bool KHTMLReader::parse_ul(DOM::Element e)
{
_list_depth++;
bool popstateneeded = false;
for (DOM::Node items = e.firstChild();!items.isNull();items = items.nextSibling()) {
if (items.nodeName().string().toLower() == "li") {
if (popstateneeded) {
popState();
//popstateneeded = false;
}
pushNewState();
startNewLayout();
popstateneeded = true;
_writer->layoutAttribute(state()->paragraph, "COUNTER", "numberingtype", "1");
_writer->layoutAttribute(state()->paragraph, "COUNTER", "righttext", ".");
if (e.tagName().string().toLower() == "ol") {
_writer->layoutAttribute(state()->paragraph, "COUNTER", "type", "1");
_writer->layoutAttribute(state()->paragraph, "COUNTER", "numberingtype", "1");
_writer->layoutAttribute(state()->paragraph, "COUNTER", "righttext", ".");
} else {
_writer->layoutAttribute(state()->paragraph, "COUNTER", "type", "10");
_writer->layoutAttribute(state()->paragraph, "COUNTER", "numberingtype", "");
_writer->layoutAttribute(state()->paragraph, "COUNTER", "righttext", "");
}
_writer->layoutAttribute(state()->paragraph, "COUNTER", "depth", QString("%1").arg(_list_depth - 1));
}
parseNode(items);
}
if (popstateneeded)
popState();
_list_depth--;
return false;
}
void KHTMLReader::parseNode(DOM::Node node)
{
// check if this is a text node.
DOM::Text t = node;
if (!t.isNull()) {
_writer->addText(state()->paragraph, t.data().string(), 1, state()->in_pre_mode);
return; // no children anymore...
}
// is this really needed ? it can't do harm anyway.
state()->format = _writer->currentFormat(state()->paragraph, true);
state()->layout = _writer->currentLayout(state()->paragraph);
pushNewState();
DOM::Element e = node;
bool go_recursive = true;
if (!e.isNull()) {
// get the CSS information
parseStyle(e);
// get the tag information
go_recursive = parseTag(e);
}
if (go_recursive) {
for (DOM::Node q = node.firstChild(); !q.isNull(); q = q.nextSibling()) {
parseNode(q);
}
}
popState();
}
void CameraThread::handleEvent(UEvent* anEvent)
{
if(anEvent->getClassName().compare("ParamEvent") == 0)
{
if(this->isIdle())
{
_stateMutex.lock();
_camera->parseParameters(((ParamEvent*)anEvent)->getParameters());
_stateMutex.unlock();
}
else
{
ULOGGER_DEBUG("changing parameters");
pushNewState(kStateChangingParameters, ((ParamEvent*)anEvent)->getParameters());
}
}
}
bool KHTMLReader::parse_pre(DOM::Element e)
{
#if 0 // see Bug #74601 (normal): kword doesn't recognize PRE-tags in HTML
//pushNewState();
/// \todo set fixed width font
DOM::HTMLElement htmlelement(e);
if (! htmlelement.isNull())
_writer->addText(state()->paragraph, htmlelement.innerHTML().string(), 1);
startNewParagraph();
//popState();
return false; // children are already handled.
#else
pushNewState();
state()->in_pre_mode = true;
for (DOM::Node q = e.firstChild(); !q.isNull(); q = q.nextSibling()) {
parseNode(q); // parse everything...
}
popState();
return false; // children are already handled.
#endif
}
bool KHTMLReader::parse_table(DOM::Element e)
{
if (_writer->isInTable()) {
// We are already inside of a table. Tables in tables are not supported
// yet. So, just add that table-content as text.
for (DOM::Node rows = e.firstChild().firstChild();!rows.isNull();rows = rows.nextSibling())
if (!rows.isNull() && rows.nodeName().string().toLower() == "tr")
for (DOM::Node cols = rows.firstChild();!cols.isNull();cols = cols.nextSibling())
if (!cols.isNull())
parseNode(cols);
return false;
}
DOM::Element table_body = e.firstChild();
if (table_body.isNull()) {
// If the table_body is empty, we don't continue cause else
// KHTML will throw a DOM::DOMException if we try to access
// the null element.
