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Remove mjCPlugin from xml_native_reader.

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PiperOrigin-RevId: 608546883
Change-Id: Ib529c2756102e4e2185d1d8e9585187c30049011
This commit is contained in:
Alessio Quaglino
2024-02-20 03:45:42 -08:00
committed by Copybara-Service
parent b56d4bf8a5
commit 78dc5aee9f
13 changed files with 93 additions and 80 deletions
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src/xml/xml_native_reader.cc
+13 -25
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@@ -40,7 +40,6 @@
#include "user/user_composite.h"
#include "user/user_flexcomp.h"
#include "user/user_model.h"
#include "user/user_objects.h"
#include "user/user_util.h"
#include "xml/xml_base.h"
#include "xml/xml_util.h"
@@ -50,7 +49,7 @@ using std::string;
using std::vector;
using tinyxml2::XMLElement;
void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjCPlugin* pp) {
void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjmPlugin* p) {
std::map<std::string, std::string, std::less<>> config_attribs;
XMLElement* child = FirstChildElement(elem);
while (child) {
@@ -68,12 +67,12 @@ void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjCPlugin* pp) {
child = NextSiblingElement(child);
}
if (!pp && !config_attribs.empty()) {
if (!p && !config_attribs.empty()) {
throw mjXError(elem,
"plugin configuration attributes cannot be used in an "
"element that references a predefined plugin instance");
} else if (pp) {
pp->config_attribs = std::move(config_attribs);
} else if (p) {
mjm_setPluginAttributes(p, &config_attribs);
}
}
} // namespace
@@ -2276,10 +2275,6 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjmDefault* def)
XMLElement* eplugin = FirstChildElement(elem, "plugin");
if (eplugin) {
OnePlugin(eplugin, &comp.plugin);
if (comp.plugin_instance_name.empty()) {
comp.plugin_instance_name = "composite" + comp.prefix;
((mjCPlugin*)comp.plugin.instance)->name = comp.plugin_instance_name;
}
}
// cable
@@ -2602,10 +2597,6 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
XMLElement* eplugin = FirstChildElement(elem, "plugin");
if (eplugin) {
OnePlugin(eplugin, &fcomp.plugin);
if (fcomp.plugin_instance_name.empty()) {
fcomp.plugin_instance_name = "flexcomp_" + fcomp.name;
((mjCPlugin*)fcomp.plugin.instance)->name = fcomp.plugin_instance_name;
}
}
// make flexcomp
@@ -2631,7 +2622,7 @@ void mjXReader::OnePlugin(XMLElement* elem, mjmPlugin* plugin) {
mjm_setString(plugin->instance_name, instance_name.c_str());
if (instance_name.empty()) {
plugin->instance = mjm_addPlugin(&model->spec)->instance;
ReadPluginConfigs(elem, (mjCPlugin*)plugin->instance);
ReadPluginConfigs(elem, plugin);
} else {
model->hasImplicitPluginElem = true;
}
@@ -2789,15 +2780,16 @@ void mjXReader::Extension(XMLElement* section) {
throw mjXError(
child, "explicit plugin instance must appear before implicit plugin elements");
}
mjCPlugin* pp = (mjCPlugin*)mjm_addPlugin(&model->spec)->instance;
GetXMLPos(child, pp);
ReadAttrTxt(child, "name", pp->name, /* required = */ true);
if (pp->name.empty()) {
string name;
mjmPlugin* p = mjm_addPlugin(&model->spec);
mjm_setString(p->info, ("line = " + std::to_string(elem->GetLineNum())).c_str());
ReadAttrTxt(child, "name", name, /* required = */ true);
mjm_setString(p->name, name.c_str());
if (!p->name) {
throw mjXError(child, "plugin instance must have a name");
}
ReadPluginConfigs(child, pp);
pp->plugin_slot = plugin_slot;
pp->nstate = -1; // actual value to be filled in by the plugin later
ReadPluginConfigs(child, p);
p->plugin_slot = plugin_slot;
}
child = NextSiblingElement(child);
}
@@ -4034,10 +4026,6 @@ mjmDefault* mjXReader::GetClass(XMLElement* section) {
// get xml position
void mjXReader::GetXMLPos(XMLElement* elem, mjCBase* obj) {
obj->info = "line = " + std::to_string(elem->GetLineNum());
}
// return true if c is a directory path separator (i.e. '/' or '\' on windows)
static bool IsSeperator(char c) {