Support resource files with spaces (#2877)

Mainly adds tests to make sure we continue to support files with spaces.

Support encoded file names inside COLLADA files.

Signed-off-by: Louise Poubel <[email protected]>

gazebo/Server.cc

@@ -428,28 +428,33 @@ bool Server::LoadFile(const std::string &_filename,
             gzerr << "Unable to read SDF from URL[" << filename << "]\n";
             return false;
           }
+          gzmsg << "Loading world file [" << filename << "]" << std::endl;
         }
       }
     }
   }
   else
   {
+    auto foundFile = common::find_file(filename);
+
     // Quick test for a valid file
-    FILE *test = fopen(common::find_file(filename).c_str(), "r");
+    FILE *test = fopen(foundFile.c_str(), "r");
     if (!test)
     {
       gzerr << "Could not open file[" << filename << "]\n";
       return false;
     }
     fclose(test);
 
-    if (!sdf::readFile(common::find_file(filename), sdf))
+    if (!sdf::readFile(foundFile, sdf))
     {
       gzerr << "Unable to read sdf file[" << filename << "]\n";
       return false;
     }
-  }
 
+    gzmsg << "Loading world file [" << foundFile << "]" << std::endl;
+  }
+
   return this->LoadImpl(sdf->Root(), _physics);
 }
 

gazebo/common/ColladaLoader.cc

@@ -15,6 +15,7 @@
  *
  */
 
+#include <curl/curl.h>
 #include <tinyxml.h>
 #include <math.h>
 #include <sstream>
@@ -1494,6 +1495,18 @@ void ColladaLoader::LoadColorOrTexture(TiXmlElement *_elem,
     {
       std::string imgFile =
         imageXml->FirstChildElement("init_from")->GetText();
+
+      auto curl = curl_easy_init();
+      if (curl)
+      {
+        imgFile = std::string(curl_easy_unescape(curl, imgFile.c_str(), 0,
+            nullptr));
+      }
+      else
+      {
+        gzerr << "Can't unescape file, failed to initialize curl" << std::endl;
+      }
+
       _mat->SetTextureImage(imgFile, this->dataPtr->path);
     }
   }

gazebo/gui/ModelMaker_TEST.cc

@@ -17,6 +17,7 @@
 
 #include <memory>
 #include "gazebo/common/MouseEvent.hh"
+#include "gazebo/common/SystemPaths.hh"
 
 #include "gazebo/msgs/msgs.hh"
 
@@ -669,6 +670,132 @@ void ModelMaker_TEST::FromNestedModel()
   delete mainWindow;
 }
 
