Port embedSdf script from Ruby to Python3 and provide unittests (#884)

Converts the script that creates the .cc file for mapping of SDF filename and SDF content from Ruby to Python. Additionally a few unittests are added for the function that uses the mapping and which wasn't tested before.

Signed-off-by: Bi0T1N <[email protected]>
Co-authored-by: Bi0T1N <[email protected]>
Co-authored-by: Michael Carroll <[email protected]>

sdf/CMakeLists.txt

@@ -12,10 +12,14 @@ add_subdirectory(1.10)
 add_custom_target(schema)
 add_dependencies(schema schema1_10)
 
+if (NOT Python3_Interpreter_FOUND)
+ gz_build_error("Python is required to generate the C++ file with the SDF content")
+endif()
+
 # Generate the EmbeddedSdf.cc file, which contains all the supported SDF
 # descriptions in a map of strings. The parser.cc file uses EmbeddedSdf.hh.
 execute_process(
- COMMAND ${RUBY} ${CMAKE_SOURCE_DIR}/sdf/embedSdf.rb
+ COMMAND ${Python3_EXECUTABLE} ${CMAKE_SOURCE_DIR}/sdf/embedSdf.py
  WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}/sdf"
  OUTPUT_FILE "${PROJECT_BINARY_DIR}/src/EmbeddedSdf.cc"
 )

sdf/embedSdf.py

@@ -0,0 +1,151 @@
+#!/usr/bin/env python3
+import inspect
+from pathlib import Path, PurePosixPath
+
+""""Script for generating a C++ file that contains the content from all SDF files"""
+
+# The list of supported SDF specification versions. This will let us drop
+# versions without removing the directories.
+SUPPORTED_SDF_VERSIONS = ['1.10', '1.9', '1.8', '1.7', '1.6', '1.5', '1.4', '1.3', '1.2']
+
+# The list of supported SDF conversions. This list includes versions that
+# a user can convert an existing SDF version to.
+SUPPORTED_SDF_CONVERSIONS = ['1.10', '1.9', '1.8', '1.7', '1.6', '1.5', '1.4', '1.3']
+
+# whitespace indentation for C++ code
+INDENTATION = ' '
+# newline character
+NEWLINE = '\n'
+
+def get_copyright_notice() -> str:
+ """
+ Provides the copyrigt notice for the C++ file
+
+ :returns: copyright notice
+ """
+ res = inspect.cleandoc("""
+ /*
+ * Copyright 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.
+ *
+ */
+ """)
+ return res + 2*NEWLINE
+
+
+def get_file_header_prolog() -> str:
+ """
+ Provides the include statement, namespace and variable declaration of the C++ file
+
+ :returns: prolog of the C++ file
+ """
+ res = inspect.cleandoc("""
+ #include "EmbeddedSdf.hh"
+
+ namespace sdf
+ {
+ inline namespace SDF_VERSION_NAMESPACE
+ {
+ /////////////////////////////////////////////////
+ const std::map<std::string, std::string> &GetEmbeddedSdf()
+ {
+ static const std::map<std::string, std::string> result {
+ """)
+ return res + NEWLINE
+
+
+def embed_sdf_content(arg_path: str, arg_file_content: str) -> str:
+ """
+ Generates a string pair with the folder and filename as well as the content of the file
+
+ :param arg_path: Foldername and filename of the SDF
+ :param arg_file_content: Content of the provided file
+ :returns: raw string literal mapping pair for the std::map
+ """
+ res = []
+ res.append('// NOLINT')
+ res.append('{')
+ res.append(f'"{arg_path}",')
+ res.append('R"__sdf_literal__(')
+ res.append(f'{arg_file_content}')
+ res.append(')__sdf_literal__"')
+ res.append('},')
+ res.append('')
+ return NEWLINE.join(res)
+
+
+def get_map_content(arg_pathlist: Path) -> str:
+ """
+ Generates a string pair with the folder and filename as well as the content
+ of the file in ascending order
+
+ :param arg_pathlist: Foldername and all filenames inside it
+ :returns: mapping pairs for the std::map
+ """
+ map_str = ''
+ files = []
+ for path in arg_pathlist:
+ # dir separator is hardcoded to '/' in C++ mapping
+ posix_path = PurePosixPath(path)
+ files.append(str(posix_path))
+ # get ascending order
+ files.sort()
+ for file in files:
+ with Path(file).open() as f:
+ content = f.read()
+ map_str += embed_sdf_content(file, content)
+ return map_str
+
+
+def get_file_header_epilog() -> str:
+ """
+ Provides the return statement and the closing brackets of the C++ file
+
+ :returns: epilog of the C++ file
+ """
+ res = inspect.cleandoc("""
+ };
+
+ return result;
+ }
+
+ }
+ } // namespace sdf
+
+ """)
+ return NEWLINE + res
+
+
+if __name__ == "__main__":
+ copyright = get_copyright_notice()
+ prolog = get_file_header_prolog()
+
+ map_str = ""
+ for sdf_version in SUPPORTED_SDF_VERSIONS:
+ pathlist = Path(sdf_version).glob('*.sdf')
+ map_str += get_map_content(pathlist)
+
+ for sdf_conversion in SUPPORTED_SDF_CONVERSIONS:
+ pathlist = Path(sdf_conversion).glob('*.convert')
+ map_str += get_map_content(pathlist)
+
+ # remove the last comma
+ map_str = map_str[:-2]
+
+ epilog = get_file_header_epilog()
+
+ output = copyright + prolog + map_str + epilog
+
+ # output to stdin so that CMake can read it and create the appropriate file
+ print(output)

