Merge pull request #517 from dartsim/portable_uri

Improving URI to be compatible with Windows

CMakeLists.txt

@@ -427,7 +427,7 @@ if(MSVC)
   endif()
   set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} ${DART_RUNTIME_LIBRARY}d /Zi /Gy /W1 /EHsc")
   set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${DART_RUNTIME_LIBRARY} /Zi /GL /Gy /W1 /EHsc /arch:SSE2")
-  set(CMAKE_EXE_LINKER_FLAGS_RELEASE "/LTCG")
+  set(CMAKE_EXE_LINKER_FLAGS_RELEASE "/LTCG /INCREMENTAL:NO")
 elseif(CMAKE_COMPILER_IS_GNUCXX)
   set(CMAKE_CXX_FLAGS "-Wall -msse2 -fPIC")
   execute_process(

apps/addDeleteSkels/Main.cpp

@@ -44,8 +44,7 @@
 int main(int argc, char* argv[]) {
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
-      = dart::utils::SkelParser::readWorld(
-          DART_DATA_PATH"/skel/ground.skel");
+      = dart::utils::SkelParser::readWorld(DART_DATA_PATH"/skel/ground.skel");
   assert(myWorld != nullptr);
   Eigen::Vector3d gravity(0.0, -9.81, 0.0);
   myWorld->setGravity(gravity);

apps/atlasSimbicon/Main.cpp

@@ -44,6 +44,7 @@
 
 using namespace std;
 using namespace Eigen;
+using namespace dart::common;
 using namespace dart::dynamics;
 using namespace dart::simulation;
 using namespace dart::utils;
@@ -59,9 +60,8 @@ int main(int argc, char* argv[])
         DART_DATA_PATH"sdf/atlas/ground.urdf");
 //  SkeletonPtr atlas = SoftSdfParser::readSkeleton(
 //        DART_DATA_PATH"sdf/atlas/atlas_v3_no_head.sdf");
-  SkeletonPtr atlas
-      = SoftSdfParser::readSkeleton(
-          DART_DATA_PATH"sdf/atlas/atlas_v3_no_head_soft_feet.sdf");
+  SkeletonPtr atlas = SoftSdfParser::readSkeleton(
+        DART_DATA_PATH"sdf/atlas/atlas_v3_no_head_soft_feet.sdf");
   myWorld->addSkeleton(atlas);
   myWorld->addSkeleton(ground);
 

apps/bipedStand/Main.cpp

@@ -45,8 +45,7 @@
 int main(int argc, char* argv[]) {
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
-      = dart::utils::SkelParser::readWorld(
-          DART_DATA_PATH"skel/fullbody1.skel");
+      = dart::utils::SkelParser::readWorld(DART_DATA_PATH"skel/fullbody1.skel");
   assert(myWorld != nullptr);
 
   Eigen::Vector3d gravity(0.0, -9.81, 0.0);

apps/hybridDynamics/Main.cpp

@@ -43,7 +43,7 @@ int main(int argc, char* argv[])
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
       = dart::utils::SkelParser::readWorld(
-          DART_DATA_PATH"/skel/fullbody1.skel");
+        DART_DATA_PATH"/skel/fullbody1.skel");
   assert(myWorld != nullptr);
   Eigen::Vector3d gravity(0.0, -9.81, 0.0);
   myWorld->setGravity(gravity);

apps/operationalSpaceControl/Main.cpp

@@ -47,9 +47,9 @@ int main(int argc, char* argv[])
   // load skeletons
   dart::utils::DartLoader dl;
   dart::dynamics::SkeletonPtr ground
-          = dl.parseSkeleton(DART_DATA_PATH"urdf/KR5/ground.urdf");
+      = dl.parseSkeleton(DART_DATA_PATH"urdf/KR5/ground.urdf");
   dart::dynamics::SkeletonPtr robot
-          = dl.parseSkeleton(DART_DATA_PATH"urdf/KR5/KR5 sixx R650.urdf");
+      = dl.parseSkeleton(DART_DATA_PATH"urdf/KR5/KR5 sixx R650.urdf");
   world->addSkeleton(ground);
   world->addSkeleton(robot);
 

apps/rigidCubes/Main.cpp

@@ -44,8 +44,7 @@
 int main(int argc, char* argv[]) {
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
-      = dart::utils::SkelParser::readWorld(
-          DART_DATA_PATH"/skel/cubes.skel");
+      = dart::utils::SkelParser::readWorld(DART_DATA_PATH"/skel/cubes.skel");
   assert(myWorld != nullptr);
   Eigen::Vector3d gravity(0.0, -9.81, 0.0);
   myWorld->setGravity(gravity);

