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chapulinachapulina
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9 ➡️ 10 (#795)
Signed-off-by: Louise Poubel <louise@openrobotics.org>
2 parents 251c354 + e5c29da commit 6b53f95

4 files changed

Lines changed: 311 additions & 0 deletions

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‎src/parser.cc‎

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@@ -1416,6 +1416,7 @@ void addNestedModel(ElementPtr _sdf, ElementPtr _includeSDF, Errors &_errors)
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}
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_includeSDF->ClearElements();
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_includeSDF->RemoveAllAttributes();
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readString(str, _includeSDF, _errors);
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elem = _includeSDF->GetElement("model")->GetFirstElement();

‎test/integration/model/model_with_custom_elements/model.config‎

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@@ -0,0 +1,5 @@
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<?xml version="1.0"?>
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<model>
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<name>model_with_custom_elements</name>
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<sdf version="1.7">model.sdf</sdf>
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</model>

‎test/integration/model/model_with_custom_elements/model.sdf‎

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<?xml version="1.0" ?>
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<sdf version="1.7" xmlns:mysim="http://example.org/mysim/schema">
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<model name="M1">
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<link name="L1" mysim:custom_attr_str="A" mysim:custom_attr_int="5" />
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<link name="L2" />
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<joint name="J1" type="revolute">
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<parent>L1</parent>
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<child>L2</child>
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</joint>
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<model name="M2">
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<link name="L1" mysim:custom_attr_str="B">
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<mysim:transmission name="simple_trans">
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<mysim:type>transmission_interface/SimpleTransmission</mysim:type>
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<mysim:joint name="J1">
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<mysim:hardwareInterface>EffortJointInterface</mysim:hardwareInterface>
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</mysim:joint>
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</mysim:transmission>
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</link>
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</model>
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</model>
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</sdf>

