Allow files paths for include URIs

//include/uri used to only take directories that contain a model.config file and the sdformat file. However, allowing //include/uri to take file names can be supported without loss of functionality. Signed-off-by: Addisu Z. Taddese <[email protected]>
gazebosim · Dec 23, 2020 · 3b8de07 · 3b8de07
1 parent e0e09f9
commit 3b8de07
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Showing 3 changed files with 29 additions and 8 deletions.
diff --git a/src/parser.cc b/src/parser.cc
@@ -961,16 +961,19 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf, Errors &_errors)
           }
           else
           {
-            if (!sdf::filesystem::is_directory(modelPath))
+            if (sdf::filesystem::is_directory(modelPath))
             {
-              _errors.push_back({ErrorCode::DIRECTORY_NONEXISTANT,
-                  "Directory doesn't exist[" + modelPath + "]"});
-              continue;
+              // Get the model.config filename
+              filename = getModelFilePath(modelPath);
+            }
+            else
+            {
+              // This is a file path and since sdf::findFile returns an empty
+              // string if the file doesn't exist, we don't have to check for
+              // existence again here.
+              filename = modelPath;
             }
           }
-
-          // Get the config.xml filename
-          filename = getModelFilePath(modelPath);
         }
         else
         {

diff --git a/test/integration/includes.cc b/test/integration/includes.cc
@@ -149,7 +149,7 @@ TEST(IncludesTest, Includes)
   EXPECT_EQ("", pointLight1->PoseRelativeTo());
 
   // Models
-  EXPECT_EQ(2u, world->ModelCount());
+  EXPECT_EQ(3u, world->ModelCount());
   EXPECT_FALSE(world->ModelNameExists(""));
 
   // Model without overrides
@@ -209,6 +209,19 @@ TEST(IncludesTest, Includes)
   EXPECT_EQ("", model1->PoseRelativeTo());
   ASSERT_NE(nullptr, model1->Element());
   EXPECT_TRUE(model1->Element()->HasElement("plugin"));
+
+  const sdf::Model *model2 = world->ModelByIndex(2);
+  ASSERT_NE(nullptr, model2);
+  EXPECT_EQ("test_model_with_file", model2->Name());
+  EXPECT_FALSE(model2->Static());
+  EXPECT_EQ(1u, model2->LinkCount());
+  ASSERT_FALSE(nullptr == model2->LinkByIndex(0));
+  ASSERT_FALSE(nullptr == model2->LinkByName("link"));
+  EXPECT_EQ(model2->LinkByName("link")->Name(), model2->LinkByIndex(0)->Name());
+  EXPECT_TRUE(nullptr == model2->LinkByIndex(1));
+  EXPECT_TRUE(model2->LinkNameExists("link"));
+  EXPECT_FALSE(model2->LinkNameExists("coconut"));
+  EXPECT_EQ("1.6", model2->Element()->OriginalVersion());
 }
 
 //////////////////////////////////////////////////

diff --git a/test/sdf/includes.sdf b/test/sdf/includes.sdf
@@ -14,6 +14,11 @@
       <plugin name="plugin_name" filename="file.so"/>
     </include>
 
+    <include>
+      <uri>test_model/model.sdf</uri>
+      <name>test_model_with_file</name>
+    </include>
+
     <include>
       <uri>test_light</uri>
     </include>