Add readAll() to Resource and ResourceRetriever (#875)

dart/collision/ode/OdeCollisionDetector.cpp

@@ -39,7 +39,7 @@
 #include "dart/dynamics/CapsuleShape.hpp"
 #include "dart/dynamics/ConeShape.hpp"
 #include "dart/dynamics/PlaneShape.hpp"
-#include "dart/dynamics/MultiSphereShape.hpp"
+#include "dart/dynamics/MultiSphereConvexHullShape.hpp"
 #include "dart/dynamics/MeshShape.hpp"
 #include "dart/dynamics/SoftMeshShape.hpp"
 #include "dart/collision/CollisionFilter.hpp"

dart/collision/ode/OdeCollisionObject.cpp

@@ -39,7 +39,7 @@
 #include "dart/dynamics/CapsuleShape.hpp"
 #include "dart/dynamics/ConeShape.hpp"
 #include "dart/dynamics/PlaneShape.hpp"
-#include "dart/dynamics/MultiSphereShape.hpp"
+#include "dart/dynamics/MultiSphereConvexHullShape.hpp"
 #include "dart/dynamics/MeshShape.hpp"
 #include "dart/dynamics/SoftMeshShape.hpp"
 #include "dart/collision/ode/OdeTypes.hpp"

dart/common/Resource.cpp

@@ -0,0 +1,55 @@
+/*
+ * Copyright (c) 2017, Graphics Lab, Georgia Tech Research Corporation
+ * Copyright (c) 2017, Personal Robotics Lab, Carnegie Mellon University
+ * All rights reserved.
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "dart/common/Resource.hpp"
+
+#include <string>
+#include <exception>
+#include "dart/common/Console.hpp"
+
+namespace dart {
+namespace common {
+
+//==============================================================================
+std::string Resource::readAll()
+{
+  std::string content;
+  content.resize(getSize());
+  const auto result = read(&content.front(), content.size(), 1);
+  // Safe because std::string is guaranteed to be contiguous in C++11.
+
+  if (result != 1)
+    throw std::runtime_error("Failed reading data from a resource.");
+
+  return content;
+}
+
+} // namespace common
+} // namespace dart

dart/common/Resource.hpp

@@ -75,6 +75,12 @@ class Resource
   /// \param[in] _count Number of elements, each of _size bytes.
   /// \note This method has the same API as the standard fread function.
   virtual std::size_t read(void *_buffer, std::size_t _size, std::size_t _count) = 0;
+
+  /// Reads all data from this resource, and returns it as a string.
+  ///
+  /// \return The string retrieved from the resource.
+  /// \throw std::runtime_error when failed to read sucessfully.
+  virtual std::string readAll();
 };
 
 using ResourcePtr = std::shared_ptr<Resource>;

dart/common/ResourceRetriever.cpp

@@ -0,0 +1,55 @@
+/*
+ * Copyright (c) 2017, Graphics Lab, Georgia Tech Research Corporation
+ * Copyright (c) 2017, Personal Robotics Lab, Carnegie Mellon University
+ * All rights reserved.
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "dart/common/ResourceRetriever.hpp"
+
+#include <sstream>
+#include "dart/common/Console.hpp"
+
+namespace dart {
+namespace common {
+
+//==============================================================================
+std::string ResourceRetriever::readAll(const Uri& uri)
+{
+  auto resource = retrieve(uri);
+
+  if (!resource)
+  {
+    std::stringstream ss;
+    ss << "Failed retrieving a resource from '" << uri.toString() << "'.";
+    throw std::runtime_error(ss.str());
+  }
+
+  return resource->readAll();
+}
+
+} // namespace common
+} // namespace dart

dart/common/ResourceRetriever.hpp

@@ -53,11 +53,18 @@ class ResourceRetriever
   /// \brief Return the resource specified by a URI or nullptr on failure.
   virtual ResourcePtr retrieve(const Uri& _uri) = 0;
 
