Collada and Assimp test for default animation names

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-common5 VERSION 5.1.0)
+project(gz-common5 VERSION 5.2.2)
 set(GZ_COMMON_VER ${PROJECT_VERSION_MAJOR})
 
 #============================================================================
@@ -127,7 +127,6 @@ gz_find_package(AVUTIL REQUIRED_BY av PRETTY libavutil)
 # Find assimp
 gz_find_package(GzAssimp REQUIRED_BY graphics PRETTY assimp)
 
-
 message(STATUS "-------------------------------------------\n")
 
 
@@ -138,7 +137,7 @@ configure_file("${PROJECT_SOURCE_DIR}/cppcheck.suppress.in"
                ${PROJECT_BINARY_DIR}/cppcheck.suppress)
 
 gz_configure_build(QUIT_IF_BUILD_ERRORS
-  COMPONENTS av events geospatial graphics profiler testing)
+  COMPONENTS av events geospatial graphics io profiler testing)
 
 #============================================================================
 # Create package information

Changelog.md

@@ -1,5 +1,27 @@
 ## Gazebo Common 5.x
 
+## Gazebo Common 5.2.2 (2022-10-26)
+
+1. [Backport] Avoid Io.hh header name clash (#471) 
+    * [Pull request #472](https://github.com/gazebosim/gz-common/pull/472)
+
+## Gazebo Common 5.2.1 (2022-10-19)
+
+1. Fix arm builds and tests
+    * [Pull request #462](https://github.com/gazebosim/gz-common/pull/462)
+    * [Pull request #463](https://github.com/gazebosim/gz-common/pull/463)
+
+## Gazebo Common 5.2.0 (2022-10-18)
+
+1. Add CSV data parsing
+    * [Pull request #402](https://github.com/gazebosim/gz-common/pull/402)
+
+1. Skip CSV header when reading DataFrame.
+    * [Pull request #435](https://github.com/gazebosim/gz-common/pull/435)
+
+1. Adds an API to retrieve keys.
+    * [Pull request #446](https://github.com/gazebosim/gz-common/pull/446)
+
 ## Gazebo Common 5.1.0 (2022-10-13)
 
 1. 4 ➡️  5

graphics/src/AssimpLoader_TEST.cc

@@ -738,3 +738,20 @@ TEST_F(AssimpLoader, CheckNonRootDisplacement)
   auto xDisplacement = skelAnim->XDisplacement();
   ASSERT_TRUE(xDisplacement);
 }
+
+/////////////////////////////////////////////////
+// Load animation without a name
+TEST_F(AssimpLoader, NoAnimName)
+{
+  common::AssimpLoader loader;
+
+  std::string meshFilename =
+    common::testing::TestFile("data", "box_with_no_animation_name.dae");
+
+  common::Mesh *mesh = loader.Load(meshFilename);
+  common::SkeletonPtr skeleton = mesh->MeshSkeleton();
+  ASSERT_EQ(1u, skeleton->AnimationCount());
+  common::SkeletonAnimation *anim = skeleton->Animation(0);
+  auto animName = anim->Name();
+  EXPECT_EQ(animName, "animation1");
+}

graphics/src/ColladaLoader_TEST.cc

@@ -489,3 +489,20 @@ TEST_F(ColladaLoader, LoadCylinderAnimatedFrom3dsMax)
   EXPECT_EQ(1u, anim->NodeCount());
   EXPECT_TRUE(anim->HasNode("Bone02"));
 }
+
+/////////////////////////////////////////////////
+// Load animation without a name
+TEST_F(ColladaLoader, NoAnimName)
+{
+  common::ColladaLoader loader;
+
+  std::string meshFilename =
+    common::testing::TestFile("data", "box_with_no_animation_name.dae");
+
+  common::Mesh *mesh = loader.Load(meshFilename);
+  common::SkeletonPtr skeleton = mesh->MeshSkeleton();
+  ASSERT_EQ(1u, skeleton->AnimationCount());
+  common::SkeletonAnimation *anim = skeleton->Animation(0);
+  auto animName = anim->Name();
+  EXPECT_EQ(animName, "animation1");
+}

