Merge f0cbdc6 into ac45020

gazebosim · Mar 29, 2023 · 5a6fa07 · 5a6fa07
2 parents ac45020 + f0cbdc6
commit 5a6fa07
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Showing 3 changed files with 72 additions and 9 deletions.
diff --git a/include/sdf/Atmosphere.hh b/include/sdf/Atmosphere.hh
@@ -102,6 +102,14 @@ namespace sdf
     /// \return SDF element pointer with updated atmosphere values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// atmosphere.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated atmosphere values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

diff --git a/src/Atmosphere.cc b/src/Atmosphere.cc
@@ -19,6 +19,7 @@
 #include <gz/math/Helpers.hh>
 #include "sdf/Atmosphere.hh"
 #include "sdf/parser.hh"
+#include "Utils.hh"
 
 using namespace sdf;
 
@@ -61,7 +62,7 @@ Errors Atmosphere::Load(ElementPtr _sdf)
   }
 
   // Read the type
-  std::string type = _sdf->Get<std::string>("type", "adiabatic").first;
+  std::string type = _sdf->Get<std::string>(errors, "type", "adiabatic").first;
   if (type == "adiabatic")
   {
     this->dataPtr->type = AtmosphereType::ADIABATIC;
@@ -73,16 +74,17 @@ Errors Atmosphere::Load(ElementPtr _sdf)
   }
 
   // Read the temperature
-  this->dataPtr->temperature = _sdf->Get<double>("temperature",
+  this->dataPtr->temperature = _sdf->Get<double>(errors, "temperature",
         this->dataPtr->temperature.Kelvin()).first;
 
   // Read the pressure
-  this->dataPtr->pressure = _sdf->Get<double>("pressure",
+  this->dataPtr->pressure = _sdf->Get<double>(errors, "pressure",
         this->dataPtr->pressure).first;
 
   // Read the temperature gradient
-  this->dataPtr->temperatureGradient = _sdf->Get<double>("temperature_gradient",
-        this->dataPtr->temperatureGradient).first;
+  this->dataPtr->temperatureGradient = _sdf->Get<double>(errors,
+      "temperature_gradient",
+      this->dataPtr->temperatureGradient).first;
 
   return errors;
 }
@@ -148,14 +150,25 @@ bool Atmosphere::operator==(const Atmosphere &_atmosphere) const
 
 /////////////////////////////////////////////////
 sdf::ElementPtr Atmosphere::ToElement() const
+{
+  sdf::Errors errors;
+  auto result = this->ToElement(errors);
+  sdf::throwOrPrintErrors(errors);
+  return result;
+}
+
+/////////////////////////////////////////////////
+sdf::ElementPtr Atmosphere::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
   sdf::initFile("atmosphere.sdf", elem);
 
-  elem->GetAttribute("type")->Set("adiabatic");
-  elem->GetElement("temperature")->Set(this->Temperature().Kelvin());
-  elem->GetElement("pressure")->Set(this->Pressure());
-  elem->GetElement("temperature_gradient")->Set(this->TemperatureGradient());
+  elem->GetAttribute("type")->Set("adiabatic", _errors);
+  elem->GetElement("temperature", _errors)->Set(
+      _errors, this->Temperature().Kelvin());
+  elem->GetElement("pressure", _errors)->Set(_errors, this->Pressure());
+  elem->GetElement("temperature_gradient", _errors)->Set(
+      _errors, this->TemperatureGradient());
 
   return elem;
 }
diff --git a/src/Atmosphere_TEST.cc b/src/Atmosphere_TEST.cc
@@ -19,6 +19,7 @@
 #include <gz/math/Temperature.hh>
 #include <gz/math/Vector3.hh>
 #include "sdf/World.hh"
+#include "test_utils.hh"
 
 /////////////////////////////////////////////////
 TEST(DOMAtmosphere, Construction)
@@ -153,3 +154,44 @@ TEST(DOMAtmosphere, ToElement)
       atmosphere2.TemperatureGradient());
   EXPECT_DOUBLE_EQ(atmosphere.Pressure(), atmosphere2.Pressure());
 }
+
+/////////////////////////////////////////////////
+TEST(DOMAtmosphere, 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::Atmosphere atmosphere;
+  sdf::Errors errors;
+  atmosphere.SetType(sdf::AtmosphereType::ADIABATIC);
+  atmosphere.SetTemperature(gz::math::Temperature(123));
+  atmosphere.SetTemperatureGradient(1.34);
+  atmosphere.SetPressure(2.65);
+
+  sdf::ElementPtr elem = atmosphere.ToElement(errors);
+  EXPECT_TRUE(errors.empty());
+  ASSERT_NE(nullptr, elem);
+
+  sdf::Atmosphere atmosphere2;
+  errors = atmosphere2.Load(elem);
+  EXPECT_TRUE(errors.empty());
+
+  // verify values after loading the element back
+  EXPECT_EQ(atmosphere.Temperature(), atmosphere2.Temperature());
+  EXPECT_DOUBLE_EQ(atmosphere.TemperatureGradient(),
+      atmosphere2.TemperatureGradient());
+  EXPECT_DOUBLE_EQ(atmosphere.Pressure(), atmosphere2.Pressure());
+
+  // Check nothing has been printed
+  EXPECT_TRUE(buffer.str().empty()) << buffer.str();
+}