void
DOM_Element_setAttribute(DOM_Element *element,
const DOM_String *name, const DOM_String *value)
{
if (element && name && value && element->attributes) {
DOM_Attr *attr;
attr = DOM_NamedNodeMap_getNamedItem(element->attributes, name);
if (attr) {
free(attr->nodeValue);
attr->nodeValue = attr->u.Attr.value = DOM_String_dup(value);
if (attr->nodeValue) {
} else {
DOM_Exception = DOM_NO_MEMORY_ERR;
DOM_Document_destroyNode(attr->ownerDocument, attr);
}
} else {
attr = DOM_Document_createAttribute(element->ownerDocument, name);
if (attr) {
free(attr->nodeValue);
attr->nodeValue = attr->u.Attr.value = DOM_String_dup(value);
if (attr->nodeValue) {
DOM_NamedNodeMap_setNamedItem(element->attributes, attr);
} else {
DOM_Exception = DOM_NO_MEMORY_ERR;
DOM_Document_destroyNode(attr->ownerDocument, attr);
}
}
}
}
}
DOM_Node *
Document_createNode(DOM_Document *doc, unsigned short nodeType)
{
DOM_Node *node;
if (nodeType != DOM_DOCUMENT_NODE && doc == NULL) {
DOM_Exception = DOM_NULL_POINTER_ERR;
return NULL;
}
node = calloc(sizeof *node, 1);
if (node == NULL) {
DOM_Exception = DOM_NO_MEMORY_ERR;
return NULL;
}
node->nodeType = nodeType;
node->ownerDocument = doc;
switch (nodeType) {
case DOM_DOCUMENT_NODE:
node->ownerDocument = node;
case DOM_ELEMENT_NODE:
case DOM_ATTRIBUTE_NODE:
case DOM_ENTITY_REFERENCE_NODE:
case DOM_ENTITY_NODE:
case DOM_DOCUMENT_FRAGMENT_NODE:
node->childNodes = Document_createNodeList(doc);
if (node->childNodes == NULL) {
DOM_Document_destroyNode(doc, node);
return NULL;
}
}
return node;
}
void
DOM_Element_normalize(DOM_Element *element)
{
DOM_Node *node;
DOM_Text *last = NULL;
if (element) {
for (node = element->firstChild; node != NULL; node = node->nextSibling) {
if (node->nodeType == DOM_TEXT_NODE) {
if (last) {
DOM_CharacterData_insertData(node, 0, last->nodeValue);
DOM_Node_removeChild(element, last);
DOM_Document_destroyNode(last->ownerDocument, last);
if (DOM_Exception) {
return;
}
}
last = node;
} else {
last = NULL;
DOM_Element_normalize(node);
}
}
}
}
void
chardata_fn(void *userData, const XML_Char *s, int len)
{
struct stack *stk = (struct stack *) userData;
DOM_String *str;
DOM_Text *tex;
DOM_Node *parent;
if (stk == NULL || s == NULL || len == 0) {
DOM_Exception = DOM_NULL_POINTER_ERR;
return;
}
parent = (DOM_Node *) stack_peek(stk);
if (parent == NULL) {
DOM_Exception = DOM_SYSTEM_ERR;
return;
}
if ((str = (DOM_String *) malloc(len + 1)) == NULL) {
DOM_Exception = DOM_NO_MEMORY_ERR;
return;
}
memcpy(str, s, len);
str[len] = '\0';
tex = DOM_Document_createTextNode(parent->ownerDocument, str);
free(str);
if (tex == NULL) {
return;
}
DOM_Node_appendChild(parent, tex);
if (DOM_Exception) {
DOM_Document_destroyNode(parent->ownerDocument, tex);
}
}
void
DOM_Element_removeAttribute(DOM_Element *element, const DOM_String *name)
{
if (element && name) {
DOM_Attr *attr = DOM_NamedNodeMap_removeNamedItem(element->attributes, name);
