Keep include elements while parsing XML. No change in behavior.
PiperOrigin-RevId: 606203141 Change-Id: Ica06f7c121a90597cd29f74692230365edd4302f
This commit is contained in:
Kyle Bayes
committed by
Copybara-Service
Copybara-Service
parent
4e5b194e88
commit
ff39d0b812
+101
-105
@@ -20,25 +20,27 @@
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#include <xlocale.h>
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#endif
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#include <cstdio>
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#include <string>
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#include <unordered_set>
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#include "tinyxml2.h"
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjplugin.h>
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#include "cc/array_safety.h"
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#include "engine/engine_crossplatform.h"
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#include "engine/engine_resource.h"
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#include "engine/engine_vfs.h"
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#include "user/user_model.h"
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#include "user/user_util.h"
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#include "xml/xml_native_reader.h"
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#include "xml/xml_native_writer.h"
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#include "xml/xml_urdf.h"
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#include "xml/xml_util.h"
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#include "tinyxml2.h"
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namespace {
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using std::string;
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using std::vector;
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using tinyxml2::XMLDocument;
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using tinyxml2::XMLElement;
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using tinyxml2::XMLNode;
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@@ -111,106 +113,101 @@ string mjWriteXML(mjCModel* model, char* error, int error_sz) {
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// find include elements recursively, replace them with subtree from xml file
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static XMLElement* mjIncludeXML(XMLElement* elem, string dir,
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const mjVFS* vfs, vector<string>& included) {
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// include element: process
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if (!strcasecmp(elem->Value(), "include")) {
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// make sure include has no children
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if (!elem->NoChildren()) {
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throw mjXError(elem, "Include element cannot have children");
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static void mjIncludeXML(XMLElement* elem, string dir, const mjVFS* vfs,
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std::unordered_set<string>& included) {
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// not an include, recursively go through all children
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if (strcasecmp(elem->Value(), "include")) {
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XMLElement* child = elem->FirstChildElement();
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for (; child; child = child->NextSiblingElement()) {
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mjIncludeXML(child, dir, vfs, included);
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}
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// get filename
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string filename;
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mjXUtil::ReadAttrTxt(elem, "file", filename, true);
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filename = dir + filename;
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// block repeated include files
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for (size_t i=0; i<included.size(); i++) {
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if (!strcasecmp(included[i].c_str(), filename.c_str())) {
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throw mjXError(elem, "File '%s' already included", filename.c_str());
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}
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}
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// get data source
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mjResource *resource = nullptr;
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const char* xmlstring = nullptr;
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if ((resource = mju_openVfsResource(filename.c_str(), vfs)) == nullptr) {
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// load from provider or OS filesystem
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if ((resource = mju_openResource(filename.c_str())) == nullptr) {
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throw mjXError(elem, "Could not open file '%s'", filename.c_str());
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}
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}
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int buffer_size = mju_readResource(resource, (const void**) &xmlstring);
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if (buffer_size < 0) {
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mju_closeResource(resource);
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throw mjXError(elem, "Error reading file '%s'", filename.c_str());
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} else if (!buffer_size) {
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mju_closeResource(resource);
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throw mjXError(elem, "Empty file '%s'", filename.c_str());
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}
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// load XML file or parse string
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XMLDocument doc;
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doc.Parse(xmlstring, buffer_size);
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// close resource
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mju_closeResource(resource);
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// check error
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if (doc.Error()) {
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char err[1000];
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mju::sprintf_arr(err, "XML parse error %d:\n%s\n", doc.ErrorID(), doc.ErrorStr());
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throw mjXError(elem, "Include error: '%s'", err);
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}
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// remember that file was included
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included.push_back(filename);
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// get and check root element
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XMLElement* docroot = doc.RootElement();
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if (!docroot) {
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throw mjXError(elem, "Root element missing in file '%s'", filename.c_str());
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}
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// get and check first child
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XMLElement* eleminc = docroot->FirstChildElement();
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if (!eleminc) {
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throw mjXError(elem, "Empty include file '%s'", filename.c_str());
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}
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// get parent of <include>
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XMLElement* parent = (XMLElement*)elem->Parent();
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// clone first child of included document, insert it after <include>
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XMLNode* first = parent->InsertAfterChild(elem, eleminc->DeepClone(parent->GetDocument()));
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// delete <include> element, point to first
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parent->DeleteChild(elem);
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elem = first->ToElement();
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// insert remaining elements from included document as siblings
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eleminc = eleminc->NextSiblingElement();
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while (eleminc) {
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elem = (XMLElement*)parent->InsertAfterChild(elem, eleminc->DeepClone(parent->GetDocument()));
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eleminc = eleminc->NextSiblingElement();
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}
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// run XMLInclude on first new child
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return mjIncludeXML(first->ToElement(), dir, vfs, included);
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return;
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}
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// otherwise check all child elements, return self
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else {
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XMLElement* child = elem->FirstChildElement();
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while (child) {
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child = mjIncludeXML(child, dir, vfs, included);
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if (child) {
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child = child->NextSiblingElement();
