Add EnforcementPolicy in ParserConfig to enable configurable parsing strictness #481

brawner · 2021-01-30T00:19:03Z

This PR depends on #439, but the PR branch is in a different fork so I can't target it directly.

The added commit is 166b995

This PR adds a configurable WarningsPolicy in ParserConfig to allow users to customize the strictness of the parser. In some cases, a best-effort parse is desired and warnings either streamed to sdfwarn or sdfdbg. But in other cases, like unit tests for example, it makes sense to be pedantic about warnings.

Fixes #473, #327

This is a first approach after discussion over at #473 and I'm totally open to other approaches. Likewise, based on the use cases described in #473 and Bitbucket PR, it might also make sense to add a second configuration option specifically for unrecognized elements.

brawner · 2021-01-30T00:36:14Z

Force pushed 166b995 with a small amount of cleanup.

brawner · 2021-01-30T00:42:33Z

src/parser.cc

               << "], child of element[" << _xml->Value()
               << "], not defined in SDF. Copying[" << elemXml->Value() << "] "
               << "as children of [" << _xml->Value() << "].\n";
+
+        addRecoverableWarning(


Note, for now this changes the default behavior for this specific check back to warn. However, this function takes in a policy enum value so it could be overridden for the default case with something like:

sdf::WarningsPolicy policy = _config.WarningsPolicy(); if (policy != sdf::WarningsPolicy::PEDANTIC) policy = sdf::WarningsPolicy::IGNORED;

It might also be desired to separate WarningsPolicy and add something specific like _config.IgnoreUnrecognizedElements()

Since we've gone back and forth on this behavior in the past, I would vote for having _config.IgnoreUnrecognizedElements() or something similar.

Yah, the more I think about it that makes sense. I switched this back to warn and I'll open a separate PR for easy review of the new additions.

On second thought, after working on it I decided to update this PR. I think there is enough overlap between the two policies that they should have a common enum, which necessitated changes here.

azeey · 2021-02-02T20:57:21Z

src/parser.cc

-      sdfwarn << "Converting a deprecated SDF source[" << _source << "].\n";
+      std::stringstream ss;
+      ss << "Converting a deprecated SDF source[" << _source << "].\n";
+      addRecoverableWarning(


I'm not sure we want to emit an error for reading an older SDFormat file even when the policy is PEDANTIC. The version of readDoc that takes a SDFPtr uses sdfdbg for this.

Switched to sdfdbg

Also, with the new commit this should be easy to add a policy for this in the future should it be desired.

azeey · 2021-02-02T21:35:15Z

test/sdf/unrecognized_elements_with_namespace.sdf

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">


Can we change the version to 1.8 and use an xmlns attribute to make the xml valid?

Suggested change

<sdf version="1.6">

<sdf version="1.8" xmlns:third_party_software="custom_ns_uri">

azeey · 2021-02-02T21:35:39Z

test/sdf/unrecognized_elements_with_namespace.sdf

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="joint_incorrect_tags" some_attribute="staheousth">


nit: what's staheousth?

Just some arbitrary text content. Changed to "some value"

azeey · 2021-02-02T21:39:42Z

src/Utils.hh

@@ -21,8 +21,10 @@
 #include <string>
 #include <optional>
 #include <vector>
+#include "sdf/Console.hh"


nit: Is this needed?

I thought it was for sdfwarn/sdfdbg, but I guess not. Removed

azeey · 2021-02-02T21:41:56Z

src/parser.cc

               << "], child of element[" << _xml->Value()
               << "], not defined in SDF. Copying[" << elemXml->Value() << "] "
               << "as children of [" << _xml->Value() << "].\n";
+
+        addRecoverableWarning(


Since we've gone back and forth on this behavior in the past, I would vote for having _config.IgnoreUnrecognizedElements() or something similar.

brawner · 2021-02-03T19:14:35Z

Err, had to remove the added tests since they will be carried over to the next PR

brawner

After working on a separate commit to handle unrecognized elements, I realized that there was a lot in common with the warnings policy that they should share the same enum, which necessitated some reworking of the naming of different parts.

That said, I think it adds a good framework for adding new recoverable conditions like these in the future.

brawner · 2021-02-03T20:12:29Z

src/parser.cc

               << "], child of element[" << _xml->Value()
               << "], not defined in SDF. Copying[" << elemXml->Value() << "] "
               << "as children of [" << _xml->Value() << "].\n";
+
+        addRecoverableWarning(


On second thought, after working on it I decided to update this PR. I think there is enough overlap between the two policies that they should have a common enum, which necessitated changes here.

brawner · 2021-02-03T20:12:55Z

src/parser.cc

-      sdfwarn << "Converting a deprecated SDF source[" << _source << "].\n";
+      std::stringstream ss;
+      ss << "Converting a deprecated SDF source[" << _source << "].\n";
+      addRecoverableWarning(


Also, with the new commit this should be easy to add a policy for this in the future should it be desired.

azeey

Left a couple of minor comments. Looks great!

src/Utils.cc

src/Utils.hh

azeey · 2021-02-04T21:07:22Z

test/integration/unknown.cc

+    config.SetUnrecognizedElementsPolicy(sdf::EnforcementPolicy::ERR);
+    sdf::Root root;
+    const auto errors = root.Load(testFile, config);
+    EXPECT_FALSE(errors.empty());


Can you add an expectation on at least one of the output messages? Just so it doesn't pass due to other non-related error messages in the future.

azeey · 2021-02-04T21:11:02Z

test/sdf/unrecognized_elements_with_namespace.sdf

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<sdf version="1.8" xmlns:third_party_software="custom_ns_uri">
+  <model name="joint_incorrect_tags" some_attribute="some value">


nit: joint_incorrect_tags makes it sound this is is not a valid file.

