[v7] Move ResourceLoader to v7

dart/common/LocalResourceRetriever.hpp

@@ -30,34 +30,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_LOCALRESOURCERETRIEVER_HPP_
-#define DART_COMMON_LOCALRESOURCERETRIEVER_HPP_
+#pragma once
 
-#include <dart/common/ResourceRetriever.hpp>
+#include <dart/v7/local_resource_loader.hpp>
 
-namespace dart {
-namespace common {
-
-/// LocalResourceRetriever provides access to local resources specified by
-/// file:// URIs by wrapping the standard C and C++ file manipulation routines.
-class LocalResourceRetriever : public virtual ResourceRetriever
-{
-public:
-  virtual ~LocalResourceRetriever() = default;
-
-  // Documentation inherited.
-  bool exists(const Uri& _uri) override;
-
-  // Documentation inherited.
-  ResourcePtr retrieve(const Uri& _uri) override;
-
-  // Documentation inherited.
-  std::string getFilePath(const Uri& uri) override;
-};
+namespace dart::common {
 
+using LocalResourceRetriever = v7::LocalResourceLoader;
 using LocalResourceRetrieverPtr = std::shared_ptr<LocalResourceRetriever>;
 
-} // namespace common
-} // namespace dart
-
-#endif // ifndef DART_COMMON_LOCALRESOURCERETRIEVER_HPP_
+} // namespace dart::common

dart/common/ResourceRetriever.hpp

@@ -30,53 +30,13 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_COMMON_RESOURCERETRIEVER_HPP_
-#define DART_COMMON_RESOURCERETRIEVER_HPP_
+#pragma once
 
-#include <dart/common/Resource.hpp>
-#include <dart/common/Uri.hpp>
+#include <dart/v7/resource_loader.hpp>
 
-#include <memory>
-#include <string>
-
-namespace dart {
-namespace common {
-
-/// ResourceRetriever provides methods for testing for the existance of and
-/// accessing the content of a resource specified by URI.
-class ResourceRetriever
-{
-public:
-  virtual ~ResourceRetriever() = default;
-
-  /// Returns whether the resource specified by a URI exists.
-  virtual bool exists(const Uri& uri) = 0;
-
-  /// Returns the resource specified by a URI or nullptr on failure.
-  virtual ResourcePtr retrieve(const Uri& uri) = 0;
-
-  /// Reads all data from the resource of uri, and returns it as a string.
-  ///
-  /// \param[in] uri URI to the resource to be retrieved.
-  /// \return The string retrieved from the resource.
-  /// \throw std::runtime_error when failed to read sucessfully.
-  virtual std::string readAll(const Uri& uri);
-
-  /// Returns absolute file path to \c uri; an empty string if unavailable.
-  ///
-  /// This base class returns an empty string by default.
-  virtual std::string getFilePath(const Uri& uri);
-
-  // We don't const-qualify for exists, retrieve, readAll, and getFilePath here.
-  // Derived classes of ResourceRetriever will be interacting with external
-  // resources that you don't necessarily have control over so we cannot
-  // guarantee that you get the same result every time with the same input Uri.
-  // Indeed, const-qualification for those functions is pointless.
-};
+namespace dart::common {
 
+using ResourceRetriever = v7::ResourceLoader;
 using ResourceRetrieverPtr = std::shared_ptr<ResourceRetriever>;
 
-} // namespace common
-} // namespace dart
-
-#endif // ifndef DART_COMMON_RESOURCERETRIEVER_HPP_
+} // namespace dart::common

dart/dynamics/MeshShape.hpp

@@ -36,6 +36,7 @@
 #include <dart/dynamics/Shape.hpp>
 
 #include <dart/common/ResourceRetriever.hpp>
+#include <dart/common/Uri.hpp>
 
 #include <assimp/scene.h>
 

dart/utils/CompositeResourceRetriever.hpp

@@ -34,7 +34,9 @@
 #define DART_UTILS_COMPOSITERESOURCERETRIEVER_HPP_
 
 #include <dart/common/ClassWithVirtualBase.hpp>
+#include <dart/common/Resource.hpp>
 #include <dart/common/ResourceRetriever.hpp>
+#include <dart/common/Uri.hpp>
 
