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Add OnePlugin read/write functions and remove redundant plugin attributes from mjCActuator.

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PiperOrigin-RevId: 525708657
Change-Id: I762de238f989b13877d5f9198c83c16ea9dc1d8b
This commit is contained in:
Alessio Quaglino
2023-04-20 04:24:57 -07:00
committed by Copybara-Service
parent 34e62aa3c1
commit 4f5da9c554
5 changed files with 44 additions and 60 deletions
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src/user/user_objects.h
-6
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@@ -929,12 +929,6 @@ class mjCActuator : public mjCBase {
std::string slidersite; // site defining cylinder, for slider-crank only
std::string refsite; // reference site, for site transmission only
// plugin support
bool is_plugin;
std::string plugin_name;
std::string plugin_instance_name;
mjCPlugin* plugin_instance;
private:
mjCActuator(mjCModel* = 0, mjCDef* = 0);// constructor
void Compile(void); // compiler
src/xml/xml_native_reader.cc
+16 -18
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@@ -1841,15 +1841,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
}
else if (type == "plugin") {
pact->is_plugin = true;
ReadAttrTxt(elem, "plugin", pact->plugin_name);
ReadAttrTxt(elem, "instance", pact->plugin_instance_name);
if (pact->plugin_instance_name.empty()) {
pact->plugin_instance = model->AddPlugin();
} else {
model->hasImplicitPluginElem = true;
}
ReadPluginConfigs(elem, pact->plugin_instance);
OnePlugin(elem, pact);
}
else { // SHOULD NOT OCCUR
@@ -2087,6 +2079,20 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
void mjXReader::OnePlugin(XMLElement* elem, mjCBase* object) {
object->is_plugin = true;
ReadAttrTxt(elem, "plugin", object->plugin_name);
ReadAttrTxt(elem, "instance", object->plugin_instance_name);
if (object->plugin_instance_name.empty()) {
object->plugin_instance = model->AddPlugin();
} else {
model->hasImplicitPluginElem = true;
}
ReadPluginConfigs(elem, object->plugin_instance);
}
//------------------ MJCF-specific sections --------------------------------------------------------
// default section parser
@@ -2699,15 +2705,7 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody) {
// plugin sub-element
else if (name == "plugin") {
pbody->is_plugin = true;
ReadAttrTxt(elem, "plugin", pbody->plugin_name);
ReadAttrTxt(elem, "instance", pbody->plugin_instance_name);
if (pbody->plugin_instance_name.empty()) {
pbody->plugin_instance = model->AddPlugin();
} else {
model->hasImplicitPluginElem = true;
}
ReadPluginConfigs(elem, pbody->plugin_instance);
OnePlugin(elem, pbody);
}
// composite sub-element
src/xml/xml_native_reader.h
+1
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@@ -64,6 +64,7 @@ class mjXReader : public mjXBase {
void OneTendon(tinyxml2::XMLElement* elem, mjCTendon* ptendon);
void OneActuator(tinyxml2::XMLElement* elem, mjCActuator* pactuator);
void OneComposite(tinyxml2::XMLElement* elem, mjCBody* pbody, mjCDef* def);
void OnePlugin(tinyxml2::XMLElement* elem, mjCBase* object);
mjXSchema schema; // schema used for validation
mjCDef* GetClass(tinyxml2::XMLElement* section); // get default class name
src/xml/xml_native_writer.cc
+26 -36
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@@ -618,24 +618,7 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
// plugins: write config attributes
if (pact->is_plugin) {
if (!pact->plugin_instance_name.empty()) {
WriteAttrTxt(elem, "instance", pact->plugin_instance_name);
} else {
WriteAttrTxt(elem, "plugin", pact->plugin_name);
const mjpPlugin* plugin = mjp_getPluginAtSlot(
pact->plugin_instance->plugin_slot);
const char* c = &pact->plugin_instance->flattened_attributes[0];
for (int i = 0; i < plugin->nattribute; ++i) {
std::string value(c);
if (!value.empty()) {
XMLElement* config_elem = InsertEnd(elem, "config");
WriteAttrTxt(config_elem, "key", plugin->attributes[i]);
WriteAttrTxt(config_elem, "value", value);
c += value.size();
}
++c;
}
}
OnePlugin(elem, pact);
}
// non-plugins: write actuator parameters
@@ -665,6 +648,30 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
// write plugin
void mjXWriter::OnePlugin(XMLElement* elem, mjCBase* object) {
if (!object->plugin_instance_name.empty()) {
WriteAttrTxt(elem, "instance", object->plugin_instance_name);
} else {
WriteAttrTxt(elem, "plugin", object->plugin_name);
const mjpPlugin* plugin = mjp_getPluginAtSlot(
object->plugin_instance->plugin_slot);
const char* c = &object->plugin_instance->flattened_attributes[0];
for (int i = 0; i < plugin->nattribute; ++i) {
std::string value(c);
if (!value.empty()) {
XMLElement* config_elem = InsertEnd(elem, "config");
WriteAttrTxt(config_elem, "key", plugin->attributes[i]);
WriteAttrTxt(config_elem, "value", value);
c += value.size();
}
++c;
}
}
}
//---------------------------------- class mjXWriter: top-level API --------------------------------
// constructor
@@ -1382,24 +1389,7 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
// write plugin
if (body->is_plugin) {
XMLElement *child = InsertEnd(elem, "plugin");
if (!body->plugin_instance_name.empty()) {
WriteAttrTxt(child, "instance", body->plugin_instance_name);
} else {
WriteAttrTxt(child, "plugin", body->plugin_name);
const mjpPlugin* plugin = mjp_getPluginAtSlot(
body->plugin_instance->plugin_slot);
const char* c = &body->plugin_instance->flattened_attributes[0];
for (int i = 0; i < plugin->nattribute; ++i) {
std::string value(c);
if (!value.empty()) {
WriteAttrTxt(child, std::string("plugin:") + plugin->attributes[i],
value);
c += value.size();
}
++c;
}
}
OnePlugin(elem, body);
}
// write child bodies recursively
src/xml/xml_native_writer.h
+1
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@@ -61,6 +61,7 @@ class mjXWriter : public mjXBase {
void OneEquality(tinyxml2::XMLElement* elem, mjCEquality* pequality, mjCDef* def);
void OneTendon(tinyxml2::XMLElement* elem, mjCTendon* ptendon, mjCDef* def);
void OneActuator(tinyxml2::XMLElement* elem, mjCActuator* pactuator, mjCDef* def);
void OnePlugin(tinyxml2::XMLElement* elem, mjCBase* object);
bool writingdefaults; // true during defaults write
};