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Reference local schema files #535

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Reference local schema files #535

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5dd4749
generate local schema files
jennuine Apr 7, 2021
aef3ab8
paste contents of xsd:include in xsd files
jennuine Apr 23, 2021
3abba02
print contents of include & updated type regex
jennuine Jun 10, 2021
97e291a
generate root.xsd only for 1.7
jennuine Jun 10, 2021
463eb4a
Merge branch 'sdf9' into jennuine/local_schemas
azeey Jun 15, 2021
84c642c
Merge branch 'sdf9' into jennuine/local_schemas
jennuine Jun 18, 2021
75b33b6
printElem, updated types.xsd & CMakeLists
jennuine Jun 18, 2021
6f32833
added nested model & state tests
jennuine Jul 27, 2021
9b61cb9
world with state file
jennuine Jul 27, 2021
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4 changes: 4 additions & 0 deletions sdf/1.7/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,12 +1,14 @@
set (sdfs
actor.sdf
air_pressure.sdf
altimeter.sdf
atmosphere.sdf
audio_source.sdf
audio_sink.sdf
battery.sdf
box_shape.sdf
camera.sdf
collision_engine.sdf
collision.sdf
contact.sdf
cylinder_shape.sdf
Expand All @@ -21,6 +23,7 @@ set (sdfs
imu.sdf
inertial.sdf
joint.sdf
lidar.sdf
light.sdf
light_state.sdf
link.sdf
Expand Down Expand Up @@ -52,6 +55,7 @@ set (sdfs
state.sdf
surface.sdf
transceiver.sdf
urdf.sdf
visual.sdf
world.sdf
)
Expand Down
2 changes: 1 addition & 1 deletion sdf/1.7/light_state.sdf
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
<!-- State information for a light -->
<element name="light" required="*">
<element name="light_state" required="*">
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I'm not sure if we should be changing these names because they are actually used by Gazebo-classic. If I remember correctly, keeping the original names causes an issue with the generated xsd. I was hoping we can fix that issue without renaming these elements.

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Renamed them back in aef3ab8

<description>Light state</description>

<attribute name="name" type="string" default="__default__" required="1">
Expand Down
2 changes: 1 addition & 1 deletion sdf/1.7/link_state.sdf
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
<!-- State information for a link -->
<element name="link" required="*">
<element name="link_state" required="*">
<description>Link state</description>

<attribute name="name" type="string" default="__default__" required="1">
Expand Down
2 changes: 1 addition & 1 deletion sdf/1.7/model_state.sdf
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
<!-- State information for a model -->
<element name="model" required="*">
<element name="model_state" required="*">
<description>Model state</description>

<attribute name="name" type="string" default="__default__" required="1">
Expand Down
36 changes: 31 additions & 5 deletions tools/xmlschema.rb
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Expand Up @@ -79,6 +79,11 @@ def printElem(_file, _spaces, _elem)
_elem.get_elements("element").each do |elem|
printElem(_file, _spaces+6, elem)
end

_elem.get_elements("include").each do |inc|
printIncludeRef(_file, _spaces+6, inc);
end

_file.printf("%*s</xsd:choice>\n", _spaces+4, "")

# Print the attributes for the complex type
Expand Down Expand Up @@ -130,8 +135,7 @@ def printIncludeRef(_file, _spaces, _inc)

#################################################
def printInclude(_file, _spaces, _attr)
loc = "http://sdformat.org/schemas/"
loc += _attr.attributes['filename'].sub("\.sdf","\.xsd")
loc = _attr.attributes['filename'].sub("\.sdf","\.xsd")
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I should have been more clear in the issue description in that we do still want to be able to have xsd files that can be stored on sdformat.org/schemas. At a glance, this looks like it will embed the absolute paths of the local machine in to the generated schemas. That's useful for tests, but I think we do still want this script to generate xsd that can be uploaded to the website.

I wonder if instead of using <xsd:include>, we just paste the contents and generate one xsd file that can be used for both testing and for the website. This might also solve the problem I mentioned in https://github.com/osrf/sdformat/pull/535/files#r609021282

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@jennuine jennuine Apr 23, 2021 •
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Thanks for the tip! How's this? aef3ab8

_file.printf("%*s<xsd:include schemaLocation='%s'/>\n", _spaces, "", loc)
end

Expand Down Expand Up @@ -181,22 +185,44 @@ def printXSD(_file, _spaces, _elem)
printDocumentation(_file, _spaces, _elem.elements["description"].text)
end

_file.printf("%*s<xsd:include schemaLocation='http://sdformat.org/schemas/types.xsd'/>\n", _spaces, "")
_file.printf("%*s<xsd:include schemaLocation='#{$path}/schema/types.xsd'/>\n", _spaces, "")

includedSchemas = []

# Print the inclues for the complex type
# Print the includes for the complex type
# The includes must appear first
_elem.get_elements("include").each do |inc|
filename = inc.attributes['filename']
includedSchemas << filename

printInclude(_file, _spaces, inc);
end

# Print the nested includes for the complex type
# that have not already been included
_elem.get_elements("element").each do |elem|
elem.get_elements("include").each do |inc|
filename = inc.attributes['filename']

if includedSchemas.grep(filename).size == 0
printInclude(_file, _spaces, inc)
end
end
end

if _elem.get_elements("element").size > 0 ||
_elem.get_elements("attribute").size > 0 ||
_elem.get_elements("include").size > 0

# Print the complex type with a name
_file.printf("%*s<xsd:element name='%s'>\n", _spaces, "",
_elem.attributes["name"])
_file.printf("%*s<xsd:complexType>\n", _spaces+2, "")

if _elem.attributes['name'] == "pose"
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If we use printElem as I suggested, I'm not sure if we need a special treatment of pose here.

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removed 75b33b6

_file.printf("%*s<xsd:complexType mixed='true'>\n", _spaces+2, "")
else
_file.printf("%*s<xsd:complexType>\n", _spaces+2, "")
end

if _elem.attributes['name'] != "plugin" &&
(_elem.get_elements("element").size > 0 ||
Expand Down