if (attr) {
DOM_Document_destroyNode(attr->ownerDocument, attr);
}
}
}
DOM_Attr *
DOM_Document_createAttribute(DOM_Document *doc, const DOM_String *name)
{
DOM_Attr *attr;
attr = Document_createNode(doc, DOM_ATTRIBUTE_NODE);
if (attr) {
attr->nodeName = attr->u.Attr.name = DOM_String_dup(name);
attr->nodeValue = attr->u.Attr.value = DOM_String_dup("");
if (attr->nodeName == NULL || attr->nodeValue == NULL) {
DOM_Exception = DOM_NO_MEMORY_ERR;
DOM_Document_destroyNode(doc, attr);
return NULL;
}
}
return attr;
}
DOM_Element *
DOM_Document_createElement(DOM_Document *doc, const DOM_String *tagName)
{
DOM_Element *element;
element = Document_createNode(doc, DOM_ELEMENT_NODE);
if (element) {
element->nodeName = element->u.Element.tagName = DOM_String_dup(tagName);
element->attributes = Document_createNamedNodeMap(doc);
if (element->nodeName == NULL || element->attributes == NULL) {
DOM_Exception = DOM_NO_MEMORY_ERR;
DOM_Document_destroyNode(doc, element);
return NULL;
}
}
return element;
}
void
DOM_Document_destroyNodeList(DOM_Document *doc, DOM_NodeList *nl, int free_nodes)
{
if (nl) {
NodeEntry *e, *tmp;
e = nl->first;
while (e != NULL) {
if (free_nodes) {
DOM_Document_destroyNode(doc, e->node);
}
tmp = e;
e = e->next;
free(tmp);
}
free(nl);
}
}
DOM_ProcessingInstruction *
DOM_Document_createProcessingInstruction(DOM_Document *doc,
const DOM_String *target, const DOM_String *data)
{
DOM_ProcessingInstruction *pi;
pi = Document_createNode(doc, DOM_PROCESSING_INSTRUCTION_NODE);
if (pi) {
pi->nodeName = pi->u.ProcessingInstruction.target = DOM_String_dup(target);
pi->nodeValue = pi->u.ProcessingInstruction.data = DOM_String_dup(data);
if (pi->nodeName == NULL || pi->nodeValue == NULL) {
DOM_Exception = DOM_NO_MEMORY_ERR;
DOM_Document_destroyNode(doc, pi);
return NULL;
}
}
return pi;
}
DOM_CDATASection *
DOM_Document_createCDATASection(DOM_Document *doc, const DOM_String *data)
{
DOM_CDATASection *cdata;
cdata = Document_createNode(doc, DOM_CDATA_SECTION_NODE);
if (cdata) {
cdata->nodeName = "#cdata-section";
cdata->nodeValue = cdata->u.CharacterData.data = DOM_String_dup(data);
if (cdata->u.CharacterData.data == NULL) {
DOM_Exception = DOM_NO_MEMORY_ERR;
DOM_Document_destroyNode(doc, cdata);
return NULL;
}
cdata->u.CharacterData.length = (unsigned long) DOM_String_len(data);
}
return cdata;
}
DOM_Comment *
DOM_Document_createComment(DOM_Document *doc, const DOM_String *data)
{
DOM_Comment *comment;
comment = Document_createNode(doc, DOM_COMMENT_NODE);
if (comment) {
comment->nodeName = "#comment";
comment->nodeValue = comment->u.CharacterData.data = DOM_String_dup(data);
if (comment->nodeValue == NULL) {
DOM_Exception = DOM_NO_MEMORY_ERR;
DOM_Document_destroyNode(doc, comment);
return NULL;
}
comment->u.CharacterData.length = (unsigned long) DOM_String_len(data);
}
return comment;
}
DOM_Text *
DOM_Document_createTextNode(DOM_Document *doc, const DOM_String *data)
