void write_header(const osmium::io::Header& header) override final {
std::string out = "<?xml version='1.0' encoding='UTF-8'?>\n";
if (m_file.is_true("xml_change_format")) {
out += "<osmChange version=\"0.6\" generator=\"";
xml_string(out, header.get("generator").c_str());
out += "\">\n";
} else {
out += "<osm version=\"0.6\"";
std::string xml_josm_upload = header.get("xml_josm_upload");
if (xml_josm_upload == "true" || xml_josm_upload == "false") {
out += " upload=\"";
out += xml_josm_upload;
out += "\"";
}
out += " generator=\"";
xml_string(out, header.get("generator").c_str());
out += "\">\n";
}
for (const auto& box : header.boxes()) {
out += " <bounds";
oprintf(out, " minlon=\"%.7f\"", box.bottom_left().lon());
oprintf(out, " minlat=\"%.7f\"", box.bottom_left().lat());
oprintf(out, " maxlon=\"%.7f\"", box.top_right().lon());
oprintf(out, " maxlat=\"%.7f\"/>\n", box.top_right().lat());
}
std::promise<std::string> promise;
m_output_queue.push(promise.get_future());
promise.set_value(std::move(out));
}
static void map_begin_page(GVJ_t * job)
{
obj_state_t *obj = job->obj;
char *s;
switch (job->render.id) {
case FORMAT_IMAP:
core_fputs(job, "base referer\n");
if (obj->url && obj->url[0]) {
core_fputs(job, "default ");
core_fputs(job, xml_string(obj->url));
core_fputs(job, "\n");
}
break;
case FORMAT_ISMAP:
if (obj->url && obj->url[0]) {
core_fputs(job, "default ");
core_fputs(job, xml_string(obj->url));
core_fputs(job, " ");
core_fputs(job, xml_string(obj->u.g->name));
core_fputs(job, "\n");
}
break;
case FORMAT_CMAPX:
s = xml_string(obj->u.g->name);
core_fputs(job, "<map id=\"");
core_fputs(job, s);
core_fputs(job, "\" name=\"");
core_fputs(job, s);
core_fputs(job, "\">\n");
break;
default:
break;
}
}
static void svg_begin_job(GVJ_t * job)
{
char *s;
gvputs(job,
"<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\"?>\n");
if ((s = agget(job->gvc->g, "stylesheet")) && s[0]) {
gvputs(job, "<?xml-stylesheet href=\"");
gvputs(job, s);
gvputs(job, "\" type=\"text/css\"?>\n");
}
#if 0
gvputs(job, "<!DOCTYPE svg PUBLIC \"-//W3C//DTD SVG 1.0//EN\"\n");
gvputs(job,
" \"http://www.w3.org/TR/2001/REC-SVG-20010904/DTD/svg10.dtd\"");
/* This is to work around a bug in the SVG 1.0 DTD */
gvputs(job,
" [\n <!ATTLIST svg xmlns:xlink CDATA #FIXED \"http://www.w3.org/1999/xlink\">\n]");
#else
gvputs(job, "<!DOCTYPE svg PUBLIC \"-//W3C//DTD SVG 1.1//EN\"\n");
gvputs(job,
" \"http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd\">\n");
#endif
gvputs(job, "<!-- Generated by ");
gvputs(job, xml_string(job->common->info[0]));
gvputs(job, " version ");
gvputs(job, xml_string(job->common->info[1]));
gvputs(job, " (");
gvputs(job, xml_string(job->common->info[2]));
gvputs(job, ")\n");
gvputs(job, " -->\n");
}
void write_tags(const osmium::TagList& tags) {
for (const auto& tag : tags) {
write_prefix();
m_out += " <tag k=\"";
xml_string(m_out, tag.key());
m_out += "\" v=\"";
xml_string(m_out, tag.value());
m_out += "\"/>\n";
}
}
static void svg_begin_cluster(GVJ_t * job)
{
obj_state_t *obj = job->obj;
gvputs(job, "<g id=\"");
gvputs(job, xml_string(obj->id));
gvputs(job, "\" class=\"cluster\">");
gvputs(job, "<title>");
gvputs(job, xml_string(agnameof(obj->u.g)));
gvputs(job, "</title>\n");
}
static void svg_begin_node(GVJ_t * job)
{
obj_state_t *obj = job->obj;
gvputs(job, "<g id=\"");
gvputs(job, xml_string(obj->id));
if (job->layerNum > 1)
gvprintf (job, "_%s", xml_string(job->gvc->layerIDs[job->layerNum]));
gvputs(job, "\" class=\"node\">");
gvputs(job, "<title>");
gvputs(job, xml_string(agnameof(obj->u.n)));
