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use deserialize::*;
use errors::*;
use serde_xml_rs;
use std::path::Path;
use std::io::prelude::*;
use xml;
use std::fs::File;
fn sort_link_joint(string: &str) -> Result<String> {
let e: xml::Element = string.parse()?;
let mut links = Vec::new();
let mut joints = Vec::new();
let mut materials = Vec::new();
for c in &e.children {
if let xml::Xml::ElementNode(ref xml_elm) = *c {
if xml_elm.name == "link" {
links.push(xml::Xml::ElementNode(xml_elm.clone()));
} else if xml_elm.name == "joint" {
joints.push(xml::Xml::ElementNode(xml_elm.clone()));
} else if xml_elm.name == "material" {
materials.push(xml::Xml::ElementNode(xml_elm.clone()));
}
};
}
let mut new_elm = e.clone();
links.extend(joints);
links.extend(materials);
new_elm.children = links;
Ok(format!("{}", new_elm))
}
pub fn read_file<P: AsRef<Path>>(path: P) -> Result<Robot> {
let mut file = File::open(path)?;
let mut contents = String::new();
file.read_to_string(&mut contents)?;
read_from_string(&contents)
}
pub fn read_from_string(string: &str) -> Result<Robot> {
let sorted_string = sort_link_joint(string)?;
serde_xml_rs::deserialize(sorted_string.as_bytes()).map_err(From::from)
}
#[test]
fn it_works() {
let s = r##"
<robot name="robo">
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<link name="shoulder1">
<inertial>
<origin xyz="0 0 0.5" rpy="0 0 0"/>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0.1 0.2 0.3" rpy="-0.1 -0.2 -0.3" />
<geometry>
<box size="1.0 2.0 3.0" />
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder radius="1" length="0.5"/>
</geometry>
</collision>
</link>
<joint name="shoulder_pitch" type="revolute">
<origin xyz="0.0 0.0 0.1" />
<parent link="shoulder1" />
<child link="elbow1" />
<axis xyz="0 1 -1" />
<limit lower="-1" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<link name="elbow1" />
<link name="wrist1" />
<joint name="shoulder_pitch" type="revolute">
<origin xyz="0.0 0.0 0.0" />
<parent link="elbow1" />
<child link="wrist1" />
<axis xyz="0 1 0" />
<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
</joint>
</robot>
"##;
let robo = read_from_string(s).unwrap();
assert_eq!(robo.name, "robo");
assert_eq!(robo.links.len(), 3);
assert_eq!(robo.joints.len(), 2);
let xyz = robo.links[0].visual.origin.xyz;
assert_eq!(xyz[0], 0.1);
assert_eq!(xyz[1], 0.2);
assert_eq!(xyz[2], 0.3);
let rpy = robo.links[0].visual.origin.rpy;
assert_eq!(rpy[0], -0.1);
assert_eq!(rpy[1], -0.2);
assert_eq!(rpy[2], -0.3);
match robo.links[0].visual.geometry {
Geometry::Box { size } => {
assert_eq!(size[0], 1.0f64);
assert_eq!(size[1], 2.0f64);
assert_eq!(size[2], 3.0f64);
}
_ => panic!("geometry error"),
}
assert_eq!(robo.materials.len(), 1);
assert_eq!(robo.joints[0].name, "shoulder_pitch");
let xyz = robo.joints[0].axis.xyz;
assert_eq!(xyz[0], 0.0f64);
assert_eq!(xyz[1], 1.0f64);
assert_eq!(xyz[2], -1.0f64);
let xyz = robo.joints[0].axis.xyz;
assert_eq!(xyz[0], 0.0);
assert_eq!(xyz[1], 1.0);
assert_eq!(xyz[2], -1.0);
}