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::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;
}