gvputs(job, "</title>\n");
}
static void svg_print_id_class(GVJ_t * job, char* id, char* idx, char* kind, void* obj)
{
char* str;
gvputs(job, "<g id=\"");
gvputs(job, xml_string(id));
if (idx)
gvprintf (job, "_%s", xml_string(idx));
gvprintf(job, "\" class=\"%s", kind);
if ((str = agget(obj, "class")) && *str) {
gvputs(job, " ");
gvputs(job, xml_string(str));
}
gvputs(job, "\"");
}
static void svg_begin_edge(GVJ_t * job)
{
obj_state_t *obj = job->obj;
char *ename;
gvputs(job, "<g id=\"");
gvputs(job, xml_string(obj->id));
gvputs(job, "\" class=\"edge\">");
gvputs(job, "<title>");
ename = strdup_and_subst_obj("\\E", (void *) (obj->u.e));
gvputs(job, xml_string(ename));
free(ename);
gvputs(job, "</title>\n");
}
void relation(const osmium::Relation& relation) {
if (m_write_change_ops) {
open_close_op_tag(relation.visible() ? (relation.version() == 1 ? operation::op_create : operation::op_modify) : operation::op_delete);
}
write_prefix();
m_out += "<relation";
write_meta(relation);
if (relation.tags().empty() && relation.members().empty()) {
m_out += "/>\n";
return;
}
m_out += ">\n";
for (const auto& member : relation.members()) {
write_prefix();
m_out += " <member type=\"";
m_out += item_type_to_name(member.type());
oprintf(m_out, "\" ref=\"%" PRId64 "\" role=\"", member.ref());
xml_string(m_out, member.role());
m_out += "\"/>\n";
}
write_tags(relation.tags());
write_prefix();
m_out += "</relation>\n";
}
static void EmbedText(sdot_op* o, int param)
{
GLfloat x,y;
glColor4f(view->penColor.R,view->penColor.G,view->penColor.B,view->penColor.A);
view->Topview->global_z=view->Topview->global_z+o->layer*LAYER_DIFF+0.05;
switch (o->op.u.text.align)
{
case xd_left:
x=o->op.u.text.x ;
break;
case xd_center:
x=o->op.u.text.x - o->op.u.text.width / 2.0;
break;
case xd_right:
x=o->op.u.text.x - o->op.u.text.width;
break;
}
y=o->op.u.text.y;
if (!o->font)
{
o->font=glNewFont(
view->widgets,
xml_string (o->op.u.text.text),
&view->penColor,
pangotext,
font_op->op.u.font.name,font_op->op.u.font.size,0);
//glNewFont(glCompSet * s, char *text, glCompColor * c, glCompFontType type, char *fontdesc, int fs)*/
}
glCompDrawText3D(o->font,x,y,view->Topview->global_z,o->op.u.text.width,font_op->op.u.font.size);
}
void write_meta(const osmium::OSMObject& object) {
oprintf(m_out, " id=\"%" PRId64 "\"", object.id());
if (object.version()) {
oprintf(m_out, " version=\"%d\"", object.version());
}
if (object.timestamp()) {
m_out += " timestamp=\"";
m_out += object.timestamp().to_iso();
m_out += "\"";
}
if (!object.user_is_anonymous()) {
oprintf(m_out, " uid=\"%d\" user=\"", object.uid());
xml_string(m_out, object.user());
m_out += "\"";
}
if (object.changeset()) {
oprintf(m_out, " changeset=\"%d\"", object.changeset());
}
if (m_write_visible_flag) {
if (object.visible()) {
m_out += " visible=\"true\"";
} else {
m_out += " visible=\"false\"";
}
}
}
static void svg_begin_layer(GVJ_t * job, char *layername, int layerNum,
int numLayers)
{
gvputs(job, "<g id=\"");
gvputs(job, xml_string(layername));
gvputs(job, "\" class=\"layer\">\n");
}
static void svg_begin_graph(GVJ_t * job)
{
obj_state_t *obj = job->obj;
gvputs(job, "<!--");
if (agnameof(obj->u.g)[0]) {
gvputs(job, " Title: ");
gvputs(job, xml_string(agnameof(obj->u.g)));
}
gvprintf(job, " Pages: %d -->\n",
job->pagesArraySize.x * job->pagesArraySize.y);
gvprintf(job, "<svg width=\"%dpt\" height=\"%dpt\"\n",
job->width, job->height);
gvprintf(job, " viewBox=\"%.2f %.2f %.2f %.2f\"",
job->canvasBox.LL.x,
job->canvasBox.LL.y,
job->canvasBox.UR.x,