-  // We don't const-qualify for exists and retrieve here. Derived classes of
-  // ResourceRetriever will be interacting with external resources that you
-  // don't necessarily have control over so we cannot guarantee that you get the
-  // same result every time with the same input Uri. Indeed, const-qualification
-  // for those functions is pointless.
+  /// Reads all data from the resource of uri, and returns it as a string.
+  ///
+  /// \param[in] uri URI to the resource to be retrieved.
+  /// \return The string retrieved from the resource.
+  /// \throw std::runtime_error when failed to read sucessfully.
+  virtual std::string readAll(const Uri& uri);
+
+  // We don't const-qualify for exists, retrieve, and readAll here. Derived
+  // classes of ResourceRetriever will be interacting with external resources
+  // that you don't necessarily have control over so we cannot guarantee that
+  // you get the same result every time with the same input Uri. Indeed,
+  // const-qualification for those functions is pointless.
 };
 
 using ResourceRetrieverPtr = std::shared_ptr<ResourceRetriever>;

dart/utils/XmlHelpers.cpp

@@ -652,26 +652,8 @@ void openXMLFile(tinyxml2::XMLDocument& doc,
   else
     retriever = std::make_shared<common::LocalResourceRetriever>();
 
-  const common::ResourcePtr resource = retriever->retrieve(uri);
-  if(!resource)
-  {
-    dtwarn << "[openXMLFile] Failed opening URI '"
-           << uri.toString() << "'.\n";
-    throw std::runtime_error("Failed opening URI.");
-  }
-
-  // C++11 guarantees that std::string has contiguous storage.
-  const std::size_t size = resource->getSize();
-  std::string content;
-  content.resize(size);
-  if(resource->read(&content.front(), size, 1) != 1)
-  {
-    dtwarn << "[openXMLFile] Failed reading from URI '"
-           << uri.toString() << "'.\n";
-    throw std::runtime_error("Failed reading from URI.");
-  }
-
-  int const result = doc.Parse(&content.front());
+  const auto content = retriever->readAll(uri);
+  const auto result = doc.Parse(&content.front());
   if(result != tinyxml2::XML_SUCCESS)
   {
     dtwarn << "[openXMLFile] Failed parsing XML: TinyXML2 returned error"

dart/utils/urdf/DartLoader.cpp

@@ -311,10 +311,7 @@ bool DartLoader::readFileToString(
   if (!resource)
     return false;
 
-  // Safe because std::string is guaranteed to be contiguous in C++11.
-  const std::size_t size = resource->getSize();
-  _output.resize(size);
-  resource->read(&_output.front(), size, 1);
+  _output = _resourceRetriever->readAll(_uri);
 
   return true;
 }

dart/utils/urdf/urdf_world_parser.cpp

@@ -149,25 +149,7 @@ std::shared_ptr<World> parseWorldURDF(
         entity.uri = absoluteUri;
 
         // Parse model
-        const common::ResourcePtr resource = retriever->retrieve(absoluteUri);
-        if(!resource)
-        {
-          dtwarn << "[openXMLFile] Failed opening URI '"
-                 << absoluteUri.toString() << "'.\n";
-          throw std::runtime_error("Failed opening URI.");
-        }
-
-        // C++11 guarantees that std::string has contiguous storage.
-        const std::size_t size = resource->getSize();
-        std::string xml_model_string;
-        xml_model_string.resize(size);
-        if(resource->read(&xml_model_string.front(), size, 1) != 1)
-        {
-          dtwarn << "[openXMLFile] Failed reading from URI '"
-                 << absoluteUri.toString() << "'.\n";
-          throw std::runtime_error("Failed reading from URI.");
-        }
-
+        const auto xml_model_string = retriever->readAll(absoluteUri);
         entity.model = urdf::parseURDF( xml_model_string );
 
         if( !entity.model )

unittests/unit/test_LocalResourceRetriever.cpp

@@ -105,6 +105,19 @@ TEST(LocalResourceRetriever, retrieve_Path)
   ASSERT_TRUE(resource != nullptr);
 }
 
+TEST(LocalResourceRetriever, readAll)
+{
+  LocalResourceRetriever retriever;
+  auto resource = retriever.retrieve(DART_DATA_PATH "test/hello_world.txt");
+  ASSERT_TRUE(resource != nullptr);
+
+  auto content = resource->readAll();
+  ASSERT_TRUE(content == std::string("Hello World"));
+
+  ASSERT_TRUE(retriever.readAll(DART_DATA_PATH "test/hello_world.txt")
+              == std::string("Hello World"));
+}
+
 TEST(LocalResourceRetriever, retrieve_ResourceOperations)
 {
   const std::string content = "Hello World";