 #include <unordered_map>
 #include <vector>

dart/utils/DartResourceRetriever.hpp

@@ -33,9 +33,10 @@
 #ifndef DART_UTILS_DARTRESOURCERETRIEVER_HPP_
 #define DART_UTILS_DARTRESOURCERETRIEVER_HPP_
 
+#include <dart/common/Resource.hpp>
 #include <dart/common/ResourceRetriever.hpp>
+#include <dart/common/Uri.hpp>
 
-#include <unordered_map>
 #include <vector>
 
 namespace dart {

dart/utils/PackageResourceRetriever.hpp

@@ -34,7 +34,9 @@
 #define DART_UTILS_PACKAGERESOURCERETRIEVER_HPP_
 
 #include <dart/common/ClassWithVirtualBase.hpp>
+#include <dart/common/Resource.hpp>
 #include <dart/common/ResourceRetriever.hpp>
+#include <dart/common/Uri.hpp>
 
 #include <unordered_map>
 #include <vector>

dart/utils/SkelParser.cpp

@@ -36,6 +36,7 @@
 #include "dart/collision/dart/DARTCollisionDetector.hpp"
 #include "dart/collision/fcl/FCLCollisionDetector.hpp"
 #include "dart/common/Console.hpp"
+#include "dart/common/LocalResourceRetriever.hpp"
 #include "dart/config.hpp"
 #include "dart/constraint/ConstraintSolver.hpp"
 #include "dart/dynamics/BallJoint.hpp"

dart/utils/SkelParser.hpp

@@ -35,7 +35,7 @@
 
 #include <dart/simulation/World.hpp>
 
-#include <dart/common/LocalResourceRetriever.hpp>
+#include <dart/common/ResourceRetriever.hpp>
 #include <dart/common/Uri.hpp>
 
 #include <string>

dart/utils/XmlHelpers.hpp

@@ -40,6 +40,7 @@
 #include <dart/common/Deprecated.hpp>
 #include <dart/common/Logging.hpp>
 #include <dart/common/ResourceRetriever.hpp>
+#include <dart/common/Uri.hpp>
 
 #include <Eigen/Dense>
 #include <Eigen/Geometry>

dart/utils/mjcf/MjcfParser.hpp

@@ -35,7 +35,7 @@
 
 #include <dart/simulation/World.hpp>
 
-#include <dart/common/LocalResourceRetriever.hpp>
+#include <dart/common/ResourceRetriever.hpp>
 #include <dart/common/Uri.hpp>
 
 #include <string>

dart/utils/sdf/SdfParser.hpp

@@ -39,6 +39,7 @@
 
 #include <dart/common/Deprecated.hpp>
 #include <dart/common/ResourceRetriever.hpp>
+#include <dart/common/Uri.hpp>
 
 namespace dart {
 namespace utils {

dart/v7/fwd.hpp

@@ -34,8 +34,25 @@
 
 #include <dart/config.hpp>
 
+#include <memory>
+
+// Define a typedef for const and non-const version of shared_ptr and weak_ptr
+// for the class X
+#define DART_DECL_CLASS_PTRS(X)                                                \
+  class X;                                                                     \
+  using X##Ptr = std::shared_ptr<X>;                                           \
+  using Const##X##Ptr = std::shared_ptr<const X>;                              \
+  using X##WeakPtr = std::weak_ptr<X>;                                         \
+  using Const##X##WeakPtr = std::weak_ptr<const X>;                            \
+  using X##UniquePtr = std::unique_ptr<X>;                                     \
+  using Const##X##UniquePtr = std::unique_ptr<const X>;
+
 namespace dart::v7 {
 
+DART_DECL_CLASS_PTRS(Resource)
+DART_DECL_CLASS_PTRS(LocalResource)
+DART_DECL_CLASS_PTRS(ResourceLoader)
+
 struct StepInfo;
 
 class Context;

dart/common/LocalResourceRetriever.cpp → dart/v7/local_resource_loader.cpp

@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2024, The DART development contributors
+ * Copyright (c) The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:
@@ -30,58 +30,57 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/common/LocalResourceRetriever.hpp"
+#include "dart/v7/local_resource_loader.hpp"
 
