Rename state elements when converting to 1.12

Update some existing tests to verify conversion logic. Signed-off-by: Steve Peters <[email protected]>
gazebosim · Mar 1, 2024 · dd2054f · dd2054f
1 parent 818b8f3
commit dd2054f
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Showing 3 changed files with 65 additions and 21 deletions.
diff --git a/sdf/1.12/1_11.convert b/sdf/1.12/1_11.convert
@@ -1,2 +1,46 @@
 <convert name="sdf">
+
+  <convert name="world">
+    <!-- Rename state elements -->
+    <convert name="state">
+
+      <move>
+        <from element="light"/>
+        <to element="light_state"/>
+      </move>
+
+      <move>
+        <from element="model"/>
+        <to element="model_state"/>
+      </move>
+
+      <convert name="model">
+        <move>
+          <from element="link"/>
+          <to element="link_state"/>
+        </move>
+        <move>
+          <from element="model"/>
+          <to element="model_state"/>
+        </move>
+        <convert name="model">
+          <move>
+            <from element="link"/>
+            <to element="link_state"/>
+          </move>
+          <move>
+            <from element="model"/>
+            <to element="model_state"/>
+          </move>
+          <convert name="model">
+            <move>
+              <from element="link"/>
+              <to element="link_state"/>
+            </move>
+          </convert>
+        </convert>
+      </convert>
+
+    </convert>
+  </convert>
 </convert> <!-- End SDF -->
diff --git a/test/integration/frame.cc b/test/integration/frame.cc
@@ -206,11 +206,11 @@ TEST(Frame, NoFrame)
 }
 
 ////////////////////////////////////////
-// Test parsing nested model states
+// Test parsing states with //pose/@relative_to
 TEST(Frame, StateFrame)
 {
   std::ostringstream sdfStr;
-  sdfStr << "<sdf version ='" << SDF_VERSION << "'>"
+  sdfStr << "<sdf version ='1.11'>"
     << "<world name='default'>"
     << "<state world_name='default'>"
     << "<model name='my_model'>"
@@ -239,8 +239,8 @@ TEST(Frame, StateFrame)
   EXPECT_TRUE(worldElem->HasElement("state"));
   sdf::ElementPtr stateElem = worldElem->GetElement("state");
 
-  EXPECT_TRUE(stateElem->HasElement("model"));
-  sdf::ElementPtr modelStateElem = stateElem->GetElement("model");
+  EXPECT_TRUE(stateElem->HasElement("model_state"));
+  sdf::ElementPtr modelStateElem = stateElem->GetElement("model_state");
 
   // model
   EXPECT_TRUE(modelStateElem->HasAttribute("name"));
@@ -271,8 +271,8 @@ TEST(Frame, StateFrame)
   }
 
   // link
-  EXPECT_TRUE(modelStateElem->HasElement("link"));
-  sdf::ElementPtr linkStateElem = modelStateElem->GetElement("link");
+  EXPECT_TRUE(modelStateElem->HasElement("link_state"));
+  sdf::ElementPtr linkStateElem = modelStateElem->GetElement("link_state");
   EXPECT_TRUE(linkStateElem->HasAttribute("name"));
   EXPECT_EQ(linkStateElem->Get<std::string>("name"), "my_link");
 
@@ -286,8 +286,8 @@ TEST(Frame, StateFrame)
               gz::math::Pose3d(111, 3, 0, 0, 0, 0));
   }
 
-  EXPECT_TRUE(stateElem->HasElement("light"));
-  sdf::ElementPtr lightStateElem = stateElem->GetElement("light");
+  EXPECT_TRUE(stateElem->HasElement("light_state"));
+  sdf::ElementPtr lightStateElem = stateElem->GetElement("light_state");
 
   // light
   EXPECT_TRUE(lightStateElem->HasAttribute("name"));

diff --git a/test/integration/nested_model.cc b/test/integration/nested_model.cc
@@ -111,7 +111,7 @@ TEST(NestedModel, NestedModel)
 TEST(NestedModel, State)
 {
   std::ostringstream sdfStr;
-  sdfStr << "<sdf version ='" << SDF_VERSION << "'>"
+  sdfStr << "<sdf version ='1.11'>"
     << "<world name='default'>"
     << "<state world_name='default'>"
     << "<model name='model_00'>"
@@ -154,9 +154,9 @@ TEST(NestedModel, State)
   sdf::ElementPtr worldElem = sdfParsed->Root()->GetElement("world");
   EXPECT_TRUE(worldElem->HasElement("state"));
   sdf::ElementPtr stateElem = worldElem->GetElement("state");
-  EXPECT_TRUE(stateElem->HasElement("model"));
+  EXPECT_TRUE(stateElem->HasElement("model_state"));
 
