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Merge 12 -> main #886

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Mar 18, 2022
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7 changes: 6 additions & 1 deletion .github/ci/before_cmake.sh
Original file line number Diff line number Diff line change
Expand Up @@ -7,12 +7,17 @@ BUILD_DIR=`pwd`
cd /tmp

# check that we can compile USD from sources (only Focal)
# see https://github.com/ignitionrobotics/sdformat/issues/869
return_code=0
if [ "$(lsb_release -r -s)" != "20.04" ]; then
return_code=$(($return_code + 1))
fi

mkdir cmake_test
cd cmake_test

echo "cmake_minimum_required(VERSION 3.12)" > CMakeLists.txt

return_code=0
cmake . || return_code=$(($return_code + $?))
if [ $return_code -eq 0 ]
then
Expand Down
9 changes: 9 additions & 0 deletions .github/workflows/ci.yml
Original file line number Diff line number Diff line change
Expand Up @@ -21,3 +21,12 @@ jobs:
codecov-enabled: true
cppcheck-enabled: true
cpplint-enabled: true
jammy-ci:
runs-on: ubuntu-latest
name: Ubuntu Jammy CI
steps:
- name: Checkout
uses: actions/checkout@v2
- name: Compile and test
id: ci
uses: ignition-tooling/action-ignition-ci@jammy
117 changes: 117 additions & 0 deletions Changelog.md
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,123 @@

## libsdformat 12.X

### libsdformat 12.4.0 (2022-03-xx)

1. SDF -> USD:
* [Pull request #818](https://github.com/ignitionrobotics/sdformat/pull/818)
* [Pull request #828](https://github.com/ignitionrobotics/sdformat/pull/828)
* [Pull request #829](https://github.com/ignitionrobotics/sdformat/pull/829)
* [Pull request #830](https://github.com/ignitionrobotics/sdformat/pull/830)
* [Pull request #831](https://github.com/ignitionrobotics/sdformat/pull/831)
* [Pull request #837](https://github.com/ignitionrobotics/sdformat/pull/837)

1. ToElement
* [Pull request #771](https://github.com/ignitionrobotics/sdformat/pull/771)
* [Pull request #772](https://github.com/ignitionrobotics/sdformat/pull/772)
* [Pull request #775](https://github.com/ignitionrobotics/sdformat/pull/775)
* [Pull request #776](https://github.com/ignitionrobotics/sdformat/pull/776)
* [Pull request #777](https://github.com/ignitionrobotics/sdformat/pull/777)
* [Pull request #781](https://github.com/ignitionrobotics/sdformat/pull/781)
* [Pull request #782](https://github.com/ignitionrobotics/sdformat/pull/782)
* [Pull request #783](https://github.com/ignitionrobotics/sdformat/pull/783)

1. Fix compiler warnings
* [Pull request #808](https://github.com/ignitionrobotics/sdformat/pull/808)
* [Pull request #810](https://github.com/ignitionrobotics/sdformat/pull/810)

1. Infrastructure and Documentation
* [Pull request #861](https://github.com/ignitionrobotics/sdformat/pull/861)
* [Pull request #800](https://github.com/ignitionrobotics/sdformat/pull/800)
* [Pull request #686](https://github.com/ignitionrobotics/sdformat/pull/686)
* [Pull request #713](https://github.com/ignitionrobotics/sdformat/pull/713)

1. Use the Plugin DOM in other DOM objects
* [Pull request #858](https://github.com/ignitionrobotics/sdformat/pull/858)

1. Add SDFormat tags for Triggered Cameras
* [Pull request #846](https://github.com/ignitionrobotics/sdformat/pull/846)

1. Fix bug where //include/pose was ignored when using the Interface API
* [Pull request #853](https://github.com/ignitionrobotics/sdformat/pull/853)

1. Fix joint parent/child frame existence checks to include interface elements
* [Pull request #855](https://github.com/ignitionrobotics/sdformat/pull/855)

1. Remove USD visibility macro from internal APIs
* [Pull request #857](https://github.com/ignitionrobotics/sdformat/pull/857)

1. Added non-const mutable accessors for world child objects
* [Pull request #840](https://github.com/ignitionrobotics/sdformat/pull/840)