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}
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// make sure include has no children
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if (!elem->NoChildren()) {
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throw mjXError(elem, "Include element cannot have children");
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}
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// get filename
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string filename;
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mjXUtil::ReadAttrTxt(elem, "file", filename, true);
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filename = dir + filename;
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// block repeated include files
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if (included.find(filename) != included.end()) {
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throw mjXError(elem, "File '%s' already included", filename.c_str());
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}
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// get data source
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mjResource *resource = nullptr;
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if ((resource = mju_openVfsResource(filename.c_str(), vfs)) == nullptr) {
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// load from provider or OS filesystem
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if ((resource = mju_openResource(filename.c_str())) == nullptr) {
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throw mjXError(elem, "Could not open file '%s'", filename.c_str());
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}
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return elem;
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}
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const char* xmlstring = nullptr;
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int buffer_size = mju_readResource(resource, (const void**) &xmlstring);
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if (buffer_size < 0) {
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mju_closeResource(resource);
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throw mjXError(elem, "Error reading file '%s'", filename.c_str());
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} else if (!buffer_size) {
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mju_closeResource(resource);
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throw mjXError(elem, "Empty file '%s'", filename.c_str());
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}
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// load XML file or parse string
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XMLDocument doc;
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doc.Parse(xmlstring, buffer_size);
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// close resource
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mju_closeResource(resource);
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// check error
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if (doc.Error()) {
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char err[1000];
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mju::sprintf_arr(err, "XML parse error %d:\n%s\n", doc.ErrorID(), doc.ErrorStr());
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throw mjXError(elem, "Include error: '%s'", err);
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}
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// remember that file was included
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included.insert(filename);
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// get and check root element
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XMLElement* docroot = doc.RootElement();
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if (!docroot) {
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throw mjXError(elem, "Root element missing in file '%s'", filename.c_str());
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}
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// get and check first child
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XMLElement* eleminc = docroot->FirstChildElement();
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if (!eleminc) {
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throw mjXError(elem, "Empty include file '%s'", filename.c_str());
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}
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// get <include> element
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XMLElement* include = elem->ToElement();
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XMLDocument* include_doc = include->GetDocument();
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// clone first child of included document
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XMLNode* first = include->InsertFirstChild(eleminc->DeepClone(include_doc));
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// point to first
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XMLElement* child = first->ToElement();
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// insert remaining elements from included document as siblings
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eleminc = eleminc->NextSiblingElement();
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while (eleminc) {
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child = include->InsertAfterChild(child, eleminc->DeepClone(include_doc))->ToElement();
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eleminc = eleminc->NextSiblingElement();
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}
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// recursively run include
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child = include->FirstChildElement();
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for (; child; child = child->NextSiblingElement()) {
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mjIncludeXML(child, dir, vfs, included);
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}
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}
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@@ -223,7 +220,7 @@ mjCModel* mjParseXML(const char* filename, const mjVFS* vfs, char* error, int er
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// check arguments
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if (!filename) {
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if (error) {
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snprintf(error, error_sz, "mjParseXML: filename argument required\n");
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std::snprintf(error, error_sz, "mjParseXML: filename argument required\n");
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}
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return nullptr;
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}
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@@ -241,7 +238,7 @@ mjCModel* mjParseXML(const char* filename, const mjVFS* vfs, char* error, int er
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// load from provider or fallback to OS filesystem
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if ((resource = mju_openResource(filename)) == nullptr) {
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if (error) {
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snprintf(error, error_sz, "mjParseXML: could not open file '%s'", filename);
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std::snprintf(error, error_sz, "mjParseXML: could not open file '%s'", filename);
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}
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return nullptr;
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}
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@@ -250,13 +247,13 @@ mjCModel* mjParseXML(const char* filename, const mjVFS* vfs, char* error, int er
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int buffer_size = mju_readResource(resource, (const void**) &xmlstring);
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if (buffer_size < 0) {
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if (error) {
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snprintf(error, error_sz, "mjParseXML: error reading file '%s'", filename);
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std::snprintf(error, error_sz, "mjParseXML: error reading file '%s'", filename);
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}
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mju_closeResource(resource);
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return nullptr;
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} else if (!buffer_size) {
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if (error) {
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snprintf(error, error_sz, "mjParseXML: empty file '%s'", filename);
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std::snprintf(error, error_sz, "mjParseXML: empty file '%s'", filename);
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}
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mju_closeResource(resource);
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return nullptr;
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@@ -303,8 +300,7 @@ mjCModel* mjParseXML(const char* filename, const mjVFS* vfs, char* error, int er
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try {
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if (!strcasecmp(root->Value(), "mujoco")) {
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// find include elements, replace them with subtree from xml file
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vector<string> included;
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included.push_back(filename);
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std::unordered_set<string> included = {filename};
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mjIncludeXML(root, model->modelfiledir, vfs, included);
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// parse MuJoCo model
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