job->canvasBox.UR.y);
/* namespace of svg */
gvputs(job, " xmlns=\"http://www.w3.org/2000/svg\"");
/* namespace of xlink */
gvputs(job, " xmlns:xlink=\"http://www.w3.org/1999/xlink\"");
gvputs(job, ">\n");
}
bool COfficeFileFormatChecker::isOpenOfficeFlatFormatFile(unsigned char* pBuffer,int dwBytes)
{
const char *odfFormatLine = "office:document xmlns:office=\"urn:oasis:names:tc:opendocument:xmlns:office:1.0\"";
std::string xml_string((char*)pBuffer, dwBytes);
if (std::string::npos == xml_string.find(odfFormatLine))
{
return false;
}
const char *odtFormatLine = "application/vnd.oasis.opendocument.text";
const char *odsFormatLine = "application/vnd.oasis.opendocument.spreadsheet";
const char *odpFormatLine = "application/vnd.oasis.opendocument.presentation";
if (std::string::npos != xml_string.find(odtFormatLine))
{
nFileType = AVS_OFFICESTUDIO_FILE_DOCUMENT_ODT_FLAT;
}
else if (std::string::npos != xml_string.find(odsFormatLine))
{
nFileType = AVS_OFFICESTUDIO_FILE_SPREADSHEET_ODS_FLAT;
}
else if (std::string::npos != xml_string.find(odpFormatLine))
{
nFileType = AVS_OFFICESTUDIO_FILE_PRESENTATION_ODP_FLAT;
}
if (nFileType != AVS_OFFICESTUDIO_FILE_UNKNOWN) return true;
return false;
}
bool treeFromUrdfFile(const string& file, Tree& tree,const bool consider_root_link_inertia)
{
ifstream ifs(file.c_str());
std::string xml_string( (std::istreambuf_iterator<char>(ifs) ),
(std::istreambuf_iterator<char>() ) );
return treeFromUrdfString(xml_string,tree,consider_root_link_inertia);
}
static void
svg_begin_anchor(GVJ_t * job, char *href, char *tooltip, char *target,
char *id)
{
gvputs(job, "<g");
if (id) {
gvputs(job, " id=\"a_");
gvputs(job, xml_string(id));
gvputs(job, "\"");
}
gvputs(job, ">");
gvputs(job, "<a");
#if 0
/* the svg spec implies this can be omitted: http://www.w3.org/TR/SVG/linking.html#Links */
gvputs(job, " xlink:type=\"simple\"");
#endif
if (href && href[0]) {
gvputs(job, " xlink:href=\"");
gvputs(job, href);
gvputs(job, "\"");
}
#if 0
/* linking to itself, just so that it can have a xlink:link in the anchor, seems wrong.
* it changes the behavior in browsers, the link apears in the bottom information bar
*/
else {
assert(id && id[0]); /* there should always be an id available */
gvputs(job, " xlink:href=\"#");
gvputs(job, xml_url_string(href));
gvputs(job, "\"");
}
#endif
if (tooltip && tooltip[0]) {
gvputs(job, " xlink:title=\"");
gvputs(job, xml_string0(tooltip, 1));
gvputs(job, "\"");
}
if (target && target[0]) {
gvputs(job, " target=\"");
gvputs(job, xml_string(target));
gvputs(job, "\"");
}
gvputs(job, ">\n");
}
static void svg_begin_cluster(GVJ_t * job)
{
obj_state_t *obj = job->obj;
svg_print_id_class(job, obj->id, NULL, "cluster", obj->u.sg);
gvputs(job, ">\n");
gvputs(job, "<title>");
gvputs(job, xml_string(agnameof(obj->u.g)));
gvputs(job, "</title>\n");
}
/**
* Must be called before the first use of the Crowd Client.
*/
void crowd_init() {
user_xml_name = xml_string("user");
groups_xml_name = xml_string("groups");
group_xml_name = xml_string("group");
name_xml_name = xml_string("name");
token_xml_name = xml_string("token");
session_xml_name = xml_string("session");
cookie_config_xml_name = xml_string("cookie-config");
secure_xml_name = xml_string("secure");
domain_xml_name = xml_string("domain");
if (curl_global_init(CURL_GLOBAL_ALL) != CURLE_OK) {
fprintf(stderr, PACKAGE_STRING " failed to initialise libcurl.");
exit(1);
}
xmlInitParser();
}
/* svg_begin_page:
* Currently, svg output does not support pages.
* FIX: If implemented, we must guarantee the id is unique.
