Export fix for graphics null pointers (#176)

Added lots of null checks (Sylvain on Christian's computer).
ihmcrobotics · Apr 22, 2024 · 0dc83cf · 0dc83cf
1 parent 865a158
commit 0dc83cf
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Showing 3 changed files with 59 additions and 29 deletions.
diff --git a/scs2-definition/src/main/java/us/ihmc/scs2/definition/DefinitionIOTools.java b/scs2-definition/src/main/java/us/ihmc/scs2/definition/DefinitionIOTools.java
@@ -244,16 +244,22 @@ private static void setResourcesClassLoaderRecursive(File file, YoGraphicDefinit
       }
       else if (yoGraphicDefinition instanceof YoGraphicGroupDefinition yoGraphicGroupDefinition)
       {
-         for (YoGraphicDefinition child : yoGraphicGroupDefinition.getChildren())
+         if (yoGraphicGroupDefinition.getChildren() != null)
          {
-            setResourcesClassLoaderRecursive(file, child);
+            for (YoGraphicDefinition child : yoGraphicGroupDefinition.getChildren())
+            {
+               setResourcesClassLoaderRecursive(file, child);
+            }
          }
       }
       else if (yoGraphicDefinition instanceof YoGraphicListDefinition yoGraphicListDefinition)
       {
-         for (YoGraphicDefinition child : yoGraphicListDefinition.getYoGraphics())
+         if (yoGraphicListDefinition.getYoGraphics() != null)
          {
-            setResourcesClassLoaderRecursive(file, child);
+            for (YoGraphicDefinition child : yoGraphicListDefinition.getYoGraphics())
+            {
+               setResourcesClassLoaderRecursive(file, child);
+            }
          }
       }
    }
@@ -324,16 +330,22 @@ private static void processYoGraphicResources(File yoGraphicFile, YoGraphicDefin
       }
       else if (start instanceof YoGraphicGroupDefinition yoGraphicGroupDefinition)
       {
-         for (YoGraphicDefinition child : yoGraphicGroupDefinition.getChildren())
+         if (yoGraphicGroupDefinition.getChildren() != null)
          {
-            processYoGraphicResources(yoGraphicFile, child, resourcesDirectory);
+            for (YoGraphicDefinition child : yoGraphicGroupDefinition.getChildren())
+            {
+               processYoGraphicResources(yoGraphicFile, child, resourcesDirectory);
+            }
          }
       }
       else if (start instanceof YoGraphicListDefinition yoGraphicListDefinition)
       {
-         for (YoGraphicDefinition child : yoGraphicListDefinition.getYoGraphics())
+         if (yoGraphicListDefinition.getYoGraphics() != null)
          {
-            processYoGraphicResources(yoGraphicFile, child, resourcesDirectory);
+            for (YoGraphicDefinition child : yoGraphicListDefinition.getYoGraphics())
+            {
+               processYoGraphicResources(yoGraphicFile, child, resourcesDirectory);
+            }
          }
       }
    }
@@ -578,20 +590,29 @@ private static void processResources(File robotFile, RobotDefinition robotDefini
    private static void processResources(File baseFile, RigidBodyDefinition rigidBody, File resourceDirectory, ClassLoader defaultClassLoader)
          throws IOException, URISyntaxException
    {
-      for (VisualDefinition visualDefinition : rigidBody.getVisualDefinitions())
+      if (rigidBody.getVisualDefinitions() != null)
       {
-         processResources(baseFile, visualDefinition.getGeometryDefinition(), resourceDirectory, defaultClassLoader);
-         processResources(baseFile, visualDefinition.getMaterialDefinition(), resourceDirectory, defaultClassLoader);
+         for (VisualDefinition visualDefinition : rigidBody.getVisualDefinitions())
+         {
+            processResources(baseFile, visualDefinition.getGeometryDefinition(), resourceDirectory, defaultClassLoader);
+            processResources(baseFile, visualDefinition.getMaterialDefinition(), resourceDirectory, defaultClassLoader);
+         }
       }
 
-      for (CollisionShapeDefinition collisionShapeDefinition : rigidBody.getCollisionShapeDefinitions())
+      if (rigidBody.getCollisionShapeDefinitions() != null)
       {
-         processResources(baseFile, collisionShapeDefinition.getGeometryDefinition(), resourceDirectory, defaultClassLoader);
+         for (CollisionShapeDefinition collisionShapeDefinition : rigidBody.getCollisionShapeDefinitions())
+         {
+            processResources(baseFile, collisionShapeDefinition.getGeometryDefinition(), resourceDirectory, defaultClassLoader);
+         }
       }
 
