Merge pull request #1254 from tier4/refactor/openscenario_validator

refactor `openscenario validator` package

openscenario/openscenario_validator/CMakeLists.txt

@@ -4,34 +4,27 @@ project(openscenario_validator)
 
 find_package(ament_cmake REQUIRED)
 find_package(XercesC REQUIRED)
-
-file(READ ${CMAKE_CURRENT_SOURCE_DIR}/configure/OpenSCENARIO-1.3.xsd ${PROJECT_NAME}_OPENSCENARIO_1_3_XSD)
-
-configure_file(configure/schema.cpp src/schema.cpp)
-
-add_library(${PROJECT_NAME} STATIC src/schema.cpp)
-
-target_link_libraries(${PROJECT_NAME} ${XercesC_LIBRARIES})
-target_include_directories(${PROJECT_NAME} PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
+find_package(ament_index_cpp REQUIRED)
 
 add_executable(validate
   src/validator_command.cpp)
 
-target_link_libraries(validate ${PROJECT_NAME})
+target_link_libraries(validate ${XercesC_LIBRARIES} ament_index_cpp::ament_index_cpp)
+target_include_directories(validate PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
 
 ament_export_include_directories(include)
-ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(XercesC ament_index_cpp)
 
 install(DIRECTORY include/
   DESTINATION include)
 
 install(TARGETS validate
   DESTINATION lib/${PROJECT_NAME})
 
-install(TARGETS ${PROJECT_NAME}
-  EXPORT export_${PROJECT_NAME}
-  ARCHIVE DESTINATION lib/${PROJECT_NAME})
+install(DIRECTORY schema
+  DESTINATION share/${PROJECT_NAME}
+)
 
 ament_package()

openscenario/openscenario_validator/include/openscenario_validator/validator.hpp

@@ -15,17 +15,14 @@
 #ifndef OPENSCENARIO_VALIDATOR__VALIDATOR_HPP_
 #define OPENSCENARIO_VALIDATOR__VALIDATOR_HPP_
 
+#include <ament_index_cpp/get_package_share_directory.hpp>
 #include <boost/filesystem.hpp>
 #include <iostream>
-#include <openscenario_validator/schema.hpp>
 #include <sstream>
 #include <stdexcept>
 #include <system_error>
-#include <xercesc/framework/MemBufInputSource.hpp>
 #include <xercesc/parsers/XercesDOMParser.hpp>
 #include <xercesc/sax/HandlerBase.hpp>
-#include <xercesc/util/XMLString.hpp>
-#include <xercesc/validators/common/Grammar.hpp>
 
 namespace openscenario_validator
 {
@@ -79,20 +76,16 @@ class OpenSCENARIOValidator
 public:
   OpenSCENARIOValidator() : parser(std::make_unique<xercesc::XercesDOMParser>())
   {
-    xercesc::MemBufInputSource schema_input_source(
-      reinterpret_cast<const XMLByte *>(schema), strlen(schema), "xsd");
-
-    if (not parser->loadGrammar(schema_input_source, xercesc::Grammar::SchemaGrammarType)) {
-      throw std::runtime_error(
-        "Failed to load XSD schema. This is an unexpected error and an implementation issue. "
-        "Please contact the developer.");
-    } else {
-      parser->setDoNamespaces(true);
-      parser->setDoSchema(true);
-      parser->setErrorHandler(&error_handler);
-      parser->setValidationSchemaFullChecking(true);
-      parser->setValidationScheme(xercesc::XercesDOMParser::Val_Always);
-    }
+    parser->setDoNamespaces(true);
+    parser->setDoSchema(true);
+    parser->setErrorHandler(&error_handler);
+    parser->setValidationSchemaFullChecking(true);
+    parser->setValidationScheme(xercesc::XercesDOMParser::Val_Always);
+
+    parser->setExternalNoNamespaceSchemaLocation(
+      (ament_index_cpp::get_package_share_directory("openscenario_validator") +
+       "/schema/OpenSCENARIO-1.3.xsd")
+        .c_str());
   }
 
   auto validate(const boost::filesystem::path & xml_file) -> void

openscenario/openscenario_validator/package.xml

@@ -7,6 +7,7 @@
   <maintainer email="[email protected]">Kotaro Yoshimoto</maintainer>
   <license>Apache License 2.0</license>
   <depend>xerces</depend>
+  <depend>ament_index_cpp</depend>
   <export>
     <build_type>ament_cmake</build_type>
   </export>