RobotInterface::ActionList RobotInterface::XMLReader::Private::readActionsTag(TiXmlElement *actionsElem)
{
const std::string &valueStr = actionsElem->ValueStr();
if (valueStr.compare("actions") != 0) {
SYNTAX_ERROR(actionsElem->Row()) << "Expected \"actions\". Found" << valueStr;
}
std::string filename;
if (actionsElem->QueryStringAttribute("file", &filename) == TIXML_SUCCESS) {
// yDebug() << "Found actions file [" << filename << "]";
#ifdef WIN32
std::replace(filename.begin(), filename.end(), '/', '\\');
filename = path + "\\" + filename;
#else // WIN32
filename = path + "/" + filename;
#endif //WIN32
return readActionsFile(filename);
}
std::string robotName;
if (actionsElem->QueryStringAttribute("robot", &robotName) != TIXML_SUCCESS) {
SYNTAX_WARNING(actionsElem->Row()) << "\"actions\" element should contain the \"robot\" attribute";
}
if (robotName != robot.name()) {
SYNTAX_WARNING(actionsElem->Row()) << "Trying to import a file for the wrong robot. Found" << robotName << "instead of" << robot.name();
}
unsigned int build;
#if TINYXML_UNSIGNED_INT_BUG
if (actionsElem->QueryUnsignedAttribute("build", &build()) != TIXML_SUCCESS) {
// No build attribute. Assuming build="0"
SYNTAX_WARNING(actionsElem->Row()) << "\"actions\" element should contain the \"build\" attribute [unsigned int]. Assuming 0";
}
#else
int tmp;
if (actionsElem->QueryIntAttribute("build", &tmp) != TIXML_SUCCESS || tmp < 0) {
// No build attribute. Assuming build="0"
SYNTAX_WARNING(actionsElem->Row()) << "\"actions\" element should contain the \"build\" attribute [unsigned int]. Assuming 0";
tmp = 0;
}
build = (unsigned)tmp;
#endif
if (build != robot.build()) {
SYNTAX_WARNING(actionsElem->Row()) << "Import a file for a different robot build. Found" << build << "instead of" << robot.build();
}
ActionList actions;
for (TiXmlElement* childElem = actionsElem->FirstChildElement(); childElem != 0; childElem = childElem->NextSiblingElement()) {
ActionList childActions = readActions(childElem);
for (ActionList::const_iterator it = childActions.begin(); it != childActions.end(); ++it) {
actions.push_back(*it);
}
}
return actions;
}
RobotInterface::Robot& RobotInterface::XMLReader::Private::readRobotFile(const std::string &fileName)
{
filename = fileName;
#ifdef WIN32
std::replace(filename.begin(), filename.end(), '/', '\\');
#endif
curr_filename = fileName;
#ifdef WIN32
path = filename.substr(0, filename.rfind("\\"));
#else // WIN32
path = filename.substr(0, filename.rfind("/"));
#endif //WIN32
yDebug() << "Reading file" << filename.c_str();
TiXmlDocument *doc = new TiXmlDocument(filename.c_str());
if (!doc->LoadFile()) {
SYNTAX_ERROR(doc->ErrorRow()) << doc->ErrorDesc();
}
if (!doc->RootElement()) {
SYNTAX_ERROR(doc->Row()) << "No root element.";
}
for (TiXmlNode* childNode = doc->FirstChild(); childNode != 0; childNode = childNode->NextSibling()) {
if (childNode->Type() == TiXmlNode::TINYXML_UNKNOWN) {
if(dtd.parse(childNode->ToUnknown(), curr_filename)) {
break;
}
}
}
if (!dtd.valid()) {
SYNTAX_WARNING(doc->Row()) << "No DTD found. Assuming version robotInterfaceV1.0";
dtd.setDefault();
dtd.type = RobotInterfaceDTD::DocTypeRobot;
}
if(dtd.type != RobotInterfaceDTD::DocTypeRobot) {
SYNTAX_WARNING(doc->Row()) << "Expected document of type" << DocTypeToString(RobotInterfaceDTD::DocTypeRobot)
<< ". Found" << DocTypeToString(dtd.type);
}
if(dtd.majorVersion != 1 || dtd.minorVersion != 0) {
SYNTAX_WARNING(doc->Row()) << "Only robotInterface DTD version 1.0 is supported";
}
readRobotTag(doc->RootElement());
delete doc;
// yDebug() << robot;
return robot;
}
RobotInterface::ParamList RobotInterface::XMLReader::Private::readParamsTag(TiXmlElement *paramsElem)
{
const std::string &valueStr = paramsElem->ValueStr();
if (valueStr.compare("params") != 0) {
SYNTAX_ERROR(paramsElem->Row()) << "Expected \"params\". Found" << valueStr;
}
std::string filename;
if (paramsElem->QueryStringAttribute("file", &filename) == TIXML_SUCCESS) {
// yDebug() << "Found params file [" << filename << "]";
filename=rf.findFileByName(filename);
return readParamsFile(filename);
}
std::string robotName;
if (paramsElem->QueryStringAttribute("robot", &robotName) != TIXML_SUCCESS) {
SYNTAX_WARNING(paramsElem->Row()) << "\"params\" element should contain the \"robot\" attribute";
}
if (robotName != robot.name()) {
SYNTAX_WARNING(paramsElem->Row()) << "Trying to import a file for the wrong robot. Found" << robotName << "instead of" << robot.name();
}
unsigned int build;