-  sdf::ElementPtr modelStateElem = stateElem->GetElement("model");
+  sdf::ElementPtr modelStateElem = stateElem->GetElement("model_state");
 
   // model sdf
   EXPECT_TRUE(modelStateElem->HasAttribute("name"));
@@ -167,8 +167,8 @@ TEST(NestedModel, State)
   EXPECT_TRUE(!modelStateElem->HasElement("joint"));
 
   // link sdf
-  EXPECT_TRUE(modelStateElem->HasElement("link"));
-  sdf::ElementPtr linkStateElem = modelStateElem->GetElement("link");
+  EXPECT_TRUE(modelStateElem->HasElement("link_state"));
+  sdf::ElementPtr linkStateElem = modelStateElem->GetElement("link_state");
   EXPECT_TRUE(linkStateElem->HasAttribute("name"));
   EXPECT_EQ(linkStateElem->Get<std::string>("name"), "link_00");
   EXPECT_TRUE(linkStateElem->HasElement("pose"));
@@ -185,9 +185,9 @@ TEST(NestedModel, State)
     gz::math::Pose3d(0, 0.006121, 0, 0, 0, 0));
 
   // nested model sdf
-  EXPECT_TRUE(modelStateElem->HasElement("model"));
+  EXPECT_TRUE(modelStateElem->HasElement("model_state"));
   sdf::ElementPtr nestedModelStateElem =
-    modelStateElem->GetElement("model");
+    modelStateElem->GetElement("model_state");
   EXPECT_TRUE(nestedModelStateElem->HasAttribute("name"));
   EXPECT_EQ(nestedModelStateElem->Get<std::string>("name"), "model_01");
   EXPECT_TRUE(nestedModelStateElem->HasElement("pose"));
@@ -196,9 +196,9 @@ TEST(NestedModel, State)
   EXPECT_TRUE(!nestedModelStateElem->HasElement("joint"));
 
   // nested model's link sdf
-  EXPECT_TRUE(nestedModelStateElem->HasElement("link"));
+  EXPECT_TRUE(nestedModelStateElem->HasElement("link_state"));
   sdf::ElementPtr nestedLinkStateElem =
-    nestedModelStateElem->GetElement("link");
+    nestedModelStateElem->GetElement("link_state");
   EXPECT_TRUE(nestedLinkStateElem->HasAttribute("name"));
   EXPECT_EQ(nestedLinkStateElem->Get<std::string>("name"), "link_01");
   EXPECT_TRUE(nestedLinkStateElem->HasElement("pose"));
@@ -215,8 +215,8 @@ TEST(NestedModel, State)
     gz::math::Pose3d(0, 0.000674, 0, 0, 0, 0));
 
   // double nested model sdf
-  EXPECT_TRUE(nestedModelStateElem->HasElement("model"));
-  nestedModelStateElem = nestedModelStateElem->GetElement("model");
+  EXPECT_TRUE(nestedModelStateElem->HasElement("model_state"));
+  nestedModelStateElem = nestedModelStateElem->GetElement("model_state");
   EXPECT_TRUE(nestedModelStateElem->HasAttribute("name"));
   EXPECT_EQ(nestedModelStateElem->Get<std::string>("name"), "model_02");
   EXPECT_TRUE(nestedModelStateElem->HasElement("pose"));
@@ -225,8 +225,8 @@ TEST(NestedModel, State)
   EXPECT_TRUE(!nestedModelStateElem->HasElement("joint"));
 
   // double nested model's link sdf
-  EXPECT_TRUE(nestedModelStateElem->HasElement("link"));
-  nestedLinkStateElem = nestedModelStateElem->GetElement("link");
+  EXPECT_TRUE(nestedModelStateElem->HasElement("link_state"));
+  nestedLinkStateElem = nestedModelStateElem->GetElement("link_state");
   EXPECT_TRUE(nestedLinkStateElem->HasAttribute("name"));
   EXPECT_EQ(nestedLinkStateElem->Get<std::string>("name"), "link_02");
   EXPECT_TRUE(nestedLinkStateElem->HasElement("pose"));