Added plugin to SDF DOM

include/sdf/CMakeLists.txt

@@ -47,6 +47,7 @@ set (headers
   Pbr.hh
   Physics.hh
   Plane.hh
+  Plugin.hh
   PrintConfig.hh
   Root.hh
   Scene.hh

include/sdf/Gui.hh

@@ -19,6 +19,7 @@
 
 #include <ignition/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
+#include "sdf/Plugin.hh"
 #include "sdf/Types.hh"
 #include "sdf/sdf_config.h"
 #include "sdf/system_util.hh"
@@ -66,6 +67,24 @@ namespace sdf
     /// \return SDF element pointer with updated gui values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Get the number of plugins.
+    /// \return Number of plugins contained in this Gui object.
+    public: uint64_t PluginCount() const;
+
+    /// \brief Get a plugin based on an index.
+    /// \param[in] _index Index of the plugin. The index should be in the
+    /// range [0..PluginCount()).
+    /// \return Pointer to the plugin. Nullptr if the index does not exist.
+    /// \sa uint64_t PluginCount() const
+    public: const Plugin *PluginByIndex(const uint64_t _index) const;
+
+    /// \brief Remove all plugins
+    public: void ClearPlugins();
+
+    /// \brief Add a plugin to the link.
+    /// \param[in] _plugin Plugin to add.
+    public: void AddPlugin(const Plugin &_plugin);
+
     /// \brief Private data pointer.
     IGN_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Plugin.hh

@@ -0,0 +1,135 @@
+/*
+ * Copyright 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef SDF_PLUGIN_HH_
+#define SDF_PLUGIN_HH_
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <sdf/Element.hh>
+#include <sdf/Error.hh>
+#include <sdf/Types.hh>
+#include "sdf/sdf_config.h"
+#include "sdf/system_util.hh"
+
+#ifdef _WIN32
+// Disable warning C4251 which is triggered by
+// std::unique_ptr
+#pragma warning(push)
+#pragma warning(disable: 4251)
+#endif
+
+namespace sdf
+{
+  // Inline bracket to help doxygen filtering.
+  inline namespace SDF_VERSION_NAMESPACE {
+  //
+  class PluginPrivate;
+
+  class SDFORMAT_VISIBLE Plugin
+  {
+    /// \brief Default constructor
+    public: Plugin();
+
+    /// \brief Default destructor
+    public: ~Plugin();
+
+    /// \brief Copy constructor.
+    /// \param[in] _plugin Plugin to copy.
+    public: Plugin(const Plugin &_plugin);
+
+    /// \brief Move constructor.
+    /// \param[in] _plugin Plugin to copy.
+    public: Plugin(Plugin &&_plugin) noexcept;
+
+    /// \brief Load the plugin based on a element pointer. This is *not* the
+    /// usual entry point. Typical usage of the SDF DOM is through the Root
+    /// object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(ElementPtr _sdf);
+
+    /// \brief Get the name of the plugin.
+    /// The name of the plugin should be unique within the scope of its
+    /// parent.
+    /// \return Name of the plugin.
+    public: std::string Name() const;
+
+    /// \brief Set the name of the plugin.
+    /// The name of the plugin should be unique within the scope of its
+    /// parent.
+    /// \param[in] _name Name of the plugin.
+    public: void SetName(const std::string &_name);
+
+    /// \brief Get the filename of the shared library.
+    /// \return Filename of the shared library associated with the plugin.
+    public: std::string Filename() const;
+
+    /// \brief Remove the contents of the plugin, this is everything that
+    /// is a child element of the `<plugin>`.
+    public: void ClearContents();
+
+    /// \brief Get the plugin contents. This is all the SDF elements that
+    /// are children of the `<plugin>`.
+    /// \return The child elements of this plugin.
+    public: const std::vector<sdf::ElementPtr> &Contents() const;
+
+    /// \brief Insert an element into the plugin content. This does not
+    /// modify the values in the sdf::ElementPtr returned by the `Element()`
+    /// function.
+    /// \param[in] _elem Element to insert.
+    public: void InsertContent(const sdf::ElementPtr _elem);
+
+    /// \brief Set the filename of the shared library.
+    /// \param[in] _filename Filename of the shared library associated with
+    /// this plugin.
+    public: void SetFilename(const std::string &_filename);
+
+    /// \brief Get a pointer to the SDF element that was used during
+    /// load.
+    /// \return SDF element pointer. The value will be nullptr if Load has
+    /// not been called.
+    public: sdf::ElementPtr Element() const;
+
+    /// \brief Create and return an SDF element filled with data from this
+    /// plugin.
+    /// \return SDF element pointer with updated plugin values.
+    public: sdf::ElementPtr ToElement() const;
+
+    /// \brief Copy assignment operator
+    /// \param[in] _plugin Plugin to copy
+    /// \return A reference to this plugin
+    public: Plugin &operator=(const Plugin &_plugin);
+
+    /// \brief Move assignment operator
+    /// \param[in] _plugin Plugin to move
+    /// \return A reference to this plugin
+    public: Plugin &operator=(Plugin &&_plugin) noexcept;
+
+    /// \brief Private data pointer.
+    std::unique_ptr<sdf::PluginPrivate> dataPtr;
+  };
+}
+}
+
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
+
+#endif