#if TINYXML_UNSIGNED_INT_BUG
if (paramsElem->QueryUnsignedAttribute("build", &build()) != TIXML_SUCCESS) {
// No build attribute. Assuming build="0"
SYNTAX_WARNING(paramsElem->Row()) << "\"params\" element should contain the \"build\" attribute [unsigned int]. Assuming 0";
}
#else
int tmp;
if (paramsElem->QueryIntAttribute("build", &tmp) != TIXML_SUCCESS || tmp < 0) {
// No build attribute. Assuming build="0"
SYNTAX_WARNING(paramsElem->Row()) << "\"params\" element should contain the \"build\" attribute [unsigned int]. Assuming 0";
tmp = 0;
}
build = (unsigned)tmp;
#endif
if (build != robot.build()) {
SYNTAX_WARNING(paramsElem->Row()) << "Import a file for a different robot build. Found" << build << "instead of" << robot.build();
}
ParamList params;
for (TiXmlElement* childElem = paramsElem->FirstChildElement(); childElem != 0; childElem = childElem->NextSiblingElement()) {
ParamList childParams = readParams(childElem);
for (ParamList::const_iterator it = childParams.begin(); it != childParams.end(); ++it) {
params.push_back(*it);
}
}
return params;
}
RobotInterface::Robot& RobotInterface::XMLReader::Private::readRobotTag(TiXmlElement *robotElem)
{
if (robotElem->ValueStr().compare("robot") != 0) {
SYNTAX_ERROR(robotElem->Row()) << "Root element should be \"robot\". Found" << robotElem->ValueStr();
}
if (robotElem->QueryStringAttribute("name", &robot.name()) != TIXML_SUCCESS) {
SYNTAX_ERROR(robotElem->Row()) << "\"robot\" element should contain the \"name\" attribute";
}
#if TINYXML_UNSIGNED_INT_BUG
if (robotElem->QueryUnsignedAttribute("build", &robot.build()) != TIXML_SUCCESS) {
// No build attribute. Assuming build="0"
SYNTAX_WARNING(robotElem->Row()) << "\"robot\" element should contain the \"build\" attribute [unsigned int]. Assuming 0";
}
#else
int tmp;
if (robotElem->QueryIntAttribute("build", &tmp) != TIXML_SUCCESS || tmp < 0) {
// No build attribute. Assuming build="0"
SYNTAX_WARNING(robotElem->Row()) << "\"robot\" element should contain the \"build\" attribute [unsigned int]. Assuming 0";
tmp = 0;
}
robot.build() = (unsigned)tmp;
#endif
if (robotElem->QueryStringAttribute("portprefix", &robot.portprefix()) != TIXML_SUCCESS) {
SYNTAX_WARNING(robotElem->Row()) << "\"robot\" element should contain the \"portprefix\" attribute. Using \"name\" attribute";
robot.portprefix() = robot.name();
}
// yDebug() << "Found robot [" << robot.name() << "] build [" << robot.build() << "] portprefix [" << robot.portprefix() << "]";
for (TiXmlElement* childElem = robotElem->FirstChildElement(); childElem != 0; childElem = childElem->NextSiblingElement()) {
if (childElem->ValueStr().compare("device") == 0 || childElem->ValueStr().compare("devices") == 0) {
DeviceList childDevices = readDevices(childElem);
for (DeviceList::const_iterator it = childDevices.begin(); it != childDevices.end(); ++it) {
robot.devices().push_back(*it);
}
} else {
ParamList childParams = readParams(childElem);
for (ParamList::const_iterator it = childParams.begin(); it != childParams.end(); ++it) {
robot.params().push_back(*it);
}
}
}
return robot;
}
RobotInterface::ActionList RobotInterface::XMLReader::Private::readActionsFile(const std::string &fileName)
{
std::string old_filename = curr_filename;
curr_filename = fileName;
yDebug() << "Reading file" << fileName.c_str();
TiXmlDocument *doc = new TiXmlDocument(fileName.c_str());
if (!doc->LoadFile()) {
SYNTAX_ERROR(doc->ErrorRow()) << doc->ErrorDesc();
}
if (!doc->RootElement()) {
SYNTAX_ERROR(doc->Row()) << "No root element.";
}
RobotInterfaceDTD actionsFileDTD;
for (TiXmlNode* childNode = doc->FirstChild(); childNode != 0; childNode = childNode->NextSibling()) {
if (childNode->Type() == TiXmlNode::TINYXML_UNKNOWN) {
if(actionsFileDTD.parse(childNode->ToUnknown(), curr_filename)) {
break;
}
}
}
if (!actionsFileDTD.valid()) {
SYNTAX_WARNING(doc->Row()) << "No DTD found. Assuming version robotInterfaceV1.0";
actionsFileDTD.setDefault();
actionsFileDTD.type = RobotInterfaceDTD::DocTypeActions;
}
if (actionsFileDTD.type != RobotInterfaceDTD::DocTypeActions) {
SYNTAX_ERROR(doc->Row()) << "Expected document of type" << DocTypeToString(RobotInterfaceDTD::DocTypeActions)
<< ". Found" << DocTypeToString(actionsFileDTD.type);
}
if (actionsFileDTD.majorVersion != dtd.majorVersion) {
SYNTAX_ERROR(doc->Row()) << "Trying to import a file with a different robotInterface DTD version";
}
RobotInterface::ActionList actions = readActionsTag(doc->RootElement());
delete doc;
curr_filename = old_filename;
return actions;
}