Merge branch 'main' into ahcorde/python/box

python/CMakeLists.txt

@@ -40,6 +40,7 @@ pybind11_add_module(sdformat SHARED
   src/sdf/_ignition_sdformat_pybind11.cc
   src/sdf/pyBox.cc
   src/sdf/pyError.cc
+  src/sdf/pyParserConfig.cc
 )
 
 target_link_libraries(sdformat PRIVATE
@@ -49,9 +50,19 @@ target_link_libraries(sdformat PRIVATE
 configure_build_install_location(sdformat)
 
 if (BUILD_TESTING)
+  pybind11_add_module(sdformattest SHARED
+    test/_ignition_sdformattest_pybind11.cc
+  )
+
+  target_link_libraries(sdformattest PRIVATE
+    ${PROJECT_LIBRARY_TARGET_NAME}
+    ignition-utils${IGN_UTILS_VER}::ignition-utils${IGN_UTILS_VER}
+  )
+
   set(python_tests
     pyBox_TEST
     pyError_TEST
+    pyParserConfig_TEST
   )
 
   foreach (test ${python_tests})

python/src/sdf/_ignition_sdformat_pybind11.cc

@@ -18,10 +18,12 @@
 
 #include "pyBox.hh"
 #include "pyError.hh"
+#include "pyParserConfig.hh"
 
 PYBIND11_MODULE(sdformat, m) {
   m.doc() = "sdformat Python Library.";
 
   sdf::python::defineBox(m);
   sdf::python::defineError(m);
+  sdf::python::defineParserConfig(m);
 }

python/src/sdf/pyParserConfig.cc

@@ -0,0 +1,94 @@
+/*
+ * Copyright (C) 2022 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 "pyParserConfig.hh"
+
+#include <pybind11/functional.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+#include <pybind11/operators.h>
+
+#include "sdf/ParserConfig.hh"
+
+namespace sdf
+{
+// Inline bracket to help doxygen filtering.
+inline namespace SDF_VERSION_NAMESPACE {
+namespace python
+{
+/////////////////////////////////////////////////
+void defineParserConfig(pybind11::object module)
+{
+  pybind11::class_<sdf::ParserConfig> parseConfigModule(module, "ParserConfig");
+  parseConfigModule
+    .def(pybind11::init<>())
+    .def(pybind11::init<sdf::ParserConfig>())
+    .def("global_config",
+         &sdf::ParserConfig::GlobalConfig,
+         "Mutable access to a singleton ParserConfig that serves as the global "
+         "ParserConfig object for all parsing operations that do not specify "
+         "their own ParserConfig")
+    .def("find_file_callback",
+         &sdf::ParserConfig::FindFileCallback,
+         "Get the find file callback function")
+    .def("set_find_callback",
+         &sdf::ParserConfig::SetFindCallback,
+         "Set the callback to use when libsdformat can't find a file.")
+    .def("uri_path_map",
+         &sdf::ParserConfig::URIPathMap,
+         "Get the URI scheme to search directories map")
+    .def("add_uri_path",
+         &sdf::ParserConfig::AddURIPath,
+         "Associate paths to a URI.")
+    .def("set_warnings_policy",
+         &sdf::ParserConfig::SetWarningsPolicy,
+         "Set the warning enforcment policy.")
+    .def("warnings_policy",
+         &sdf::ParserConfig::WarningsPolicy,
+         "Get the current warning enforcement policy")
+    .def("set_unrecognized_elements_policy",
+         &sdf::ParserConfig::SetUnrecognizedElementsPolicy,
+         "Set the policy for unrecogonized elements without an xmlns")
+    .def("unrecognized_elements_policy",
+         &sdf::ParserConfig::UnrecognizedElementsPolicy,
+         "Get the current unrecognized elements policy")
+    .def("set_deprecated_elements_policy",
+         &sdf::ParserConfig::SetDeprecatedElementsPolicy,
+         "Set the policy for deprecated elements.")
+    .def("reset_deprecated_elements_policy",
+         &sdf::ParserConfig::ResetDeprecatedElementsPolicy,
+         "Resets the policy for deprecated elements so that it follows "
+         "WarningsPolicy.")
+    .def("deprecated_elements_policy",
+         &sdf::ParserConfig::DeprecatedElementsPolicy,
+         "Get the current deprecated elements policy")
+    .def("urdf_set_preserve_fixed_joint",
+         &sdf::ParserConfig::URDFSetPreserveFixedJoint,
+         "Set the preserveFixedJoint flag.")
+    .def("urdf_preserve_fixed_joint",
+         &sdf::ParserConfig::URDFPreserveFixedJoint,
+         "Get the preserveFixedJoint flag value.");
+
+  pybind11::enum_<sdf::EnforcementPolicy>(
+    parseConfigModule, "EnforcementPolicy")
+    .value("ERR", sdf::EnforcementPolicy::ERR)
+    .value("WARN", sdf::EnforcementPolicy::WARN)
+    .value("LOG", sdf::EnforcementPolicy::LOG);
+
+}
+}  // namespace python
+}  // namespace SDF_VERSION_NAMESPACE
+}  // namespace sdf