Changed the name to namespaced_tags

Signed-off-by: Stephen Brawner <brawner@gmail.com>

scpeters

this is awesome! it shouldn't be in this PR, but I'd love to add a flag to ign sdf commands for setting the parsing level

src/Utils.hh

include/sdf/ParserConfig.hh

Signed-off-by: Stephen Brawner <brawner@gmail.com>

scpeters · 2021-02-05T01:49:30Z

this is awesome! it shouldn't be in this PR, but I'd love to add a flag to ign sdf commands for setting the parsing level

#485

brawner · 2021-02-05T23:54:09Z

Thanks for the reviews you two!

brawner requested a review from azeey January 30, 2021 00:19

github-actions bot added the 🏢 edifice Ignition Edifice label Jan 30, 2021

This was referenced Jan 30, 2021

Joint limits silently ignored if improperly nested #473

Closed

//joint/axis/use_parent_model_frame does not fail fast or issue a warning in SDFormat 1.7? #327

Closed

brawner force-pushed the brawner/pedantic-flag branch from ae3cf0d to 166b995 Compare January 30, 2021 00:35

brawner commented Jan 30, 2021

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brawner force-pushed the brawner/pedantic-flag branch from e49b501 to f667520 Compare February 3, 2021 19:14

brawner commented Feb 3, 2021

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brawner force-pushed the brawner/pedantic-flag branch from d0915ea to 9c688dd Compare February 3, 2021 20:17

brawner requested a review from azeey February 3, 2021 20:17

azeey reviewed Feb 4, 2021

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azeey added this to the SDFormat 1.8 / libsdformat11 milestone Feb 4, 2021

brawner added 5 commits February 4, 2021 15:29

Allow different warning policies in ParserConfig

c08bf36

Signed-off-by: Stephen Brawner <brawner@gmail.com>

linters

3d38588

Signed-off-by: Stephen Brawner <brawner@gmail.com>

PR fixup

32c2a6c

Signed-off-by: Stephen Brawner <brawner@gmail.com>

Switch policies to EnforcmentPolicy for better cohesiveness

bb24a0e

Signed-off-by: Stephen Brawner <brawner@gmail.com>

PR Fixup

73a9d98

Signed-off-by: Stephen Brawner <brawner@gmail.com>

brawner force-pushed the brawner/pedantic-flag branch from 259b285 to 73a9d98 Compare February 4, 2021 23:35

azeey approved these changes Feb 4, 2021

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scpeters reviewed Feb 5, 2021

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PR Fixup

8c54ba9

Signed-off-by: Stephen Brawner <brawner@gmail.com>

scpeters approved these changes Feb 5, 2021

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scpeters mentioned this pull request Feb 5, 2021

Add flag to gz sdf to control WarningsPolicy #485

Open

brawner changed the title ~~Add WarningsPolicy in ParserConfig to enable configurable parsing strictness~~ Add EnforcementPolicy in ParserConfig to enable configurable parsing strictness Feb 5, 2021

Merge branch 'master' into brawner/pedantic-flag

4b547fb

brawner merged commit 53491da into master Feb 5, 2021

brawner deleted the brawner/pedantic-flag branch February 5, 2021 23:53

This was referenced Feb 11, 2021

tests: Ensure removed SDFormat elements raise errors in newer versions #490

Merged

proposal: Fail fast on unrecognized elements? #279

Closed

azeey mentioned this pull request Feb 19, 2021

Unknown elements should emit a warning console message instead of a debug message in sdformat.log #409

Closed

EricCousineau-TRI mentioned this pull request Apr 14, 2021

EnforcementPolicy: Shouldn't strictly turn deprecations into errors? #541

Closed

EricCousineau-TRI mentioned this pull request Jun 3, 2021

sdformat: Should exercise newer EnforcementPolicy for deprecation in Drake, and make nominal policy strict RobotLocomotion/drake#15018

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Add EnforcementPolicy in ParserConfig to enable configurable parsing strictness #481

Add EnforcementPolicy in ParserConfig to enable configurable parsing strictness #481

brawner commented Jan 30, 2021 •

edited by azeey

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brawner commented Feb 5, 2021

	<sdf version="1.6">
	<sdf version="1.8" xmlns:third_party_software="custom_ns_uri">

Add EnforcementPolicy in ParserConfig to enable configurable parsing strictness #481

Add EnforcementPolicy in ParserConfig to enable configurable parsing strictness #481

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brawner commented Jan 30, 2021 • edited by azeey Loading

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brawner commented Jan 30, 2021 •

edited by azeey

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