‎test/integration/sdf_custom.cc‎

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Original file line numberDiff line numberDiff line change
@@ -82,3 +82,286 @@ TEST(SDFParser, CustomElements)
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tranJointElement->Get<std::string>("mysim:hardwareInterface");
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EXPECT_EQ("EffortJointInterface", tranHwInterface);
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}
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/////////////////////////////////////////////////
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TEST(SDFParser, ReloadCustomElements)
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{
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const std::string sdfTestFile =
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sdf::testing::TestFile("integration", "custom_elems_attrs.sdf");
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// load file with custom elements
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sdf::Root root1;
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sdf::Errors errors = root1.Load(sdfTestFile);
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EXPECT_TRUE(errors.empty());
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// reload string output of root1
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sdf::Root root2;
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errors = root2.LoadSdfString(root1.Element()->ToString(""));
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EXPECT_TRUE(errors.empty());
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// check that root1 and root2 equal
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const sdf::World *world1 = root1.WorldByIndex(0);
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const sdf::World *world2 = root2.WorldByIndex(0);
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ASSERT_NE(nullptr, world1);
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ASSERT_NE(nullptr, world2);
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const sdf::Model *model1 = world1->ModelByIndex(0);
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const sdf::Model *model2 = world2->ModelByIndex(0);
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ASSERT_NE(nullptr, model1);
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ASSERT_NE(nullptr, model2);
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EXPECT_EQ(model1->Element()->ToString(""), model2->Element()->ToString(""));
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const sdf::Link *link1 = model1->LinkByIndex(0);
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const sdf::Link *link2 = model2->LinkByIndex(0);
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ASSERT_NE(nullptr, link1);
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ASSERT_NE(nullptr, link2);
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EXPECT_EQ(link1->Element()->ToString(""), link2->Element()->ToString(""));
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sdf::ElementPtr customElem1 =
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model1->Element()->FindElement("mysim:transmission");
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sdf::ElementPtr customElem2 =
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model2->Element()->FindElement("mysim:transmission");
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ASSERT_NE(nullptr, customElem1);
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ASSERT_NE(nullptr, customElem2);
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const std::string customElemStr =
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R"(<mysim:transmission name='simple_trans'>
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<mysim:type>transmission_interface/SimpleTransmission</mysim:type>
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<mysim:joint name='J1'>
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<mysim:hardwareInterface>EffortJointInterface</mysim:hardwareInterface>
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</mysim:joint>
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</mysim:transmission>
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)";
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EXPECT_EQ(customElemStr, customElem1->ToString(""));
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EXPECT_EQ(customElemStr, customElem2->ToString(""));
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sdf::ElementPtr customDesc1 =
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world1->Element()->FindElement("mysim:description");
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sdf::ElementPtr customDesc2 =
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world2->Element()->FindElement("mysim:description");
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ASSERT_NE(nullptr, customDesc1);
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ASSERT_NE(nullptr, customDesc2);
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const std::string customDescStr =
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"<mysim:description>Description of this world</mysim:description>\n";
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EXPECT_EQ(customDescStr, customDesc1->ToString(""));
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EXPECT_EQ(customDescStr, customDesc2->ToString(""));
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}
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/////////////////////////////////////////////////
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TEST(SDFParser, ReloadIncludedCustomElements)
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{
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const std::string modelPath = sdf::testing::TestFile("integration", "model");
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sdf::setFindCallback(
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[&](const std::string &_file)
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{
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return sdf::filesystem::append(modelPath, _file);
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});
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const std::string sdfStr =
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R"(<sdf version='1.7'>
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<world name='default'>
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<include>
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<uri>model_with_custom_elements</uri>
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</include>
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</world>
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</sdf>
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)";
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// load included file with custom elements
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sdf::Root root1;
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sdf::Errors errors = root1.LoadSdfString(sdfStr);
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EXPECT_TRUE(errors.empty());
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// reload string output of root1
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sdf::Root root2;
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errors = root2.LoadSdfString(root1.Element()->ToString(""));
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EXPECT_TRUE(errors.empty());
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// check that root1 and root2 equal
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EXPECT_EQ(root1.Element()->ToString(""), root2.Element()->ToString(""));
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const sdf::World *world1 = root1.WorldByIndex(0);
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const sdf::World *world2 = root2.WorldByIndex(0);
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ASSERT_NE(nullptr, world1);
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ASSERT_NE(nullptr, world2);
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// //model[@name=M1]
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const sdf::Model *model11 = world1->ModelByIndex(0);
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const sdf::Model *model12 = world2->ModelByIndex(0);
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ASSERT_NE(nullptr, model11);
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ASSERT_NE(nullptr, model12);
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EXPECT_EQ(model11->Element()->ToString(""), model12->Element()->ToString(""));
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// //model[@name=M1]/link[@name=L1]
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const sdf::Link *model11link1 = model11->LinkByIndex(0);
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const sdf::Link *model12link2 = model12->LinkByIndex(0);
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ASSERT_NE(nullptr, model11link1);
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ASSERT_NE(nullptr, model12link2);
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const std::string linkCustomAttrStr =
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"<link name='L1' mysim:custom_attr_str='A' mysim:custom_attr_int='5'/>\n";
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EXPECT_EQ(linkCustomAttrStr, model11link1->Element()->ToString(""));
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EXPECT_EQ(linkCustomAttrStr, model12link2->Element()->ToString(""));
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// //model[@name=M1]/model[@name=M2]
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const sdf::Model *model21 = model11->ModelByIndex(0);
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const sdf::Model *model22 = model12->ModelByIndex(0);
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ASSERT_NE(nullptr, model21);
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ASSERT_NE(nullptr, model22);
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EXPECT_EQ(model21->Element()->ToString(""), model22->Element()->ToString(""));
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// //model[@name=M1]/model[@name=M2]/link[@name=L1]
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const sdf::Link *model21link1 = model21->LinkByIndex(0);
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const sdf::Link *model22link2 = model22->LinkByIndex(0);
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ASSERT_NE(nullptr, model21link1);
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ASSERT_NE(nullptr, model22link2);
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EXPECT_EQ(model21link1->Element()->ToString(""),
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model22link2->Element()->ToString(""));
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// check custom attributes
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sdf::ParamPtr param1 =
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model21link1->Element()->GetAttribute("mysim:custom_attr_str");
