World: sdfwarns to sdf::Errors when warnings policy set to sdf::EnforcementPolicy::ERR (#1131)

Signed-off-by: Marco A. Gutierrez <marco@openrobotics.org>

Author: Marco A. Gutiérrez

include/sdf/Error.hh

@@ -165,6 +165,9 @@ namespace sdf
     /// \brief Generic error to be thrown with SDF_ASSERT by the caller.
     /// This has been created to help preserve behavior.
     FATAL_ERROR,
+
+    /// \brief Generic warning saved as error due to WarningsPolicy config
+    WARNING,
   };
 
   class SDFORMAT_VISIBLE Error

src/World.cc

@@ -206,20 +206,13 @@ Errors World::Load(sdf::ElementPtr _sdf, const ParserConfig &_config)
   {
     if (size > 1)
     {
-      sdfwarn << "Non-unique name[" << name << "] detected " << size
-              << " times in XML children of world with name[" << this->Name()
-              << "].\n";
-    }
-  }
-
-  for (const auto &[name, size] :
-       _sdf->CountNamedElements("", Element::NameUniquenessExceptions()))
-  {
-    if (size > 1)
-    {
-      sdfwarn << "Non-unique name[" << name << "] detected " << size
-              << " times in XML children of world with name[" << this->Name()
-              << "].\n";
+      std::stringstream ss;
+      ss << "Non-unique name[" << name << "] detected " << size
+         << " times in XML children of world with name[" << this->Name()
+         << "].";
+      Error err(ErrorCode::WARNING, ss.str());
+      enforceConfigurablePolicyCondition(
+          _config.WarningsPolicy(), err, errors);
     }
   }
 
@@ -288,10 +281,14 @@ Errors World::Load(sdf::ElementPtr _sdf, const ParserConfig &_config)
       {
         frameName = frame.Name() + "_frame" + std::to_string(i++);
       }
-      sdfwarn << "Frame with name [" << frame.Name() << "] "
-              << "in world with name [" << this->Name() << "] "
-              << "has a name collision, changing frame name to ["
-              << frameName << "].\n";
+      std::stringstream ss;
+      ss << "Frame with name [" << frame.Name() << "] "
+          << "in world with name [" << this->Name() << "] "
+          << "has a name collision, changing frame name to ["
+          << frameName << "].\n";
+      Error err(ErrorCode::WARNING, ss.str());
+      enforceConfigurablePolicyCondition(
+          _config.WarningsPolicy(), err, errors);
       frame.SetName(frameName);
     }
     frameNames.insert(frameName);

test/integration/error_output.cc

@@ -24,7 +24,9 @@
 #include "sdf/Error.hh"
 #include "sdf/Param.hh"
 #include "sdf/Types.hh"
+#include "sdf/World.hh"
 #include "test_utils.hh"
+#include "test_config.hh"
 
 ////////////////////////////////////////
 // Test Param class for sdf::Errors outputs
@@ -245,3 +247,52 @@ TEST(ErrorOutput, PrintConfigErrorOutput)
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
 }
+
+////////////////////////////////////////
+// Test World class for sdf::Errors outputs
+TEST(ErrorOutput, WorldErrorOutput)
+{
+  std::stringstream buffer;
+  sdf::testing::RedirectConsoleStream redir(
+    sdf::Console::Instance()->GetMsgStream(), &buffer);
+
+  sdf::Errors errors;
+
+  std::ostringstream stream;
+  stream << "<?xml version=\"1.0\"?>"
+         << "<sdf version='1.8'>"
+         << "  <world name='test_world'>"
+         << "    <model name='common_name'>"
+         << "      <link name='a'>"
+         << "      </link>"
+         << "    </model>"
+         << "    <model name='common_name'>"
+         << "      <link name='a'>"
+         << "      </link>"
+         << "    </model>"
+         << "    <frame name='common_name'/>"
+         << "  </world>"
+         << "</sdf>";
+
+  sdf::SDFPtr sdfParsed(new sdf::SDF());
+  sdf::init(sdfParsed);
+
+  sdf::ParserConfig parserConfig;
+  parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
+  sdf::readString(stream.str(), parserConfig, sdfParsed, errors);
+  EXPECT_TRUE(errors.empty());
+
+  sdf::World world;
+  errors = world.Load(sdfParsed->Root()->GetElement("world"), parserConfig);
+  ASSERT_EQ(errors.size(), 3u);
+  EXPECT_NE(std::string::npos, errors[0].Message().find(
+    "Non-unique name[common_name] detected 3 times in XML children of world"
+    " with name[test_world]."));
+  EXPECT_NE(std::string::npos, errors[1].Message().find(
+    "model with name[common_name] already exists."));
+  EXPECT_NE(std::string::npos, errors[2].Message().find(
+    "Frame with name [common_name] in world with name [test_world] has a name"
+    " collision, changing frame name to [common_name_frame]."));
+  // Check nothing has been printed
+  EXPECT_TRUE(buffer.str().empty()) << buffer.str();
+}