACHE)
 
 # USE_HOST_CFLAGS (default TRUE)
 # Will check building host machine for proper cflags

Migration.md

@@ -174,6 +174,13 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1.
     + std::optional<std::string> GetMaxValueAsString() const;
     + bool ValidateValue() const;
 
+## libsdformat 9.4 to 9.5
+
+### Additions
+
+1. **sdf/Element.hh**
+    + sdf::ElementPtr FindElement() const
+
 ## libsdformat 9.3 to 9.4
 
 ### Modifications

cmake/DefaultCFlags.cmake

@@ -40,12 +40,12 @@ endif()
 
 #####################################
 # Set all the global build flags
-set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
+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 "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-set (CMAKE_SHARED_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-set (CMAKE_MODULE_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
+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)
@@ -67,7 +67,9 @@ if ("${CMAKE_CXX_COMPILER_ID} " MATCHES "GNU ")
         message(FATAL_ERROR "${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.")

include/sdf/Element.hh

@@ -52,6 +52,10 @@ namespace sdf
   /// \brief Shared pointer to an SDF Element
   typedef std::shared_ptr<Element> ElementPtr;
 
+  /// \def ElementConstPtr
+  /// \brief Shared pointer to a const SDF Element
+  typedef std::shared_ptr<const Element> ElementConstPtr;
+
   /// \def ElementWeakPtr
   /// \brief Weak pointer to an SDF Element
   typedef std::weak_ptr<Element> ElementWeakPtr;
@@ -375,14 +379,37 @@ namespace sdf
     /// \brief Return a pointer to the child element with the provided name.
     ///
     /// A new child element, with the provided name, is added to this element
-    /// if there is no existing child element.
+    /// if there is no existing child element. If this is not desired see \ref
+    /// FindElement
     /// \remarks If there are multiple elements with the given tag, it returns
     ///          the first one.
     /// \param[in] _name Name of the child element to retreive.
     /// \return Pointer to the existing child element, or a new child
     /// element if an existing child element did not exist.
     public: ElementPtr GetElement(const std::string &_name);
 
+    /// \brief Return a pointer to the child element with the provided name.
+    ///
+    /// Unlike \ref GetElement, this does not create a new child element if it
+    /// fails to find an existing element.
+    /// \remarks If there are multiple elements with the given tag, it returns
+    ///          the first one.
+    /// \param[in] _name Name of the child element to retreive.
+    /// \return Pointer to the existing child element, or nullptr
+    /// if the child element was not found.
+    public: ElementPtr FindElement(const std::string &_name);
+
+    /// \brief Return a pointer to the child element with the provided name.
+    ///
+    /// Unlike \ref GetElement, this does not create a new child element if it
+    /// fails to find an existing element.
+    /// \remarks If there are multiple elements with the given tag, it returns
+    ///          the first one.
+    /// \param[in] _name Name of the child element to retreive.
+    /// \return Pointer to the existing child element, or nullptr
+    /// if the child element was not found.
+    public: ElementConstPtr FindElement(const std::string &_name) const;
+
     /// \brief Add a named element.
     /// \param[in] _name the name of the element to add.
     /// \return A pointer to the newly created Element object.

include/sdf/Param.hh

@@ -275,6 +275,7 @@ namespace sdf
 
     /// \brief Private method to set the Element from a passed-in string.
     /// \param[in] _value Value to set the parameter to.
+    /// \return True if the parameter was successfully set, false otherwise.
     private: bool ValueFromString(const std::string &_value);
 
     /// \brief Private data
@@ -326,8 +327,63 @@ namespace sdf
 
     /// \brief This parameter's maximum allowed value
     public: std::optional<ParamVariant> maxValue;
+
+    /// \brief Method used to set the Param from a passed-in string
+    /// \param[in] _typeName The data type of the value to set
+    /// \param[in] _valueStr The value as a string
+    /// \param[out] _valueToSet The value to set
+    /// \return True if the value was successfully set, false otherwise
+    public: bool SDFORMAT_VISIBLE ValueFromStringImpl(
+                                    const std::string &_typeName,
+                                    const std::string &_valueStr,
+                                    ParamVariant &_valueToSet) const;
+
+    /// \brief Data type to string mapping
+    /// \return The type as a string, empty string if unknown type
+    public: template<typename T>
+            std::string TypeToString() const;
   };
 