sdf/1.9/plugin.sdf

@@ -2,7 +2,7 @@
 <element name="plugin" required="*">
   <description>A plugin is a dynamically loaded chunk of code. It can exist as a child of world, model, and sensor.</description>
   <attribute name="name" type="string" default="__default__" required="1">
-    <description>A unique name for the plugin, scoped to its parent.</description>
+    <description>A name for the plugin.</description>
   </attribute>
   <attribute name="filename" type="string" default="__default__" required="1">
     <description>Name of the shared library to load. If the filename is not a full path name, the file will be searched for in the configuration paths.</description>

src/CMakeLists.txt

@@ -60,6 +60,7 @@ set (sources
   Pbr.cc
   Physics.cc
   Plane.cc
+  Plugin.cc
   PrintConfig.cc
   Root.cc
   Scene.cc
@@ -134,6 +135,7 @@ if (BUILD_SDF_TEST)
     ParticleEmitter_TEST.cc
     Pbr_TEST.cc
     Physics_TEST.cc
+    Plugin_TEST.cc
     PrintConfig_TEST.cc
     Plane_TEST.cc
     Root_TEST.cc

src/Gui.cc

@@ -28,6 +28,9 @@ class sdf::Gui::Implementation
 
   /// \brief The SDF element pointer used during load.
   public: sdf::ElementPtr sdf;
+
+  /// \brief GUI plugins.
+  public: std::vector<Plugin> plugins;
 };
 
 /////////////////////////////////////////////////
@@ -57,6 +60,10 @@ Errors Gui::Load(ElementPtr _sdf)
   this->dataPtr->fullscreen = _sdf->Get<bool>("fullscreen",
       this->dataPtr->fullscreen).first;
 
+  Errors pluginErrors = loadRepeated<Plugin>(_sdf, "plugin",
+    this->dataPtr->plugins);
+  errors.insert(errors.end(), pluginErrors.begin(), pluginErrors.end());
+
   // \todo(nkoenig) Parse all the elements in gui.sdf
 
   return errors;
@@ -93,5 +100,36 @@ sdf::ElementPtr Gui::ToElement() const
   sdf::initFile("gui.sdf", elem);
 
   elem->GetAttribute("fullscreen")->Set(this->dataPtr->fullscreen);
+
+  // Add in the plugins
+  for (const Plugin &plugin : this->dataPtr->plugins)
+    elem->InsertElement(plugin.ToElement(), true);
+
   return elem;
 }
+
+/////////////////////////////////////////////////
+uint64_t Gui::PluginCount() const
+{
+  return this->dataPtr->plugins.size();
+}
+
+/////////////////////////////////////////////////
+const Plugin *Gui::PluginByIndex(const uint64_t _index) const
+{
+  if (_index < this->dataPtr->plugins.size())
+    return &this->dataPtr->plugins[_index];
+  return nullptr;
+}
+
+/////////////////////////////////////////////////
+void Gui::ClearPlugins()
+{
+  this->dataPtr->plugins.clear();
+}
+
+/////////////////////////////////////////////////
+void Gui::AddPlugin(const Plugin &_plugin)
+{
+  this->dataPtr->plugins.push_back(_plugin);
+}

src/Gui_TEST.cc

@@ -131,11 +131,32 @@ TEST(DOMGui, ToElement)
 
   gui.SetFullscreen(true);
 
+  for (int j = 0; j <= 1; ++j)
+  {
+    for (int i = 0; i < 3; ++i)
+    {
+      sdf::Plugin plugin;
+      plugin.SetName("name" + std::to_string(i));
+      plugin.SetFilename("filename" + std::to_string(i));
+      gui.AddPlugin(plugin);
+      gui.AddPlugin(plugin);
+    }
+    if (j == 0)
+    {
+      EXPECT_EQ(6u, gui.PluginCount());
+      gui.ClearPlugins();
+      EXPECT_EQ(0u, gui.PluginCount());
+    }
+  }
+
+
+  EXPECT_EQ(6u, gui.PluginCount());
   sdf::ElementPtr elem = gui.ToElement();
   ASSERT_NE(nullptr, elem);
 
   sdf::Gui gui2;
   gui2.Load(elem);
 
   EXPECT_EQ(gui.Fullscreen(), gui2.Fullscreen());
+  EXPECT_EQ(6u, gui2.PluginCount());
 }