Update sdfs and parser for warnings

Signed-off-by: Stephen Brawner <[email protected]>

src/parser.cc

@@ -1000,14 +1000,25 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf, Errors &_errors)
           return false;
         }
 
+        // For now there is only a warning if there is more than one model,
+        // actor or light element, or two different types of those elements. For
+        // compatibility with old behavior, this chooses the first element
+        // in the preference order: model->actor->light
         sdf::ElementPtr topLevelElem;
-        int countTopLevelElements = 0;
         for (const auto & elementType : {"model", "actor", "light"})
         {
           if (includeSDF->Root()->HasElement(elementType))
           {
-            countTopLevelElements++;
-            topLevelElem = includeSDF->Root()->GetElement(elementType);
+            if (nullptr == topLevelElem)
+            {
+              topLevelElem = includeSDF->Root()->GetElement(elementType);
+            } else
+            {
+              sdfwarn << "Found other top level element <" << elementType
+                      << "> in addition to <" << topLevelElem->GetName()
+                      << "> in include file. This is unsupported and in future "
+                      << "versions of libsdformat will become an error";
+            }
           }
         }
 
@@ -1019,24 +1030,14 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf, Errors &_errors)
           continue;
         }
 
-        // Check if more than one type of top-level element
-        if (countTopLevelElements > 1)
-        {
-          _errors.push_back({ErrorCode::ELEMENT_INVALID,
-              "Found more than one of <model> / <actor> / <light> for "
-              "<include>\n"});
-          continue;
-        }
-
         const auto topLevelElementType = topLevelElem->GetName();
-
+        printf("Top level element type: %s\n", topLevelElementType.c_str());
         // Check for more than one of the discovered top-level element type
         if (nullptr != topLevelElem->GetNextElement(topLevelElementType))
         {
-          _errors.push_back({ErrorCode::ELEMENT_INVALID,
-              "Found more than one of " + topLevelElem->GetName() + " for "
-              "<include>\n"});
-          continue;
+          sdfwarn << "Found more than one of " << topLevelElem->GetName()
+                  << " for <include>. This is unsupported and in future "
+                  << "versions of libsdformat will become an error";
         }
 
         bool isModel = topLevelElementType == "model";

test/integration/model/model_actor_light/model.sdf

@@ -1,5 +1,7 @@
 <?xml version="1.0" ?>
 <sdf version="1.8">
+  <!-- This is an example of an invalid file and should only contain one of
+  model, actor or light-->
 
   <model name="model">
     <pose>0 0 0 0 0 0</pose>

test/integration/model/multiple_actors/model.sdf

@@ -1,17 +1,20 @@
 <?xml version="1.0" ?>
 <sdf version="1.8">
-  <!-- This file is not valid because it contains multiple actors which is not
-  allowed -->
+  <!-- This file is not valid because it contains multiple actor elements which
+  is not supported -->
 
   <actor name="multiple_actors1">
     <pose>0 0 0 0 0 0</pose>
+    <link name="link1"/>
   </actor>
 
   <actor name="multiple_actors2">
     <pose>1 0 0 1.57 0 0</pose>
+    <link name="link2"/>
   </actor>
 
   <actor name="multiple_actors3">
     <pose>2 0 0 3.14 0 0</pose>
+    <link name="link3"/>
   </actor>
 </sdf>

test/integration/model/multiple_lights/model.sdf

@@ -1,18 +1,21 @@
 <?xml version="1.0" ?>
 <sdf version="1.8">
-  <!-- This file is not valid because it contains multiple lights which is not
-  allowed -->
+  <!-- This file is not valid because it contains multiple light elements which
+  is not supported -->
 
   <light name="multiple_lights1" type="directional">
     <pose>0 0 0 0 0 0</pose>
+    <direction>1 0 0</direction>
   </light>
 
   <light name="multiple_lights2" type="spot">
     <pose>1 0 0 1.57 0 0</pose>
+    <direction>0 1 0</direction>
   </light>
 
   <light name="multiple_lights3" type="directional">
     <pose>2 0 0 3.14 0 0</pose>
+    <direction>0 0 1</direction>
   </light>
 
 </sdf>

test/integration/model/multiple_models/model.sdf

@@ -1,22 +1,22 @@
 <?xml version="1.0" ?>
 <sdf version="1.8">
-  <!-- This file is not valid because it contains multiple models which is not
-  allowed -->
+  <!-- This file is not valid because it contains multiple model elements which
+  is not supported -->
 