python/src/sdf/pyParserConfig.hh

@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2022 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.
+ */
+
+#ifndef SDFORMAT_PYTHON_PARSERCONFIG_HH_
+#define SDFORMAT_PYTHON_PARSERCONFIG_HH_
+
+#include <pybind11/pybind11.h>
+
+#include "sdf/ParserConfig.hh"
+
+#include "sdf/config.hh"
+
+namespace sdf
+{
+// Inline bracket to help doxygen filtering.
+inline namespace SDF_VERSION_NAMESPACE {
+namespace python
+{
+/// Define a pybind11 wrapper for an sdf::ParserConfig
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ */
+void defineParserConfig(pybind11::object module);
+}  // namespace python
+}  // namespace SDF_VERSION_NAMESPACE
+}  // namespace sdf
+
+#endif  // SDFORMAT_PYTHON_PARSERCONFIG_HH_

python/test/_ignition_sdformattest_pybind11.cc

@@ -0,0 +1,39 @@
+/*
+ * Copyright (C) 2022 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 <pybind11/pybind11.h>
+
+#include "test_config.h"
+
+PYBIND11_MODULE(sdformattest, m) {
+  m.doc() = "sdformat test Python Library.";
+
+  m.def(
+    "source_file",
+    []()
+    {
+      return sdf::testing::SourceFile();
+    },
+    "Retrieve a file from the project source directory");
+
+  m.def(
+    "test_file",
+    []()
+    {
+      return sdf::testing::TestFile();
+    },
+    "Retrieve a file from the project source directory");
+}

python/test/pyParserConfig_TEST.py

@@ -0,0 +1,90 @@
+# Copyright (C) 2022 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.
+
+from sdformat import ParserConfig
+from sdformattest import source_file, test_file
+import unittest
+
+
+class ParserConfigColor(unittest.TestCase):
+
+    def test_construction(self):
+        config = ParserConfig()
+        self.assertFalse(config.find_file_callback())
+        self.assertFalse(config.uri_path_map())
+        self.assertFalse(config.find_file_callback())
+
+        testDir = source_file();
+        config.add_uri_path("file://", testDir)
+
+        self.assertTrue(config.uri_path_map())
+        it = config.uri_path_map().get("file://")
+        self.assertEqual(1, len(it))
+        self.assertEqual(it[0], testDir)
+
+        def testFunc(argument):
+            return "test/dir2";
+
+        config.set_find_callback(testFunc)
+        self.assertTrue(config.find_file_callback())
+        self.assertEqual("test/dir2", config.find_file_callback()("empty"))
+
+
+    def test_copy_construction(self):
+        # The directory used in add_uri_path must exist in the filesystem
+        # so we'll use the source path
+        testDir1 = source_file()
+        testDir2 = test_file()
+
+        config1 = ParserConfig()
+        config1.add_uri_path("file://", testDir1)
+        it = config1.uri_path_map().get("file://")
+        self.assertEqual(1, len(it))
+        self.assertEqual(it[0], testDir1)
+
+        config2 = ParserConfig(config1)
+        it = config2.uri_path_map().get("file://")
+        self.assertEqual(1, len(it))
+        self.assertEqual(it[0], testDir1)
+
+        config2.add_uri_path("file://", testDir2)
+        it = config2.uri_path_map().get("file://")
+        self.assertEqual(2, len(it))
+        self.assertEqual(it[1], testDir2)
+
+        # Updating config2 should not affect config1
+        it = config1.uri_path_map().get("file://")
+        self.assertEqual(1, len(it))
+        self.assertEqual(it[0], testDir1)
+
+    def test_copy(self):
+        # The directory used in add_uri_path must exist in the filesystem,
+        # so we'll use the source path
+        testDir1 = source_file()
+
+        config1 = ParserConfig();
+        config1.add_uri_path("file://", testDir1)
+
+        it = config1.uri_path_map().get("file://")
+        self.assertEqual(1, len(it))
+        self.assertEqual(it[0], testDir1)
+
+        config2 = config1
+        it = config2.uri_path_map().get("file://")
+        self.assertEqual(1, len(it))
+        self.assertEqual(it[0], testDir1)
+
+
+if __name__ == '__main__':
+    unittest.main()