11 ➡️ 12 (#627)

Signed-off-by: Louise Poubel <louise@openrobotics.org>
gazebosim · Jul 17, 2021 · 6251baa · 6251baa
2 parents 218a6f7 + 199c529
commit 6251baa
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diff --git a/Changelog.md b/Changelog.md
@@ -6,6 +6,17 @@
 
 ### libsdformat 11.X.X (202X-XX-XX)
 
+### libsdformat 11.2.2 (2021-07-01)
+
+1. Fix segfault when checking for required elements in joint
+    * [Pull request #610](https://github.com/ignitionrobotics/sdformat/pull/610)
+
+1. Add ValidateGraphs methods to Model/World
+    * [Pull request #601](https://github.com/ignitionrobotics/sdformat/pull/601)
+
+1. Making `PrintValues()` and `ToString()` able to not print default elements
+    * [Pull request #575](https://github.com/ignitionrobotics/sdformat/pull/575)
+
 ### libsdformat 11.2.1 (2021-06-28)
 
 1. Fix ABI break on sdf11

diff --git a/include/sdf/Element.hh b/include/sdf/Element.hh
@@ -150,6 +150,14 @@ namespace sdf
     /// \param[in] _prefix String value to prefix to the output.
     public: void PrintValues(std::string _prefix) const;
 
+    /// \brief Output Element's values to stdout.
+    /// \param[in] _prefix String value to prefix to the output.
+    /// \param[in] _includeDefaultElements flag to print default elements.
+    /// \param[in] _includeDefaultAttributes flag to print default attributes.
+    public: void PrintValues(const std::string &_prefix,
+                             bool _includeDefaultElements,
+                             bool _includeDefaultAttributes) const;
+
     /// \brief Helper function for SDF::PrintDoc
     ///
     /// This generates the SDF html documentation.
@@ -172,6 +180,18 @@ namespace sdf
     /// \return The string representation.
     public: std::string ToString(const std::string &_prefix) const;
 
+    /// \brief Convert the element values to a string representation.
+    /// Current behavior of ToString(const std::string &_prefix) can be
+    /// achieved by calling this function with _includeDefaultElements=true
+    /// and _includeDefaultAttributes=false
+    /// \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.
+    /// \return The string representation.
+    public: std::string ToString(const std::string &_prefix,
+                                 bool _includeDefaultElements,
+                                 bool _includeDefaultAttributes) const;
+
     /// \brief Add an attribute value.
     /// \param[in] _key Key value.
     /// \param[in] _type Type of data the attribute will hold.
@@ -472,14 +492,22 @@ namespace sdf
 
     /// \brief Generate a string (XML) representation of this object.
     /// \param[in] _prefix arbitrary prefix to put on the string.
+    /// \param[in] _includeDefaultElements flag to include default elements.
+    /// \param[in] _includeDefaultAttributes flag to include default attributes.
     /// \param[out] _out the std::ostreamstream to write output to.
     private: void ToString(const std::string &_prefix,
+                           bool _includeDefaultElements,
+                           bool _includeDefaultAttributes,
                            std::ostringstream &_out) const;
 
     /// \brief Generate a string (XML) representation of this object.
     /// \param[in] _prefix arbitrary prefix to put on the string.
+    /// \param[in] _includeDefaultElements flag to include default elements.
+    /// \param[in] _includeDefaultAttributes flag to include default attributes.
     /// \param[out] _out the std::ostreamstream to write output to.
     private: void PrintValuesImpl(const std::string &_prefix,
+                                  bool _includeDefaultElements,
+                                  bool _includeDefaultAttributes,
                                   std::ostringstream &_out) const;
 
     /// \brief Create a new Param object and return it.