{
DOM_Text *text;
text = Document_createNode(doc, DOM_TEXT_NODE);
if (text) {
text->nodeName = "#text";
text->nodeValue = text->u.CharacterData.data = DOM_String_dup(data);
if (text->nodeValue == NULL) {
DOM_Exception = DOM_NO_MEMORY_ERR;
DOM_Document_destroyNode(doc, text);
return NULL;
}
text->u.CharacterData.length = (unsigned long) DOM_String_len(data);
}
return text;
}
void
processing_fn(void *userData, const XML_Char *target, const XML_Char *data)
{
struct stack *stk = (struct stack *) userData;
DOM_ProcessingInstruction *pi;
DOM_Node *parent;
parent = (DOM_Node *) stack_peek(stk);
if (parent == NULL) {
DOM_Exception = DOM_SYSTEM_ERR;
return;
}
if ((pi = DOM_Document_createProcessingInstruction(parent->ownerDocument, target, data))) {
DOM_Node_appendChild(parent, pi);
if (DOM_Exception) {
DOM_Document_destroyNode(parent->ownerDocument, pi);
}
}
}
void
comment_fn(void *userData, const XML_Char *s)
{
struct stack *stk = (struct stack *) userData;
DOM_Comment *com;
DOM_Node *parent;
parent = (DOM_Node *) stack_peek(stk);
if (parent == NULL) {
DOM_Exception = DOM_SYSTEM_ERR;
return;
}
if ((com = DOM_Document_createComment(parent->ownerDocument, s))) {
DOM_Node_appendChild(parent, com);
if (DOM_Exception) {
DOM_Document_destroyNode(parent->ownerDocument, com);
}
}
}
Calibration *createCalibration(char *CalFilePath,unsigned short index) {
// This function creates and populate a Calibration structure from a file.
Calibration *cal;
DOM_DocumentLS *doc; // contains DOM document of calibration file
DOM_Element *eRoot; // points to document root element ("FTSensor")
DOM_Node *node; // multipurpose variable for nodes in the cal file
DOM_Element *eCalibration; // points to Calibration element
DOM_NodeList *calibrationNodelist; //node lists in the cal file
DOM_NodeList *axisNodelist;
DOM_NodeList *childNodelist;
char *temp; // temporary string value for reading in attributes
unsigned short i,j; // counter variables
float temparray[MAX_GAUGES]; // used when loading calibration rows
float scale; // used when loading calibration rows
cal=(Calibration *) calloc(1,sizeof(Calibration));
doc = DOM_Implementation_createDocument(NULL, NULL, NULL); // initialize DOM document
if (DOM_DocumentLS_load(doc,CalFilePath)!=1) { // open calibration file
free(cal);
DOM_Document_destroyNode(doc, doc); // clean up DOM stuff
return NULL;
}
eRoot=doc->u.Document.documentElement;
if (strcmp(eRoot->nodeName,"FTSensor")!=0) { // make sure we're loading the right kind of file
free(cal);
DOM_Document_destroyNode(doc, doc); // clean up DOM stuff
return NULL;
}
ReadAttribute(eRoot,&temp,"Serial",TRUE,"");
cal->Serial=ATI_strdup(temp);
free(temp);
ReadAttribute(eRoot,&temp,"BodyStyle",TRUE,"");
cal->BodyStyle=ATI_strdup(temp);
free(temp);
ReadAttribute(eRoot,&temp,"NumGages",TRUE,"");
cal->rt.NumChannels=atoi(temp)+1; // add one to NumGages for the temperature channel.
