string to string_view, refactoring

aagrawal05 · May 19, 2024 · 792c5f4 · 792c5f4
1 parent 2a1d038
commit 792c5f4
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Showing 32 changed files with 113 additions and 97 deletions.
diff --git a/format_schema.py b/format_schema.py
@@ -0,0 +1,83 @@
+import os
+
+lines = os.listdir('./sdf/1.11/')
+# Only keep the files that end with .sdf
+lines = [line for line in lines if line.endswith('.sdf')]
+for line in lines:
+    # Remove .sdf extension
+    snake_case = line.strip().split('.')[0]
+
+    # Convert from snake_case to CamelCase
+    camel_case = ''.join([word.capitalize() for word in snake_case.split('_')])
+
+    addHeader = """
+    /// \\brief Get the schema file name accessor
+    public: static inline std::string_view SchemaFile();
+    """
+
+    addImpl = f"""
+/////////////////////////////////////////////////
+inline std::string_view {camel_case}::SchemaFile() 
+{{
+    static const char kSchemaFile[] = "{line}";
+    return kSchemaFile;
+}}\n\n"""
+
+    # Debug print statements
+    # print(addHeader)
+    # print(addImpl)
+    # print(addTest)
+    # print("\n")
+
+    print(line)
+
+    # # Edit './include/sdf/{camel_case}.hh'
+    # # Find the line with 'class SDFFORMAT_VISIBLE {camel_case}`
+    # try:
+    #     f = open('./include/sdf/' + camel_case + '.hh', 'r')
+    #     read_lines = f.readlines()
+    #     f.close()
+    #     line_number = 0
+    #     for i, line_raw in enumerate(read_lines):
+    #         if line_raw == "  class SDFORMAT_VISIBLE " + camel_case + '\n':
+    #             line_number = i+3 # After the class line there is `\n{\n` and then the constructor
+    #             break
+    #     if line_number == 0:
+    #         print("Error: Could not find class declaration in " + camel_case + ".hh")
+    #         exit(1)
+    #     try:
+    #         with open('./include/sdf/' + camel_case + '.hh', 'w') as file:
+    #             for i, line_raw in enumerate(read_lines):
+    #                 file.write(line_raw)
+    #                 if i == line_number:
+    #                     file.write(addHeader)
+    #     except:
+    #         print("Unexpected error while writing to: " + camel_case + ".hh.")
+    # except:
+    #     print("Error while writing to: " + camel_case + ".hh." + " Check if file exists.")
+
+    # Replace all instances of `line` with `std::string(this->SchemaFile())`
+    if (os.path.exists('./src/' + camel_case + '.cc')):
+        try:
+            f = open('./src/' + camel_case + '.cc', 'r')
+            read_lines = f.readlines()
+            f.close()
+
+            with open('./src/' + camel_case + '.cc', 'w') as file:
+                for i, line_raw in enumerate(read_lines):
+                  if "kSchemaFile[]" not in line_raw:
+                    file.write(line_raw.replace(f'"{line}"', 'std::string(this->SchemaFile())'))
+                  else:
+                    file.write(line_raw)
+        except:
+            print("Unexpected error while reading from: " + camel_case + ".cc.")
+
+    # # Edit './src/{camel_case}.cc' if it exists
+    # # Add implementation to end of document
+    # if os.path.exists('./src/' + camel_case + '.cc'):
+    #     with open('./src/' + camel_case + '.cc', 'a') as file:
+    #         file.write(addImpl)
+    # else:
+    #     print("Error: Could not find " + camel_case + ".cc")
+
+    print("Changes written to source successfully")
diff --git a/src/Actor.cc b/src/Actor.cc
@@ -726,7 +726,7 @@ void Actor::ClearJoints()
 sdf::ElementPtr Actor::ToElement() const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("actor.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   elem->GetAttribute("name")->Set(this->Name());
   // Set pose

diff --git a/src/AirPressure.cc b/src/AirPressure.cc
@@ -129,7 +129,7 @@ sdf::ElementPtr AirPressure::ToElement() const
 sdf::ElementPtr AirPressure::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("air_pressure.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   elem->GetElement("reference_altitude", _errors)->Set<double>(
       _errors, this->ReferenceAltitude());

diff --git a/src/AirSpeed.cc b/src/AirSpeed.cc
@@ -98,7 +98,7 @@ void AirSpeed::SetPressureNoise(const Noise &_noise)
 sdf::ElementPtr AirSpeed::ToElement() const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("air_speed.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   sdf::ElementPtr pressureElem = elem->GetElement("pressure");
   sdf::ElementPtr noiseElem = pressureElem->GetElement("noise");

