Add support for namespace attribute on <model>

include/sdf/InterfaceElements.hh

@@ -95,6 +95,19 @@ class SDFORMAT_VISIBLE NestedInclude
   /// \param[in] _localModelName The local name
   public: void SetLocalModelName(const std::string &_localModelName);
 
+  /// \brief Namespace relative to immediate parent as specified in
+  /// `//include/namespace`. This is nullopt if `//include/namespace` is not
+  /// set. Then the namespace of the model must be determined by the custom
+  /// model parser from the included model file.
+  /// Example: `my_new_model_namespace`
+  /// \return The local namespace. nullopt if `//include/namespace` is not set
+  public: const std::optional<std::string> &LocalModelNamespace() const;
+
+  /// \brief Set the namespace relative to immediate parent as specified in
+  /// `//include/namespace`
+  /// \param[in] _localModelNs The local namespace
+  public: void SetLocalModelNamespace(const std::string &_localModelNs);
+
   /// \brief Whether the model is static as defined by `//include/static`. This
   /// is nullopt if `//include/static` is not set.
   /// \return Whether the model is static. nullopt if `//include/static` is not

include/sdf/Model.hh

@@ -91,6 +91,21 @@ namespace sdf
     /// \param[in] _name Name of the model.
     public: void SetName(const std::string &_name);
 
+    /// \brief Get the resolved namespace associated with the model.
+    /// \return Resolved namespace of the model if it has been set,
+    /// otherwise std::nullopt.
+    public: std::optional<std::string> Namespace() const;
+
+    /// \brief Get the raw namespace associated with the model.
+    /// \return Raw namespace of the model if it has been set,
+    /// otherwise std::nullopt.
+    public: std::optional<std::string> RawNamespace() const;
+
+    /// \brief Set the raw namespace associated with the model.
+    /// \param[in] _ns Raw namespace of the model. The `__name__` placeholder
+    /// will be replaced with the model name.
+    public: void SetRawNamespace(const std::string &_ns);
+
     /// \brief Check if this model should be static.
     /// A static model is one that is not subject to physical forces (in other
     /// words, it's purely kinematic instead of dynamic).
@@ -557,6 +572,14 @@ namespace sdf
     private: sdf::Frame PrepareForMerge(sdf::Errors &_errors,
                                         const std::string &_parentOfProxyFrame);
 
+    /// \brief Resolve namespace placeholders for this model.
+    /// \param[in] _rawNs The raw namespace string.
+    /// \param[in] _modelName The model name used to replace "__name__".
+    /// \return The namespace string with model placeholders resolved.
+    private: std::optional<std::string> ResolveNamespace (
+        const std::optional<std::string> &_rawNs,
+        const std::string &_modelName);
+
     /// \brief Allow Root::Load, World::SetPoseRelativeToGraph, or
     /// World::SetFrameAttachedToGraph to call SetPoseRelativeToGraph and
     /// SetFrameAttachedToGraph

sdf/1.11/model.sdf

@@ -11,6 +11,15 @@
     </description>
   </attribute>
 
+  <attribute name="namespace" type="string" default="" required="0">
+    <description>
+      Optional namespace associated with the model. This namespace can be
+      used by downstream systems and applications to organize related entities
+      and communication interfaces. The `__name__` placeholder will be 
+      replaced with the model name.
+    </description>
+  </attribute>
+
   <attribute name="canonical_link" type="string" default="" required="0">
     <description>
       The name of the model's canonical link, to which the model's implicit
@@ -69,6 +78,10 @@
       <description>Override the name of the included model.</description>
     </element>
 
+    <element name="namespace" type="string" default="" required="0">
+      <description>Override the namespace of the included model.</description>
+    </element>
+
     <element name="static" type="bool" default="false" required="0">
       <description>Override the static value of the included model.</description>
     </element>

sdf/1.11/world.sdf

@@ -40,6 +40,10 @@
       <description>Override the static value of the included entity.</description>
     </element>
 
+    <element name="namespace" type="string" default="" required="0">
+      <description>Override the namespace of the included model.</description>
+    </element>
+
     <include filename="pose.sdf" required="0"/>
     <include filename="plugin.sdf" required="*"/>
 

sdf/1.12/model.sdf

@@ -11,6 +11,15 @@
     </description>
   </attribute>
 
+  <attribute name="namespace" type="string" default="" required="0">
+    <description>
+      Optional namespace associated with the model. This namespace can be
+      used by downstream systems and applications to organize related entities
+      and communication interfaces. The `__name__` placeholder will be 
+      replaced with the model name.
+    </description>
+  </attribute>
+
   <attribute name="canonical_link" type="string" default="" required="0">
     <description>
       The name of the model's canonical link, to which the model's implicit
@@ -70,6 +79,10 @@
       <description>Override the name of the included model.</description>
     </element>
 
+    <element name="namespace" type="string" default="" required="0">
+      <description>Override the namespace of the included model.</description>
+    </element>
+
     <element name="static" type="bool" default="false" required="0">
       <description>Override the static value of the included model.</description>
     </element>

sdf/1.12/world.sdf

@@ -36,6 +36,10 @@
       <description>Override the name of the included entity.</description>
     </element>
 
+    <element name="namespace" type="string" default="" required="0">
+      <description>Override the namespace of the included model.</description>
+    </element>
+
     <element name="static" type="bool" default="false" required="0">
       <description>Override the static value of the included entity.</description>
     </element>

src/InterfaceElements.cc

@@ -52,6 +52,13 @@ class sdf::NestedInclude::Implementation
   /// Example: `my_new_model`
   public: std::optional<std::string> localModelName;
 