apps/softBodies/Main.cpp

@@ -52,7 +52,7 @@ int main(int argc, char* argv[])
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
       = dart::utils::SkelParser::readWorld(
-          DART_DATA_PATH"skel/softBodies.skel");
+        DART_DATA_PATH"skel/softBodies.skel");
   assert(myWorld != nullptr);
 
   for(size_t i=0; i<myWorld->getNumSkeletons(); ++i)

apps/speedTest/Main.cpp

@@ -197,9 +197,7 @@ std::vector<dart::simulation::WorldPtr> getWorlds()
   std::vector<std::string> sceneFiles = getSceneFiles();
   std::vector<dart::simulation::WorldPtr> worlds;
   for(size_t i=0; i<sceneFiles.size(); ++i)
-  {
     worlds.push_back(dart::utils::SkelParser::readWorld(sceneFiles[i]));
-  }
 
   return worlds;
 }

appveyor.yml

@@ -62,4 +62,4 @@ build:
   verbosity: quiet                         # MSBuild verbosity level (quiet|minimal|normal|detailed)
 
 test_script:
-  - cmd: ctest --build-config %configuration% --extra-verbose --output-on-failure
+  - cmd: ctest --build-config %configuration% --parallel 4 --output-on-failure

dart/common/LocalResourceRetriever.cpp

@@ -45,43 +45,29 @@ namespace dart {
 namespace common {
 
 //==============================================================================
-bool LocalResourceRetriever::exists(const std::string& _uri)
+bool LocalResourceRetriever::exists(const Uri& _uri) const
 {
-  common::Uri uri;
-  if(!uri.fromString(_uri))
-  {
-    dtwarn << "[LocalResourceRetriever::exists] Failed parsing URI '"
-           << _uri << "'.\n";
-    return false;
-  }
-
   // Open and close the file to check if it exists. It would be more efficient
   // to stat() it, but that is not portable.
-  if(uri.mScheme.get_value_or("file") != "file")
+  if(_uri.mScheme.get_value_or("file") != "file")
     return false;
-  else if (!uri.mPath)
+  else if (!_uri.mPath)
     return false;
 
-  return std::ifstream(*uri.mPath, std::ios::binary).good();
+  return std::ifstream(_uri.getFilesystemPath(), std::ios::binary).good();
 }
 
 //==============================================================================
-common::ResourcePtr LocalResourceRetriever::retrieve(const std::string& _uri)
+common::ResourcePtr LocalResourceRetriever::retrieve(const Uri& _uri) const
 {
-  common::Uri uri;
-  if(!uri.fromString(_uri))
-  {
-    dtwarn << "[LocalResourceRetriever::retrieve] Failed parsing URI '"
-           << _uri << "'.\n";
+  if(_uri.mScheme.get_value_or("file") != "file")
     return nullptr;
-  }
-
-  if(uri.mScheme.get_value_or("file") != "file")
-    return nullptr;
-  else if (!uri.mPath)
+  else if (!_uri.mPath)
     return nullptr;
 
-  const auto resource = std::make_shared<LocalResource>(*uri.mPath);
+  const auto resource
+      = std::make_shared<LocalResource>(_uri.getFilesystemPath());
+
   if(resource->isGood())
     return resource;
   else

dart/common/LocalResourceRetriever.h

@@ -50,10 +50,10 @@ class LocalResourceRetriever : public virtual ResourceRetriever
   virtual ~LocalResourceRetriever() = default;
 
   // Documentation inherited.
-  bool exists(const std::string& _uri) override;
+  bool exists(const Uri& _uri) const override;
 
   // Documentation inherited.
-  ResourcePtr retrieve(const std::string& _uri) override;
+  ResourcePtr retrieve(const Uri& _uri) const override;
 };
 
 using LocalResourceRetrieverPtr = std::shared_ptr<LocalResourceRetriever>;

dart/common/ResourceRetriever.h

@@ -39,7 +39,9 @@
 
 #include <memory>
 #include <string>
-#include "Resource.h"
+#include "dart/common/Deprecated.h"
+#include "dart/common/Resource.h"
+#include "dart/common/Uri.h"
 
 namespace dart {
 namespace common {
@@ -52,10 +54,10 @@ class ResourceRetriever
   virtual ~ResourceRetriever() = default;
 
   /// \brief Return whether the resource specified by a URI exists.
-  virtual bool exists(const std::string& _uri) = 0;
+  virtual bool exists(const Uri& _uri) const = 0;
 
   /// \brief Return the resource specified by a URI or nullptr on failure.
-  virtual ResourcePtr retrieve(const std::string& _uri) = 0;
+  virtual ResourcePtr retrieve(const Uri& _uri) const = 0;
 };
 
 using ResourceRetrieverPtr = std::shared_ptr<ResourceRetriever>;