adding error parameters to Altimiter function calls

Signed-off-by: Marco A. Gutierrez <marco@openrobotics.org>
gazebosim · Oct 3, 2022 · 624d7dc · 624d7dc
1 parent 87acca9
commit 624d7dc
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Showing 2 changed files with 43 additions and 11 deletions.
diff --git a/include/sdf/Altimeter.hh b/include/sdf/Altimeter.hh
@@ -83,6 +83,14 @@ namespace sdf
     /// \return SDF element pointer with updated sensor values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// altimeter sensor.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated sensor values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

diff --git a/src/Altimeter.cc b/src/Altimeter.cc
@@ -18,6 +18,7 @@
 #include <string>
 #include "sdf/Altimeter.hh"
 #include "sdf/parser.hh"
+#include "Utils.hh"
 
 using namespace sdf;
 
@@ -60,16 +61,24 @@ Errors Altimeter::Load(ElementPtr _sdf)
   // Load the noise values.
   if (_sdf->HasElement("vertical_position"))
   {
-    sdf::ElementPtr elem = _sdf->GetElement("vertical_position");
+    sdf::ElementPtr elem = _sdf->GetElement("vertical_position", errors);
     if (elem->HasElement("noise"))
-      this->dataPtr->verticalPositionNoise.Load(elem->GetElement("noise"));
+    {
+      sdf::Errors noiseErrors = this->dataPtr->verticalPositionNoise.Load(
+          elem->GetElement("noise", errors));
+      errors.insert(errors.end(), noiseErrors.begin(), noiseErrors.end());
+    }
   }
 
   if (_sdf->HasElement("vertical_velocity"))
   {
-    sdf::ElementPtr elem = _sdf->GetElement("vertical_velocity");
+    sdf::ElementPtr elem = _sdf->GetElement("vertical_velocity", errors);
     if (elem->HasElement("noise"))
-      this->dataPtr->verticalVelocityNoise.Load(elem->GetElement("noise"));
+    {
+      sdf::Errors noiseErrors = this->dataPtr->verticalVelocityNoise.Load(
+          elem->GetElement("noise", errors));
+      errors.insert(errors.end(), noiseErrors.begin(), noiseErrors.end());
+    }
   }
 
   return errors;
@@ -131,17 +140,32 @@ bool Altimeter::operator==(const Altimeter &_alt) const
 
 /////////////////////////////////////////////////
 sdf::ElementPtr Altimeter::ToElement() const
+{
+  sdf::Errors errors;
+  auto result = this->ToElement(errors);
+  sdf::throwOrPrintErrors(errors);
+  return result;
+}
+
+/////////////////////////////////////////////////
+sdf::ElementPtr Altimeter::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
   sdf::initFile("altimeter.sdf", elem);
 
-  sdf::ElementPtr verticalPosElem = elem->GetElement("vertical_position");
-  sdf::ElementPtr verticalPosNoiseElem = verticalPosElem->GetElement("noise");
-  verticalPosNoiseElem->Copy(this->dataPtr->verticalPositionNoise.ToElement());
-
-  sdf::ElementPtr verticalVelElem = elem->GetElement("vertical_velocity");
-  sdf::ElementPtr verticalVelNoiseElem = verticalVelElem->GetElement("noise");
-  verticalVelNoiseElem->Copy(this->dataPtr->verticalVelocityNoise.ToElement());
+  sdf::ElementPtr verticalPosElem = elem->GetElement(
+      "vertical_position", _errors);
+  sdf::ElementPtr verticalPosNoiseElem = verticalPosElem->GetElement(
+      "noise", _errors);
+  verticalPosNoiseElem->Copy(
+      this->dataPtr->verticalPositionNoise.ToElement(_errors), _errors);
+
+  sdf::ElementPtr verticalVelElem = elem->GetElement(
+      "vertical_velocity", _errors);
+  sdf::ElementPtr verticalVelNoiseElem = verticalVelElem->GetElement(
+      "noise", _errors);
+  verticalVelNoiseElem->Copy(this->dataPtr->verticalVelocityNoise.ToElement(
+      _errors), _errors);
 
   return elem;
 }