Merge branch 'sdf13' into marcoag/sdf_error_element_particleEmitter

include/sdf/Frame.hh

@@ -131,6 +131,14 @@ namespace sdf
     /// \return SDF element pointer with updated frame values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// frame.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated frame values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Give a scoped FrameAttachedToGraph to be used for resolving
     /// attached bodies. This is private and is intended to be called by
     /// Model::Load or World::Load.

include/sdf/Imu.hh

@@ -260,6 +260,14 @@ 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
+    /// imu 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)
   };

include/sdf/JointAxis.hh

@@ -229,6 +229,16 @@ namespace sdf
     /// \return SDF element pointer with updated joint values.
     public: sdf::ElementPtr ToElement(unsigned int _index = 0u) const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// joint axis.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \param[in] _index Index of this joint axis
+    /// \return SDF element pointer with updated joint values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors,
+                                      unsigned int _index = 0u) const;
+
     /// \brief Give the name of the xml parent of this object, to be used
     /// for resolving poses. This is private and is intended to be called by
     /// Link::SetPoseRelativeToGraph.

include/sdf/Light.hh

@@ -291,6 +291,14 @@ namespace sdf
     /// \return SDF element pointer with updated light values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// light object.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated light values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Allow Link::SetPoseRelativeToGraph or World::Load to call
     /// SetXmlParentName and SetPoseRelativeToGraph,
     /// but Link::SetPoseRelativeToGraph is a private function, so we need

include/sdf/Physics.hh

@@ -121,6 +121,14 @@ namespace sdf
     /// \return SDF element pointer with updated physics values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// physics.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated physics values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

src/Frame.cc

@@ -95,7 +95,7 @@ Errors Frame::Load(ElementPtr _sdf)
   // Read the frame's attached_to attribute
   if (_sdf->HasAttribute("attached_to"))
   {
-    auto pair = _sdf->Get<std::string>("attached_to", "");
+    auto pair = _sdf->Get<std::string>(errors, "attached_to", "");
     if (pair.second)
     {
       this->dataPtr->attachedTo = pair.first;
@@ -221,23 +221,32 @@ sdf::ElementPtr Frame::Element() const
 
 /////////////////////////////////////////////////
 sdf::ElementPtr Frame::ToElement() const
+{
+  sdf::Errors errors;
+  auto result = this->ToElement(errors);
+  sdf::throwOrPrintErrors(errors);
+  return result;
+}
+
+/////////////////////////////////////////////////
+sdf::ElementPtr Frame::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
   sdf::initFile("frame.sdf", elem);
 
-  elem->GetAttribute("name")->Set(this->dataPtr->name);
+  elem->GetAttribute("name")->Set(this->dataPtr->name, _errors);
 
   if (!this->dataPtr->attachedTo.empty())
-    elem->GetAttribute("attached_to")->Set(this->dataPtr->attachedTo);
+    elem->GetAttribute("attached_to")->Set(this->dataPtr->attachedTo, _errors);
 
   // Set pose
-  sdf::ElementPtr poseElem = elem->GetElement("pose");
+  sdf::ElementPtr poseElem = elem->GetElement("pose", _errors);
   if (!this->dataPtr->poseRelativeTo.empty())
   {
     poseElem->GetAttribute("relative_to")->Set<std::string>(
-        this->dataPtr->poseRelativeTo);
+        this->dataPtr->poseRelativeTo, _errors);
   }
-  poseElem->Set<gz::math::Pose3d>(this->RawPose());
+  poseElem->Set<gz::math::Pose3d>(_errors, this->RawPose());
 
   return elem;
 }

src/Frame_TEST.cc

@@ -18,6 +18,7 @@
 #include <gtest/gtest.h>
 #include "sdf/Frame.hh"
 #include "sdf/Geometry.hh"
+#include "test_utils.hh"
 
 /////////////////////////////////////////////////
 TEST(DOMframe, Construction)
@@ -116,3 +117,70 @@ TEST(DOMFrame, ToElement)
     EXPECT_TRUE(frame2.AttachedTo().empty());
   }
 }
+
+/////////////////////////////////////////////////
+TEST(DOMFrame, ToElementErrorOutput)
+{
+  std::stringstream buffer;
+  sdf::testing::RedirectConsoleStream redir(
+      sdf::Console::Instance()->GetMsgStream(), &buffer);
+
+  #ifdef _WIN32
+    sdf::Console::Instance()->SetQuiet(false);
+    sdf::testing::ScopeExit revertSetQuiet(
+      []
+      {
+        sdf::Console::Instance()->SetQuiet(true);
+      });
+  #endif
+
+  sdf::Errors errors;
+
+  // With 'attached-to'
+  {
+    sdf::Frame frame;
+
+    frame.SetName("my-frame");
+    frame.SetAttachedTo("attached-to-frame");
+    frame.SetPoseRelativeTo("relative-to-frame");
+    frame.SetRawPose(gz::math::Pose3d(1, 2, 3, 0.1, 0.2, 0.3));
+
+    sdf::ElementPtr elem = frame.ToElement(errors);
+    EXPECT_TRUE(errors.empty());
+    ASSERT_NE(nullptr, elem);
+
+    sdf::Frame frame2;
+    errors = frame2.Load(elem);
+    EXPECT_TRUE(errors.empty());
+
+    EXPECT_EQ(frame.Name(), frame.Name());
+    EXPECT_EQ(frame.AttachedTo(), frame2.AttachedTo());
+    EXPECT_EQ(frame.PoseRelativeTo(), frame2.PoseRelativeTo());
+    EXPECT_EQ(frame.RawPose(), frame2.RawPose());
+  }
+
+  // Without 'attached-to'
+  {
+    sdf::Frame frame;
+
+    frame.SetName("my-frame");
+    frame.SetRawPose(gz::math::Pose3d(1, 2, 3, 0.1, 0.2, 0.3));
+    EXPECT_TRUE(frame.AttachedTo().empty());
+
+    sdf::ElementPtr elem = frame.ToElement(errors);
+    EXPECT_TRUE(errors.empty());
+    ASSERT_NE(nullptr, elem);
+
+    sdf::Frame frame2;
+    errors = frame2.Load(elem);
+    EXPECT_TRUE(errors.empty());
+
+    EXPECT_EQ(frame.Name(), frame.Name());
+    EXPECT_EQ(frame.RawPose(), frame2.RawPose());
+    EXPECT_TRUE(frame.AttachedTo().empty());
+    EXPECT_TRUE(frame2.AttachedTo().empty());
+  }
+
+  // Check nothing has been printed
+  EXPECT_TRUE(buffer.str().empty()) << buffer.str();
+}