*/
static void svg_begin_page(GVJ_t * job)
{
obj_state_t *obj = job->obj;
/* its really just a page of the graph, but its still a graph,
* and it is the entire graph if we're not currently paging */
gvputs(job, "<g id=\"");
gvputs(job, xml_string(obj->id));
gvputs(job, "\" class=\"graph\"");
gvprintf(job,
" transform=\"scale(%g %g) rotate(%d) translate(%g %g)\">\n",
job->scale.x, job->scale.y, -job->rotation,
job->translation.x, -job->translation.y);
/* default style */
if (agnameof(obj->u.g)[0]) {
gvputs(job, "<title>");
gvputs(job, xml_string(agnameof(obj->u.g)));
gvputs(job, "</title>\n");
}
}
bool jointPosLimitsFromUrdfFile(const std::string& file,
std::vector<std::string> & joint_names,
KDL::JntArray & min,
KDL::JntArray & max)
{
ifstream ifs(file.c_str());
std::string xml_string( (std::istreambuf_iterator<char>(ifs) ),
(std::istreambuf_iterator<char>() ) );
return jointPosLimitsFromUrdfString(xml_string,joint_names,min,max);
}
static void svg_begin_edge(GVJ_t * job)
{
obj_state_t *obj = job->obj;
char *ename;
svg_print_id_class(job, obj->id, NULL, "edge", obj->u.e);
gvputs(job, ">\n");
gvputs(job, "<title>");
ename = strdup_and_subst_obj("\\E", (void *) (obj->u.e));
gvputs(job, xml_string(ename));
free(ename);
gvputs(job, "</title>\n");
}
static void svg_begin_node(GVJ_t * job)
{
obj_state_t *obj = job->obj;
char* idx;
if (job->layerNum > 1)
idx = job->gvc->layerIDs[job->layerNum];
else
idx = NULL;
svg_print_id_class(job, obj->id, idx, "node", obj->u.n);
gvputs(job, ">\n");
gvputs(job, "<title>");
gvputs(job, xml_string(agnameof(obj->u.n)));
gvputs(job, "</title>\n");
}
void changeset(const osmium::Changeset& changeset) {
write_prefix();
m_out += "<changeset";
oprintf(m_out, " id=\"%" PRId32 "\"", changeset.id());
if (changeset.created_at()) {
m_out += " created_at=\"";
m_out += changeset.created_at().to_iso();
m_out += "\"";
}
oprintf(m_out, " num_changes=\"%" PRId32 "\"", changeset.num_changes());
if (changeset.closed_at()) {
m_out += " closed_at=\"";
m_out += changeset.closed_at().to_iso();
m_out += "\" open=\"false\"";
} else {
m_out += " open=\"true\"";
}
if (changeset.bounds()) {
oprintf(m_out, " min_lon=\"%.7f\"", changeset.bounds().bottom_left().lon_without_check());
oprintf(m_out, " min_lat=\"%.7f\"", changeset.bounds().bottom_left().lat_without_check());
oprintf(m_out, " max_lon=\"%.7f\"", changeset.bounds().top_right().lon_without_check());
oprintf(m_out, " max_lat=\"%.7f\"", changeset.bounds().top_right().lat_without_check());
}
if (!changeset.user_is_anonymous()) {
m_out += " user=\"";
xml_string(m_out, changeset.user());
oprintf(m_out, "\" uid=\"%d\"", changeset.uid());
}
if (changeset.tags().empty()) {
m_out += "/>\n";
return;
}
m_out += ">\n";
write_tags(changeset.tags());
write_prefix();
m_out += "</changeset>\n";
}
static void
svg_bezier(GVJ_t * job, pointf * A, int n, int arrow_at_start,
int arrow_at_end, int filled)
{
int gid = 0;
obj_state_t *obj = job->obj;
if (filled == GRADIENT) {
gid = svg_gradstyle(job, A, n);
} else if (filled == (RGRADIENT)) {
gid = svg_rgradstyle(job, A, n);
}
gvputs(job, "<path");
if (obj->labeledgealigned) {
gvputs(job, " id=\"");
gvputs(job, xml_string(obj->id));
gvputs(job, "_p\" ");
}
svg_grstyle(job, filled, gid);
gvputs(job, " d=\"");
svg_bzptarray(job, A, n);
gvputs(job, "\"/>\n");
}
static boolean pango_textlayout(textpara_t * para, char **fontpath)
{
static char buf[1024]; /* returned in fontpath, only good until next call */
static PangoFontMap *fontmap;
static PangoContext *context;
static PangoFontDescription *desc;
static char *fontname;
static double fontsize;
static gv_font_map* gv_fmap;
char *fnt, *psfnt = NULL;
PangoLayout *layout;
PangoRectangle logical_rect;
cairo_font_options_t* options;
PangoFont *font;
#ifdef ENABLE_PANGO_MARKUP
PangoAttrList *attrs;
GError *error = NULL;
int flags;
#endif
char *text;
double textlayout_scale;
if (!context) {
fontmap = pango_cairo_font_map_new();
gv_fmap = get_font_mapping(fontmap);
context = pango_cairo_font_map_create_context (PANGO_CAIRO_FONT_MAP(fontmap));