free(temp);
ReadAttribute(eRoot,&temp,"Family",TRUE,"");
cal->Family=ATI_strdup(temp);
free(temp);
// find calibration specified by index
calibrationNodelist=DOM_Element_getElementsByTagName(eRoot,"Calibration");
if (calibrationNodelist->length<index) { // determine if invalid calibration index was used
return NULL;
}
eCalibration=DOM_NodeList_item(calibrationNodelist,index-1);
// set Calibration structure attributes found in Calibration element
ReadAttribute(eCalibration,&temp,"PartNumber",TRUE,"");
cal->PartNumber=ATI_strdup(temp);
free(temp);
ReadAttribute(eCalibration,&temp,"CalDate",TRUE,"");
cal->CalDate=ATI_strdup(temp);
free(temp);
ReadAttribute(eCalibration,&temp,"ForceUnits",TRUE,"");
cal->ForceUnits=ATI_strdup(temp);
free(temp);
ReadAttribute(eCalibration,&temp,"TorqueUnits",TRUE,"");
cal->TorqueUnits=ATI_strdup(temp);
free(temp);
ReadAttribute(eCalibration,&temp,"DistUnits",TRUE,"");
cal->BasicTransform.DistUnits=ATI_strdup(temp);
cal->cfg.UserTransform.DistUnits=ATI_strdup(temp);
free(temp);
ReadAttribute(eCalibration,&temp,"AngleUnits",FALSE,"degrees");
cal->BasicTransform.AngleUnits=ATI_strdup(temp);
cal->cfg.UserTransform.AngleUnits=ATI_strdup(temp);
free(temp);
// initialize temp comp variables
cal->TempCompAvailable=FALSE;
for (i=0;i<MAX_GAUGES;i++) {
cal->rt.bias_slopes[i]=0;
cal->rt.gain_slopes[i]=0;
}
cal->rt.thermistor=0;
// store basic matrix
axisNodelist=DOM_Element_getElementsByTagName(eCalibration,"Axis");
cal->rt.NumAxes=(unsigned short) axisNodelist->length;
for (i=0;i<axisNodelist->length;i++) {
node=DOM_NodeList_item(axisNodelist,i);
ReadAttribute(node, &temp, "scale", FALSE,"1");
scale=(float) atof(temp);
free(temp);
ReadAttribute(node, &temp, "values", TRUE,"");
Separate(temp,temparray,(unsigned short)(cal->rt.NumChannels-1));
for(j=0;j<cal->rt.NumChannels-1;j++) {
cal->BasicMatrix[i][j]=temparray[j]/scale;
}
free(temp);
ReadAttribute(node, &temp, "max", FALSE,"0");
cal->MaxLoads[i]=(float) atof(temp);
free(temp);
ReadAttribute(node, &temp, "Name", TRUE,"");
cal->AxisNames[i]=ATI_strdup(temp);
free(temp);
}
childNodelist=eCalibration->childNodes;
for (i=0; i < childNodelist->length; i++) {
node=DOM_NodeList_item(childNodelist,i);
if (strcmp(node->nodeName,"BasicTransform")==0) {
ReadAttribute(node, &temp, "Dx", FALSE,"0");
cal->BasicTransform.TT[0]=(float) atof(temp);
free(temp);
ReadAttribute(node, &temp, "Dy", FALSE,"0");
cal->BasicTransform.TT[1]=(float) atof(temp);
free(temp);
ReadAttribute(node, &temp, "Dz", FALSE,"0");
cal->BasicTransform.TT[2]=(float) atof(temp);
free(temp);
ReadAttribute(node, &temp, "Rx", FALSE,"0");
cal->BasicTransform.TT[3]=(float) atof(temp);
free(temp);
ReadAttribute(node, &temp, "Ry", FALSE,"0");
cal->BasicTransform.TT[4]=(float) atof(temp);
free(temp);
ReadAttribute(node, &temp, "Rz", FALSE,"0");
cal->BasicTransform.TT[5]=(float) atof(temp);
free(temp);
} else if (strcmp(node->nodeName,"BiasSlope")==0) {
ReadAttribute(node, &temp, "values", TRUE,"");
Separate(temp,cal->rt.bias_slopes,(unsigned short)(cal->rt.NumChannels-1));
free(temp);
cal->TempCompAvailable = TRUE;
} else if (strcmp(node->nodeName,"GainSlope")==0) {
ReadAttribute(node, &temp, "values", TRUE,"");