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sdf::ParamPtr param2 =
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model22link2->Element()->GetAttribute("mysim:custom_attr_str");
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ASSERT_NE(nullptr, param1);
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ASSERT_NE(nullptr, param2);
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EXPECT_EQ("B", param1->GetAsString());
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EXPECT_EQ("B", param2->GetAsString());
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// //model[@name=M1]/model[@name=M2]/link[@name=L1]/mysim:transmission
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sdf::ElementPtr customElem1 =
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model21link1->Element()->FindElement("mysim:transmission");
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sdf::ElementPtr customElem2 =
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model22link2->Element()->FindElement("mysim:transmission");
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ASSERT_NE(nullptr, customElem1);
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ASSERT_NE(nullptr, customElem2);
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const std::string customElemStr =
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R"(<mysim:transmission name='simple_trans'>
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<mysim:type>transmission_interface/SimpleTransmission</mysim:type>
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<mysim:joint name='J1'>
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<mysim:hardwareInterface>EffortJointInterface</mysim:hardwareInterface>
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</mysim:joint>
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</mysim:transmission>
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)";
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EXPECT_EQ(customElemStr, customElem1->ToString(""));
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EXPECT_EQ(customElemStr, customElem2->ToString(""));
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}
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/////////////////////////////////////////////////
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TEST(SDFParser, ReloadNestedIncludedCustomElements)
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{
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const std::string modelPath = sdf::testing::TestFile("integration", "model");
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sdf::setFindCallback(
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[&](const std::string &_file)
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{
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return sdf::filesystem::append(modelPath, _file);
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});
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const std::string sdfStr =
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R"(<sdf version='1.7'>
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<world name='default'>
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<model name='test'>
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<include>
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<uri>model_with_custom_elements</uri>
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</include>
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</model>
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</world>
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</sdf>
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)";
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sdf::Root root1;
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sdf::Errors errors = root1.LoadSdfString(sdfStr);
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EXPECT_TRUE(errors.empty());
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for (auto &e : errors)
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std::cout << e.Message() << std::endl;
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sdf::Root root2;
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errors = root2.LoadSdfString(root1.Element()->ToString(""));
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EXPECT_TRUE(errors.empty());
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// check that root1 and root2 equal
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EXPECT_EQ(root1.Element()->ToString(""), root2.Element()->ToString(""));
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const sdf::World *world1 = root1.WorldByIndex(0);
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const sdf::World *world2 = root2.WorldByIndex(0);
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ASSERT_NE(nullptr, world1);
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ASSERT_NE(nullptr, world2);
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// //model[@name=test]
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const sdf::Model *model11 = world1->ModelByIndex(0);
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const sdf::Model *model12 = world2->ModelByIndex(0);
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ASSERT_NE(nullptr, model11);
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ASSERT_NE(nullptr, model12);
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EXPECT_EQ(model11->Element()->ToString(""), model12->Element()->ToString(""));
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// //model[@name=test]/frame[@name=M1::__model__]
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const sdf::Frame *frame1 = model11->FrameByIndex(0);
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const sdf::Frame *frame2 = model12->FrameByIndex(0);
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ASSERT_NE(nullptr, frame1);
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ASSERT_NE(nullptr, frame2);
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EXPECT_EQ(frame1->Element()->ToString(""), frame2->Element()->ToString(""));
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// //model[@name=test]/link[@name=M1::L1]
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const sdf::Link *model11link1 = model11->LinkByIndex(0);
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const sdf::Link *model12link2 = model12->LinkByIndex(0);
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ASSERT_NE(nullptr, model11link1);
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ASSERT_NE(nullptr, model12link2);
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const std::string linkCustomAttrStr =
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R"(<link name='M1::L1' mysim:custom_attr_str='A' mysim:custom_attr_int='5'>
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<pose relative_to='M1::__model__'>0 0 0 0 -0 0</pose>
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</link>
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)";
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EXPECT_EQ(linkCustomAttrStr, model11link1->Element()->ToString(""));
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EXPECT_EQ(linkCustomAttrStr, model12link2->Element()->ToString(""));
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// //model[@name=test]/model[@name=M1::M2]
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const sdf::Model *model21 = model11->ModelByIndex(0);
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const sdf::Model *model22 = model12->ModelByIndex(0);
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ASSERT_NE(nullptr, model21);
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ASSERT_NE(nullptr, model22);
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EXPECT_EQ(model21->Element()->ToString(""), model22->Element()->ToString(""));
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// //model[@name=test]/model[@name=M1::M2]/link[@name=M1::L1]
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const sdf::Link *model21link1 = model21->LinkByIndex(0);
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const sdf::Link *model22link2 = model22->LinkByIndex(0);
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ASSERT_NE(nullptr, model21link1);
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ASSERT_NE(nullptr, model22link2);
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EXPECT_EQ(model21link1->Element()->ToString(""),
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model22link2->Element()->ToString(""));
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// check custom attributes
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sdf::ParamPtr param1 =
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model21link1->Element()->GetAttribute("mysim:custom_attr_str");
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sdf::ParamPtr param2 =
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model22link2->Element()->GetAttribute("mysim:custom_attr_str");
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ASSERT_NE(nullptr, param1);
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ASSERT_NE(nullptr, param2);
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EXPECT_EQ("B", param1->GetAsString());
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EXPECT_EQ("B", param2->GetAsString());
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// //model[@name=test]/model[@name=M1::M2]/link[@name=M1::L1]
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// /mysim:transmission
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sdf::ElementPtr customElem1 =
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model21link1->Element()->FindElement("mysim:transmission");
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sdf::ElementPtr customElem2 =
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model22link2->Element()->FindElement("mysim:transmission");
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ASSERT_NE(nullptr, customElem1);
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ASSERT_NE(nullptr, customElem2);
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const std::string customElemStr =
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R"(<mysim:transmission name='simple_trans'>
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<mysim:type>transmission_interface/SimpleTransmission</mysim:type>
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<mysim:joint name='M1::J1'>
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<mysim:hardwareInterface>EffortJointInterface</mysim:hardwareInterface>
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</mysim:joint>
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</mysim:transmission>
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)";
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EXPECT_EQ(customElemStr, customElem1->ToString(""));
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EXPECT_EQ(customElemStr, customElem2->ToString(""));
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}

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