+  /// \brief Namespace relative to immediate parent as specified in
+  /// `//include/namespace`. This is nullopt if `//include/namespace` is not
+  /// set. Then the namespace of the model must be determined by the custom
+  /// model parser from the included model file.
+  /// Example: `my_new_model_namespace`
+  public: std::optional<std::string> localModelNs;
+
   /// \brief Whether the model is static as defined by `//include/static`. This
   /// is nullopt if `//include/static` is not set.
   public: std::optional<bool> isStatic;
@@ -129,6 +136,18 @@ void NestedInclude::SetLocalModelName(const std::string &_localModelName)
   this->dataPtr->localModelName = _localModelName;
 }
 
+/////////////////////////////////////////////////
+const std::optional<std::string> &NestedInclude::LocalModelNamespace() const
+{
+  return this->dataPtr->localModelNs;
+}
+
+/////////////////////////////////////////////////
+void NestedInclude::SetLocalModelNamespace(const std::string &_localModelNs)
+{
+  this->dataPtr->localModelNs = _localModelNs;
+}
+
 /////////////////////////////////////////////////
 const std::optional<bool> &NestedInclude::IsStatic() const
 {

src/Model.cc

@@ -15,6 +15,7 @@
  *
 */
 #include <memory>
+#include <optional>
 #include <string>
 #include <unordered_set>
 #include <vector>
@@ -44,6 +45,12 @@ class sdf::Model::Implementation
   /// \brief Name of the model.
   public: std::string name = "";
 
+  /// \brief The unresolved namespace specified by the user.
+  public: std::optional<std::string> rawNamespace;
+
+  /// \brief The namespace after model name placeholders have been resolved.
+  public: std::optional<std::string> resolvedNamespace;
+
   /// \brief True if this model is specified as static, false otherwise.
   public: bool isStatic = false;
 
@@ -178,6 +185,15 @@ Errors Model::Load(sdf::ElementPtr _sdf, const ParserConfig &_config)
                      "] is reserved."});
   }
 
+  // Read the model's namespace
+  auto nsAttribute = _sdf->GetAttribute("namespace");
+  if (nsAttribute && nsAttribute->GetSet())
+  {
+    this->dataPtr->rawNamespace = _sdf->Get<std::string>("namespace", "").first;
+    this->dataPtr->resolvedNamespace =
+      this->ResolveNamespace(this->dataPtr->rawNamespace, this->Name());
+  }
+
   // Read the model's canonical_link attribute
   if (_sdf->HasAttribute("canonical_link"))
   {
@@ -534,6 +550,28 @@ std::string Model::Name() const
 void Model::SetName(const std::string &_name)
 {
   this->dataPtr->name = _name;
+  this->dataPtr->resolvedNamespace =
+    this->ResolveNamespace(this->dataPtr->rawNamespace, _name);
+}
+
+/////////////////////////////////////////////////
+std::optional<std::string> Model::Namespace() const
+{
+  return this->dataPtr->resolvedNamespace;
+}
+
+/////////////////////////////////////////////////
+std::optional<std::string> Model::RawNamespace() const
+{
+  return this->dataPtr->rawNamespace;
+}
+
+/////////////////////////////////////////////////
+void Model::SetRawNamespace(const std::string &_ns)
+{
+  this->dataPtr->rawNamespace = _ns;
+  this->dataPtr->resolvedNamespace =
+    this->ResolveNamespace(this->dataPtr->rawNamespace, this->Name());
 }
 
 /////////////////////////////////////////////////
@@ -1094,6 +1132,11 @@ sdf::ElementPtr Model::ToElement(const OutputConfig &_config) const
     sdf::ElementPtr includeElem = worldElem->AddElement("include");
     includeElem->GetElement("uri")->Set(this->Uri());
     includeElem->GetElement("name")->Set(this->Name());
+    const auto rawNamespace = this->RawNamespace();
+    if (rawNamespace.has_value())
+    {
+      includeElem->GetElement("namespace")->Set(rawNamespace.value());
+    }
     includeElem->GetElement("pose")->Set(this->RawPose());
     if (!this->dataPtr->poseRelativeTo.empty())
     {
@@ -1117,6 +1160,11 @@ sdf::ElementPtr Model::ToElement(const OutputConfig &_config) const
   sdf::ElementPtr elem(new sdf::Element);
   sdf::initFile("model.sdf", elem);
   elem->GetAttribute("name")->Set(this->Name());
+  const auto rawNamespace = this->RawNamespace();
+  if (rawNamespace.has_value())
+  {
+    elem->GetAttribute("namespace")->Set(rawNamespace.value());
+  }
 
   if (!this->dataPtr->canonicalLink.empty())
   {
@@ -1414,3 +1462,23 @@ sdf::Frame Model::PrepareForMerge(sdf::Errors &_errors,
 
   return proxyFrame;
 }
+
+std::optional<std::string> Model::ResolveNamespace(
+  const std::optional<std::string> &_rawNs,
+  const std::string &_modelName)
+{
+  if (_rawNs == std::nullopt)
+  {
+    return std::nullopt;
+  }
+
+  std::optional<std::string> resolved = _rawNs;
+  std::size_t pos = 0;
+
+  while ((pos = resolved->find("__name__", pos)) != std::string::npos)
+  {
+    resolved->replace(pos, strlen("__name__"), _modelName);
+    pos += _modelName.size();
+  }
+  return resolved;
+}