def test_namespaces_to_string():
xml = XML.from_string(
"""<?xml version="1.0" encoding="UTF-8"?><robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda"><xacro:bamboo/></robot>"""
)
xml_string = xml.to_string(prettify=True)
assert b'xmlns:xacro="http://www.ros.org/wiki/xacro"' in xml_string
assert b'<xacro:bamboo' in xml_string or b'<ns0:bamboo' in xml_string
def test_no_root_default_namespace():
xml = XML.from_string("""<?xml version="1.0"?>
<main name="test-xml">
<item name="item1"><subitem /></item>
<item xmlns="https://ethz.ch" name="item2"><subitem /></item>
</main>""")
assert not xml.root.attrib.get('xmlns')
assert list(xml.root)[1].attrib['xmlns'] == 'https://ethz.ch'
assert list(xml.root)[1].attrib['name'] == 'item2'
def test_nested_default_namespaces():
xml = XML.from_string("""<?xml version="1.0"?>
<main xmlns="https://ita.arch.ethz.ch/" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" name="test-xml">
<item name="item1"><subitem /></item>
<item xmlns="https://ethz.ch" name="item2"><subitem /></item>
</main>""")
assert xml.root.attrib['xmlns'] == 'https://ita.arch.ethz.ch/'
assert xml.root.attrib[
'xmlns:xsi'] == 'http://www.w3.org/2001/XMLSchema-instance'
# first element redefines default namespace
assert list(xml.root)[1].attrib['xmlns'] == 'https://ethz.ch'
assert list(xml.root)[1].attrib['name'] == 'item2'
def test_namespace_expansion():
xml = XML.from_string("""<?xml version="1.0"?>
<main xmlns="https://ethz.ch" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" name="test-xml">
<item>
<subitem xmlns:magic="https://sub.ethz.ch">
<magic:cat />
</subitem>
</item>
</main>""")
assert xml.root.tag == '{https://ethz.ch}main'
assert list(xml.root)[0].tag == '{https://ethz.ch}item'
assert list(list(xml.root)[0])[0].tag == '{https://ethz.ch}subitem'
assert list(list(list(
xml.root)[0])[0])[0].tag == '{https://sub.ethz.ch}cat'
def from_srdf_string(cls, text, urdf_robot):
xml = XML.from_string(text)
return cls(xml.root, urdf_robot)
def _read_robot_name(self, robot_description):
# TODO: Optimize this. We really don't need to parse the full URDF
# only to read the robot's name (only used for local caching)
xml = XML.from_string(robot_description)
return xml.root.attrib['name']
def test_xml_to_string(sample_xml):
xml = XML.from_string(sample_xml)
strxml = xml.to_string('utf-8')
assert strxml.startswith(b'<Tests>')
def test_xml_from_string(sample_xml):
xml = XML.from_string(sample_xml)
assert xml.root.tag == 'Tests'
def from_srdf_string(cls, text, robot_model):
"""Create an instance of semantics based on an SRDF string."""
xml = XML.from_string(text)
return cls.from_xml(xml, robot_model)
def test_xml_to_pretty_string(sample_xml):
xml = XML.from_string(sample_xml)
prettyxml = xml.to_string(prettify=True)
assert b"\n " in prettyxml
def test_xml_from_string(basic_xml):
xml = XML.from_string(basic_xml)
assert xml.root.tag == 'Tests'
def test_no_default_namespace():
xml = XML.from_string(
"""<?xml version="1.0"?><main name="test-xml"></main>""")
assert not xml.root.attrib.get('xmlns')
assert xml.root.attrib['name'] == 'test-xml'
def read_robot_name_and_uris_from_urdf(self, robot_description):
xml = XML.from_string(robot_description)
robot_name = xml.root.attrib['name']
uris = [mesh.attrib['filename'] for mesh in xml.root.iter('mesh')
if mesh.attrib['filename'] != '']
return robot_name, uris
