Add XML schema validation for ros2_control tag and test assets

hardware_interface/CMakeLists.txt

@@ -8,6 +8,7 @@ export_windows_symbols()
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   control_msgs
   lifecycle_msgs
+  LibXml2
   pluginlib
   rclcpp_lifecycle
   rcpputils
@@ -29,6 +30,7 @@ endforeach()
 
 add_library(hardware_interface SHARED
   src/component_parser.cpp
+  src/component_validator.cpp
   src/resource_manager.cpp
   src/hardware_component.cpp
   src/lexical_casts.cpp
@@ -47,6 +49,7 @@ target_link_libraries(hardware_interface PUBLIC
                       realtime_tools::realtime_tools
                       rcutils::rcutils
                       rcpputils::rcpputils
+                      LibXml2::LibXml2
                       ${joint_limits_TARGETS}
                       ${TinyXML2_LIBRARIES}
                       ${pal_statistics_LIBRARIES}
@@ -71,6 +74,8 @@ if(BUILD_TESTING)
 
   find_package(ament_cmake_gmock REQUIRED)
   find_package(ros2_control_test_assets REQUIRED)
+  find_package(ament_index_cpp REQUIRED)
+  find_package(LibXml2)
 
   ament_add_gmock(test_macros test/test_macros.cpp)
   target_include_directories(test_macros PRIVATE include)
@@ -99,6 +104,14 @@ if(BUILD_TESTING)
   ament_add_gmock(test_component_parser test/test_component_parser.cpp)
   target_link_libraries(test_component_parser hardware_interface ros2_control_test_assets::ros2_control_test_assets)
 
+  ament_add_gmock(test_component_validator test/test_component_validator.cpp)
+  target_link_libraries(test_component_validator
+    hardware_interface
+    ament_index_cpp::ament_index_cpp
+    ros2_control_test_assets::ros2_control_test_assets
+    LibXml2::LibXml2
+  )
+
   add_library(test_hardware_components SHARED
   test/test_hardware_components/test_single_joint_actuator.cpp
   test/test_hardware_components/test_force_torque_sensor.cpp
@@ -123,6 +136,12 @@ install(
   DIRECTORY include/
   DESTINATION include/hardware_interface
 )
+
+install(
+  DIRECTORY schema
+  DESTINATION share/hardware_interface
+)
+
 install(
   TARGETS
     mock_components

hardware_interface/include/hardware_interface/component_validator.hpp

@@ -0,0 +1,70 @@
+// Copyright 2020 ros2_control Development Team
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef HARDWARE_INTERFACE__COMPONENT_VALIDATOR_HPP_
+#define HARDWARE_INTERFACE__COMPONENT_VALIDATOR_HPP_
+
+#include <libxml/parser.h>
+#include <libxml/xmlschemas.h>
+
+#include <string>
+
+#include <ament_index_cpp/get_package_share_directory.hpp>
+
+namespace hardware_interface
+{
+
+/// Validate URDF string against an XML Schema Definition (XSD) file.
+/**
+ * \param[in] urdf string with robot's URDF
+ * \param[in] xsd_file_path path to the XSD file
+ * \return true if the URDF is valid according to the XSD, false otherwise
+ */
+bool validate_urdf_with_xsd(const std::string & urdf, const std::string & xsd_file_path);
+
+/// Validate URDF file path against an XML Schema Definition (XSD) file.
+/**
+ * \param[in] urdf_file_path path to URDF file
+ * \param[in] xsd_file_path path to the XSD file
+ * \return true if URDF is valid according to the XSD, false otherwise
+ *
+ */
+bool validate_urdf_file_path_with_xsd(
+  const std::string & urdf_file_path, std::string & xsd_file_path);
+
+/// Validate URDF against an XSD file provides in URDF itself
+/**
+ * \param[in] urdf string with robot's urdf
+ * \return true if the URDF is valid according to the XSD, false otherwise
+ */
+bool validate_urdf_with_xsd_tag(const std::string & urdf);
+
+/// Validate URDF file path against an XSD file provides in URDF itself
+/**
+ * \param[in] urdf_file_path string
+ * \return true if the URDF is valid according to the XSD, false otherwise
+ */
+bool validate_urdf_file_with_xsd_tag(const std::string & urdf_file_path);
+
+/// Extract ROS2 Control XSD tag from URDF
+/**
+ * \param[in] urdf string with robot's urdf contains xmlns:ros2_control
+ * \param[out] string of xlmns:ros2_control
+ * \return true if extraction successful else false
+ */
+bool extract_ros2_control_xsd_tag(const std::string & urdf, std::string & ros2_control_xsd);
+
+}  // namespace hardware_interface
+
+#endif  // HARDWARE_INTERFACE__COMPONENT_VALIDATOR_HPP_