1. Added non-const accessors for Model child objects
* [Pull request #839](https://github.com/ignitionrobotics/sdformat/pull/839)

1. Added to light if the light is on or off
* [Pull request #851](https://github.com/ignitionrobotics/sdformat/pull/851)

1. Added Root mutable accessors, and Root::Clone function
* [Pull request #841](https://github.com/ignitionrobotics/sdformat/pull/841)

1. Hide USDUtils.hh file from public API
* [Pull request #850](https://github.com/ignitionrobotics/sdformat/pull/850)

1. Added non-const accessors for Link child objects
* [Pull request #838](https://github.com/ignitionrobotics/sdformat/pull/838)

1. Add USDError class
* [Pull request #836](https://github.com/ignitionrobotics/sdformat/pull/836)

1. Use USD component visibility macro
* [Pull request #849](https://github.com/ignitionrobotics/sdformat/pull/849)

1. Add support for merge-include in the Interface API
* [Pull request #768](https://github.com/ignitionrobotics/sdformat/pull/768)

1. Handle `__model__` in joint parent or child when using merge-include
* [Pull request #835](https://github.com/ignitionrobotics/sdformat/pull/835)

1. Allow model frames (__model__) to be used as joint parent or child
* [Pull request #833](https://github.com/ignitionrobotics/sdformat/pull/833)

1. Fix bug where a sdf::ParserConfig object was not passed to all sdf::readFile calls
* [Pull request #824](https://github.com/ignitionrobotics/sdformat/pull/824)

1. Make SDF to USD a separate component of sdformat
* [Pull request #817](https://github.com/ignitionrobotics/sdformat/pull/817)

1. Add ParserConfig flag for preserveFixedJoint
* [Pull request #815](https://github.com/ignitionrobotics/sdformat/pull/815)

1. Fix parsing 'type' attibutes in plugins
* [Pull request #809](https://github.com/ignitionrobotics/sdformat/pull/809)

1. sdf_custom: fix nested model expectations
* [Pull request #807](https://github.com/ignitionrobotics/sdformat/pull/807)

1. Replace custom cmake code with ign-cmake2
* [Pull request #780](https://github.com/ignitionrobotics/sdformat/pull/780)

1. Support printing sdf poses in degrees and allow snapping to commonly used angles
* [Pull request #689](https://github.com/ignitionrobotics/sdformat/pull/689)

1. Refactor FrameSemantics.cc
* [Pull request #764](https://github.com/ignitionrobotics/sdformat/pull/764)

1. Fix loading nested include with custom attributes
* [Pull request #789](https://github.com/ignitionrobotics/sdformat/pull/789)

1. Added plugin to SDF DOM
* [Pull request #788](https://github.com/ignitionrobotics/sdformat/pull/788)

1. Support URI in the Model DOM
* [Pull request #786](https://github.com/ignitionrobotics/sdformat/pull/786)

1. Support adding and clearing sensors from a joint
* [Pull request #785](https://github.com/ignitionrobotics/sdformat/pull/785)

1. PrintConfig option to preserve includes when converting to string
* [Pull request #749](https://github.com/ignitionrobotics/sdformat/pull/749)

### libsdformat 12.3.0 (2021-12-01)

1. Fix empty pose parsing fail for rotation_format='quat_xyzw'
Expand Down
53 changes: 33 additions & 20 deletions src/parser.cc
Original file line number Diff line number Diff line change
Expand Up @@ -155,7 +155,9 @@ static bool isSdfFile(const std::string &_fileName)

