components/Model.hh

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/*
 * Copyright (C) 2018 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 GZ_SIM_COMPONENTS_MODEL_HH_
#define GZ_SIM_COMPONENTS_MODEL_HH_
 
#include <string>
 
#include <sdf/Model.hh>
#include <sdf/Root.hh>
 
#include <gz/sim/components/Factory.hh>
#include <gz/sim/components/Component.hh>
#include <gz/sim/config.hh>
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace serializers
{
  class SdfModelSerializer
  {
    public: static std::ostream &Serialize(std::ostream &_out,
                const sdf::Model &_model)
    {
      sdf::ElementPtr modelElem = _model.Element();
      if (!modelElem)
      {
        gzwarn << "Unable to serialize sdf::Model" << std::endl;
        return _out;
      }
 
      bool skip = false;
      if (modelElem->HasElement("pose"))
      {
        sdf::ElementPtr poseElem = modelElem->GetElement("pose");
        if (poseElem->HasAttribute("relative_to"))
        {
          // Skip serializing models with //pose/@relative_to attribute
          // since deserialization will fail. This could be a nested model.
          // see https://github.com/gazebosim/gz-sim/issues/1071
          // Once https://github.com/gazebosim/sdformat/issues/820 is
          // resolved, there should be an API that returns sdf::Errors objects
          // instead of printing console msgs so it would be easier to ignore
          // specific errors in Deserialize.
          static bool warned = false;
          if (!warned)
          {
            gzwarn << "Skipping serialization / deserialization for models "
                    << "with //pose/@relative_to attribute."
                    << std::endl;
            warned = true;
          }
          skip = true;
        }
      }
 
      if (!skip)
      {
        _out << "<?xml version=\"1.0\" ?>"
              << "<sdf version='" << SDF_PROTOCOL_VERSION << "'>"
              << modelElem->ToString("")
              << "</sdf>";
 
      }
      else
      {
        _out << "";
      }
      return _out;
    }
 
    public: static std::istream &Deserialize(std::istream &_in,
                sdf::Model &_model)
    {
      std::string sdf(std::istreambuf_iterator<char>(_in), {});
      if (sdf.empty())
      {
        return _in;
      }
 
      // Its super expensive to create an SDFElement for some reason
      sdf::Root root;
      sdf::Errors errors = root.LoadSdfString(sdf);
      if (!root.Model())
      {
        gzwarn << "Unable to deserialize sdf::Model " << sdf<< std::endl;
        return _in;
      }
 
      _model = *root.Model();
      return _in;
    }
  };
}
 
namespace components
{
  using Model = Component<NoData, class ModelTag>;
  GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Model", Model)
 
  
  using ModelSdf = Component<sdf::Model,
                   class ModelTag,
                   serializers::SdfModelSerializer>;
  GZ_SIM_REGISTER_COMPONENT("gz_sim_components.ModelSdf", ModelSdf)
}
}
}
}
 
#endif