From 87acca9252892c034a07996870319b5763b9b157 Mon Sep 17 00:00:00 2001
From: "Marco A. Gutierrez" <marco@openrobotics.org>
Date: Mon, 19 Sep 2022 05:04:22 +0000
Subject: [PATCH] adding errors parameter to function calls

Signed-off-by: Marco A. Gutierrez <marco@openrobotics.org>
---
 include/sdf/Noise.hh |  8 +++++++
 src/Noise.cc         | 52 ++++++++++++++++++++++++++++----------------
 2 files changed, 41 insertions(+), 19 deletions(-)

diff --git a/include/sdf/Noise.hh b/include/sdf/Noise.hh
index 0d99c4dcf..361e12f7e 100644
--- a/include/sdf/Noise.hh
+++ b/include/sdf/Noise.hh
@@ -169,6 +169,14 @@ namespace sdf
     /// \return SDF element pointer with updated noise values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// noise.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated noise values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };
diff --git a/src/Noise.cc b/src/Noise.cc
index e286ed51a..450723b3d 100644
--- a/src/Noise.cc
+++ b/src/Noise.cc
@@ -19,6 +19,7 @@
 #include "sdf/Noise.hh"
 #include "sdf/parser.hh"
 #include "sdf/Types.hh"
+#include "Utils.hh"
 
 using namespace sdf;
 
@@ -78,7 +79,8 @@ Errors Noise::Load(ElementPtr _sdf)
     return errors;
   }
 
-  std::pair<std::string, bool> type = _sdf->Get<std::string>("type", "none");
+  std::pair<std::string, bool> type =
+      _sdf->Get<std::string>(errors, "type", "none");
   if (!type.second)
   {
     errors.push_back({ErrorCode::ELEMENT_MISSING,
@@ -102,26 +104,26 @@ Errors Noise::Load(ElementPtr _sdf)
     this->dataPtr->type = NoiseType::NONE;
   }
 
-  this->dataPtr->mean = _sdf->Get<double>("mean",
+  this->dataPtr->mean = _sdf->Get<double>(errors, "mean",
       this->dataPtr->mean).first;
 
-  this->dataPtr->stdDev = _sdf->Get<double>("stddev",
+  this->dataPtr->stdDev = _sdf->Get<double>(errors, "stddev",
       this->dataPtr->stdDev).first;
 
-  this->dataPtr->biasMean = _sdf->Get<double>("bias_mean",
+  this->dataPtr->biasMean = _sdf->Get<double>(errors, "bias_mean",
       this->dataPtr->biasMean).first;
 
-  this->dataPtr->biasStdDev = _sdf->Get<double>("bias_stddev",
+  this->dataPtr->biasStdDev = _sdf->Get<double>(errors, "bias_stddev",
       this->dataPtr->biasStdDev).first;
 
-  this->dataPtr->precision = _sdf->Get<double>("precision",
+  this->dataPtr->precision = _sdf->Get<double>(errors, "precision",
       this->dataPtr->precision).first;
 
-  this->dataPtr->dynamicBiasStdDev = _sdf->Get<double>("dynamic_bias_stddev",
-      this->dataPtr->dynamicBiasStdDev).first;
+  this->dataPtr->dynamicBiasStdDev = _sdf->Get<double>(
+      errors, "dynamic_bias_stddev", this->dataPtr->dynamicBiasStdDev).first;
 
   this->dataPtr->dynamicBiasCorrelationTime = _sdf->Get<double>(
-      "dynamic_bias_correlation_time",
+      errors, "dynamic_bias_correlation_time",
       this->dataPtr->dynamicBiasCorrelationTime).first;
 
   return errors;
@@ -252,6 +254,15 @@ bool Noise::operator==(const Noise &_noise) const
 
 /////////////////////////////////////////////////
 sdf::ElementPtr Noise::ToElement() const
+{
+  sdf::Errors errors;
+  auto result = this->ToElement(errors);
+  sdf::throwOrPrintErrors(errors);
+  return result;
+}
+
+/////////////////////////////////////////////////
+sdf::ElementPtr Noise::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
   sdf::initFile("noise.sdf", elem);
@@ -271,18 +282,21 @@ sdf::ElementPtr Noise::ToElement() const
     default:
       noiseType = "none";
   }
-  elem->GetAttribute("type")->Set<std::string>(noiseType);
-  elem->GetElement("mean")->Set<double>(this->Mean());
-  elem->GetElement("stddev")->Set<double>(this->StdDev());
+  elem->GetAttribute("type")->Set<std::string>(noiseType, _errors);
+  elem->GetElement("mean", _errors)->Set<double>(this->Mean(), _errors);
+  elem->GetElement("stddev", _errors)->Set<double>(this->StdDev(), _errors);
 
   // camera and lidar <noise> does not have the sdf params below
-  elem->GetElement("bias_mean")->Set<double>(this->BiasMean());
-  elem->GetElement("bias_stddev")->Set<double>(this->BiasStdDev());
-  elem->GetElement("dynamic_bias_stddev")->Set<double>(
-    this->DynamicBiasStdDev());
-  elem->GetElement("dynamic_bias_correlation_time")->Set<double>(
-      this->DynamicBiasCorrelationTime());
-  elem->GetElement("precision")->Set<double>(this->Precision());
+  elem->GetElement("bias_mean", _errors)->Set<double>(
+      this->BiasMean(), _errors);
+  elem->GetElement("bias_stddev", _errors)->Set<double>(
+      this->BiasStdDev(), _errors);
+  elem->GetElement("dynamic_bias_stddev", _errors)->Set<double>(
+    this->DynamicBiasStdDev(), _errors);
+  elem->GetElement("dynamic_bias_correlation_time", _errors)->Set<double>(
+      this->DynamicBiasCorrelationTime(), _errors);
+  elem->GetElement("precision", _errors)->Set<double>(
+      this->Precision(), _errors);
 
   return elem;
 }