//////////////////////////////////////////////////
template <typename TPtr>
static inline bool _initFile(const std::string &_filename, TPtr _sdf)
static inline bool _initFile(const std::string &_filename,
const ParserConfig &_config,
TPtr _sdf)
{
auto xmlDoc = makeSdfDoc();
if (tinyxml2::XML_SUCCESS != xmlDoc.LoadFile(_filename.c_str()))
Expand All @@ -165,7 +167,7 @@ static inline bool _initFile(const std::string &_filename, TPtr _sdf)
return false;
}

return initDoc(&xmlDoc, _sdf);
return initDoc(&xmlDoc, _config, _sdf);
}

//////////////////////////////////////////////////
Expand All @@ -181,7 +183,9 @@ static inline bool _initFile(const std::string &_filename, TPtr _sdf)
/// \param[out] _errors Captures errors encountered during parsing.
static void insertIncludedElement(sdf::SDFPtr _includeSDF,
const SourceLocation &_sourceLoc, bool _merge,
sdf::ElementPtr _parent, sdf::Errors &_errors)
sdf::ElementPtr _parent,
const ParserConfig &_config,
sdf::Errors &_errors)
{
Error invalidFileError(ErrorCode::FILE_READ,
"Included model is invalid. Skipping model.");
Expand Down Expand Up @@ -230,7 +234,7 @@ static void insertIncludedElement(sdf::SDFPtr _includeSDF,
// We create a throwaway sdf::Root object in order to validate the
// included entity.
sdf::Root includedRoot;
sdf::Errors includeDOMerrors = includedRoot.Load(_includeSDF);
sdf::Errors includeDOMerrors = includedRoot.Load(_includeSDF, _config);
_errors.insert(_errors.end(), includeDOMerrors.begin(),
includeDOMerrors.end());

Expand Down Expand Up @@ -369,7 +373,7 @@ bool init(SDFPtr _sdf)
std::string xmldata = SDF::EmbeddedSpec("root.sdf", false);
auto xmlDoc = makeSdfDoc();
xmlDoc.Parse(xmldata.c_str());
return initDoc(&xmlDoc, _sdf);
return initDoc(&xmlDoc, ParserConfig::GlobalConfig(), _sdf);
}

//////////////////////////////////////////////////
Expand All @@ -387,9 +391,10 @@ bool initFile(
{
auto xmlDoc = makeSdfDoc();
xmlDoc.Parse(xmldata.c_str());
return initDoc(&xmlDoc, _sdf);
return initDoc(&xmlDoc, _config, _sdf);
}
return _initFile(sdf::findFile(_filename, true, false, _config), _sdf);
return _initFile(sdf::findFile(_filename, true, false, _config), _config,
_sdf);
}

//////////////////////////////////////////////////
Expand All @@ -407,14 +412,15 @@ bool initFile(
{
auto xmlDoc = makeSdfDoc();
xmlDoc.Parse(xmldata.c_str());
return initDoc(&xmlDoc, _sdf);
return initDoc(&xmlDoc, _config, _sdf);
}
return _initFile(sdf::findFile(_filename, true, false, _config), _sdf);
return _initFile(sdf::findFile(_filename, true, false, _config), _config,
_sdf);
}

//////////////////////////////////////////////////
bool initString(
const std::string &_xmlString, const ParserConfig &, SDFPtr _sdf)
const std::string &_xmlString, const ParserConfig &_config, SDFPtr _sdf)
{
auto xmlDoc = makeSdfDoc();
if (xmlDoc.Parse(_xmlString.c_str()))
Expand All @@ -423,7 +429,7 @@ bool initString(
return false;
}

return initDoc(&xmlDoc, _sdf);
return initDoc(&xmlDoc, _config, _sdf);
}

//////////////////////////////////////////////////
Expand Down Expand Up @@ -452,31 +458,37 @@ inline tinyxml2::XMLElement *_initDocGetElement(tinyxml2::XMLDocument *_xmlDoc)
}

//////////////////////////////////////////////////
bool initDoc(tinyxml2::XMLDocument *_xmlDoc, SDFPtr _sdf)
bool initDoc(tinyxml2::XMLDocument *_xmlDoc,
const ParserConfig &_config,
SDFPtr _sdf)
{
auto element = _initDocGetElement(_xmlDoc);
if (!element)
{
return false;
}

return initXml(element, _sdf->Root());
return initXml(element, _config, _sdf->Root());
}

