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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/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