-#include "dart/common/Console.hpp"
-#include "dart/common/LocalResource.hpp"
-#include "dart/common/Uri.hpp"
+#include "dart/v7/local_resource.hpp"
 
 #include <fstream>
-#include <iostream>
 
-namespace dart {
-namespace common {
+namespace dart::v7 {
 
 //==============================================================================
-bool LocalResourceRetriever::exists(const Uri& _uri)
+bool LocalResourceLoader::exists(const Uri& uri)
 {
-  return !getFilePath(_uri).empty();
+  return !getFilePath(uri).empty();
 }
 
 //==============================================================================
-common::ResourcePtr LocalResourceRetriever::retrieve(const Uri& _uri)
+ResourcePtr LocalResourceLoader::retrieve(const Uri& uri)
 {
-  if (_uri.mScheme.get_value_or("file") != "file")
+  if (uri.mScheme.get_value_or("file") != "file") {
     return nullptr;
-  else if (!_uri.mPath)
+  } else if (!uri.mPath) {
     return nullptr;
+  }
 
   const auto resource
-      = std::make_shared<LocalResource>(_uri.getFilesystemPath());
+      = std::make_shared<LocalResource>(uri.getFilesystemPath());
 
-  if (resource->isGood())
+  if (resource->isGood()) {
     return resource;
-  else
+  } else {
     return nullptr;
+  }
 }
 
 //==============================================================================
-std::string LocalResourceRetriever::getFilePath(const Uri& uri)
+std::string LocalResourceLoader::getFilePath(const Uri& uri)
 {
   // Open and close the file to check if it exists. It would be more efficient
   // to stat() it, but that is not portable.
-  if (uri.mScheme.get_value_or("file") != "file")
+  if (uri.mScheme.get_value_or("file") != "file") {
     return "";
-  else if (!uri.mPath)
+  } else if (!uri.mPath) {
     return "";
+  }
 
   const auto path = uri.getFilesystemPath();
 
-  if (std::ifstream(path, std::ios::binary).good())
+  if (std::ifstream(path, std::ios::binary).good()) {
     return path;
-  else
+  } else {
     return "";
+  }
 }
 
-} // namespace common
-} // namespace dart
+} // namespace dart::v7

dart/v7/local_resource_loader.hpp

@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#pragma once
+
+#include <dart/v7/resource_loader.hpp>
+
+namespace dart::v7 {
+
+/// LocalResourceLoaderprovides access to local resources specified by
+/// file:// URIs by wrapping the standard C and C++ file manipulation routines.
+class LocalResourceLoader : public ResourceLoader
+{
+public:
+  ~LocalResourceLoader() override = default;
+
+  // Documentation inherited.
+  bool exists(const Uri& uri) override;
+
+  // Documentation inherited.
+  ResourcePtr retrieve(const Uri& uri) override;
+
+  // Documentation inherited.
+  std::string getFilePath(const Uri& uri) override;
+};
+
+} // namespace dart::v7

dart/v7/resource.hpp

@@ -88,6 +88,4 @@ class Resource
   virtual std::string readAll();
 };
 
-using ResourcePtr = std::shared_ptr<Resource>;
-
 } // namespace dart::v7

dart/common/ResourceRetriever.cpp → dart/v7/resource_loader.cpp

@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2024, The DART development contributors
+ * Copyright (c) The DART development contributors
  * All rights reserved.
  *
  * The list of contributors can be found at:
@@ -30,17 +30,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/common/ResourceRetriever.hpp"
+#include "dart/v7/resource_loader.hpp"
 
-#include "dart/common/Console.hpp"
+namespace dart::v7 {
 
-#include <sstream>
-
-namespace dart {
-namespace common {
-
-//==============================================================================
-std::string ResourceRetriever::readAll(const Uri& uri)
+std::string ResourceLoader::readAll(const Uri& uri)
 {
   auto resource = retrieve(uri);
 
@@ -53,11 +47,9 @@ std::string ResourceRetriever::readAll(const Uri& uri)
   return resource->readAll();
 }
 
-//==============================================================================
-std::string ResourceRetriever::getFilePath(const Uri& /*uri*/)
+std::string ResourceLoader::getFilePath(const Uri& /*uri*/)
 {
   return "";
 }
 
-} // namespace common
-} // namespace dart
+} // namespace dart::v7