Separate(temp,cal->rt.gain_slopes,(unsigned short)(cal->rt.NumChannels-1));
free(temp);
cal->TempCompAvailable = TRUE;
} else if (strcmp(node->nodeName,"Thermistor")==0) {
ReadAttribute(node, &temp, "value", TRUE,"");
cal->rt.thermistor = (float) atof(temp);
free(temp);
}
}
DOM_Document_destroyNodeList(eRoot->ownerDocument, calibrationNodelist,0);
DOM_Document_destroyNodeList(eRoot->ownerDocument, axisNodelist,0);
DOM_Document_destroyNode(doc, doc); // clean up DOM stuff
ResetDefaults(cal); // calculate working matrix and set default values
return cal;
} // createCalibration();
DOM_Node *
DOM_Node_cloneNode(DOM_Node *node, int deep)
{
DOM_Node *clone = NULL;
DOM_Node *ntmp, *ctmp;
NodeEntry *e;
if (node == NULL) {
DOM_Exception = DOM_NULL_POINTER_ERR;
return NULL;
}
switch(node->nodeType) {
case DOM_ELEMENT_NODE:
clone = DOM_Document_createElement(node->ownerDocument, node->nodeName);
if (clone) {
for (e = node->attributes->first; e != NULL; e = e->next) {
if ((ctmp = DOM_Node_cloneNode(e->node, deep)) == NULL ||
NodeList_append(clone->attributes, ctmp) == NULL) {
DOM_Document_destroyNode(clone->ownerDocument, ctmp);
DOM_Document_destroyNode(clone->ownerDocument, clone);
return NULL;
}
}
}
break;
case DOM_ATTRIBUTE_NODE:
if ((clone = DOM_Document_createAttribute(node->ownerDocument, node->nodeName))) {
clone->u.Attr.specified = node->u.Attr.specified;
free(clone->nodeValue);
clone->u.Attr.value = clone->nodeValue = DOM_String_dup(node->nodeValue);
if (clone->u.Attr.value == NULL) {
DOM_Exception = DOM_NO_MEMORY_ERR;
return NULL;
}
}
break;
case DOM_COMMENT_NODE:
clone = DOM_Document_createComment(node->ownerDocument, node->nodeValue);
break;
case DOM_TEXT_NODE:
clone = DOM_Document_createTextNode(node->ownerDocument, node->nodeValue);
break;
case DOM_CDATA_SECTION_NODE:
clone = DOM_Document_createCDATASection(node->ownerDocument, node->nodeValue);
break;
case DOM_DOCUMENT_NODE:
clone = DOM_Implementation_createDocument(NULL, NULL, NULL);
break;
case DOM_DOCUMENT_FRAGMENT_NODE:
clone = DOM_Document_createDocumentFragment(node->ownerDocument);
break;
case DOM_PROCESSING_INSTRUCTION_NODE:
clone = DOM_Document_createProcessingInstruction(node->ownerDocument,
node->u.ProcessingInstruction.target, node->u.ProcessingInstruction.data);
break;
case DOM_ENTITY_REFERENCE_NODE:
case DOM_ENTITY_NODE:
case DOM_DOCUMENT_TYPE_NODE:
case DOM_NOTATION_NODE:
DOM_Exception = DOM_NOT_SUPPORTED_ERR;
return NULL;
}
if (clone && node->childNodes) {
for (ntmp = node->firstChild; ntmp != NULL; ntmp = ntmp->nextSibling) {
ctmp = DOM_Node_cloneNode(ntmp, deep);
if (ctmp == NULL || DOM_Node_appendChild(clone, ctmp) == NULL) {
DOM_Document_destroyNode(clone->ownerDocument, ctmp);
DOM_Document_destroyNode(clone->ownerDocument, clone);
return NULL;
}
}
}
//DBL: erase next line
if (DOM_Node_hasChildNodes(node)) {}
return clone;
}
DOM_Node *
DOM_Node_appendChild(DOM_Node *node, DOM_Node *newChild)
{
int addingDocumentElement;
if (node == NULL || newChild == NULL) {
DOM_Exception = DOM_NULL_POINTER_ERR;
return NULL;
}
if (newChild->ownerDocument != node->ownerDocument) {
DOM_Exception = DOM_WRONG_DOCUMENT_ERR;
return NULL;
}