+/////////////////////////////////////////////////
+void ModelMaker_TEST::FromModelWithSpaces()
+{
+  this->resMaxPercentChange = 5.0;
+  this->shareMaxPercentChange = 2.0;
+
+  // Test database
+  gazebo::common::SystemPaths::Instance()->AddModelPaths(
+    PROJECT_SOURCE_PATH "/test/models/testdb");
+
+  this->Load("worlds/empty.world", false, false, false);
+
+  // Create the main window.
+  auto mainWindow = new gazebo::gui::MainWindow();
+  QVERIFY(mainWindow != nullptr);
+  mainWindow->Load();
+  mainWindow->Init();
+  mainWindow->show();
+
+  this->ProcessEventsAndDraw(mainWindow);
+
+  // Check there's no model in the left panel yet
+  bool hasModel = mainWindow->HasEntityName("model with spaces");
+  QVERIFY(!hasModel);
+
+  // Get scene
+  auto scene = gazebo::rendering::get_scene();
+  QVERIFY(scene != nullptr);
+
+  // Check there's no model in the scene yet
+  auto vis = scene->GetVisual("model with spaces");
+  QVERIFY(vis == nullptr);
+
+  // Create a model maker
+  auto modelMaker = new gazebo::gui::ModelMaker();
+  QVERIFY(modelMaker != nullptr);
+
+  // Model data
+  boost::filesystem::path path;
+  path = path / TEST_PATH / "models" / "testdb" / "model with spaces" /
+      "model.sdf";
+
+  // Start the maker to make a model
+  modelMaker->InitFromFile(path.string());
+  modelMaker->Start();
+
+  // Check there's still no model in the left panel
+  hasModel = mainWindow->HasEntityName("model with spaces");
+  QVERIFY(!hasModel);
+
+  // Check there's a model in the scene -- this is the preview
+  vis = scene->GetVisual("model with spaces");
+  QVERIFY(vis != nullptr);
+
+  // check all preview visuals are loaded
+  vis = scene->GetVisual("model with spaces::nested model with spaces");
+  QVERIFY(vis != nullptr);
+  vis = scene->GetVisual("model with spaces::nested model with spaces::"
+      "deeper nested model with spaces");
+  QVERIFY(vis != nullptr);
+  vis = scene->GetVisual(
+      "model with spaces::nested model with spaces::"
+      "deeper nested model with spaces::even deeper nested model with spaces");
+  QVERIFY(vis != nullptr);
+
+  // Check that the model appeared in the center of the screen
+  ignition::math::Vector3d startPos = modelMaker->EntityPosition();
+  QVERIFY(startPos == ignition::math::Vector3d(0, 0, 0.5));
+  vis = scene->GetVisual("model with spaces");
+  QVERIFY(vis->WorldPose().Pos() == startPos);
+
+  // Mouse move
+  gazebo::common::MouseEvent mouseEvent;
+  mouseEvent.SetType(gazebo::common::MouseEvent::MOVE);
+  modelMaker->OnMouseMove(mouseEvent);
+
+  // Check that entity moved
+  ignition::math::Vector3d pos = modelMaker->EntityPosition();
+  QVERIFY(pos != startPos);
+  QVERIFY(vis->WorldPose().Pos() == pos);
+
+  // Mouse release
+  mouseEvent.SetType(gazebo::common::MouseEvent::RELEASE);
+  mouseEvent.SetButton(gazebo::common::MouseEvent::LEFT);
+  mouseEvent.SetDragging(false);
+  mouseEvent.SetPressPos(0, 0);
+  mouseEvent.SetPos(0, 0);
+  modelMaker->OnMouseRelease(mouseEvent);
+
+  // Check there's no model in the scene -- the preview is gone
+  vis = scene->GetVisual("model with spaces");
+  QVERIFY(vis == nullptr);
+  vis = scene->GetVisual("model with spaces::nested model with spaces");
+  QVERIFY(vis == nullptr);
+  vis = scene->GetVisual("model with spaces::nested model with spaces::"
+      "deeper nested model with spaces");
+  QVERIFY(vis == nullptr);
+  vis = scene->GetVisual("model with spaces::nested model with spaces::"
+      "deeper nested model with spaces::even deeper nested model with spaces");
+  QVERIFY(vis == nullptr);
+
+  this->ProcessEventsAndDraw(mainWindow);
+
+  // Check there's a model in the scene -- this is the final model
+  vis = scene->GetVisual("model with spaces");
+  QVERIFY(vis != nullptr);
+  vis = scene->GetVisual("model with spaces::nested model with spaces");
+  QVERIFY(vis != nullptr);
+  vis = scene->GetVisual("model with spaces::nested model with spaces::"
+      "deeper nested model with spaces");
+  QVERIFY(vis != nullptr);
+  vis = scene->GetVisual("model with spaces::nested model with spaces::"
+      "deeper nested model with spaces::even deeper nested model with spaces");
+  QVERIFY(vis != nullptr);
+
+  // Check the model is in the left panel
+  hasModel = mainWindow->HasEntityName("model with spaces");
+  QVERIFY(hasModel);
+
+  delete modelMaker;
+
+  // Terminate
+  mainWindow->close();
+  delete mainWindow;
+}
+
 /////////////////////////////////////////////////
 void ModelMaker_TEST::FromNestedModelFileWithFrameSemantics()
 {

gazebo/gui/ModelMaker_TEST.hh

@@ -43,6 +43,10 @@ class ModelMaker_TEST : public QTestFixture
   /// \brief Test creating a nested model by copying another nested model.
   private slots: void FromNestedModel();
 
+  /// \brief Test creating a model with spaces in the file name and entity
+  /// names.
+  private slots: void FromModelWithSpaces();
+
   /// \brief Test creating a nested model with frame semantics (SDFormat 1.7)
   /// from a file
   private slots: void FromNestedModelFileWithFrameSemantics();

gazebo/test/ServerFixture.cc

@@ -15,6 +15,7 @@
  *
 */
 #include <boost/algorithm/string.hpp>
+#include <regex>
 #include <stdio.h>
 #include <string>
 #include <cmath>
@@ -163,7 +164,10 @@ void ServerFixture::Load(const std::string &_worldFilename,
                          bool _paused, const std::string &_physics,
                          const std::vector<std::string> &_systemPlugins)
 {
-  std::string params = _worldFilename;
+  // Substitute spaces in file name with a placeholder to prevent the name
+  // from being split later
+  auto params = std::regex_replace(_worldFilename, std::regex("\\s"), "%20");
+
   if (!_physics.empty())
     params += " -e " + _physics;
   if (_paused)
@@ -186,6 +190,10 @@ void ServerFixture::LoadArgs(const std::string &_args)
   boost::trim_if(args, boost::is_any_of("\t "));
   boost::split(params, args, boost::is_any_of("\t "), boost::token_compress_on);
 
+  // Add spaces back
+  for (auto &param : params)
+    param = std::regex_replace(param, std::regex("%20"), " ");
+
   bool paused = false;
   if (std::find(params.begin(), params.end(), "-u") != params.end())
     paused = true;