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/*
* Copyright (C) 2020 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <gtest/gtest.h>
#include "sdf/Filesystem.hh"
#include "sdf/Model.hh"
#include "sdf/ParserConfig.hh"
#include "sdf/Root.hh"
#include "sdf/SDFImpl.hh"
#include "sdf/World.hh"
#include "sdf/parser.hh"
#include "test_config.h"
/////////////////////////////////////////////////
/// Test global config
TEST(ParserConfig, GlobalConfig)
{
// The directory used in AddURIPath must exist in the filesystem, so we'll use
// the source directory
const std::string testDir = sdf::testing::SourceFile();
sdf::addURIPath("file://", testDir);
sdf::setFindCallback(
[](const std::string &)
{
return "test/dir2";
});
const auto &config = sdf::ParserConfig::GlobalConfig();
auto it = config.URIPathMap().find("file://");
ASSERT_NE(config.URIPathMap().end(), it);
ASSERT_EQ(1u, it->second.size());
EXPECT_EQ(it->second.front(), testDir);
ASSERT_TRUE(sdf::ParserConfig::GlobalConfig().FindFileCallback());
EXPECT_EQ("test/dir2",
sdf::ParserConfig::GlobalConfig().FindFileCallback()("empty"));
// sdf::findFile requires explicitly enabling callbacks
EXPECT_EQ("test/dir2", sdf::findFile("empty", false, true));
EXPECT_EQ("test/dir2", sdf::findFile("empty", true, true));
}
/////////////////////////////////////////////////
/// Test using a non global config with functions like sdf::addURIPath and
/// sdf::setFindCallback
TEST(ParserConfig, NonGlobalConfig)
{
// Reset global config
sdf::ParserConfig::GlobalConfig() = sdf::ParserConfig();
sdf::ParserConfig config;
// The directory used in AddURIPath must exist in the filesystem, so we'll use
// the source directory
const std::string testDir = sdf::testing::SourceFile();
config.AddURIPath("file://", testDir);
config.SetFindCallback(
[](const std::string &)
{
return "test/dir2";
});
auto it = config.URIPathMap().find("file://");
ASSERT_NE(config.URIPathMap().end(), it);
ASSERT_EQ(1u, it->second.size());
EXPECT_EQ(it->second.front(), testDir);
ASSERT_TRUE(config.FindFileCallback());
EXPECT_EQ("test/dir2", config.FindFileCallback()("empty"));
EXPECT_EQ("test/dir2", sdf::findFile("empty", false, true, config));
EXPECT_EQ("test/dir2", sdf::findFile("empty", true, true, config));
EXPECT_TRUE(sdf::ParserConfig::GlobalConfig().URIPathMap().empty());
EXPECT_FALSE(sdf::ParserConfig::GlobalConfig().FindFileCallback());
}
/////////////////////////////////////////////////
TEST(ParserConfig, ParseWithNonGlobalConfig)
{
// Reset global config
sdf::ParserConfig::GlobalConfig() = sdf::ParserConfig();
// Case 1: Use of sdf::setFindCallback
{
const std::string testFile = sdf::testing::TestFile("sdf", "includes.sdf");
auto findFileCb = [](const std::string &_uri)
{
return sdf::testing::TestFile("integration", "model", _uri);
};
sdf::ParserConfig config;
config.SetFindCallback(findFileCb);
// Parsing testFile without setting FindFileCallback on the global
// ParserConfig should fail
{
sdf::Errors errors;
sdf::SDFPtr sdf = sdf::readFile(testFile, errors);
ASSERT_NE(nullptr, sdf);
ASSERT_NE(nullptr, sdf->Root());
ASSERT_TRUE(sdf->Root()->HasElement("world"));
auto world = sdf->Root()->GetElement("world");