addingDocumentElement = node->nodeType == DOM_DOCUMENT_NODE &&
newChild->nodeType == DOM_ELEMENT_NODE;
if (CANNOT_HAVE_CHILDREN(node->nodeType) || Node_isAncestor(newChild, node) ||
(addingDocumentElement && node->u.Document.documentElement)) {
DOM_Exception = DOM_HIERARCHY_REQUEST_ERR;
return NULL;
}
if (newChild->nodeType == DOM_DOCUMENT_FRAGMENT_NODE) {
DOM_Node *n, *nxt;
for (n = newChild->firstChild; n != NULL; n = nxt) {
nxt = n->nextSibling;
if (DOM_Node_removeChild(newChild, n) == NULL) {
return NULL;
}
if (DOM_Node_appendChild(node, n) == NULL) {
DOM_Document_destroyNode(n->ownerDocument, n);
return NULL;
}
}
return newChild;
}
DOM_Node_removeChild(node, newChild);
if (NodeList_append(node->childNodes, newChild) == NULL) {
return NULL;
}
if (node->firstChild == NULL) {
node->firstChild = node->lastChild = newChild;
newChild->previousSibling = NULL;
newChild->nextSibling = NULL;
} else {
node->lastChild->nextSibling = newChild;
newChild->previousSibling = node->lastChild;
node->lastChild = newChild;
}
newChild->nextSibling = NULL;
newChild->parentNode = node;
if (addingDocumentElement) {
node->u.Document.documentElement = newChild;
}
return newChild;
}
DOM_Node *
DOM_Node_replaceChild(DOM_Node *node, DOM_Node *newChild, DOM_Node *oldChild)
{
DOM_Node *tmp;
int addingDocumentElement;
if (node == NULL || newChild == NULL || oldChild == NULL) {
DOM_Exception = DOM_NULL_POINTER_ERR;
return NULL;
}
if (newChild->ownerDocument != node->ownerDocument ||
oldChild->ownerDocument != node->ownerDocument) {
DOM_Exception = DOM_WRONG_DOCUMENT_ERR;
return NULL;
}
addingDocumentElement = node->nodeType == DOM_DOCUMENT_NODE &&
newChild->nodeType == DOM_ELEMENT_NODE;
if (oldChild->parentNode != node || Node_isAncestor(newChild, node) ||
(addingDocumentElement && node->u.Document.documentElement &&
oldChild->nodeType != DOM_ELEMENT_NODE)) {
DOM_Exception = DOM_HIERARCHY_REQUEST_ERR;
return NULL;
}
for (tmp = node->firstChild; tmp != NULL && tmp != oldChild; tmp = tmp->nextSibling) {
;
}
if (tmp != oldChild) {
DOM_Exception = DOM_NOT_FOUND_ERR;
return NULL;
}
if (newChild->nodeType == DOM_DOCUMENT_FRAGMENT_NODE) {
DOM_Node *n, *nxt;
for (n = newChild->firstChild; n != NULL; n = nxt) {
nxt = n->nextSibling;
if (DOM_Node_removeChild(newChild, n) == NULL) {
return NULL;
}
if (DOM_Node_insertBefore(node, n, oldChild) == NULL) {
DOM_Document_destroyNode(n->ownerDocument, n);
return NULL;
}
}
if (DOM_Node_removeChild(node, oldChild) == NULL) {
return NULL;
}
return oldChild;
}
DOM_Node_removeChild(node, newChild);
if (NodeList_replace(node->childNodes, newChild, oldChild) == NULL) {
return NULL;
}
node->firstChild = node->childNodes->first->node;
node->lastChild = node->childNodes->last->node;
if ((newChild->previousSibling = oldChild->previousSibling)) {
newChild->previousSibling->nextSibling = newChild;
}
if ((newChild->nextSibling = oldChild->nextSibling)) {
newChild->nextSibling->previousSibling = newChild;
}
newChild->parentNode = node;
oldChild->parentNode = NULL;
oldChild->previousSibling = NULL;
oldChild->nextSibling = NULL;
if (addingDocumentElement) {
node->u.Document.documentElement = newChild;
}
return oldChild;
}