options=cairo_font_options_create();
cairo_font_options_set_antialias(options,CAIRO_ANTIALIAS_GRAY);
cairo_font_options_set_hint_style(options,CAIRO_HINT_STYLE_FULL);
cairo_font_options_set_hint_metrics(options,CAIRO_HINT_METRICS_ON);
cairo_font_options_set_subpixel_order(options,CAIRO_SUBPIXEL_ORDER_BGR);
pango_cairo_context_set_font_options(context, options);
pango_cairo_context_set_resolution(context, FONT_DPI);
cairo_font_options_destroy(options);
g_object_unref(fontmap);
}
if (!fontname || strcmp(fontname, para->fontname) != 0 || fontsize != para->fontsize) {
fontname = para->fontname;
fontsize = para->fontsize;
pango_font_description_free (desc);
if (para->postscript_alias) {
psfnt = fnt = gv_fmap[para->postscript_alias->xfig_code].gv_font;
if(!psfnt)
psfnt = fnt = pango_psfontResolve (para->postscript_alias);
}
else
fnt = fontname;
desc = pango_font_description_from_string(fnt);
/* all text layout is done at a scale of FONT_DPI (nominaly 96.) */
pango_font_description_set_size (desc, (gint)(fontsize * PANGO_SCALE));
if (fontpath && (font = pango_font_map_load_font(fontmap, context, desc))) { /* -v support */
const char *fontclass;
fontclass = G_OBJECT_CLASS_NAME(G_OBJECT_GET_CLASS(font));
buf[0] = '\0';
if (psfnt) {
strcat(buf, "(ps:pango ");
strcat(buf, psfnt);
strcat(buf, ") ");
}
strcat(buf, "(");
strcat(buf, fontclass);
strcat(buf, ") ");
#ifdef HAVE_PANGO_FC_FONT_LOCK_FACE
if (strcmp(fontclass, "PangoCairoFcFont") == 0) {
FT_Face face;
PangoFcFont *fcfont;
FT_Stream stream;
FT_StreamDesc streamdesc;
fcfont = PANGO_FC_FONT(font);
face = pango_fc_font_lock_face(fcfont);
if (face) {
strcat(buf, "\"");
strcat(buf, face->family_name);
strcat(buf, ", ");
strcat(buf, face->style_name);
strcat(buf, "\" ");
stream = face->stream;
if (stream) {
streamdesc = stream->pathname;
if (streamdesc.pointer)
strcat(buf, (char*)streamdesc.pointer);
else
strcat(buf, "*no pathname available*");
}
else
strcat(buf, "*no stream available*");
}
pango_fc_font_unlock_face(fcfont);
}
else
#endif
{
PangoFontDescription *tdesc;
char *tfont;
tdesc = pango_font_describe(font);
tfont = pango_font_description_to_string(tdesc);
strcat(buf, "\"");
strcat(buf, tfont);
strcat(buf, "\" ");
g_free(tfont);
}
*fontpath = buf;
}
}
#ifdef ENABLE_PANGO_MARKUP
if ((para->font) && (flags = para->font->flags)) {
unsigned char buf[BUFSIZ];
agxbuf xb;
agxbinit(&xb, BUFSIZ, buf);
agxbput(&xb,"<span");
if (flags & HTML_BF)
agxbput(&xb," weight=\"bold\"");
if (flags & HTML_IF)
agxbput(&xb," style=\"italic\"");
if (flags & HTML_UL)
agxbput(&xb," underline=\"single\"");
if (flags & HTML_S)
agxbput(&xb," strikethrough=\"true\"");
agxbput (&xb,">");
if (flags & HTML_SUP)
agxbput(&xb,"<sup>");
if (flags & HTML_SUB)
agxbput(&xb,"<sub>");
agxbput (&xb,xml_string(para->str));
if (flags & HTML_SUB)
agxbput(&xb,"</sub>");
if (flags & HTML_SUP)
agxbput(&xb,"</sup>");
agxbput (&xb,"</span>");
if (!pango_parse_markup (agxbuse(&xb), -1, 0, &attrs, &text, NULL, &error)) {
fprintf (stderr, "Error - pango_parse_markup: %s\n", error->message);
text = para->str;
attrs = NULL;
}
agxbfree (&xb);
}
else {
text = para->str;
attrs = NULL;
}
#else
text = para->str;
#endif
layout = pango_layout_new (context);
para->layout = (void *)layout; /* layout free with textpara - see labels.c */
para->free_layout = pango_free_layout; /* function for freeing pango layout */
pango_layout_set_text (layout, text, -1);
pango_layout_set_font_description (layout, desc);
#ifdef ENABLE_PANGO_MARKUP
if (attrs)
pango_layout_set_attributes (layout, attrs);
#endif
pango_layout_get_extents (layout, NULL, &logical_rect);
/* if pango doesn't like the font then it sets width=0 but height = garbage */
if (logical_rect.width == 0)
logical_rect.height = 0;
textlayout_scale = POINTS_PER_INCH / (FONT_DPI * PANGO_SCALE);
para->width = (int)(logical_rect.width * textlayout_scale + 1); /* round up so that width/height are never too small */
para->height = (int)(logical_rect.height * textlayout_scale + 1);
/* FIXME -- Horrible kluge !!! */
/* For now we are using pango for single line blocks only.