io/BUILD.bazel

@@ -0,0 +1,76 @@
+load(
+    "//gz_bazel:build_defs.bzl",
+    "GZ_ROOT",
+    "GZ_VISIBILITY",
+    "generate_include_header",
+    "gz_export_header",
+)
+
+package(
+    default_visibility = GZ_VISIBILITY,
+    features = [
+        "-parse_headers",
+        "-layering_check",
+    ],
+)
+
+public_headers_no_gen = glob([
+    "include/gz/common/*.hh",
+])
+
+sources = glob(
+    ["src/*.cc"],
+    exclude = ["src/*_TEST.cc"],
+)
+
+test_sources = glob(["src/*_TEST.cc"])
+
+gz_export_header(
+    name = "include/gz/common/io/Export.hh",
+    export_base = "GZ_COMMON_IO",
+    lib_name = "gz-common-io",
+    visibility = ["//visibility:private"],
+)
+
+generate_include_header(
+    name = "iohh_genrule",
+    out = "include/gz/common/io.hh",
+    hdrs = public_headers_no_gen + [
+        "include/gz/common/io/Export.hh",
+    ],
+)
+
+public_headers = public_headers_no_gen + [
+    "include/gz/common/io/Export.hh",
+    "include/gz/common/io.hh",
+]
+
+cc_library(
+    name = "io",
+    srcs = sources,
+    hdrs = public_headers,
+    includes = ["include"],
+    deps = [
+        GZ_ROOT + "gz_common",
+        GZ_ROOT + "gz_math",
+    ],
+)
+
+cc_binary(
+    name = "libgz-common5-io.so",
+    includes = ["include"],
+    linkopts = ["-Wl,-soname,libgz-common5-io.so"],
+    linkshared = True,
+    deps = [":events"],
+)
+
+[cc_test(
+    name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
+    srcs = [src],
+    deps = [
+        ":io",
+        GZ_ROOT + "gz_common/test:test_utils",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+) for src in test_sources]

io/include/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(gz)

io/include/gz/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(common)

io/include/gz/common/CMakeLists.txt

@@ -0,0 +1 @@
+gz_install_all_headers(COMPONENT io)