return true;
}
int tableno = _writer->createTable();
int nrow = 0;
int ncol = 0;
bool has_borders = false;
QColor bgcolor = parsecolor("#FFFFFF");
if (!table_body.getAttribute("bgcolor").string().isEmpty())
bgcolor = parsecolor(table_body.getAttribute("bgcolor").string());
if ((e.getAttribute("border").string().toInt() > 0))
has_borders = true;
// fixme rewrite this proper
//(maybe using computed sizes from khtml if thats once exported)
for (DOM::Node rowsnode = table_body.firstChild();!rowsnode.isNull();rowsnode = rowsnode.nextSibling()) {
DOM::Element rows = rowsnode;
if (!rows.isNull() && rows.tagName().string().toLower() == "tr") {
QColor obgcolor = bgcolor;
if (!rows.getAttribute("bgcolor").string().isEmpty())
bgcolor = parsecolor(rows.getAttribute("bgcolor").string());
ncol = 0;
for (DOM::Node colsnode = rows.firstChild();!colsnode.isNull();colsnode = colsnode.nextSibling()) {
DOM::Element cols = colsnode;
const QString nodename = cols.isNull() ? QString() : cols.nodeName().string().toLower();
if (nodename == "td" || nodename == "th") {
QColor bbgcolor = bgcolor;
if (!cols.getAttribute("bgcolor").string().isEmpty())
bgcolor = parsecolor(cols.getAttribute("bgcolor").string());
pushNewState();
QRect colrect = cols.getRect();
state()->frameset = _writer->createTableCell(tableno, nrow, ncol, 1, colrect);
state()->frameset.firstChild().toElement().setAttribute("bkRed", bgcolor.red());
state()->frameset.firstChild().toElement().setAttribute("bkGreen", bgcolor.green());
state()->frameset.firstChild().toElement().setAttribute("bkBlue", bgcolor.blue());
if (has_borders) {
state()->frameset.firstChild().toElement().setAttribute("lWidth", 1);
state()->frameset.firstChild().toElement().setAttribute("rWidth", 1);
state()->frameset.firstChild().toElement().setAttribute("bWidth", 1);
state()->frameset.firstChild().toElement().setAttribute("tWidth", 1);
}
// fixme don't guess. get it right.
state()->paragraph = _writer->addParagraph(state()->frameset);
parseNode(cols);
_writer->cleanUpParagraph(state()->paragraph);
popState();
ncol++;
bgcolor = bbgcolor;
}
}
nrow++;
bgcolor = obgcolor;
}
}
_writer->finishTable(tableno/*,0,0,r.right()-r.left(),r.bottom()-r.top()*/); // FIXME find something better.
startNewParagraph(false, false);
_writer->createInline(state()->paragraph, _writer->fetchTableCell(tableno, 0, 0));
startNewParagraph(false, false);
return false; // we do our own recursion
}
void RtabmapThread::handleEvent(UEvent* event)
{
if(this->isRunning() && event->getClassName().compare("CameraEvent") == 0)
{
UDEBUG("CameraEvent");
CameraEvent * e = (CameraEvent*)event;
if(e->getCode() == CameraEvent::kCodeImage || e->getCode() == CameraEvent::kCodeImageDepth)
{
this->addData(e->data());
}
}
else if(event->getClassName().compare("OdometryEvent") == 0)
{
UDEBUG("OdometryEvent");
OdometryEvent * e = (OdometryEvent*)event;
if(e->isValid())
{
this->addData(e->data());
}
}
else if(event->getClassName().compare("RtabmapEventCmd") == 0)
{
RtabmapEventCmd * rtabmapEvent = (RtabmapEventCmd*)event;
RtabmapEventCmd::Cmd cmd = rtabmapEvent->getCmd();
if(cmd == RtabmapEventCmd::kCmdInit)
{
ULOGGER_DEBUG("CMD_INIT");
ParametersMap parameters = ((RtabmapEventCmd*)event)->getParameters();
UASSERT(!rtabmapEvent->getStr().empty());
UASSERT(parameters.insert(ParametersPair("RtabmapThread/DatabasePath", rtabmapEvent->getStr())).second);