+  ///////////////////////////////////////////////
+  template<typename T>
+  std::string ParamPrivate::TypeToString() const
+  {
+    if constexpr (std::is_same_v<T, bool>)
+      return "bool";
+    else if constexpr (std::is_same_v<T, char>)
+      return "char";
+    else if constexpr (std::is_same_v<T, std::string>)
+      return "string";
+    else if constexpr (std::is_same_v<T, int>)
+      return "int";
+    else if constexpr (std::is_same_v<T, std::uint64_t>)
+      return "uint64_t";
+    else if constexpr (std::is_same_v<T, unsigned int>)
+      return "unsigned int";
+    else if constexpr (std::is_same_v<T, double>)
+      return "double";
+    else if constexpr (std::is_same_v<T, float>)
+      return "float";
+    else if constexpr (std::is_same_v<T, sdf::Time>)
+      return "time";
+    else if constexpr (std::is_same_v<T, ignition::math::Angle>)
+      return "angle";
+    else if constexpr (std::is_same_v<T, ignition::math::Color>)
+      return "color";
+    else if constexpr (std::is_same_v<T, ignition::math::Vector2i>)
+      return "vector2i";
+    else if constexpr (std::is_same_v<T, ignition::math::Vector2d>)
+      return "vector2d";
+    else if constexpr (std::is_same_v<T, ignition::math::Vector3d>)
+      return "vector3";
+    else if constexpr (std::is_same_v<T, ignition::math::Quaterniond>)
+      return "quaternion";
+    else if constexpr (std::is_same_v<T, ignition::math::Pose3d>)
+      return "pose";
+    else
+      return "";
+  }
+
   ///////////////////////////////////////////////
   template<typename T>
   void Param::SetUpdateFunc(T _updateFunc)
@@ -359,50 +415,48 @@ namespace sdf
   template<typename T>
   bool Param::Get(T &_value) const
   {
-    try
+    T *value = std::get_if<T>(&this->dataPtr->value);
+    if (value)
     {
-      if (typeid(T) == typeid(bool) && this->dataPtr->typeName == "string")
+      _value = *value;
+    }
+    else
+    {
+      std::string typeStr = this->dataPtr->TypeToString<T>();
+      if (typeStr.empty())
+      {
+        sdferr << "Unknown parameter type[" << typeid(T).name() << "]\n";
+        return false;
+      }
+
+      std::string valueStr = this->GetAsString();
+      ParamPrivate::ParamVariant pv;
+      bool success = this->dataPtr->ValueFromStringImpl(typeStr, valueStr, pv);
+
+      if (success)
+      {
+        _value = std::get<T>(pv);
+      }
+      else if (typeStr == "bool" && this->dataPtr->typeName == "string")
       {
-        std::string strValue = std::get<std::string>(this->dataPtr->value);
-        std::transform(strValue.begin(), strValue.end(), strValue.begin(),
-            [](unsigned char c)
-            {
-              return static_cast<unsigned char>(std::tolower(c));
-            });
+        // this section for handling bool types is to keep backward behavior
+        // TODO(anyone) remove for Fortress. For more details:
+        // https://github.com/ignitionrobotics/sdformat/pull/638
+        valueStr = lowercase(valueStr);
 
         std::stringstream tmp;
-        if (strValue == "true" || strValue  == "1")
-        {
+        if (valueStr == "true" || valueStr == "1")
           tmp << "1";
-        }
         else
-        {
           tmp << "0";
-        }
+
         tmp >> _value;
+        return true;
       }
-      else
-      {
-        T *value = std::get_if<T>(&this->dataPtr->value);
-        if (value)
-          _value = *value;
-        else
-        {
-          std::stringstream ss;
-          ss << ParamStreamer{this->dataPtr->value};
-          ss >> _value;
-        }
-      }
-    }
-    catch(...)
-    {
-      sdferr << "Unable to convert parameter["
-             << this->dataPtr->key << "] "
-             << "whose type is["
-             << this->dataPtr->typeName << "], to "
-             << "type[" << typeid(T).name() << "]\n";
-      return false;
+
+      return success;
     }
+
     return true;
   }
 

sdf/1.6/CMakeLists.txt

@@ -1,5 +1,6 @@
 set (sdfs
   actor.sdf
+  air_pressure.sdf
   altimeter.sdf
   atmosphere.sdf
   audio_source.sdf
@@ -21,6 +22,7 @@ set (sdfs
   imu.sdf
   inertial.sdf
   joint.sdf
+  lidar.sdf
   light.sdf
   light_state.sdf
   link.sdf
@@ -32,6 +34,7 @@ set (sdfs
   model.sdf
   model_state.sdf
   noise.sdf
+  particle_emitter.sdf
   physics.sdf
   plane_shape.sdf
   plugin.sdf

sdf/1.6/material.sdf

@@ -111,6 +111,10 @@
         <description>Material glossiness in the range of [0-1], where 0 represents a rough surface and 1 represents a smooth surface. This is the inverse of a roughness map in a PBR metal workflow.</description>
       </element>
 
