Esempio n. 1
0
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;
}
Esempio n. 2
0
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;
}
Esempio n. 3
0
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;
}
Esempio n. 4
0
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;
}
Esempio n. 5
0
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;
}