hardware_interface/package.xml

@@ -31,6 +31,8 @@
   <exec_depend>rcutils</exec_depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>ament_index_cpp</test_depend>
+  <test_depend>libxml2</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>

hardware_interface/schema/ros2_control.xsd

@@ -0,0 +1,105 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema"
+           elementFormDefault="qualified">
+
+  <!-- Reusable types -->
+  <xs:complexType name="paramType">
+    <xs:simpleContent>
+      <xs:extension base="xs:string">
+        <xs:attribute name="name" type="xs:string" use="required"/>
+      </xs:extension>
+    </xs:simpleContent>
+  </xs:complexType>
+
+  <xs:complexType name="interfaceType">
+    <xs:attribute name="name" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="commandInterfaceType">
+    <xs:sequence>
+      <xs:element name="param" type="paramType" minOccurs="0" maxOccurs="unbounded"/>
+    </xs:sequence>
+    <xs:attribute name="name" type="xs:string" use="required"/>
+  </xs:complexType>
+
+  <xs:complexType name="jointOrGpioType">
+    <xs:sequence>
+      <xs:element name="command_interface" type="commandInterfaceType" minOccurs="0" maxOccurs="unbounded"/>
+      <xs:element name="state_interface" type="interfaceType" minOccurs="0" maxOccurs="unbounded"/>
+    </xs:sequence>
+    <xs:attribute name="name" type="xs:string" use="required"/>
+  </xs:complexType>
+
+
+
+  <!-- Root robot element -->
+  <xs:element name="robot">
+    <xs:complexType>
+      <xs:choice minOccurs="0" maxOccurs="unbounded">
+        <xs:element ref="link"/>
+        <xs:element ref="joint"/>
+        <xs:element ref="ros2_control"/>
+        <xs:element ref="transmission" minOccurs="0" maxOccurs="unbounded"/>
+        <xs:element ref="material" minOccurs="0" maxOccurs="unbounded"/>
+        <!-- Add more URDF elements here as needed -->
+      </xs:choice>
+      <xs:attribute name="name" type="xs:string" use="required"/>
+    </xs:complexType>
+  </xs:element>
+
+
+  <!-- Minimal link and joint element definitions for validation -->
+  <xs:element name="link">
+    <xs:complexType mixed="true">
+      <xs:sequence minOccurs="0" maxOccurs="unbounded">
+        <xs:any processContents="lax" minOccurs="0" maxOccurs="unbounded"/>
+      </xs:sequence>
+      <xs:attribute name="name" type="xs:string" use="required"/>
+    </xs:complexType>
+  </xs:element>
+
+  <xs:element name="joint">
+    <xs:complexType mixed="true">
+      <xs:sequence minOccurs="0" maxOccurs="unbounded">
+        <xs:any processContents="lax" minOccurs="0" maxOccurs="unbounded"/>
+      </xs:sequence>
+      <xs:attribute name="name" type="xs:string" use="required"/>
+      <xs:attribute name="type" type="xs:string" use="required"/>
+    </xs:complexType>
+  </xs:element>
+
+  <xs:element name="transmission" type="xs:anyType"/>
+  <xs:element name="material" type="xs:anyType"/>
+
+
+  <!-- ros2_control block -->
+  <xs:element name="ros2_control">
+    <xs:complexType>
+      <xs:sequence>
+        <xs:element name="hardware">
+          <xs:complexType>
+            <xs:sequence>
+              <xs:element name="plugin" type="xs:string"/>
+              <xs:element name="param" type="paramType" minOccurs="0" maxOccurs="unbounded"/>
+            </xs:sequence>
+          </xs:complexType>
+        </xs:element>
+        <xs:choice minOccurs="0" maxOccurs="unbounded">
+          <xs:element name="joint" type="jointOrGpioType" minOccurs="0" maxOccurs="unbounded"/>
+          <xs:element name="gpio" type="jointOrGpioType" minOccurs="0" maxOccurs="unbounded"/>
+          <xs:element name="sensor" minOccurs="0" maxOccurs="unbounded">
+            <xs:complexType>
+              <xs:sequence>
+                <xs:element name="state_interface" type="interfaceType" minOccurs="0" maxOccurs="unbounded"/>
+              </xs:sequence>
+              <xs:attribute name="name" type="xs:string" use="required"/>
+            </xs:complexType>
+          </xs:element>
+        </xs:choice>
+      </xs:sequence>
+      <xs:attribute name="name" type="xs:string" use="required"/>
+      <xs:attribute name="type" type="xs:string" use="required"/>
+    </xs:complexType>
+  </xs:element>
+
+</xs:schema>