src/SDF_TEST.cc

@@ -21,6 +21,9 @@
 #include <gz/utils/Environment.hh>
 #include <gz/utils/SuppressWarning.hh>
 
+#include "test_config.hh"
+#include "test_utils.hh"
+
 #include "sdf/sdf.hh"
 
 class SDFUpdateFixture
@@ -559,6 +562,59 @@ TEST(SDF, Version)
  EXPECT_STREQ(SDF_VERSION, sdf::SDF::Version().c_str());
 }
 
+/////////////////////////////////////////////////
+TEST(SDF, EmbeddedSpec)
+{
+ std::string result;
+
+ result = sdf::SDF::EmbeddedSpec("actor.sdf", false);
+ EXPECT_NE(result.find("<!-- Actor -->"), std::string::npos);
+ EXPECT_NE(result.find("<element name=\"actor\" required=\"*\">"),
+ std::string::npos);
+ result = sdf::SDF::EmbeddedSpec("actor.sdf", true);
+ EXPECT_NE(result.find("<!-- Actor -->"), std::string::npos);
+ EXPECT_NE(result.find("<element name=\"actor\" required=\"*\">"),
+ std::string::npos);
+
+ result = sdf::SDF::EmbeddedSpec("root.sdf", false);
+ EXPECT_NE(result.find("SDFormat base element"), std::string::npos);
+ EXPECT_NE(result.find("name=\"version\" type=\"string\""), std::string::npos);
+ result = sdf::SDF::EmbeddedSpec("root.sdf", true);
+ EXPECT_NE(result.find("SDFormat base element"), std::string::npos);
+ EXPECT_NE(result.find("name=\"version\" type=\"string\""), std::string::npos);
+}
+
+TEST(SDF, EmbeddedSpecNonExistent)
+{
+ std::string result;
+
+ // Capture sdferr output
+ std::stringstream stderr_buffer;
+ sdf::testing::RedirectConsoleStream redir(
+ sdf::Console::Instance()->GetMsgStream(), &stderr_buffer);
+#ifdef _WIN32
+ sdf::Console::Instance()->SetQuiet(false);
+ sdf::testing::ScopeExit revertSetQuiet(
+ []
+ {
+ sdf::Console::Instance()->SetQuiet(true);
+ });
+#endif
+
+ result = sdf::SDF::EmbeddedSpec("unavailable.sdf", false);
+ EXPECT_NE(stderr_buffer.str().find("Unable to find SDF filename"),
+ std::string::npos);
+ EXPECT_NE(stderr_buffer.str().find("with version"), std::string::npos);
+ EXPECT_TRUE(result.empty());
+
+ // clear the contents of the buffer
+ stderr_buffer.str("");
+
+ result = sdf::SDF::EmbeddedSpec("unavailable.sdf", true);
+ EXPECT_TRUE(stderr_buffer.str().empty());
+ EXPECT_TRUE(result.empty());
+}
+
 /////////////////////////////////////////////////
 TEST(SDF, FilePath)
 {