* The logical_rect.height seems to be too high from the font metrics on some platforms.
* Use an assumed height based on the point size.
*/
para->height = (int)(para->fontsize * 1.1 + .5);
/* The y offset from baseline to 0,0 of the bitmap representation */
#if defined PANGO_VERSION_MAJOR && (PANGO_VERSION_MAJOR >= 1)
para->yoffset_layout = pango_layout_get_baseline (layout) * textlayout_scale;
#else
{
/* do it the hard way on rhel5/centos5 */
PangoLayoutIter *iter = pango_layout_get_iter (layout);
para->yoffset_layout = pango_layout_iter_get_baseline (iter) * textlayout_scale;
}
#endif
/* The distance below midline for y centering of text strings */
para->yoffset_centerline = 0.2 * para->fontsize;
if (logical_rect.width == 0)
return FALSE;
return TRUE;
}
static void svg_textspan(GVJ_t * job, pointf p, textspan_t * span)
{
obj_state_t *obj = job->obj;
PostscriptAlias *pA;
char *family = NULL, *weight = NULL, *stretch = NULL, *style = NULL;
unsigned int flags;
gvputs(job, "<text");
switch (span->just) {
case 'l':
gvputs(job, " text-anchor=\"start\"");
break;
case 'r':
gvputs(job, " text-anchor=\"end\"");
break;
default:
case 'n':
gvputs(job, " text-anchor=\"middle\"");
break;
}
p.y += span->yoffset_centerline;
if (!obj->labeledgealigned)
gvprintf(job, " x=\"%g\" y=\"%g\"", p.x, -p.y);
pA = span->font->postscript_alias;
if (pA) {
switch (GD_fontnames(job->gvc->g)) {
case PSFONTS:
family = pA->name;
weight = pA->weight;
style = pA->style;
break;
case SVGFONTS:
family = pA->svg_font_family;
weight = pA->svg_font_weight;
style = pA->svg_font_style;
break;
default:
case NATIVEFONTS:
family = pA->family;
weight = pA->weight;
style = pA->style;
break;
}
stretch = pA->stretch;
gvprintf(job, " font-family=\"%s", family);
if (pA->svg_font_family)
gvprintf(job, ",%s", pA->svg_font_family);
gvputs(job, "\"");
if (weight)
gvprintf(job, " font-weight=\"%s\"", weight);
if (stretch)
gvprintf(job, " font-stretch=\"%s\"", stretch);
if (style)
gvprintf(job, " font-style=\"%s\"", style);
} else
gvprintf(job, " font-family=\"%s\"", span->font->name);
if ((span->font) && (flags = span->font->flags)) {
if ((flags & HTML_BF) && !weight)
gvprintf(job, " font-weight=\"bold\"");
if ((flags & HTML_IF) && !style)
gvprintf(job, " font-style=\"italic\"");
if ((flags & (HTML_UL|HTML_S|HTML_OL))) {
int comma = 0;
gvprintf(job, " text-decoration=\"");
if ((flags & HTML_UL)) {
gvprintf(job, "underline");
comma = 1;
}
if ((flags & HTML_OL)) {
gvprintf(job, "%soverline", (comma?",":""));
comma = 1;
}
if ((flags & HTML_S))
gvprintf(job, "%sline-through", (comma?",":""));
gvprintf(job, "\"");
}
if ((flags & HTML_SUP))
gvprintf(job, " baseline-shift=\"super\"");
if ((flags & HTML_SUB))
gvprintf(job, " baseline-shift=\"sub\"");
}
gvprintf(job, " font-size=\"%.2f\"", span->font->size);
switch (obj->pencolor.type) {
case COLOR_STRING:
if (strcasecmp(obj->pencolor.u.string, "black"))
gvprintf(job, " fill=\"%s\"", obj->pencolor.u.string);
break;
case RGBA_BYTE:
gvprintf(job, " fill=\"#%02x%02x%02x\"",
obj->pencolor.u.rgba[0], obj->pencolor.u.rgba[1],
obj->pencolor.u.rgba[2]);
break;
default:
assert(0); /* internal error */
}
gvputs(job, ">");
if (obj->labeledgealigned) {
gvprintf (job, "<textPath xlink:href=\"#%s_p\" startOffset=\"50%%\">", xml_string(obj->id));
gvprintf (job, "<tspan x=\"0\" dy=\"%g\">", -p.y);
}
gvputs(job, xml_string0(span->str, TRUE));
if (obj->labeledgealigned)
gvprintf (job, "</tspan></textPath>");
gvputs(job, "</text>\n");
}
void Run::Print(GVJ_t* job, unsigned int index) const
{
gvprintf(job, "<pp IX='%d'/><cp IX='%d'/>%s\n", index, index, _text ? xml_string(_text) : ""); /* para mark + char mark + actual text */
}
int createModel(std::string model_name,
double pos_x, double pos_y, double pos_z,
double orient_x, double orient_y, double orient_z,
double orient_w, double is_static,
std::string path){
/// Сначала сделаем такую штуку
// Пусть у нас будет создан узел, РосНод к кторому будем постоянно подключаться чтобы не плоожить нового.