io/include/gz/common/CSVStreams.hh

@@ -0,0 +1,177 @@
+/*
+ * Copyright (C) 2022 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 GZ_COMMON_CSVSTREAMS_HH_
+#define GZ_COMMON_CSVSTREAMS_HH_
+
+#include <istream>
+#include <string>
+#include <vector>
+
+#include <gz/common/io/Export.hh>
+
+#include <gz/utils/ImplPtr.hh>
+
+namespace gz
+{
+  namespace common
+  {
+    /// \brief A CSV specification.
+    struct GZ_COMMON_IO_VISIBLE CSVDialect
+    {
+      /// Field delimiter character.
+      char delimiter;
+
+      /// Row termination character.
+      char terminator;
+
+      /// Field quoting character.
+      char quote;
+
+      /// CSV dialect as expected by Unix tools.
+      static const CSVDialect Unix;
+    };
+
+    /// \brief Check CSV dialects for equality.
+    /// \param[in] _lhs Left-hand side CSV dialect.
+    /// \param[in] _rhs Right-hand side CSV dialect.
+    /// \return true if CSV dialects are equal, false otherwise.
+    bool GZ_COMMON_IO_VISIBLE operator==(const CSVDialect &_lhs,
+                                         const CSVDialect &_rhs);
+
+    /// \brief A token in CSV data.
+    ///
+    /// Lexical specifications are typically dictated by a CSV dialect.
+    struct CSVToken
+    {
+      /// Token type.
+      enum {
+        TEXT = 0,   ///< A pure text token (e.g. a letter).
+        QUOTE,      ///< A field quoting token (e.g. a double quote).
+        DELIMITER,  ///< A field delimiter token (e.g. a comma).
+        TERMINATOR  ///< A row termination token (e.g. a newline).
+      } type;
+
+      /// Token character.
+      char character;
+    };
+
+    /// \brief Extract a single token from an input stream of CSV data.
+    ///
+    /// If tokenization fails, the CSV data stream ``failbit`` will be set.
+    ///
+    /// \param[in] _stream A stream of CSV data to tokenize.
+    /// \param[out] _token Output CSV token to extract into.
+    /// \param[in] _dialect CSV data dialect. Defaults to the Unix dialect.
+    /// \return same CSV data stream.
+    GZ_COMMON_IO_VISIBLE std::istream &ExtractCSVToken(
+      std::istream &_stream, CSVToken &_token,
+      const CSVDialect &_dialect = CSVDialect::Unix);
+
+    /// \brief Parse a single row from an input stream of CSV data.
+    ///
+    /// If parsing fails, the CSV data stream ``failbit`` will be set.
+    ///
+    /// \param[in] _stream CSV data stream to parse.
+    /// \param[out] _row Output CSV row to parse into.
+    /// \param[in] _dialect CSV data dialect. Defaults to the Unix dialect.
+    /// \returns same CSV data stream.
+    GZ_COMMON_IO_VISIBLE  std::istream &ParseCSVRow(
+      std::istream &_stream, std::vector<std::string> &_row,
+      const CSVDialect &_dialect = CSVDialect::Unix);
+
+    /// \brief A single-pass row iterator on an input stream of CSV data.
+    ///
+    /// Similar to std::istream_iterator, this iterator parses a stream of
+    /// CSV data, one row at a time. \see `ParseCSVRow`.
+    class GZ_COMMON_IO_VISIBLE CSVIStreamIterator
+    {
+      public: using iterator_category = std::input_iterator_tag;
+      public: using value_type = std::vector<std::string>;
+      public: using difference_type = std::ptrdiff_t;
+      public: using pointer = const value_type*;
+      public: using reference = const value_type&;
+
+      /// \brief Construct an end-of-stream iterator.
+      public: CSVIStreamIterator();
+
+      /// \brief Construct an iterator over `_stream`.
+      ///
+      /// The first row will be read from the underlying stream to
+      /// initialize the iterator. If there are parsing errors while
+      /// reading, the underlying stream ``failbit`` will be set.
+      ///
+      /// \param[in] _stream A stream of CSV data to iterate.
+      /// \param[in] _dialect CSV data dialect. Defaults to the Unix dialect.
+      public: explicit CSVIStreamIterator(
+          std::istream &_stream,
+          const CSVDialect &_dialect = CSVDialect::Unix);
+
+      /// \brief Read the next row from the underlying stream.
+      ///
+      /// If the read fails, the iterator becomes an end-of-stream iterator.
+      /// If there are parsing errors while reading, the underlying stream
+      /// ``failbit`` will be set. If the iterator already is an end-of-stream
+      /// iterator, behavior is undefined.
+      ///
+      /// \return A reference to the iterator once modified.
+      public: CSVIStreamIterator &operator++();
+
+      /// \brief Read the next row from the underlying stream.
+      ///
+      /// If the read fails, the iterator becomes an end-of-stream iterator.
+      /// If there are parsing errors while reading, the underlying stream
+      /// ``failbit`` will be set. If the iterator already is an end-of-stream
+      /// iterator, behavior is undefined.
+      ///
+      /// \return A copy of the iterator before modification. Note that,
+      /// while an iterator copy retains its state, the underlying stream
+      /// may still be advanced.
+      public: CSVIStreamIterator operator++(int);
+
+      /// \brief Check for iterator equality.
+      /// \param[in] _other Iterator to compare with.
+      /// \return true if both iterators are end-of-stream iterators
+      /// or if both iterator wrap the same stream and use the same dialect,
+      /// false otherwise.
+      public: bool operator==(const CSVIStreamIterator &_other) const;
+
+      /// \brief Check for iterator inequality.
+      /// \param[in] _other Iterator to compare with.
+      /// \return true if both iterators are not equal, false otherwise.
+      public: bool operator!=(const CSVIStreamIterator &_other) const;
+
+      /// \brief Access current row.
+      ///
+      /// Behavior is undefined if the iterator is an end-of-stream iterator.
+      ///
+      /// \return reference to the current row.
+      public: reference operator*() const;
+
+      /// \brief Access current row.
+      ///
+      /// Behavior is undefined if the iterator is an end-of-stream iterator.
+      ///
+      /// \return pointer to the current row.
+      public: pointer operator->() const;
+
+      /// \brief Pointer to private data.
+      private: GZ_UTILS_IMPL_PTR(dataPtr)
+    };
+  }
+}
+
+#endif