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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_writer.cc
+14 -14
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@@ -412,7 +412,7 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
// write plugin
if (pgeom->plugin.active) {
OnePlugin(InsertEnd(elem, "plugin"), pgeom);
OnePlugin(InsertEnd(elem, "plugin"), &pgeom->plugin);
}
}
@@ -702,7 +702,7 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
// plugins: write config attributes
if (pact->plugin.active) {
OnePlugin(elem, pact);
OnePlugin(elem, &pact->plugin);
}
// non-plugins: write actuator parameters
@@ -731,21 +731,21 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
// write plugin
void mjXWriter::OnePlugin(XMLElement* elem, mjCBase* object) {
const std::string instance_name = std::string(mjm_getString(object->plugin.instance_name));
const std::string plugin_name = std::string(mjm_getString(object->plugin.name));
void mjXWriter::OnePlugin(XMLElement* elem, mjmPlugin* plugin) {
const std::string instance_name = std::string(mjm_getString(plugin->instance_name));
const std::string plugin_name = std::string(mjm_getString(plugin->name));
if (!instance_name.empty()) {
WriteAttrTxt(elem, "instance", instance_name);
} else {
WriteAttrTxt(elem, "plugin", plugin_name);
const mjpPlugin* plugin = mjp_getPluginAtSlot(
((mjCPlugin*)object->plugin.instance)->plugin_slot);
const char* c = &((mjCPlugin*)object->plugin.instance)->flattened_attributes[0];
for (int i = 0; i < plugin->nattribute; ++i) {
const mjpPlugin* pplugin = mjp_getPluginAtSlot(
((mjCPlugin*)plugin->instance)->spec.plugin_slot);
const char* c = &((mjCPlugin*)plugin->instance)->flattened_attributes[0];
for (int i = 0; i < pplugin->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, "key", pplugin->attributes[i]);
WriteAttrTxt(config_elem, "value", value);
c += value.size();
}
@@ -1229,7 +1229,7 @@ void mjXWriter::Extension(XMLElement* root) {
}
// check if we need to open a new <plugin> section
const mjpPlugin* plugin = mjp_getPluginAtSlot(pp->plugin_slot);
const mjpPlugin* plugin = mjp_getPluginAtSlot(pp->spec.plugin_slot);
if (plugin != last_plugin) {
plugin_elem = InsertEnd(section, "plugin");
WriteAttrTxt(plugin_elem, "plugin", plugin->name);
@@ -1406,7 +1406,7 @@ void mjXWriter::Asset(XMLElement* root) {
if (pmesh->plugin.active) {
elem = InsertEnd(section, "mesh");
WriteAttrTxt(elem, "name", pmesh->name);
OnePlugin(InsertEnd(elem, "plugin"), pmesh);
OnePlugin(InsertEnd(elem, "plugin"), &pmesh->plugin);
} else{
elem = InsertEnd(section, "mesh");
OneMesh(elem, pmesh, pmesh->def);
@@ -1506,7 +1506,7 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
// write plugin
if (body->plugin.active) {
OnePlugin(InsertEnd(elem, "plugin"), body);
OnePlugin(InsertEnd(elem, "plugin"), &body->plugin);
}
// write child bodies recursively
@@ -1904,7 +1904,7 @@ void mjXWriter::Sensor(XMLElement* root) {
WriteAttrTxt(elem, "objtype", mju_type2Str(psen->objtype));
WriteAttrTxt(elem, "objname", psen->get_objname());
}
OnePlugin(elem, psen);
OnePlugin(elem, &psen->plugin);
break;
// user-defined sensor