diff --git a/src/Altimeter.cc b/src/Altimeter.cc
@@ -151,7 +151,7 @@ sdf::ElementPtr Altimeter::ToElement() const
 sdf::ElementPtr Altimeter::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("altimeter.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   sdf::ElementPtr verticalPosElem = elem->GetElement(
       "vertical_position", _errors);

diff --git a/src/Atmosphere.cc b/src/Atmosphere.cc
@@ -161,7 +161,7 @@ sdf::ElementPtr Atmosphere::ToElement() const
 sdf::ElementPtr Atmosphere::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("atmosphere.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   elem->GetAttribute("type")->Set("adiabatic", _errors);
   elem->GetElement("temperature", _errors)->Set(

diff --git a/src/Camera.cc b/src/Camera.cc
@@ -1213,7 +1213,7 @@ bool Camera::HasLensProjection() const
 sdf::ElementPtr Camera::ToElement() const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("camera.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   elem->GetAttribute("name")->Set<std::string>(this->Name());
   sdf::ElementPtr poseElem = elem->GetElement("pose");

diff --git a/src/Collision.cc b/src/Collision.cc
@@ -364,7 +364,7 @@ sdf::ElementPtr Collision::ToElement() const
 sdf::ElementPtr Collision::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("collision.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   elem->GetAttribute("name")->Set(this->Name(), _errors);
 

diff --git a/src/ForceTorque.cc b/src/ForceTorque.cc
@@ -296,7 +296,7 @@ sdf::ElementPtr ForceTorque::ToElement() const
 sdf::ElementPtr ForceTorque::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("forcetorque.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   std::string frame;
   switch (this->Frame())

diff --git a/src/Frame.cc b/src/Frame.cc
@@ -232,7 +232,7 @@ sdf::ElementPtr Frame::ToElement() const
 sdf::ElementPtr Frame::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("frame.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   elem->GetAttribute("name")->Set(this->dataPtr->name, _errors);
 

diff --git a/src/Geometry.cc b/src/Geometry.cc
@@ -377,7 +377,7 @@ sdf::ElementPtr Geometry::ToElement() const
 sdf::ElementPtr Geometry::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("geometry.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   switch (this->dataPtr->type)
   {

diff --git a/src/Gui.cc b/src/Gui.cc
@@ -97,7 +97,7 @@ sdf::ElementPtr Gui::Element() const
 sdf::ElementPtr Gui::ToElement() const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("gui.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   elem->GetAttribute("fullscreen")->Set(this->dataPtr->fullscreen);
 

diff --git a/src/Imu.cc b/src/Imu.cc
@@ -389,7 +389,7 @@ sdf::ElementPtr Imu::ToElement() const
 sdf::ElementPtr Imu::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("imu.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   sdf::ElementPtr orientationRefFrameElem =
     elem->GetElement("orientation_reference_frame", _errors);

diff --git a/src/Joint.cc b/src/Joint.cc
@@ -538,7 +538,7 @@ Sensor *Joint::SensorByName(const std::string &_name)
 sdf::ElementPtr Joint::ToElement() const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("joint.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   elem->GetAttribute("name")->Set<std::string>(this->Name());
   sdf::ElementPtr poseElem = elem->GetElement("pose");

diff --git a/src/Lidar.cc b/src/Lidar.cc
@@ -395,7 +395,7 @@ bool Lidar::operator!=(const Lidar &_lidar) const
 sdf::ElementPtr Lidar::ToElement() const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("lidar.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   sdf::ElementPtr scanElem = elem->GetElement("scan");
   sdf::ElementPtr horElem = scanElem->GetElement("horizontal");

diff --git a/src/Light.cc b/src/Light.cc
@@ -500,7 +500,7 @@ sdf::ElementPtr Light::ToElement() const
 sdf::ElementPtr Light::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("light.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   std::string lightTypeStr = "point";
   switch (this->Type())

diff --git a/src/Link.cc b/src/Link.cc
@@ -959,7 +959,7 @@ void Link::ClearProjectors()
 sdf::ElementPtr Link::ToElement() const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("link.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   elem->GetAttribute("name")->Set(this->Name());
 

diff --git a/src/Magnetometer.cc b/src/Magnetometer.cc
@@ -136,7 +136,7 @@ bool Magnetometer::operator==(const Magnetometer &_mag) const
 sdf::ElementPtr Magnetometer::ToElement() const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("magnetometer.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   sdf::ElementPtr magnetometerXElem = elem->GetElement("x");
   sdf::ElementPtr magnetometerXNoiseElem =

diff --git a/src/Material.cc b/src/Material.cc
@@ -411,7 +411,7 @@ sdf::ElementPtr Material::ToElement() const
 sdf::ElementPtr Material::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("material.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   elem->GetElement("ambient", _errors)->Set(_errors, this->Ambient());
   elem->GetElement("diffuse", _errors)->Set(_errors, this->Diffuse());

diff --git a/src/Model.cc b/src/Model.cc
@@ -1115,7 +1115,7 @@ sdf::ElementPtr Model::ToElement(const OutputConfig &_config) const
   }
 