EXPECT_FALSE(world->HasElement("model"));
std::size_t uriErrorCount = std::count_if(errors.begin(), errors.end(),
[](const auto &_err)
{
return _err.Code() == sdf::ErrorCode::URI_LOOKUP;
});
EXPECT_EQ(7u, uriErrorCount);
}
{
sdf::Errors errors;
sdf::Root root;
errors = root.Load(testFile);
auto world = root.WorldByIndex(0);
ASSERT_NE(nullptr, world);
EXPECT_EQ(0u, world->ModelCount());
std::size_t uriErrorCount = std::count_if(errors.begin(), errors.end(),
[](const auto &_err)
{
return _err.Code() == sdf::ErrorCode::URI_LOOKUP;
});
EXPECT_EQ(7u, uriErrorCount);
}
// Parsing should succeed when using a ParserConfig with the appropriate
// findFile callback assigned
{
sdf::Errors errors;
sdf::SDFPtr sdf = sdf::readFile(testFile, config, errors);
ASSERT_NE(nullptr, sdf);
ASSERT_NE(nullptr, sdf->Root());
ASSERT_TRUE(sdf->Root()->HasElement("world"));
auto world = sdf->Root()->GetElement("world");
EXPECT_TRUE(world->HasElement("model"));
EXPECT_TRUE(errors.empty());
}
{
sdf::Errors errors;
sdf::Root root;
errors = root.Load(testFile, config);
auto world = root.WorldByIndex(0);
ASSERT_NE(nullptr, world);
EXPECT_EQ(3u, world->ModelCount());
EXPECT_TRUE(errors.empty());
}
}
// Case 2: Use of sdf::addURIPath
{
const std::string testSdfString = R"(
<sdf version="1.6">
<world name="default">
<include>
<uri>testScheme://box</uri> <!-- NOLINT -->
</include>
</world>
</sdf>)";
sdf::ParserConfig config;
config.AddURIPath("testScheme://",
sdf::testing::TestFile("integration", "model"));
// Parsing testSdfString without setting addURIPath on the global
// ParserConfig should fail
{
sdf::Errors errors;
sdf::SDFPtr sdf = std::make_shared<sdf::SDF>();
sdf::init(sdf);
sdf::readString(testSdfString, sdf, errors);
ASSERT_NE(nullptr, sdf);
ASSERT_NE(nullptr, sdf->Root());
ASSERT_TRUE(sdf->Root()->HasElement("world"));
auto world = sdf->Root()->GetElement("world");
EXPECT_FALSE(world->HasElement("model"));
std::size_t uriErrorCount = std::count_if(errors.begin(), errors.end(),
[](const auto &_err)
{
return _err.Code() == sdf::ErrorCode::URI_LOOKUP;
});
EXPECT_EQ(1u, uriErrorCount);
}
{
sdf::Errors errors;
sdf::Root root;
errors = root.LoadSdfString(testSdfString);
auto world = root.WorldByIndex(0);
ASSERT_NE(nullptr, world);
EXPECT_EQ(0u, world->ModelCount());
std::size_t uriErrorCount = std::count_if(errors.begin(), errors.end(),
[](const auto &_err)
{
return _err.Code() == sdf::ErrorCode::URI_LOOKUP;
});
EXPECT_EQ(1u, uriErrorCount);
}
// Parsing should succeed when using a ParserConfig with the appropriate
// uri map
{
sdf::Errors errors;
sdf::SDFPtr sdf = std::make_shared<sdf::SDF>();
sdf::init(sdf);
sdf::readString(testSdfString, config, sdf, errors);
ASSERT_NE(nullptr, sdf);
ASSERT_NE(nullptr, sdf->Root());
ASSERT_TRUE(sdf->Root()->HasElement("world"));
auto world = sdf->Root()->GetElement("world");
EXPECT_TRUE(world->HasElement("model"));
EXPECT_TRUE(errors.empty());
}
{
sdf::Errors errors;
sdf::Root root;
errors = root.LoadSdfString(testSdfString, config);
auto world = root.WorldByIndex(0);
ASSERT_NE(nullptr, world);
EXPECT_EQ(1u, world->ModelCount());
EXPECT_TRUE(errors.empty());
}
}
}
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