diff --git a/include/sdf/Error.hh b/include/sdf/Error.hh
@@ -221,30 +221,8 @@ namespace sdf
     /// \param[in,out] _out The output stream.
     /// \param[in] _err The error to output.
     /// \return Reference to the given output stream
-    public: friend std::ostream &operator<<(std::ostream &_out,
-                                            const sdf::Error &_err)
-    {
-      std::string pathInfo = "";
-
-      if (_err.XmlPath().has_value())
-        pathInfo += _err.XmlPath().value();
-
-      if (_err.FilePath().has_value())
-        pathInfo += ":" + _err.FilePath().value();
-
-      if (_err.LineNumber().has_value())
-        pathInfo += ":L" + std::to_string(_err.LineNumber().value());
-
-      if (!pathInfo.empty())
-        pathInfo = "[" + pathInfo + "]: ";
-
-      _out << "Error Code "
-          << static_cast<std::underlying_type<sdf::ErrorCode>::type>(
-              _err.Code()) << ": "
-          << pathInfo
-          << "Msg: " << _err.Message();
-      return _out;
-    }
+    public: friend SDFORMAT_VISIBLE std::ostream &operator<<(
+        std::ostream &_out, const sdf::Error &_err);
 
     /// \brief Private data pointer.
     IGN_UTILS_IMPL_PTR(dataPtr)

diff --git a/include/sdf/Model.hh b/include/sdf/Model.hh
@@ -67,6 +67,12 @@ namespace sdf
     /// an error code and message. An empty vector indicates no error.
     public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
 
+    /// \brief Check that the FrameAttachedToGraph and PoseRelativeToGraph
+    /// are valid.
+    /// \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 ValidateGraphs() const;
+
     /// \brief Get the name of the model.
     /// The name of the model should be unique within the scope of a World.
     /// \return Name of the model.

diff --git a/include/sdf/World.hh b/include/sdf/World.hh
@@ -70,6 +70,12 @@ namespace sdf
     /// an error code and message. An empty vector indicates no error.
     public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
 
+    /// \brief Check that the FrameAttachedToGraph and PoseRelativeToGraph
+    /// are valid.
+    /// \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 ValidateGraphs() const;
+
     /// \brief Get the name of the world.
     /// \return Name of the world.
     public: std::string Name() const;

diff --git a/sdf/1.6/particle_emitter.sdf b/sdf/1.6/particle_emitter.sdf
@@ -104,6 +104,17 @@
     </description>
   </element>
 
+  <element name="particle_scatter_ratio" type="float" default="0.65" required="0">
+    <description>
+    This is used to determine the ratio of particles that will be detected
+    by sensors. Increasing the ratio means there is a higher chance of
+    particles reflecting and interfering with depth sensing, making the
+    emitter appear more dense. Decreasing the ratio decreases the chance
+    of particles reflecting and interfering with depth sensing, making it
+    appear less dense.
+    </description>
+  </element>
+
   <include filename="pose.sdf" required="0"/>
   <include filename="material.sdf" required="0"/>
 </element>
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -53,6 +53,7 @@ set (sources
   parser_urdf.cc
   ParserConfig.cc
   Param.cc
+  ParamPassing.cc
   ParticleEmitter.cc
   Pbr.cc
   Physics.cc
@@ -197,6 +198,21 @@ if (BUILD_SDF_TEST)
     target_link_libraries(UNIT_parser_urdf_TEST PRIVATE
       ${TinyXML2_LIBRARIES})
   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})
+  endif()
 endif()
 
 sdf_add_library(${sdf_target} ${sources})

diff --git a/src/Element.cc b/src/Element.cc
@@ -485,47 +485,59 @@ void Element::PrintDocLeftPane(std::string &_html, int _spacing,
 }
 
 void Element::PrintValuesImpl(const std::string &_prefix,
+                              bool _includeDefaultElements,
+                              bool _includeDefaultAttributes,
                               std::ostringstream &_out) const
 {
-  _out << _prefix << "<" << this->dataPtr->name;
-
-  Param_V::const_iterator aiter;
-  for (aiter = this->dataPtr->attributes.begin();
-       aiter != this->dataPtr->attributes.end(); ++aiter)
+  if (this->GetExplicitlySetInFile() || _includeDefaultElements)
   {
-    // 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())
-    {
-      _out << " " << (*aiter)->GetKey() << "='"
-           << (*aiter)->GetAsString() << "'";
-    }
-  }
+    _out << _prefix << "<" << this->dataPtr->name;
 
