Enable StoreResolvedURIs when loading SDF (#2349)

---------

Signed-off-by: Ian Chen <[email protected]>

include/gz/sim/ServerConfig.hh

@@ -60,6 +60,14 @@ namespace gz
         kSdfString,
       };
 
+      /// \brief SDF error behavior
+      public: enum class SdfErrorBehavior
+      {
+        /// \brief Exit the server immediately
+        EXIT_IMMEDIATELY,
+        /// \brief Continue loading the server if possible
+        CONTINUE_LOADING
+      };
 
       class PluginInfoPrivate;
       /// \brief Information about a plugin that should be loaded by the
@@ -386,7 +394,17 @@ namespace gz
                   const std::string &_apiBackend);
 
       /// \return Api backend for gui. See SetRenderEngineGuiApiBackend()
-      const std::string &RenderEngineGuiApiBackend() const;
+      public: const std::string &RenderEngineGuiApiBackend() const;
+
+      /// \brief Set the server behavior when SDF errors are encountered while
+      //// loading the server.
+      /// \param[in] _behavior Server behavior when SDF errors are encounted.
+      public: void SetBehaviorOnSdfErrors(SdfErrorBehavior _behavior);
+
+      /// \brief Get the behavior when SDF errors are encountered while
+      //// loading the server.
+      /// \return Server behavior when SDF errors are encounted.
+      public: SdfErrorBehavior BehaviorOnSdfErrors() const;
 
       /// \brief Instruct simulation to attach a plugin to a specific
       /// entity when simulation starts.

src/Server.cc

@@ -121,6 +121,7 @@ Server::Server(const ServerConfig &_config)
       }
       gzmsg <<  msg;
       sdf::ParserConfig sdfParserConfig = sdf::ParserConfig::GlobalConfig();
+      sdfParserConfig.SetStoreResolvedURIs(true);
       sdfParserConfig.SetCalculateInertialConfiguration(
         sdf::ConfigureResolveAutoInertials::SKIP_CALCULATION_IN_LOAD);
       errors = this->dataPtr->sdfRoot.LoadSdfString(
@@ -145,6 +146,7 @@ Server::Server(const ServerConfig &_config)
 
       sdf::Root sdfRoot;
       sdf::ParserConfig sdfParserConfig = sdf::ParserConfig::GlobalConfig();
+      sdfParserConfig.SetStoreResolvedURIs(true);
       sdfParserConfig.SetCalculateInertialConfiguration(
         sdf::ConfigureResolveAutoInertials::SKIP_CALCULATION_IN_LOAD);
 
@@ -156,7 +158,8 @@ Server::Server(const ServerConfig &_config)
       // a black screen (search for "Async resource download" in
       // 'src/gui_main.cc'.
       errors = sdfRoot.Load(filePath, sdfParserConfig);
-      if (errors.empty()) {
+      if (errors.empty() || _config.BehaviorOnSdfErrors() !=
+          ServerConfig::SdfErrorBehavior::EXIT_IMMEDIATELY) {
         if (sdfRoot.Model() == nullptr) {
           this->dataPtr->sdfRoot = std::move(sdfRoot);
         }
@@ -171,7 +174,9 @@ Server::Server(const ServerConfig &_config)
             return;
           }
           world->AddModel(*sdfRoot.Model());
-          if (errors.empty()) {
+          if (errors.empty() || _config.BehaviorOnSdfErrors() !=
+              ServerConfig::SdfErrorBehavior::EXIT_IMMEDIATELY)
+          {
             errors = this->dataPtr->sdfRoot.UpdateGraphs();
           }
         }
@@ -196,7 +201,11 @@ Server::Server(const ServerConfig &_config)
   {
     for (auto &err : errors)
       gzerr << err << "\n";
-    return;
+    if (_config.BehaviorOnSdfErrors() ==
+        ServerConfig::SdfErrorBehavior::EXIT_IMMEDIATELY)
+    {
+      return;
+    }
   }
 
   // Add record plugin

src/ServerConfig.cc

@@ -208,7 +208,8 @@ class gz::sim::ServerConfigPrivate
             seed(_cfg->seed),
             logRecordTopics(_cfg->logRecordTopics),
             isHeadlessRendering(_cfg->isHeadlessRendering),
-            source(_cfg->source){ }
+            source(_cfg->source),
+            behaviorOnSdfErrors(_cfg->behaviorOnSdfErrors){ }
 