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("model.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
   elem->GetAttribute("name")->Set(this->Name());
 
   if (!this->dataPtr->canonicalLink.empty())

diff --git a/src/Noise.cc b/src/Noise.cc
@@ -265,7 +265,7 @@ sdf::ElementPtr Noise::ToElement() const
 sdf::ElementPtr Noise::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("noise.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   std::string noiseType;
   switch (this->Type())

diff --git a/src/ParticleEmitter.cc b/src/ParticleEmitter.cc
@@ -533,7 +533,7 @@ sdf::ElementPtr ParticleEmitter::ToElement() const
 sdf::ElementPtr ParticleEmitter::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("particle_emitter.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   // Set pose
   sdf::ElementPtr poseElem = elem->GetElement("pose", _errors);

diff --git a/src/Physics.cc b/src/Physics.cc
@@ -215,7 +215,7 @@ sdf::ElementPtr Physics::ToElement() const
 sdf::ElementPtr Physics::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("physics.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   elem->GetAttribute("name")->Set(this->Name(), _errors);
   elem->GetAttribute("default")->Set(this->IsDefault(), _errors);

diff --git a/src/Plugin.cc b/src/Plugin.cc
@@ -178,7 +178,7 @@ sdf::ElementPtr Plugin::ToElement() const
 sdf::ElementPtr Plugin::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("plugin.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   elem->GetAttribute("name")->Set(this->Name(), _errors);
   elem->GetAttribute("filename")->Set(this->Filename(), _errors);

diff --git a/src/Projector.cc b/src/Projector.cc
@@ -307,7 +307,7 @@ void Projector::AddPlugin(const Plugin &_plugin)
 sdf::ElementPtr Projector::ToElement() const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("projector.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   // Set pose
   sdf::ElementPtr poseElem = elem->GetElement("pose");

diff --git a/src/Root.cc b/src/Root.cc
@@ -619,7 +619,7 @@ void Root::ResolveAutoInertials(sdf::Errors &_errors,
 sdf::ElementPtr Root::ToElement(const OutputConfig &_config) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("root.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   elem->GetAttribute("version")->Set(this->Version());
 

diff --git a/src/Scene.cc b/src/Scene.cc
@@ -198,7 +198,7 @@ sdf::ElementPtr Scene::ToElement() const
 sdf::ElementPtr Scene::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("scene.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   elem->GetElement("ambient", _errors)->Set(_errors, this->Ambient());
   elem->GetElement("background", _errors)->Set(_errors, this->Background());

diff --git a/src/Sensor.cc b/src/Sensor.cc
@@ -738,7 +738,7 @@ sdf::ElementPtr Sensor::ToElement() const
 sdf::ElementPtr Sensor::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("sensor.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   elem->GetAttribute("type")->Set<std::string>(this->TypeStr(), _errors);
   elem->GetAttribute("name")->Set<std::string>(this->Name(), _errors);

diff --git a/src/Surface.cc b/src/Surface.cc
@@ -409,7 +409,7 @@ sdf::ElementPtr Surface::ToElement() const
 sdf::ElementPtr Surface::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("surface.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   sdf::ElementPtr contactElem = elem->GetElement("contact", _errors);
   contactElem->GetElement("collide_bitmask", _errors)->Set(

diff --git a/src/Visual.cc b/src/Visual.cc
@@ -322,7 +322,7 @@ void Visual::SetPoseRelativeToGraph(
 sdf::ElementPtr Visual::ToElement() const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("visual.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   elem->GetAttribute("name")->Set(this->Name());
 

diff --git a/src/World.cc b/src/World.cc
@@ -1067,7 +1067,7 @@ Errors World::Implementation::LoadSphericalCoordinates(
 sdf::ElementPtr World::ToElement(const OutputConfig &_config) const
 {
   sdf::ElementPtr elem(new sdf::Element);
-  sdf::initFile("world.sdf", elem);
+  sdf::initFile(std::string(this->SchemaFile()), elem);
 
   elem->GetAttribute("name")->Set(this->Name());
   elem->GetElement("gravity")->Set(this->Gravity());