//Каждый раз когда функция вызвается будем создавать топик и подключаться к соответствующей службе
// Теперь.
// Мы начинаем разбирать что е будет делать криэйтМодел()
//
// Создаем службу к которой будем подключаться с топиком по созданию моделей.
// Записываем в структуру что будем отправлять у нас 8 параметров, которые не надо особо преобразовывать, просто правильно записать.
// И их будем отправлять.
//
// Так вот дальше мы смотрим путь до файла.
// По идее если мы просто собираем нашу модель, то нам нужно создать строковую переменную в которой сформируем ХМЛ код модели
// Создали модель и в сетку столкновений вставляем имя модели с .stl а в визуализацию файл с .dae
// Ну и теперь все это собрали и запихиваем
// и отправляем через srvice.call()
//// Try To Spawn MODELS
// string model_name # name of the model to be spawn
// string model_xml # this should be an urdf or gazebo xml
// string robot_namespace # spawn robot and all ROS interfaces under this namespace
// geometry_msgs/Pose initial_pose # only applied to canonical body
// string reference_frame # initial_pose is defined relative to the frame of this model/body
// # if left empty or "world", then gazebo world frame is used
// # if non-existent model/body is specified, an error is returned
// # and the model is not spawned
// ---
// bool success # return true if spawn successful
// string status_message # comments if available
printf("%s\n","CreateModel Called" );
ros::NodeHandle node_to_spawn_model;
ros::ServiceClient service_to_spawn_model = node_to_spawn_model.serviceClient<gazebo_msgs::SpawnModel>("/gazebo/spawn_sdf_model");
gazebo_msgs::SpawnModel new_model_data;
geometry_msgs::Pose model_position;
model_position.position.x = pos_x;
model_position.position.y = pos_y;
model_position.position.z = pos_z;
model_position.orientation.x = orient_x;
model_position.orientation.y = orient_y;
model_position.orientation.z = orient_z;
model_position.orientation.w = 1.0;
///////////////////////////////////////// FILE CONNECT
///// Connect To Files
std::string xml_string("");
FILE* pointer_to_file;
pointer_to_file = fopen(path.c_str(), "r+");
if (pointer_to_file != NULL) {
// Чтение из файла
while(!feof(pointer_to_file)){
char _mystring [100];
fgets (_mystring , 100 , pointer_to_file);
xml_string.append(_mystring);
}
fclose(pointer_to_file);
} else {
fclose(pointer_to_file);
return 2;
}
/////////////////////////////////////////
//
std::string true_str("true");
std::string false_str("false");
int start_pos = xml_string.find("<static>") + STATIC_POSITION_OFFSET;
int end_pos = xml_string.find("</static>");
if ( start_pos != std::string::npos){
if (is_static)
{
xml_string.replace(start_pos, end_pos - start_pos, true_str );
}
else {
xml_string.replace(start_pos, end_pos - start_pos, false_str );
}
}
else {
std::string static_true_str("<static>true</static>");
std::string static_false_str("<static>false</static>");
start_pos = xml_string.find("</model>");
if (is_static)
{
xml_string.insert(start_pos, static_true_str );
}
else {
xml_string.insert(start_pos, static_false_str );
}
}
//////////////////////////////////////////////////////
new_model_data.request.model_xml = xml_string;
new_model_data.request.model_name = model_name;
new_model_data.request.initial_pose = model_position;
if (service_to_spawn_model.call(new_model_data))
{
geometry_msgs::Twist twist;
twist.linear.x = 0.0;
twist.linear.y = 0.0;
twist.linear.z = 0.0;
twist.angular.x = 0.0;
twist.angular.y = 0.0;
twist.angular.z = 0.0;
ModelPosition *etalon_model_position = new ModelPosition(model_name, model_position, twist);
ros::NodeHandle node_to_get_model_coords;
