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[parsing] Stop using mutable globals (RobotLocomotion#16791)
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| Fix a lack of ParserConfig propagation. | ||
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| This fix should be submitted to libsdformat upstream. | ||
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| --- src/parser.cc.orig 2021-09-30 15:33:35.000000000 -0700 | ||
| --- src/parser.cc 2022-03-14 23:23:10.623173055 -0700 | ||
| @@ -181,7 +181,7 @@ | ||
| /// \param[out] _errors Captures errors encountered during parsing. | ||
| static void insertIncludedElement(sdf::SDFPtr _includeSDF, | ||
| const SourceLocation &_sourceLoc, bool _merge, | ||
| - sdf::ElementPtr _parent, sdf::Errors &_errors) | ||
| + sdf::ElementPtr _parent, const ParserConfig &_config, sdf::Errors &_errors) | ||
| { | ||
| Error invalidFileError(ErrorCode::FILE_READ, | ||
| "Included model is invalid. Skipping model."); | ||
| @@ -231,7 +231,7 @@ | ||
| // We create a throwaway sdf::Root object in order to validate the | ||
| // included entity. | ||
| sdf::Root includedRoot; | ||
| - sdf::Errors includeDOMerrors = includedRoot.Load(_includeSDF); | ||
| + sdf::Errors includeDOMerrors = includedRoot.Load(_includeSDF, _config); | ||
| _errors.insert(_errors.end(), includeDOMerrors.begin(), | ||
| includeDOMerrors.end()); | ||
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|
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| @@ -1512,7 +1512,7 @@ | ||
| ElementPtr refSDF; | ||
| refSDF.reset(new Element); | ||
| std::string refFilename = refSDFStr + ".sdf"; | ||
| - initFile(refFilename, refSDF); | ||
| + initFile(refFilename, _config, refSDF); | ||
| _sdf->RemoveFromParent(); | ||
| _sdf->Copy(refSDF); | ||
|
|
||
| @@ -1585,7 +1585,7 @@ | ||
| SDFPtr includeSDF(new SDF); | ||
| includeSDF->Root(includeSDFTemplate->Root()->Clone()); | ||
|
|
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| - if (!readFile(filename, includeSDF)) | ||
| + if (!readFile(filename, _config, includeSDF, _errors)) | ||
| { | ||
| Error err( | ||
| ErrorCode::FILE_READ, | ||
| @@ -1803,7 +1803,7 @@ | ||
| SourceLocation sourceLoc{includeXmlPath, _source, | ||
| elemXml->GetLineNum()}; | ||
|
|
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| - insertIncludedElement(includeSDF, sourceLoc, toMerge, _sdf, _errors); | ||
| + insertIncludedElement(includeSDF, sourceLoc, toMerge, _sdf, _config, _errors); | ||
| continue; | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,78 @@ | ||
| Change the global singleton into a bomb. | ||
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| Use the default config when parsing the built-in root.sdf, and | ||
| in the ign_sdf command-line tool. | ||
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| --- src/ParserConfig.cc.orig 2021-09-30 15:33:35.000000000 -0700 | ||
| +++ src/ParserConfig.cc 2022-03-14 22:49:17.262811731 -0700 | ||
| @@ -57,8 +57,7 @@ | ||
| ///////////////////////////////////////////////// | ||
| ParserConfig &ParserConfig::GlobalConfig() | ||
| { | ||
| - static auto *defaultConfig = new ParserConfig; | ||
| - return *defaultConfig; | ||
| + throw std::runtime_error("Drake must never use ParserConfig::GlobalConfig()"); | ||
| } | ||
|
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| ///////////////////////////////////////////////// | ||
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| --- src/parser.cc.orig 2021-09-30 15:33:35.000000000 -0700 | ||
| +++ src/parser.cc 2022-03-14 23:16:20.973451521 -0700 | ||
| @@ -597,7 +597,7 @@ | ||
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| ElementPtr element(new Element); | ||
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| - initFile(filename, element); | ||
| + initFile(filename, ParserConfig{}, element); | ||
|
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| // override description for include elements | ||
| tinyxml2::XMLElement *description = child->FirstChildElement("description"); | ||
| --- src/ign.cc.orig 2021-09-30 15:33:35.000000000 -0700 | ||
| +++ src/ign.cc 2022-03-15 00:13:58.609410856 -0700 | ||
| @@ -36,7 +36,7 @@ | ||
| int result = 0; | ||
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| sdf::Root root; | ||
| - sdf::Errors errors = root.Load(_path); | ||
| + sdf::Errors errors = root.Load(_path, sdf::ParserConfig{}); | ||
| if (!errors.empty()) | ||
| { | ||
| for (auto &error : errors) | ||
| @@ -85,8 +85,12 @@ | ||
| return -1; | ||
| } | ||
|
|
||
| - if (!sdf::readFile(_path, sdf)) | ||
| + if (!sdf::readFile(_path, sdf::ParserConfig{}, sdf, errors)) | ||
| { | ||
| + for (auto &error : errors) | ||
| + { | ||
| + std::cerr << error << std::endl; | ||
| + } | ||
| std::cerr << "Error: SDF parsing the xml failed.\n"; | ||
| return -1; | ||
| } | ||
| @@ -147,8 +152,13 @@ | ||
| return -1; | ||
| } | ||
|
|
||
| - if (!sdf::readFile(_path, sdf)) | ||
| + sdf::Errors errors; | ||
| + if (!sdf::readFile(_path, sdf::ParserConfig{}, sdf, errors)) | ||
| { | ||
| + for (auto &error : errors) | ||
| + { | ||
| + std::cerr << error << std::endl; | ||
| + } | ||
| std::cerr << "Error: SDF parsing the xml failed.\n"; | ||
| return -1; | ||
| } | ||
| @@ -170,7 +180,7 @@ | ||
| } | ||
|
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| sdf::Root root; | ||
| - sdf::Errors errors = root.Load(_path); | ||
| + sdf::Errors errors = root.Load(_path, sdf::ParserConfig{}); | ||
| if (!errors.empty()) | ||
| { | ||
| std::cerr << errors << std::endl; |
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