adding errors parameters to Physics function calls

Signed-off-by: Marco A. Gutierrez <[email protected]>
gazebosim · Oct 3, 2022 · 3b9585f · 3b9585f
1 parent cda1953
commit 3b9585f
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Showing 2 changed files with 31 additions and 11 deletions.
diff --git a/include/sdf/Physics.hh b/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)
   };

diff --git a/src/Physics.cc b/src/Physics.cc
@@ -86,10 +86,10 @@ Errors Physics::Load(sdf::ElementPtr _sdf)
   }
 
   this->dataPtr->isDefault =
-    _sdf->Get<bool>("default", this->dataPtr->isDefault).first;
+    _sdf->Get<bool>(errors, "default", this->dataPtr->isDefault).first;
 
   std::pair<std::string, bool> stringPair =
-    _sdf->Get<std::string>("type", this->dataPtr->type);
+    _sdf->Get<std::string>(errors, "type", this->dataPtr->type);
   if (!stringPair.second)
   {
     errors.push_back({ErrorCode::ELEMENT_MISSING,
@@ -99,7 +99,7 @@ Errors Physics::Load(sdf::ElementPtr _sdf)
   this->dataPtr->type = stringPair.first;
 
   std::pair<double, bool> doublePair =
-    _sdf->Get<double>("max_step_size", this->dataPtr->stepSize);
+    _sdf->Get<double>(errors, "max_step_size", this->dataPtr->stepSize);
   if (!doublePair.second)
   {
     errors.push_back({ErrorCode::ELEMENT_MISSING,
@@ -108,7 +108,8 @@ Errors Physics::Load(sdf::ElementPtr _sdf)
   }
   this->dataPtr->stepSize = doublePair.first;
 
-  doublePair = _sdf->Get<double>("real_time_factor", this->dataPtr->rtf);
+  doublePair = _sdf->Get<double>(
+      errors, "real_time_factor", this->dataPtr->rtf);
   if (!doublePair.second)
   {
     errors.push_back({ErrorCode::ELEMENT_MISSING,
@@ -118,7 +119,7 @@ Errors Physics::Load(sdf::ElementPtr _sdf)
   this->dataPtr->rtf = doublePair.first;
 
   this->dataPtr->maxContacts =
-    _sdf->Get<int>("max_contacts", this->dataPtr->maxContacts).first;
+    _sdf->Get<int>(errors, "max_contacts", this->dataPtr->maxContacts).first;
 
   return errors;
 }
@@ -203,17 +204,28 @@ void Physics::SetMaxContacts(int _maxContacts)
 
 /////////////////////////////////////////////////
 sdf::ElementPtr Physics::ToElement() const
+{
+  sdf::Errors errors;
+  auto result = this->ToElement(errors);
+  sdf::throwOrPrintErrors(errors);
+  return result;
+}
+
+/////////////////////////////////////////////////
+sdf::ElementPtr Physics::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
   sdf::initFile("physics.sdf", elem);
 
-  elem->GetAttribute("name")->Set(this->Name());
-  elem->GetAttribute("default")->Set(this->IsDefault());
-  elem->GetAttribute("type")->Set(this->EngineType());
+  elem->GetAttribute("name")->Set(this->Name(), _errors);
+  elem->GetAttribute("default")->Set(this->IsDefault(), _errors);
+  elem->GetAttribute("type")->Set(this->EngineType(), _errors);
 
-  elem->GetElement("max_step_size")->Set(this->MaxStepSize());
-  elem->GetElement("real_time_factor")->Set(this->RealTimeFactor());
-  elem->GetElement("max_contacts")->Set(this->MaxContacts());
+  elem->GetElement("max_step_size", _errors)->Set(
+      this->MaxStepSize(), _errors);
+  elem->GetElement("real_time_factor", _errors)->Set(
+      this->RealTimeFactor(), _errors);
+  elem->GetElement("max_contacts", _errors)->Set(this->MaxContacts(), _errors);
 
   /// \todo(nkoenig) Support engine specific parameters.