   // \brief The SDF file that the server should load
   public: std::string sdfFile = "";
@@ -292,6 +293,10 @@ class gz::sim::ServerConfigPrivate
 
   /// \brief Type of source used.
   public: ServerConfig::SourceType source{ServerConfig::SourceType::kNone};
+
+  /// \brief Server loading behavior in presence of SDF errors.
+  public: ServerConfig::SdfErrorBehavior behaviorOnSdfErrors{
+      ServerConfig::SdfErrorBehavior::EXIT_IMMEDIATELY};
 };
 
 //////////////////////////////////////////////////
@@ -598,6 +603,19 @@ const std::string &ServerConfig::RenderEngineGuiApiBackend() const
   return this->dataPtr->renderEngineGuiApiBackend;
 }
 
+//////////////////////////////////////////////////
+void ServerConfig::SetBehaviorOnSdfErrors(
+    ServerConfig::SdfErrorBehavior _behavior)
+{
+  this->dataPtr->behaviorOnSdfErrors = _behavior;
+}
+
+//////////////////////////////////////////////////
+ServerConfig::SdfErrorBehavior ServerConfig::BehaviorOnSdfErrors() const
+{
+  return this->dataPtr->behaviorOnSdfErrors;
+}
+
 /////////////////////////////////////////////////
 void ServerConfig::AddPlugin(const ServerConfig::PluginInfo &_info)
 {

src/Server_Rendering_TEST.cc

@@ -130,7 +130,10 @@ TEST_F(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_MAC(LoadSdfModelRelativeUri))
   };
 
   gz::sim::ServerConfig serverConfig;
-
+  serverConfig.SetBehaviorOnSdfErrors(
+      ServerConfig::SdfErrorBehavior::CONTINUE_LOADING);
+  EXPECT_EQ(ServerConfig::SdfErrorBehavior::CONTINUE_LOADING,
+      serverConfig.BehaviorOnSdfErrors());
   serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
       "test", "worlds", "models", "relative_resource_uri", "model2.sdf"));
 
@@ -162,4 +165,16 @@ TEST_F(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_MAC(LoadSdfModelRelativeUri))
   }
   ASSERT_TRUE(server.RunOnce());
   ASSERT_TRUE(server.RunOnce(false));
+
+  // Tell server to stop loading if there are SDF errors
+  // Server should not load because V2's visual mesh URI can not be resolved
+  serverConfig.SetBehaviorOnSdfErrors(
+      ServerConfig::SdfErrorBehavior::EXIT_IMMEDIATELY);
+  EXPECT_EQ(ServerConfig::SdfErrorBehavior::EXIT_IMMEDIATELY,
+      serverConfig.BehaviorOnSdfErrors());
+  sim::Server server2 = Server(serverConfig);
+  EXPECT_FALSE(server2.HasEntity("relative_resource_uri"));
+  EXPECT_FALSE(server2.HasEntity("L1"));
+  EXPECT_FALSE(server2.HasEntity("V1"));
+  EXPECT_FALSE(server2.HasEntity("V2"));
 }

src/Server_TEST.cc

@@ -1012,8 +1012,11 @@ TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(ResourcePath))
 
           if (mesh)
           {
-            EXPECT_EQ("model://scheme_resource_uri/meshes/box.dae",
-                mesh->Uri());
+            // StoreResolvedURIs is set to true so expect full path
+            EXPECT_NE(std::string::npos,
+                mesh->Uri().find("scheme_resource_uri/meshes/box.dae"));
+            EXPECT_FALSE(common::isRelativePath(mesh->Uri()));
+            EXPECT_TRUE(common::isFile(mesh->Uri()));
           }
 
           eachCount++;

src/Util.cc

@@ -397,12 +397,19 @@ std::string asFullPath(const std::string &_uri, const std::string &_filePath)
   {
     return _uri;
   }
+#elif defined(_WIN32)
+  if (_uri.find("://") != std::string::npos ||
+      common::isFile(_uri))
+  {
+    return _uri;
+  }
 #else
   if (_uri.find("://") != std::string::npos ||
       !common::isRelativePath(_uri))
   {
     return _uri;
   }
+
 #endif
 
   // When SDF is loaded from a string instead of a file