-      for (JointDefinition jointDefinition : rigidBody.getChildrenJoints())
+      if (rigidBody.getChildrenJoints() != null)
       {
-         processResources(baseFile, jointDefinition.getSuccessor(), resourceDirectory, defaultClassLoader);
+         for (JointDefinition jointDefinition : rigidBody.getChildrenJoints())
+         {
+            processResources(baseFile, jointDefinition.getSuccessor(), resourceDirectory, defaultClassLoader);
+         }
       }
    }
 
@@ -611,15 +632,21 @@ private static void processResources(File terrainObjectFile,
    {
       TerrainObjectDefinition copy = new TerrainObjectDefinition(terrainObjectDefinition);
 
-      for (VisualDefinition visualDefinition : copy.getVisualDefinitions())
+      if (copy.getVisualDefinitions() != null)
       {
-         processResources(terrainObjectFile, visualDefinition.getGeometryDefinition(), resourceDirectory, defaultClassLoader);
-         processResources(terrainObjectFile, visualDefinition.getMaterialDefinition(), resourceDirectory, defaultClassLoader);
+         for (VisualDefinition visualDefinition : copy.getVisualDefinitions())
+         {
+            processResources(terrainObjectFile, visualDefinition.getGeometryDefinition(), resourceDirectory, defaultClassLoader);
+            processResources(terrainObjectFile, visualDefinition.getMaterialDefinition(), resourceDirectory, defaultClassLoader);
+         }
       }
 
-      for (CollisionShapeDefinition collisionShapeDefinition : copy.getCollisionShapeDefinitions())
+      if (copy.getCollisionShapeDefinitions() != null)
       {
-         processResources(terrainObjectFile, collisionShapeDefinition.getGeometryDefinition(), resourceDirectory, defaultClassLoader);
+         for (CollisionShapeDefinition collisionShapeDefinition : copy.getCollisionShapeDefinitions())
+         {
+            processResources(terrainObjectFile, collisionShapeDefinition.getGeometryDefinition(), resourceDirectory, defaultClassLoader);
+         }
       }
    }
 

diff --git a/...-definition/src/main/java/us/ihmc/scs2/definition/yoGraphic/YoGraphicGroupDefinition.java b/...-definition/src/main/java/us/ihmc/scs2/definition/yoGraphic/YoGraphicGroupDefinition.java
@@ -22,7 +22,9 @@
 @XmlRootElement(name = "YoGraphicGroup")
 public class YoGraphicGroupDefinition extends YoGraphicDefinition
 {
-   /** The list of children the group contains. */
+   /**
+    * The list of children the group contains.
+    */
    private List<YoGraphicDefinition> children;
 
    /**
@@ -208,7 +210,8 @@ public void mergeNestedGroupsByName()
                   if (subGroup.getName().equals(otherSubGroup.getName()))
                   {
                      children.remove(j);
-                     subGroup.getChildren().addAll(otherSubGroup.getChildren());
+                     if (otherSubGroup.getChildren() != null)
+                        subGroup.getChildren().addAll(otherSubGroup.getChildren());
                   }
                }
             }

diff --git a/scs2-definition/src/main/java/us/ihmc/scs2/definition/yoGraphic/YoGraphicListDefinition.java b/scs2-definition/src/main/java/us/ihmc/scs2/definition/yoGraphic/YoGraphicListDefinition.java
@@ -2,10 +2,7 @@
 
 import javax.xml.bind.annotation.XmlElement;
 import javax.xml.bind.annotation.XmlRootElement;
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Collection;
-import java.util.List;
+import java.util.*;
 
 /**
  * A {@code YoGraphicListDefinition} is convenience class that allows to gather several
@@ -17,7 +14,9 @@
 @XmlRootElement(name = "YoGraphicList")
 public class YoGraphicListDefinition extends YoGraphicDefinition
 {
-   /** The internal list of yoGraphics. */
+   /**
+    * The internal list of yoGraphics.
+    */
    private List<YoGraphicDefinition> yoGraphics = new ArrayList<>();
 
    /**
@@ -56,7 +55,7 @@ public YoGraphicListDefinition(YoGraphicListDefinition other)
    {
       super(other);
       if (other.yoGraphics != null)
-         yoGraphics = other.yoGraphics.stream().map(YoGraphicDefinition::copy).toList();
+         yoGraphics = other.yoGraphics.stream().filter(Objects::nonNull).map(YoGraphicDefinition::copy).toList();
    }
 
    @Override
@@ -158,7 +157,8 @@ public void mergeGroupsByName()
                   if (subGroup.getName().equals(otherSubGroup.getName()))
                   {
                      yoGraphics.remove(j);
-                     subGroup.getChildren().addAll(otherSubGroup.getChildren());
+                     if (otherSubGroup.getChildren() != null)
+                        subGroup.getChildren().addAll(otherSubGroup.getChildren());
                   }
                }
             }