Merge d9735f7 into 883981d

gazebosim · Mar 29, 2023 · 6293043 · 6293043
2 parents 883981d + d9735f7
commit 6293043
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Showing 3 changed files with 86 additions and 9 deletions.
diff --git a/include/sdf/AirPressure.hh b/include/sdf/AirPressure.hh
@@ -91,6 +91,14 @@ namespace sdf
     /// \return SDF element pointer with updated sensor values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// air pressure sensor.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated sensor values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

diff --git a/src/AirPressure.cc b/src/AirPressure.cc
@@ -18,6 +18,7 @@
 #include <string>
 #include "sdf/AirPressure.hh"
 #include "sdf/parser.hh"
+#include "Utils.hh"
 
 using namespace sdf;
 
@@ -60,13 +61,13 @@ Errors AirPressure::Load(ElementPtr _sdf)
   // Load the noise values.
   if (_sdf->HasElement("pressure"))
   {
-    sdf::ElementPtr elem = _sdf->GetElement("pressure");
+    sdf::ElementPtr elem = _sdf->GetElement("pressure", errors);
     if (elem->HasElement("noise"))
-      this->dataPtr->noise.Load(elem->GetElement("noise"));
+      this->dataPtr->noise.Load(elem->GetElement("noise", errors));
   }
 
-  this->dataPtr->referenceAltitude = _sdf->Get<double>("reference_altitude",
-      this->dataPtr->referenceAltitude).first;
+  this->dataPtr->referenceAltitude = _sdf->Get<double>(
+      errors, "reference_altitude", this->dataPtr->referenceAltitude).first;
 
   return errors;
 }
@@ -117,15 +118,24 @@ void AirPressure::SetPressureNoise(const Noise &_noise)
 
 /////////////////////////////////////////////////
 sdf::ElementPtr AirPressure::ToElement() const
+{
+  sdf::Errors errors;
+  auto result = this->ToElement(errors);
+  sdf::throwOrPrintErrors(errors);
+  return result;
+}
+
+/////////////////////////////////////////////////
+sdf::ElementPtr AirPressure::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
   sdf::initFile("air_pressure.sdf", elem);
 
-  elem->GetElement("reference_altitude")->Set<double>(
-      this->ReferenceAltitude());
-  sdf::ElementPtr pressureElem = elem->GetElement("pressure");
-  sdf::ElementPtr noiseElem = pressureElem->GetElement("noise");
-  noiseElem->Copy(this->dataPtr->noise.ToElement());
+  elem->GetElement("reference_altitude", _errors)->Set<double>(
+      _errors, this->ReferenceAltitude());
+  sdf::ElementPtr pressureElem = elem->GetElement("pressure", _errors);
+  sdf::ElementPtr noiseElem = pressureElem->GetElement("noise", _errors);
+  noiseElem->Copy(this->dataPtr->noise.ToElement(_errors), _errors);
 
   return elem;
 }
diff --git a/src/AirPressure_TEST.cc b/src/AirPressure_TEST.cc
@@ -17,6 +17,7 @@
 
 #include <gtest/gtest.h>
 #include "sdf/AirPressure.hh"
+#include "test_utils.hh"
 
 /////////////////////////////////////////////////
 TEST(DOMAirPressure, Construction)
@@ -131,3 +132,61 @@ TEST(DOMAirPressure, ToElement)
   air3.Load(air2Elem);
   EXPECT_DOUBLE_EQ(111.0, air3.ReferenceAltitude());
 }
+
+/////////////////////////////////////////////////
+TEST(DOMAirPressure, 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
+
+  // test calling ToElement on a DOM object constructed without calling Load
+  sdf::AirPressure air;
+  sdf::Noise noise;
+  sdf::Errors errors;
+  air.SetReferenceAltitude(10.2);
+  noise.SetType(sdf::NoiseType::GAUSSIAN);
+  noise.SetMean(1.2);
+  noise.SetStdDev(2.3);
+  noise.SetBiasMean(4.5);
+  noise.SetBiasStdDev(6.7);
+  noise.SetPrecision(8.9);
+  air.SetPressureNoise(noise);
+
+  sdf::ElementPtr airElem = air.ToElement(errors);
+  EXPECT_TRUE(errors.empty());
+  EXPECT_NE(nullptr, airElem);
+  EXPECT_EQ(nullptr, air.Element());
+
+  // verify values after loading the element back
+  sdf::AirPressure air2;
+  errors = air2.Load(airElem);
+  EXPECT_TRUE(errors.empty());
+
+  EXPECT_DOUBLE_EQ(noise.Mean(), air2.PressureNoise().Mean());
+  EXPECT_DOUBLE_EQ(noise.StdDev(), air2.PressureNoise().StdDev());
+  EXPECT_DOUBLE_EQ(noise.BiasMean(), air2.PressureNoise().BiasMean());
+  EXPECT_DOUBLE_EQ(noise.BiasStdDev(), air2.PressureNoise().BiasStdDev());
+  EXPECT_DOUBLE_EQ(noise.Precision(), air2.PressureNoise().Precision());
+  EXPECT_DOUBLE_EQ(10.2, air2.ReferenceAltitude());
+
+  // make changes to DOM and verify ToElement produces updated values
+  air2.SetReferenceAltitude(111);
+  sdf::ElementPtr air2Elem = air2.ToElement();
+  EXPECT_NE(nullptr, air2Elem);
+  sdf::AirPressure air3;
+  air3.Load(air2Elem);
+  EXPECT_DOUBLE_EQ(111.0, air3.ReferenceAltitude());
+
+  // Check nothing has been printed
+  EXPECT_TRUE(buffer.str().empty()) << buffer.str();
+}