//////////////////////////////////////////////////
bool initDoc(tinyxml2::XMLDocument *_xmlDoc, ElementPtr _sdf)
bool initDoc(tinyxml2::XMLDocument *_xmlDoc,
const ParserConfig &_config,
ElementPtr _sdf)
{
auto element = _initDocGetElement(_xmlDoc);
if (!element)
{
return false;
}

return initXml(element, _sdf);
return initXml(element, _config, _sdf);
}

//////////////////////////////////////////////////
bool initXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf)
bool initXml(tinyxml2::XMLElement *_xml,
const ParserConfig &_config,
ElementPtr _sdf)
{
const char *refString = _xml->Attribute("ref");
if (refString)
Expand Down Expand Up @@ -594,7 +606,7 @@ bool initXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf)
else
{
ElementPtr element(new Element);
initXml(child, element);
initXml(child, _config, element);
_sdf->AddElementDescription(element);
}
}
Expand All @@ -607,7 +619,7 @@ bool initXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf)

ElementPtr element(new Element);

initFile(filename, element);
initFile(filename, _config, element);

// override description for include elements
tinyxml2::XMLElement *description = child->FirstChildElement("description");
Expand Down Expand Up @@ -1510,7 +1522,7 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf,
ElementPtr refSDF;
refSDF.reset(new Element);
std::string refFilename = refSDFStr + ".sdf";
initFile(refFilename, refSDF);
initFile(refFilename, _config, refSDF);
_sdf->RemoveFromParent();
_sdf->Copy(refSDF);

Expand Down Expand Up @@ -1803,7 +1815,8 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf,
SourceLocation sourceLoc{includeXmlPath, _source,
elemXml->GetLineNum()};

insertIncludedElement(includeSDF, sourceLoc, toMerge, _sdf, _errors);
insertIncludedElement(includeSDF, sourceLoc, toMerge, _sdf, _config,
_errors);
continue;
}
}
Expand Down
19 changes: 16 additions & 3 deletions src/parser_private.hh
Original file line number Diff line number Diff line change
Expand Up @@ -46,25 +46,37 @@ namespace sdf
/// This actually forwards to initXml after converting the inputs
/// \param[in] _xmlDoc TinyXML2 document containing the SDFormat description
/// file that corresponds with the input SDFPtr
/// \param[in] _config Custom parser configuration
/// \param[out] _sdf SDF interface to be initialized
bool initDoc(tinyxml2::XMLDocument *_xmlDoc, SDFPtr _sdf);
/// \return True on success, false on error.
bool initDoc(tinyxml2::XMLDocument *_xmlDoc,
const ParserConfig &_config,
SDFPtr _sdf);

/// \brief Initialize the SDF Element using a TinyXML2 document
///
/// This actually forwards to initXml after converting the inputs
/// \param[in] _xmlDoc TinyXML2 document containing the SDFormat description
/// file that corresponds with the input ElementPtr
/// \param[in] _config Custom parser configuration
/// \param[out] _sdf SDF Element to be initialized
bool initDoc(tinyxml2::XMLDocument *_xmlDoc, ElementPtr _sdf);
/// \return True on success, false on error.
bool initDoc(tinyxml2::XMLDocument *_xmlDoc,
const ParserConfig &_config,
ElementPtr _sdf);

/// \brief Initialize the SDF Element by parsing the SDFormat description in
/// the input TinyXML2 element. This is where SDFormat spec/description files
/// are parsed
/// \remark For internal use only. Do not use this function.
/// \param[in] _xml TinyXML2 element containing the SDFormat description
/// file that corresponds with the input ElementPtr
/// \param[in] _config Custom parser configuration
/// \param[out] _sdf SDF ElementPtr to be initialized
bool initXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf);
/// \return True on success, false on error.
bool initXml(tinyxml2::XMLElement *_xml,
const ParserConfig &_config,
ElementPtr _sdf);

/// \brief Populate the SDF values from a TinyXML document
bool readDoc(tinyxml2::XMLDocument *_xmlDoc, SDFPtr _sdf,
Expand All @@ -83,6 +95,7 @@ namespace sdf
/// \param[in] _xmlRoot Pointer to the root level TinyXML element.
/// \param[in] _source Source of the XML document.
/// \param[in] _errors Captures errors found during the checks.
/// \return True on success, false on error.
bool checkXmlFromRoot(tinyxml2::XMLElement *_xmlRoot,
const std::string &_source, Errors &_errors);

Expand Down
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