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Signed-off-by: Louise Poubel <[email protected]>
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@chapulina
chapulina committed Dec 21, 2021
2 parents 251c354 + 41ad073 commit e5c29da
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1 change: 1 addition & 0 deletions src/parser.cc
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Expand Up @@ -1416,6 +1416,7 @@ void addNestedModel(ElementPtr _sdf, ElementPtr _includeSDF, Errors &_errors)
}

_includeSDF->ClearElements();
_includeSDF->RemoveAllAttributes();
readString(str, _includeSDF, _errors);

elem = _includeSDF->GetElement("model")->GetFirstElement();
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5 changes: 5 additions & 0 deletions test/integration/model/model_with_custom_elements/model.config
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@@ -0,0 +1,5 @@
<?xml version="1.0"?>
<model>
<name>model_with_custom_elements</name>
<sdf version="1.7">model.sdf</sdf>
</model>
22 changes: 22 additions & 0 deletions test/integration/model/model_with_custom_elements/model.sdf
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@@ -0,0 +1,22 @@
<?xml version="1.0" ?>
<sdf version="1.7" xmlns:mysim="http://example.org/mysim/schema">
<model name="M1">
<link name="L1" mysim:custom_attr_str="A" mysim:custom_attr_int="5" />
<link name="L2" />
<joint name="J1" type="revolute">
<parent>L1</parent>
<child>L2</child>
</joint>

<model name="M2">
<link name="L1" mysim:custom_attr_str="B">
<mysim:transmission name="simple_trans">
<mysim:type>transmission_interface/SimpleTransmission</mysim:type>
<mysim:joint name="J1">
<mysim:hardwareInterface>EffortJointInterface</mysim:hardwareInterface>
</mysim:joint>
</mysim:transmission>
</link>
</model>
</model>
</sdf>
283 changes: 283 additions & 0 deletions test/integration/sdf_custom.cc
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Expand Up @@ -82,3 +82,286 @@ TEST(SDFParser, CustomElements)
tranJointElement->Get<std::string>("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"(<mysim:transmission name='simple_trans'>
<mysim:type>transmission_interface/SimpleTransmission</mysim:type>
<mysim:joint name='J1'>
<mysim:hardwareInterface>EffortJointInterface</mysim:hardwareInterface>
</mysim:joint>
</mysim:transmission>
)";
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 =
"<mysim:description>Description of this world</mysim:description>\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"(<sdf version='1.7'>
<world name='default'>
<include>
<uri>model_with_custom_elements</uri>
</include>
</world>
</sdf>
)";

// 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 =
"<link name='L1' mysim:custom_attr_str='A' mysim:custom_attr_int='5'/>\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"(<mysim:transmission name='simple_trans'>
<mysim:type>transmission_interface/SimpleTransmission</mysim:type>
<mysim:joint name='J1'>
<mysim:hardwareInterface>EffortJointInterface</mysim:hardwareInterface>
</mysim:joint>
</mysim:transmission>
)";
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"(<sdf version='1.7'>
<world name='default'>
<model name='test'>
<include>
<uri>model_with_custom_elements</uri>
</include>
</model>
</world>
</sdf>
)";

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 *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=test]/frame[@name=M1::__model__]
const sdf::Frame *frame1 = model11->FrameByIndex(0);
const sdf::Frame *frame2 = model12->FrameByIndex(0);
ASSERT_NE(nullptr, frame1);
ASSERT_NE(nullptr, frame2);
EXPECT_EQ(frame1->Element()->ToString(""), frame2->Element()->ToString(""));

// //model[@name=test]/link[@name=M1::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 =
R"(<link name='M1::L1' mysim:custom_attr_str='A' mysim:custom_attr_int='5'>
<pose relative_to='M1::__model__'>0 0 0 0 -0 0</pose>
</link>
)";
EXPECT_EQ(linkCustomAttrStr, model11link1->Element()->ToString(""));
EXPECT_EQ(linkCustomAttrStr, model12link2->Element()->ToString(""));

// //model[@name=test]/model[@name=M1::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=test]/model[@name=M1::M2]/link[@name=M1::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=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"(<mysim:transmission name='simple_trans'>
<mysim:type>transmission_interface/SimpleTransmission</mysim:type>
<mysim:joint name='M1::J1'>
<mysim:hardwareInterface>EffortJointInterface</mysim:hardwareInterface>
</mysim:joint>
</mysim:transmission>
)";
EXPECT_EQ(customElemStr, customElem1->ToString(""));
EXPECT_EQ(customElemStr, customElem2->ToString(""));
}

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