-  if (this->dataPtr->elements.size() > 0)
-  {
-    _out << ">\n";
-    ElementPtr_V::const_iterator eiter;
-    for (eiter = this->dataPtr->elements.begin();
-         eiter != this->dataPtr->elements.end(); ++eiter)
+    Param_V::const_iterator aiter;
+    for (aiter = this->dataPtr->attributes.begin();
+         aiter != this->dataPtr->attributes.end(); ++aiter)
     {
-      (*eiter)->ToString(_prefix + "  ", _out);
+      // 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() << "'";
+      }
     }
-    _out << _prefix << "</" << this->dataPtr->name << ">\n";
-  }
-  else
-  {
-    if (this->dataPtr->value)
+
+    if (this->dataPtr->elements.size() > 0)
     {
-      _out << ">" << this->dataPtr->value->GetAsString()
-           << "</" << this->dataPtr->name << ">\n";
+      _out << ">\n";
+      ElementPtr_V::const_iterator eiter;
+      for (eiter = this->dataPtr->elements.begin();
+           eiter != this->dataPtr->elements.end(); ++eiter)
+      {
+        if ((*eiter)->GetExplicitlySetInFile() || _includeDefaultElements)
+        {
+          (*eiter)->ToString(_prefix + "  ",
+                             _includeDefaultElements,
+                             _includeDefaultAttributes,
+                             _out);
+        }
+      }
+      _out << _prefix << "</" << this->dataPtr->name << ">\n";
     }
     else
     {
-      _out << "/>\n";
+      if (this->dataPtr->value)
+      {
+        _out << ">" << this->dataPtr->value->GetAsString()
+             << "</" << this->dataPtr->name << ">\n";
+      }
+      else
+      {
+        _out << "/>\n";
+      }
     }
   }
 }
@@ -534,23 +546,54 @@ void Element::PrintValuesImpl(const std::string &_prefix,
 void Element::PrintValues(std::string _prefix) const
 {
   std::ostringstream ss;
-  PrintValuesImpl(_prefix, ss);
+  PrintValuesImpl(_prefix, true, false, ss);
+  std::cout << ss.str();
+}
+
+/////////////////////////////////////////////////
+void Element::PrintValues(const std::string &_prefix,
+                          bool _includeDefaultElements,
+                          bool _includeDefaultAttributes) const
+{
+  std::ostringstream ss;
+  PrintValuesImpl(_prefix,
+                  _includeDefaultElements,
+                  _includeDefaultAttributes,
+                  ss);
   std::cout << ss.str();
 }
 
 /////////////////////////////////////////////////
 std::string Element::ToString(const std::string &_prefix) const
 {
   std::ostringstream out;
-  this->ToString(_prefix, out);
+  this->ToString(_prefix, true, false, out);
+  return out.str();
+}
+
+/////////////////////////////////////////////////
+std::string Element::ToString(const std::string &_prefix,
+                              bool _includeDefaultElements,
+                              bool _includeDefaultAttributes) const
+{
+  std::ostringstream out;
+  this->ToString(_prefix,
+                 _includeDefaultElements,
+                 _includeDefaultAttributes,
+                 out);
   return out.str();
 }
 
 /////////////////////////////////////////////////
 void Element::ToString(const std::string &_prefix,
+                       bool _includeDefaultElements,
+                       bool _includeDefaultAttributes,
                        std::ostringstream &_out) const
 {
-  PrintValuesImpl(_prefix, _out);
+  PrintValuesImpl(_prefix,
+                  _includeDefaultElements,
+                  _includeDefaultAttributes,
+                  _out);
 }
 
 /////////////////////////////////////////////////