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Cleanup error checking in urdfdom #104

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Cleanup error checking in urdfdom #104

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46ea808
Cleanup error checking in model.cpp.
clalancette Nov 20, 2017
c10d5ad
Slightly cleanup link.cpp.
clalancette Nov 20, 2017
0389481
Add in tests for new, more restrictive parsing.
clalancette Apr 16, 2018
173dc7c
Remove trailing whitespace from link.cpp
clalancette Feb 7, 2019
bb16265
Quiet down the tests.
clalancette Feb 7, 2019
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53 changes: 24 additions & 29 deletions urdf_parser/src/link.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
/*********************************************************************
* Software License Agreement (BSD License)
*
*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
Expand All @@ -17,7 +17,7 @@
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
Expand Down Expand Up @@ -64,7 +64,7 @@ bool parseMaterial(Material &material, TiXmlElement *config, bool only_name_is_o
CONSOLE_BRIDGE_logError("Material must contain a name attribute");
return false;
}

material.name = config->Attribute("name");

// texture
Expand All @@ -88,7 +88,7 @@ bool parseMaterial(Material &material, TiXmlElement *config, bool only_name_is_o
material.color.init(c->Attribute("rgba"));
has_rgb = true;
}
catch (ParseError &e) {
catch (ParseError &e) {
material.color.clear();
CONSOLE_BRIDGE_logError(std::string("Material [" + material.name + "] has malformed color rgba values: " + e.what()).c_str());
}
Expand Down Expand Up @@ -133,7 +133,7 @@ bool parseSphere(Sphere &s, TiXmlElement *c)
bool parseBox(Box &b, TiXmlElement *c)
{
b.clear();

b.type = Geometry::BOX;
if (!c->Attribute("size"))
{
Expand Down Expand Up @@ -255,14 +255,14 @@ GeometrySharedPtr parseGeometry(TiXmlElement *g)
Mesh *m = new Mesh();
geom.reset(m);
if (parseMesh(*m, shape))
return geom;
return geom;
}
else
{
CONSOLE_BRIDGE_logError("Unknown geometry type '%s'", type_name.c_str());
return geom;
}

return GeometrySharedPtr();
}

Expand Down Expand Up @@ -376,20 +376,20 @@ bool parseVisual(Visual &vis, TiXmlElement *config)
return false;
}
vis.material_name = mat->Attribute("name");

// try to parse material element in place
vis.material.reset(new Material());
if (!parseMaterial(*vis.material, mat, true))
{
vis.material.reset();
}
}

return true;
}

bool parseCollision(Collision &col, TiXmlElement* config)
{
{
col.clear();

// Origin
Expand All @@ -398,7 +398,7 @@ bool parseCollision(Collision &col, TiXmlElement* config)
if (!parsePose(col.origin, o))
return false;
}

// Geometry
TiXmlElement *geom = config->FirstChildElement("geometry");
col.geometry = parseGeometry(geom);
Expand All @@ -414,7 +414,7 @@ bool parseCollision(Collision &col, TiXmlElement* config)

bool parseLink(Link &link, TiXmlElement* config)
{

link.clear();

const char *name_char = config->Attribute("name");
Expand Down Expand Up @@ -443,41 +443,36 @@ bool parseLink(Link &link, TiXmlElement* config)

VisualSharedPtr vis;
vis.reset(new Visual());
if (parseVisual(*vis, vis_xml))
{
link.visual_array.push_back(vis);
}
else
if (!parseVisual(*vis, vis_xml))
{
vis.reset();
CONSOLE_BRIDGE_logError("Could not parse visual element for Link [%s]", link.name.c_str());
return false;
}

link.visual_array.push_back(vis);
}

// Visual (optional)
// Assign the first visual to the .visual ptr, if it exists
if (!link.visual_array.empty())
link.visual = link.visual_array[0];

// Multiple Collisions (optional)
for (TiXmlElement* col_xml = config->FirstChildElement("collision"); col_xml; col_xml = col_xml->NextSiblingElement("collision"))
{
CollisionSharedPtr col;
col.reset(new Collision());
if (parseCollision(*col, col_xml))
{
link.collision_array.push_back(col);
}
else
if (!parseCollision(*col, col_xml))
{
col.reset();
CONSOLE_BRIDGE_logError("Could not parse collision element for Link [%s]", link.name.c_str());
return false;
}
link.collision_array.push_back(col);
}
// Collision (optional)

