//-----------------------------------------------------------------------------
bool datareader_c::read_joint( model_ptr owner, xml_element_ptr top, std::string key ) {
xml_attribute_ptr attribute = top->attribute( "id" );
if( !attribute ) return false;
std::string name = attribute->get_value();
xml_element_ptr element;
std::string tag;
joint_ptr joint = joint_ptr( new joint_c() );
component_ptr component = boost::dynamic_pointer_cast<component_c>( joint );
if( key != "" )
key += "::";
key += name;
joint->id = name;
for( unsigned i = 0; i < top->elements(); i++ ) {
element = top->element( i );
tag = element->get_name();
if( tag == "Field" ) {
read_field( component, element, key );
}
}
owner->insert( joint );
return true;
}
//-----------------------------------------------------------------------------
bool datareader_c::read_model( component_ptr owner, xml_element_ptr top, std::string key ) {
xml_attribute_ptr attribute = top->attribute( "id" );
if( !attribute ) return false;
std::string name = attribute->get_value();
xml_element_ptr element;
std::string tag;
model_ptr model = model_ptr( new model_c() );
if( owner->component_type() == component_c::TRIAL ) {
trial_ptr trial = boost::dynamic_pointer_cast<trial_c>( owner );
trial->models.push_back( model );
} else if( owner->component_type() == component_c::SOLUTION ) {
solution_ptr solution = boost::dynamic_pointer_cast<solution_c>( owner );
solution->models.push_back( model );
} else {
return false;
}
key = name;
model->id = name;
for( unsigned i = 0; i < top->elements(); i++ ) {
element = top->element( i );
tag = element->get_name();
if( tag == "Link" ) {
read_link( model, element, key );
} else if( tag == "Joint" ) {
read_joint( model, element, key );
}
}
return true;
}
//-----------------------------------------------------------------------------
bool datamap_c::map_field_element( xml_element_ptr element, unsigned& column, std::string parent_key ) {
xml_attribute_ptr attribute;
std::string key = "";
unsigned size = 1;
// This method needs more flexibility. Parsing the field here makes it easy
// to know size, but the hardcoding of field names limits the capability
for( unsigned j = 0; j < element->attributes(); j++ ) {
attribute = element->attribute( j );
if( attribute->get_name() == "name" ) {
key += attribute->get_value();
if( key == "position" ) {
size = 3;
} else if( key == "rotation" ) {
size = 4;
} else if( key == "linear-velocity" ) {
size = 3;
} else if( key == "angular-velocity" ) {
size = 3;
} else if( key == "control" ) {
size = 6;
}
if( parent_key != "" ) {
key = parent_key + "::" + key;
}
_map.insert( std::pair<std::string,unsigned>( key, ++column ) );
column += (size - 1);
break;
}
}
return true;
}
//-----------------------------------------------------------------------------
bool datamap_c::map_model_element( xml_element_ptr top, unsigned& column ) {
xml_element_ptr element;
xml_attribute_ptr attribute;
std::string key = "";
for( unsigned i = 0; i < top->attributes(); i++ ) {
attribute = top->attribute( i );
if( attribute->get_name() == "id" ) {
key = attribute->get_value();
break;
}
}
for( unsigned i = 0; i < top->elements(); i++ ) {
element = top->element( i );
if( element->get_name() == "Link" )
map_link_element( element, column, key );
else if( element->get_name() == "Joint" )
map_joint_element( element, column, key );
}
return true;
}
//-----------------------------------------------------------------------------
bool xml_c::build_tixml_element( void* tixml_element, xml_element_ptr element ) {
// TODO: robust error checking
TiXmlElement* tixml_e = (TiXmlElement*) tixml_element;
std::string value = element->get_value();
if( value != "" )
tixml_e->LinkEndChild( new TiXmlText( value ) );
for( unsigned i = 0; i < element->attributes(); i++ ) {
xml_attribute_ptr attrib = element->attribute( i );
tixml_e->SetAttribute( attrib->get_name(), attrib->get_value() );
}
for( unsigned i = 0; i < element->elements(); i++ ) {
xml_element_ptr child = element->element( i );
TiXmlElement* tixml_child = new TiXmlElement( child->get_name() );
tixml_e->LinkEndChild( tixml_child );
build_tixml_element( tixml_child, child );
}
return true;
}
//-----------------------------------------------------------------------------
bool datamap_c::map_link_element( xml_element_ptr top, unsigned& column, std::string parent_key ) {
xml_element_ptr element;
xml_attribute_ptr attribute;
std::string key = "";
for( unsigned i = 0; i < top->attributes(); i++ ) {
attribute = top->attribute( i );
if( attribute->get_name() == "id" ) {
key = attribute->get_value();
break;
}
}
if( parent_key != "" ) {
key = parent_key + "::" + key;
}
for( unsigned i = 0; i < top->elements(); i++ ) {
element = top->element( i );
if( element->get_name() == "Field" )
map_field_element( element, column, key );
}
return true;
}
//-----------------------------------------------------------------------------
bool datareader_c::read_field( component_ptr owner, xml_element_ptr top, std::string key ) {
xml_attribute_ptr attribute = top->attribute( "name" );
if( !attribute ) return false;
std::string name = attribute->get_value();
// printf( "name: %s\n", name.c_str() );
unsigned size = 1;
if( key != "" )
key += "::";
key += name;
unsigned column = _column_map->column( key );
//printf( "key[%s], column[%u]\n", key.c_str(), column );
if( owner->component_type() == component_c::TRIAL ) {
trial_ptr trial = boost::dynamic_pointer_cast<trial_c>( owner );
if( name == "time" ) {
trial->t = _cells[column-1];
return true;
}
} else if( owner->component_type() == component_c::SOLUTION ) {
solution_ptr solution = boost::dynamic_pointer_cast<solution_c>( owner );
if( name == "time" ) {
solution->t = _cells[column-1];
return true;
} else if( name == "real-time" ) {
solution->real_time = _cells[column-1];
return true;
}
} else if( owner->component_type() == component_c::LINK ) {
link_ptr link = boost::dynamic_pointer_cast<link_c>( owner );
if( name == "position" ) {
size = 3;
link->state.linear_x( _cells[column-1] );
link->state.linear_y( _cells[column] );
link->state.linear_z( _cells[column+1] );
return true;
} else if( name == "rotation" ) {
size = 4;
link->state.angular_x( _cells[column-1] );
link->state.angular_y( _cells[column] );
link->state.angular_z( _cells[column+1] );
link->state.angular_w( _cells[column+2] );
return true;
} else if( name == "linear-velocity" ) {
size = 3;
link->state.linear_dx( _cells[column-1] );
link->state.linear_dy( _cells[column] );
link->state.linear_dz( _cells[column+1] );
return true;
} else if( name == "angular-velocity" ) {
size = 3;
link->state.angular_dx( _cells[column-1] );
link->state.angular_dy( _cells[column] );
link->state.angular_dz( _cells[column+1] );
return true;
}
} else if( owner->component_type() == component_c::JOINT ) {
joint_ptr joint = boost::dynamic_pointer_cast<joint_c>( owner );
if( name == "control" ) {
size = 6;
for( unsigned i = 0; i < size; i++ ) {
unsigned cell = column - 1 + i;
joint->control[i] = _cells[cell];
}
return true;
}
}
return false;
}
