BUG: make time type string [s ns]

[FirefoxMetzger]

🦟 Bug fix

Fixes #642

Summary

While I did this in #643 I think it makes sense to make it a separate PR and rebase. This way this bug can be fixed while awaiting feedback for different things in the other PR.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

[FirefoxMetzger]

This is such an odd failure. double_pendulum.sdf doesn't even use a state element and by extension neither a time element, which is the only one I touched.

The log seems to agree with me (full log below)

103: http://sdformat.org/schemas/sensor.xsd:19: element include: Schemas parser error : Element '{http://www.w3.org/2001/XMLSchema}include': Failed to load the document 'http://sdformat.org/schemas/rfidtag.xsd' for inclusion.

@chapulina Is this a known flakey test, or do you have any idea what could be going on?

Full Test Log

``` test 103 Start 103: INTEGRATION_schema_test

103: Test command: /Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/build/test/integration/INTEGRATION_schema_test "--gtest_output=xml:/Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/build/test_results/INTEGRATION_schema_test.xml"
103: Environment variables:
103: SDF_PATH=/Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/sdformat/sdf/1.8:/Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/sdformat/sdf/1.7:/Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/sdformat/sdf/1.6:/Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/sdformat/sdf/1.5:/Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/sdformat/sdf/1.4:/Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/sdformat/sdf/1.3:/Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/sdformat/sdf/1.2:/Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/sdformat/sdf/1.0:
103: Test timeout computed to be: 240
103: Running main() from gtest_main.cc
103: [==========] Running 3 tests from 1 test case.
103: [----------] Global test environment set-up.
103: [----------] 3 tests from SDFSchemaGenerator
103: [ RUN ] SDFSchemaGenerator.TestDoublePendulum
103: error : Operation in progress
103: warning: failed to load external entity "http://sdformat.org/schemas/rfidtag.xsd"
103: http://sdformat.org/schemas/sensor.xsd:19: element include: Schemas parser error : Element '{http://www.w3.org/2001/XMLSchema}include': Failed to load the document 'http://sdformat.org/schemas/rfidtag.xsd' for inclusion.
103: WXS schema /Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/build/sdf/1.8/root.xsd failed to compile
103: CMD[xmllint --noout --schema /Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/build/sdf/1.8/root.xsd /Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/sdformat/test/integration/model/double_pendulum.sdf]
103: /Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/sdformat/test/integration/schema_test.cc:52: Failure
103: Failed
103: Fail in parsing the model
103: [ FAILED ] SDFSchemaGenerator.TestDoublePendulum (62365 ms)
103: [ RUN ] SDFSchemaGenerator.TestPR2Model
103: /Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/sdformat/test/integration/model/pr2.sdf validates
103: CMD[xmllint --noout --schema /Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/build/sdf/1.8/root.xsd /Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/sdformat/test/integration/model/pr2.sdf]
103: [ OK ] SDFSchemaGenerator.TestPR2Model (3036 ms)
103: [ RUN ] SDFSchemaGenerator.TestTurtleBotModel
103: /Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/sdformat/test/integration/model/turtlebot.sdf validates
103: CMD[xmllint --noout --schema /Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/build/sdf/1.8/root.xsd /Users/jenkins/workspace/sdformat-ci-pr_any-homebrew-amd64/sdformat/test/integration/model/turtlebot.sdf]
103: [ OK ] SDFSchemaGenerator.TestTurtleBotModel (2949 ms)
103: [----------] 3 tests from SDFSchemaGenerator (68350 ms total)
103:
103: [----------] Global test environment tear-down
103: [==========] 3 tests from 1 test case ran. (68350 ms total)
103: [ PASSED ] 2 tests.
103: [ FAILED ] 1 test, listed below:
103: [ FAILED ] SDFSchemaGenerator.TestDoublePendulum
103:
103: 1 FAILED TEST
103/216 Test #103: INTEGRATION_schema_test ................................***Failed 68.36 sec

</details>

[chapulina]

humm strange failure, only on macOS. There aren't known flakes for this branch and platform, that's why we set the check as Required.

Issues on macOS could be due to different dependency versions... Sometimes it's a clang vs gcc thing, or a timing issue (because our macOS CI machines are slow), but I don't think it could be those here.

[FirefoxMetzger]

Okay. It could indeed be a timeout, considering that the test took ~ 1 minute to fail for such a simple thing (running xmllint should take ms, right?). I'm not a Jenkins user myself, but is the setup included in this time? If not, this could be further evidence for a timeout.

[jennuine]

Thanks for the fix! Just a quick comment

[jennuine]

Could you also update the others as well

Suggested change

	<xsd:pattern value="\d+ \d+"/>
	<xsd:pattern value="\s*\d+\s+\d+\s*"/>

[FirefoxMetzger]

@jennuine Hm, if we are worried about whitespace, wouldn't something like this be a bit more readable?

<xsd:restriction base="xsd:string">
  <xsd:whiteSpace value="collapse"/>
  <xsd:pattern value="\d+ \d+"/>
</xsd:restriction>

[jennuine]

Sounds good to me 👍

[FirefoxMetzger]

@jennuine Done.