// Collision (optional)
// Assign the first collision to the .collision ptr, if it exists
if (!link.collision_array.empty())
link.collision = link.collision_array[0];
Expand Down Expand Up @@ -601,7 +596,7 @@ bool exportInertial(Inertial &i, TiXmlElement *xml)
inertial_xml->LinkEndChild(inertia_xml);

xml->LinkEndChild(inertial_xml);

return true;
}

Expand Down Expand Up @@ -629,7 +624,7 @@ bool exportVisual(Visual &vis, TiXmlElement *xml)
}

bool exportCollision(Collision &col, TiXmlElement* xml)
{
{
// <collision group="default">
// <origin rpy="0 0 0" xyz="0 0 0"/>
// <geometry>
Expand Down
107 changes: 62 additions & 45 deletions urdf_parser/src/model.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,27 +125,30 @@ ModelInterfaceSharedPtr parseURDF(const std::string &xml_string)
MaterialSharedPtr material;
material.reset(new Material);

bool success;
try {
parseMaterial(*material, material_xml, false); // material needs to be fully defined here
if (model->getMaterial(material->name))
{
CONSOLE_BRIDGE_logError("material '%s' is not unique.", material->name.c_str());
material.reset();
model.reset();
return model;
}
else
{
model->materials_.insert(make_pair(material->name,material));
CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new material '%s'", material->name.c_str());
}
success = parseMaterial(*material, material_xml, false); // material needs to be fully defined here
} catch(ParseError &) {
success = false;
}
catch (ParseError &/*e*/) {

if (!success) {
CONSOLE_BRIDGE_logError("material xml is not initialized correctly");
material.reset();
model.reset();
return model;
}

if (model->getMaterial(material->name))
{
CONSOLE_BRIDGE_logError("material '%s' is not unique.", material->name.c_str());
material.reset();
model.reset();
return model;
}

model->materials_.insert(make_pair(material->name,material));
CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new material '%s'", material->name.c_str());
}

// Get all Link elements
Expand All @@ -154,15 +157,31 @@ ModelInterfaceSharedPtr parseURDF(const std::string &xml_string)
LinkSharedPtr link;
link.reset(new Link);

bool success;
try {
parseLink(*link, link_xml);
if (model->getLink(link->name))
{
CONSOLE_BRIDGE_logError("link '%s' is not unique.", link->name.c_str());
model.reset();
return model;
}
else
success = parseLink(*link, link_xml);
} catch (ParseError &) {
success = false;
}

if (!success) {
CONSOLE_BRIDGE_logError("link xml is not initialized correctly");
model.reset();
return model;
}

if (model->getLink(link->name))
{
CONSOLE_BRIDGE_logError("link '%s' is not unique.", link->name.c_str());
model.reset();
return model;
}

// set link visual material
CONSOLE_BRIDGE_logDebug("urdfdom: setting link '%s' material", link->name.c_str());
if (link->visual)
{
if (!link->visual->material_name.empty())
{
// set link visual(s) material
CONSOLE_BRIDGE_logDebug("urdfdom: setting link '%s' material", link->name.c_str());
Expand All @@ -174,17 +193,13 @@ ModelInterfaceSharedPtr parseURDF(const std::string &xml_string)
{
assignMaterial(visual, model, link->name.c_str());
}

model->links_.insert(make_pair(link->name,link));
CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new link '%s'", link->name.c_str());
}
}
catch (ParseError &/*e*/) {
CONSOLE_BRIDGE_logError("link xml is not initialized correctly");
model.reset();
return model;
}

model->links_.insert(make_pair(link->name, link));
CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new link '%s'", link->name.c_str());
}

if (model->links_.empty()){
CONSOLE_BRIDGE_logError("No link elements found in urdf file");
model.reset();
Expand All @@ -197,26 +212,28 @@ ModelInterfaceSharedPtr parseURDF(const std::string &xml_string)
JointSharedPtr joint;
joint.reset(new Joint);

if (parseJoint(*joint, joint_xml))
{
if (model->getJoint(joint->name))
{
CONSOLE_BRIDGE_logError("joint '%s' is not unique.", joint->name.c_str());
model.reset();
return model;
}
else
{
model->joints_.insert(make_pair(joint->name,joint));
CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new joint '%s'", joint->name.c_str());
}
bool success;
try {
success = parseJoint(*joint, joint_xml);
} catch(ParseError &) {
success = false;
}
else
{

if (!success) {
CONSOLE_BRIDGE_logError("joint xml is not initialized correctly");
model.reset();
return model;
}

if (model->getJoint(joint->name))
{
CONSOLE_BRIDGE_logError("joint '%s' is not unique.", joint->name.c_str());
model.reset();
return model;
}

model->joints_.insert(make_pair(joint->name,joint));
CONSOLE_BRIDGE_logDebug("urdfdom: successfully added a new joint '%s'", joint->name.c_str());
}


Expand Down
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