+      <element name="environment_map" type="string" default="" required="0">
+        <description>Filename of the environment / reflection map, typically in the form of a cubemap</description>
+      </element>
+
       <element name="ambient_occlusion_map" type="string" default="" required="0">
         <description>Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.</description>
       </element>

sdf/1.7/CMakeLists.txt

@@ -1,5 +1,6 @@
 set (sdfs
   actor.sdf
+  air_pressure.sdf
   altimeter.sdf
   atmosphere.sdf
   audio_source.sdf
@@ -21,6 +22,7 @@ set (sdfs
   imu.sdf
   inertial.sdf
   joint.sdf
+  lidar.sdf
   light.sdf
   light_state.sdf
   link.sdf
@@ -32,6 +34,7 @@ set (sdfs
   model.sdf
   model_state.sdf
   noise.sdf
+  particle_emitter.sdf
   physics.sdf
   plane_shape.sdf
   plugin.sdf

sdf/1.7/material.sdf

@@ -128,6 +128,10 @@
         <description>Material glossiness in the range of [0-1], where 0 represents a rough surface and 1 represents a smooth surface. This is the inverse of a roughness map in a PBR metal workflow.</description>
       </element>
 
+      <element name="environment_map" type="string" default="" required="0">
+        <description>Filename of the environment / reflection map, typically in the form of a cubemap</description>
+      </element>
+
       <element name="ambient_occlusion_map" type="string" default="" required="0">
         <description>Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.</description>
       </element>

sdf/1.8/CMakeLists.txt

@@ -1,5 +1,6 @@
 set (sdfs
   actor.sdf
+  air_pressure.sdf
   altimeter.sdf
   atmosphere.sdf
   audio_source.sdf
@@ -23,6 +24,7 @@ set (sdfs
   imu.sdf
   inertial.sdf
   joint.sdf
+  lidar.sdf
   light.sdf
   light_state.sdf
   link.sdf
@@ -34,6 +36,7 @@ set (sdfs
   model.sdf
   model_state.sdf
   noise.sdf
+  particle_emitter.sdf
   physics.sdf
   plane_shape.sdf
   plugin.sdf

sdf/1.8/material.sdf

@@ -128,6 +128,10 @@
         <description>Material glossiness in the range of [0-1], where 0 represents a rough surface and 1 represents a smooth surface. This is the inverse of a roughness map in a PBR metal workflow.</description>
       </element>
 
+      <element name="environment_map" type="string" default="" required="0">
+        <description>Filename of the environment / reflection map, typically in the form of a cubemap</description>
+      </element>
+
       <element name="ambient_occlusion_map" type="string" default="" required="0">
         <description>Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.</description>
       </element>

sdf/1.9/CMakeLists.txt

@@ -1,5 +1,6 @@
 set (sdfs
   actor.sdf
+  air_pressure.sdf
   altimeter.sdf
   atmosphere.sdf
   audio_source.sdf
@@ -23,6 +24,7 @@ set (sdfs
   imu.sdf
   inertial.sdf
   joint.sdf
+  lidar.sdf
   light.sdf
   light_state.sdf
   link.sdf
@@ -34,6 +36,7 @@ set (sdfs
   model.sdf
   model_state.sdf
   noise.sdf
+  particle_emitter.sdf
   physics.sdf
   plane_shape.sdf
   plugin.sdf

sdf/1.9/material.sdf

@@ -128,6 +128,10 @@
         <description>Material glossiness in the range of [0-1], where 0 represents a rough surface and 1 represents a smooth surface. This is the inverse of a roughness map in a PBR metal workflow.</description>
       </element>
 
+      <element name="environment_map" type="string" default="" required="0">
+        <description>Filename of the environment / reflection map, typically in the form of a cubemap</description>
+      </element>
+
       <element name="ambient_occlusion_map" type="string" default="" required="0">
         <description>Filename of the ambient occlusion map. The map defines the amount of ambient lighting on the surface.</description>
       </element>