Reduce/Eliminate sdf::Model and sdf::World serialization warnings (…

…#2742) - Reduces serialization warnings on `sdf::Model` so it only occurs when the `relative_to` attribute is set. This was the intended behavior originally, but there was a bug in the code. - Eliminate `sdf::World` warnings by specializing the `DefaultSerializer` for `sdf::World`. --------- Signed-off-by: Addisu Z. Taddese <[email protected]>
gazebosim · Jan 31, 2025 · 1739bdb · 1739bdb
1 parent 1eebaa3
commit 1739bdb
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Showing 3 changed files with 46 additions and 2 deletions.
diff --git a/include/gz/sim/components/Model.hh b/include/gz/sim/components/Model.hh
@@ -54,7 +54,7 @@ namespace serializers
       if (modelElem->HasElement("pose"))
       {
         sdf::ElementPtr poseElem = modelElem->GetElement("pose");
-        if (poseElem->HasAttribute("relative_to"))
+        if (poseElem->GetAttribute("relative_to")->GetSet())
         {
           // Skip serializing models with //pose/@relative_to attribute
           // since deserialization will fail. This could be a nested model.

diff --git a/include/gz/sim/components/World.hh b/include/gz/sim/components/World.hh
@@ -19,6 +19,9 @@
 
 #include <sdf/World.hh>
 
+#include <istream>
+#include <ostream>
+
 #include <gz/sim/components/Factory.hh>
 #include <gz/sim/components/Component.hh>
 #include <gz/sim/config.hh>
@@ -29,6 +32,47 @@ namespace sim
 {
 // Inline bracket to help doxygen filtering.
 inline namespace GZ_SIM_VERSION_NAMESPACE {
+
+// The following is only needed to keep ABI compatibility
+// TODO(azeey) Remove in main
+namespace traits
+{
+template<>
+class IsOutStreamable<std::ostream, sdf::World>
+{
+    public: static constexpr bool value = false; // NOLINT
+};
+
+template<>
+class IsInStreamable<std::istream, sdf::World>
+{
+    public: static constexpr bool value = false; // NOLINT
+};
+}
+
+namespace serializers
+{
+
+/// \brief Specialize the DefaultSerializer on sdf::World so we can
+/// skip serialization
+/// TODO(azeey) Do we ever want to serialize this component?
+template <>
+class DefaultSerializer<sdf::World>
+{
+  public:
+  static std::ostream &Serialize(std::ostream &_out, const sdf::World &)
+  {
+    return _out;
+  }
+
+  public:
+  static std::istream &Deserialize(std::istream &_in, sdf::World &)
+  {
+    return _in;
+  }
+};
+}
+
 namespace components
 {
   /// \brief A component that identifies an entity as being a world.

diff --git a/test/worlds/gpu_lidar.sdf b/test/worlds/gpu_lidar.sdf
@@ -55,7 +55,7 @@
               <resolution>0.01</resolution>
             </range>
           </ray>
-          <alwaysOn>1</alwaysOn>
+          <always_on>1</always_on>
           <visualize>true</visualize>
         </sensor>
       </link>