Update loading of yarp robot interface configuration to handle URIs

Add this check to unit tests
robotology · Mar 12, 2024 · e6f7c57 · e6f7c57
1 parent 2ce97ee
commit e6f7c57
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Showing 3 changed files with 28 additions and 8 deletions.
diff --git a/plugins/robotinterface/RobotInterface.cc b/plugins/robotinterface/RobotInterface.cc
@@ -135,8 +135,11 @@ class RobotInterface : public System, public ISystemConfigure
             return false;
         }
 
-        m_xmlRobotInterfaceResult
-            = m_xmlRobotInterfaceReader.getRobotFromFile(robotinterface_file_name);
+        // Resolve potential URIs
+        auto sysPaths = gz::common::SystemPaths();
+        auto filepath = sysPaths.FindFileURI(robotinterface_file_name);
+
+        m_xmlRobotInterfaceResult = m_xmlRobotInterfaceReader.getRobotFromFile(filepath);
 
         if (!m_xmlRobotInterfaceResult.parsingIsSuccessful)
         {

diff --git a/tests/commons/conf/camera_nws.xml b/tests/commons/conf/camera_nws.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<robot name="camera" portprefix="camera" build="0"  xmlns:xi="http://www.w3.org/2001/XInclude">
+    <devices>
+        <device name="camera_nws_yarp" type="frameGrabber_nws_yarp">
+            <!-- See https://www.yarp.it/latest/classFrameGrabber__nws__yarp.html#details for parameter documentation -->
+            <param name="name"> /camera </param>
+            <param name="period"> 0.033333 </param>
+            <param name="capabilities"> COLOR </param>
+            <action phase="startup" level="5" type="attach">
+                <!-- This is the same name that we passed with the yarpDeviceName to the camera plugin -->
+                <param name="device"> camera_plugin_device </param>
+            </action>
+            <action phase="shutdown" level="5" type="detach" />
+        </device>
+    </devices>
+</robot>
diff --git a/tests/commons/model_configuration_file.sdf b/tests/commons/model_configuration_file.sdf
@@ -75,8 +75,6 @@
 
       <!-- LASER PLUGIN -->
       <plugin name="gzyarp::Laser" filename="gz-sim-yarp-laser-system">
-        <!--
-        <yarpConfigurationFile>/home/acroci/repos/gz-sim-yarp-plugins/tests/commons/conf/laser.ini</yarpConfigurationFile> -->
         <yarpConfigurationFile>model://commons/conf/laser.ini</yarpConfigurationFile>
       </plugin>
 
@@ -104,6 +102,11 @@
         </yarpConfigurationFile>
       </plugin>
 
+      <!-- ROBOT INTERFACE PLUGIN -->
+      <plugin name="gzyarp::RobotInterface" filename="gz-sim-yarp-robotinterface-system">
+        <yarpRobotInterfaceConfigurationFile>model://commons/conf/camera_nws.xml</yarpRobotInterfaceConfigurationFile>
+      </plugin>
+
       <link name="link_1">
         <visual name="visual">
           <geometry>
@@ -209,10 +212,6 @@
           </geometry>
         </collision>
       </link>
-
-      <!-- <plugin name="gzyarp::RobotInterface" filename="gz-sim-yarp-robotinterface-system">
-      <yarpRobotInterfaceConfigurationFile>../../../tests/camera/camera_nws.xml</yarpRobotInterfaceConfigurationFile>
-      </plugin> -->
     </model>
 
   </world>