   <model name="multiple_models1">
     <pose>0 0 0 0 0 0</pose>
-    <link name="link"/>
+    <link name="link1"/>
   </model>
 
   <model name="multiple_models2">
     <pose>1 0 0 1.570796326794895 0 0</pose>
-    <link name="link"/>
+    <link name="link2"/>
   </model>
 
 
   <model name="multiple_models3">
     <pose>2 0 0 3.141592653589793 0 0</pose>
-    <link name="link"/>
+    <link name="link3"/>
   </model>
 
 </sdf>

test/integration/model/nested_multiple_actors_error/model.sdf

@@ -1,14 +1,14 @@
 <?xml version="1.0" ?>
 <sdf version="1.8">
+  <!-- The included sdf model contains multiple actor elements, and is an
+  example of poorly formed file. Currently this is unsupported and will
+  eventually become a parsing error -->
 
-  <!-- The included sdf model contains multiple actor elements, and should
-  cause tests to fail -->
-  <model name="nested_multiple_actors_error">
-    <include>
-      <!-- This search path for this model must be added by the test code -->
-      <uri>multiple_actors</uri>
-      <pose>1 1 1 1.570796326794895 0 0</pose>
-    </include>
-  </model>
+  <include>
+    <!-- This search path for this model must be added by the test code -->
+    <uri>multiple_actors</uri>
+    <pose>1 1 1 1.570796326794895 0 0</pose>
+    <name>nested_actor</name>
+  </include>
 
 </sdf>

test/integration/model/nested_multiple_elements_error/model.sdf

@@ -1,14 +1,13 @@
 <?xml version="1.0" ?>
 <sdf version="1.8">
+  <!-- The included sdf model contain actor, light and actor elements, and is an
+  example of poorly formed file. Currently this is unsupported and will
+  eventually become a parsing error -->
 
-  <!-- The included sdf model contains model, actor and light elements, and
-  should cause tests to fail because the name resolution is ambiguous -->
-  <model name="nested_multiple_elements_error">
-    <include>
-      <!-- This search path for this model must be added by the test code -->
-      <uri>model_actor_light</uri>
-      <pose>1 1 1 1.570796326794895 0 0</pose>
-    </include>
-  </model>
-
+  <include>
+    <!-- This search path for this model must be added by the test code -->
+    <uri>model_actor_light</uri>
+    <pose>1 1 1 1.570796326794895 0 0</pose>
+    <name>nested_model</name>
+  </include>
 </sdf>

test/integration/model/nested_multiple_lights_error/model.sdf

@@ -1,14 +1,13 @@
 <?xml version="1.0" ?>
 <sdf version="1.8">
+  <!-- The included sdf model contains multiple light elements, and is an
+  example of poorly formed file. Currently this is unsupported and will
+  eventually become a parsing error -->
 
-  <!-- The included sdf model contains multiple light elements, and should
-  cause tests to fail -->
-  <model name="nested_multiple_lights_error">
-    <include>
-      <!-- This search path for this model must be added by the test code -->
-      <uri>multiple_lights</uri>
-      <pose>1 1 1 1.570796326794895 0 0</pose>
-    </include>
-  </model>
-
+  <include>
+    <!-- This search path for this model must be added by the test code -->
+    <uri>multiple_lights</uri>
+    <pose>1 1 1 1.570796326794895 0 0</pose>
+    <name>nested_light</name>
+  </include>
 </sdf>

test/integration/model/nested_multiple_models_error/model.sdf

@@ -1,12 +1,13 @@
 <?xml version="1.0" ?>
 <sdf version="1.8">
+  <!-- The included sdf model contains multiple model elements, and is an
+  example of poorly formed file. Currently this is unsupported and will
+  eventually become a parsing error -->
 
-  <model name="nested_multiple_models_error">
-    <include>
-      <!-- This search path for this model must be added by the test code -->
-      <uri>multiple_models</uri>
-      <pose>1 1 1 1.570796326794895 0 0</pose>
-    </include>
-  </model>
-
+  <include>
+    <!-- This search path for this model must be added by the test code -->
+    <uri>multiple_models</uri>
+    <pose>1 1 1 1.570796326794895 0 0</pose>
+    <name>nested_model</name>
+  </include>
 </sdf>