pushNewState(kStateInit, parameters);
}
else if(cmd == RtabmapEventCmd::kCmdClose)
{
ULOGGER_DEBUG("CMD_CLOSE");
pushNewState(kStateClose);
}
else if(cmd == RtabmapEventCmd::kCmdResetMemory)
{
ULOGGER_DEBUG("CMD_RESET_MEMORY");
pushNewState(kStateReseting);
}
else if(cmd == RtabmapEventCmd::kCmdDumpMemory)
{
ULOGGER_DEBUG("CMD_DUMP_MEMORY");
pushNewState(kStateDumpingMemory);
}
else if(cmd == RtabmapEventCmd::kCmdDumpPrediction)
{
ULOGGER_DEBUG("CMD_DUMP_PREDICTION");
pushNewState(kStateDumpingPrediction);
}
else if(cmd == RtabmapEventCmd::kCmdGenerateDOTGraph)
{
UASSERT(!rtabmapEvent->getStr().empty());
ULOGGER_DEBUG("CMD_GENERATE_DOT_GRAPH");
ParametersMap param;
param.insert(ParametersPair("path", rtabmapEvent->getStr()));
pushNewState(kStateGeneratingDOTGraph, param);
}
else if(cmd == RtabmapEventCmd::kCmdGenerateDOTLocalGraph)
{
std::list<std::string> values = uSplit(rtabmapEvent->getStr(), ';');
UASSERT(values.size() == 3);
ULOGGER_DEBUG("CMD_GENERATE_DOT_LOCAL_GRAPH");
ParametersMap param;
param.insert(ParametersPair("path", *values.begin()));
param.insert(ParametersPair("id", *(++values.begin())));
param.insert(ParametersPair("margin", *values.rbegin()));
pushNewState(kStateGeneratingDOTLocalGraph, param);
}
else if(cmd == RtabmapEventCmd::kCmdGenerateTOROGraphLocal)
{
UASSERT(!rtabmapEvent->getStr().empty());
ULOGGER_DEBUG("CMD_GENERATE_TORO_GRAPH_LOCAL");
ParametersMap param;
param.insert(ParametersPair("path", rtabmapEvent->getStr()));
param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStateGeneratingTOROGraphLocal, param);
}
else if(cmd == RtabmapEventCmd::kCmdGenerateTOROGraphGlobal)
{
UASSERT(!rtabmapEvent->getStr().empty());
ULOGGER_DEBUG("CMD_GENERATE_TORO_GRAPH_GLOBAL");
ParametersMap param;
param.insert(ParametersPair("path", rtabmapEvent->getStr()));
param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStateGeneratingTOROGraphGlobal, param);
}
else if(cmd == RtabmapEventCmd::kCmdCleanDataBuffer)
{
ULOGGER_DEBUG("CMD_CLEAN_DATA_BUFFER");
pushNewState(kStateCleanDataBuffer);
}
else if(cmd == RtabmapEventCmd::kCmdPublish3DMapLocal)
{
ULOGGER_DEBUG("CMD_PUBLISH_MAP_LOCAL");
ParametersMap param;
param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStatePublishingMapLocal, param);
}
else if(cmd == RtabmapEventCmd::kCmdPublish3DMapGlobal)
{
ULOGGER_DEBUG("CMD_PUBLISH_MAP_GLOBAL");
ParametersMap param;
param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStatePublishingMapGlobal, param);
}
else if(cmd == RtabmapEventCmd::kCmdPublishTOROGraphLocal)
{
ULOGGER_DEBUG("CMD_PUBLISH_TORO_GRAPH_LOCAL");
ParametersMap param;
param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStatePublishingTOROGraphLocal, param);
}
else if(cmd == RtabmapEventCmd::kCmdPublishTOROGraphGlobal)
{
ULOGGER_DEBUG("CMD_PUBLISH_TORO_GRAPH_GLOBAL");
ParametersMap param;
param.insert(ParametersPair("optimized", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStatePublishingTOROGraphGlobal, param);
}
else if(cmd == RtabmapEventCmd::kCmdTriggerNewMap)
{
ULOGGER_DEBUG("CMD_TRIGGER_NEW_MAP");
pushNewState(kStateTriggeringMap);
}
else if(cmd == RtabmapEventCmd::kCmdPause)
{
ULOGGER_DEBUG("CMD_PAUSE");
_paused = !_paused;
}
else
{
UWARN("Cmd %d unknown!", cmd);
}
}
else if(event->getClassName().compare("ParamEvent") == 0)
{
ULOGGER_DEBUG("changing parameters");
pushNewState(kStateChangingParameters, ((ParamEvent*)event)->getParameters());
}
}