ros::ServiceClient service_to_get_model_coords
= node_to_get_model_coords.serviceClient<gazebo_msgs::GetModelState>("/gazebo/get_model_state");
gazebo_msgs::GetModelState model_data;
model_data.request.model_name = model_name;
usleep(50000);
int error_with_model_created = service_to_get_model_coords.call(model_data);
ModelPosition *actual_model_position;
if (error_with_model_created){
actual_model_position = new ModelPosition(model_name, model_data.response.pose, model_data.response.twist);
if (!etalon_model_position->isEqualToEtalon(actual_model_position))
{return 3;}
}
else{ return 6;}
// Test Other Models
delete actual_model_position;
CHECK_OTHER_MODELS_POSITIONS;
gl_map_of_models_positions[model_name] = etalon_model_position;
return 0;
}
else
{ return 1; }
};
static void map_output_shape (GVJ_t *job, map_shape_t map_shape, pointf * AF, int nump,
char* url, char *tooltip, char *target)
{
int i;
static point *A;
static int size_A;
if (!AF || !nump)
return;
if (size_A < nump) {
size_A = nump + 10;
A = realloc(A, size_A * sizeof(point));
}
for (i = 0; i < nump; i++)
PF2P(AF[i], A[i]);
if (job->render.id == FORMAT_IMAP && url && url[0]) {
switch (map_shape) {
case MAP_RECTANGLE:
/* Y_GOES_DOWN so need UL to LR */
core_printf(job, "rect %s %d,%d %d,%d\n", url,
A[0].x, A[1].y, A[1].x, A[0].y);
break;
case MAP_CIRCLE:
core_printf(job, "circle %s %d,%d,%d\n", url,
A[0].x, A[0].y, A[1].x-A[0].x);
break;
case MAP_POLYGON:
core_printf(job, "poly %s", url);
for (i = 0; i < nump; i++)
core_printf(job, " %d,%d", A[i].x, A[i].y);
core_fputs(job, "\n");
break;
default:
assert(0);
break;
}
} else if (job->render.id == FORMAT_ISMAP && url && url[0]) {
switch (map_shape) {
case MAP_RECTANGLE:
/* Y_GOES_DOWN so need UL to LR */
core_printf(job, "rectangle (%d,%d) (%d,%d) %s %s\n",
A[0].x, A[1].y, A[1].x, A[0].y, url, tooltip);
break;
default:
assert(0);
break;
}
} else if (job->render.id == FORMAT_CMAP || job->render.id == FORMAT_CMAPX) {
switch (map_shape) {
case MAP_CIRCLE:
core_fputs(job, "<area shape=\"circle\"");
break;
case MAP_RECTANGLE:
core_fputs(job, "<area shape=\"rect\"");
break;
case MAP_POLYGON:
core_fputs(job, "<area shape=\"poly\"");
break;
default:
assert(0);
break;
}
if (url && url[0]) {
core_fputs(job, " href=\"");
core_fputs(job, xml_string(url));
core_fputs(job, "\"");
}
if (target && target[0]) {
core_fputs(job, " target=\"");
core_fputs(job, xml_string(target));
core_fputs(job, "\"");
}
if (tooltip && tooltip[0]) {
core_fputs(job, " title=\"");
core_fputs(job, xml_string(tooltip));
core_fputs(job, "\"");
}
/*
* alt text is intended for the visually impaired, but such
* folk are not likely to be clicking around on a graph anyway.
* IE on the PC platform (but not on Macs) incorrectly
* uses (non-empty) alt strings instead of title strings for tooltips.
* To make tooltips work and avoid this IE issue,
* while still satisfying usability guidelines
* that require that there is always an alt string,
* we generate just an empty alt string.
*/
core_fputs(job, " alt=\"\"");
core_fputs(job, " coords=\"");
switch (map_shape) {
case MAP_CIRCLE:
core_printf(job, "%d,%d,%d", A[0].x, A[0].y, A[1].x);
break;
case MAP_RECTANGLE:
/* Y_GOES_DOWN so need UL to LR */
core_printf(job, "%d,%d,%d,%d", A[0].x, A[1].y, A[1].x, A[0].y);
break;
case MAP_POLYGON:
core_printf(job, "%d,%d", A[0].x, A[0].y);
for (i = 1; i < nump; i++)
core_printf(job, " %d,%d", A[i].x, A[i].y);
break;
default:
break;
}
if (job->render.id == FORMAT_CMAPX)
core_fputs(job, "\"/>\n");
else
core_fputs(job, "\">\n");
}
}
static void svg_comment(GVJ_t * job, char *str)
{
gvputs(job, "<!-- ");
gvputs(job, xml_string(str));
gvputs(job, " -->\n");
}
