hekateros::HekXmlCfg Class Reference

HekXmlCfg Hekateros XML configuration class. More...

#include <hekXmlCfg.h>

Inheritance diagram for hekateros::HekXmlCfg:

Public Member Functions
	HekXmlCfg ()
	Default constructor.
virtual	~HekXmlCfg ()
	Destructor.
virtual int	load (HekDesc &desc, const std::string &strSearchPath=HekSysCfgPath, const std::string &strXmlFileName=HekEtcCfg, bool bAllInstances=false)
	Load XML file into DOM and set the Hekateros description. More...
virtual int	loadFile (const std::string &strXmlFileName=HekEtcCfg)
	Load XML file into DOM. More...
virtual int	loadFile (HekDesc &desc, const std::string &strXmlFileName=HekEtcCfg)
	Load XML file into DOM and set the Hekateros description. More...
virtual int	saveFile (const std::string &strXmlFileName=HekEtcCfg)
	Save DOM to XML file. More...
virtual int	saveFile (const HekDesc &desc, const std::string &strXmlFileName=HekEtcCfg)
	Set DOM from Hekateros description and save XML file. More...
virtual int	createTemplateFile (const std::string &strXmlFileName=HekEtcCfg)
	Create a template Hekateros XML configuration file. More...
virtual int	setHekDescFromDOM (HekDesc &desc)
	Set Hekateros description for DOM. More...
virtual int	setDOMFromHekDesc (const HekDesc &desc)
	Set the DOM from the Hekateros description. More...

Protected Member Functions
virtual int	setHekArmDescFromDOM (TiXmlElement *pElemMaj, HekDescArm *pDesc)
	Set Hekateros robotic base description from the DOM. More...
virtual int	setHekEEDescFromDOM (TiXmlElement *pElemMaj, HekDescEE *pDesc)
	Set Hekateros end effector description for DOM. More...
int	strToProdSizeCode (const std::string &str, int &val)
	Convert string to Hekateros product size code. More...
int	prodSizeToStr (const int val, std::string &str)
	Convert product size to string equivalent. More...

Protected Attributes
std::string	m_strMajElemArm
	robotic arm major element name
std::string	m_strMajElemEE
	end effector major element name
std::string	m_strAttrProdId
	product id attribute name
std::string	m_strElemProdName
	product name element name
std::string	m_strElemProdBrief
	product brief element name
std::string	m_strElemProdHwVer
	product hardware version element name
std::string	m_strElemProdDoF
	egrees of freedom element name
std::string	m_strElemProdSize
	product size element name

Detailed Description

HekXmlCfg Hekateros XML configuration class.

Definition at line 73 of file hekXmlCfg.h.

Member Function Documentation

int HekXmlCfg::createTemplateFile ( const std::string &  strXmlFileName = HekEtcCfg )

virtual

Create a template Hekateros XML configuration file.

Any current DOM is not accessed nor altered.

Parameters

strXmlFileName

XML file path name.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 128 of file hekXmlCfg.cxx.

Referenced by saveFile().

{
  FILE       *fp;

  if( strXmlFileName.empty() )
  {
    setErrorMsg("No file name.");
    LOGERROR("%s", m_bufErrMsg);
    return -HEK_ECODE_XML;
  }

  m_strXmlFileName = strXmlFileName;

  // open file
  if( (fp = fopen(m_strXmlFileName.c_str(), "w+")) == NULL )
  {
    setErrorMsg("%s: %s(errno=%d).",
        m_strXmlFileName.c_str(), strerror(errno), errno);
    LOGERROR("%s", m_bufErrMsg);
    return -HEK_ECODE_XML;
  }

  makeXmlHead();
  makeXmlTail();

  //
  // XML head.
  //
  fprintf(fp, "  <!-- RoadNarrows Hekateros Top-Level Configuration -->\n");
  fprintf(fp, "%s", m_strXmlHead.c_str());

  //
  // Robotic base major element.
  //
  fprintf(fp, "  <!-- Hekateros robotic base -->\n");
  fprintf(fp, "  <%s product_id=\"PRODID\">\n", m_strMajElemArm.c_str());

  fprintf(fp, "    <%s>PRODNAME</%s>\n",
      m_strElemProdName.c_str(), m_strElemProdName.c_str());

  fprintf(fp, "    <%s>\n    PRODBRIEF\n    </%s>\n",
      m_strElemProdBrief.c_str(), m_strElemProdBrief.c_str());

  fprintf(fp, "    <%s>PRODHWVER</%s>\n",
      m_strElemProdHwVer.c_str(), m_strElemProdHwVer.c_str());

  fprintf(fp, "    <%s>DOF</%s>\n",
      m_strElemProdDoF.c_str(), m_strElemProdDoF.c_str());

  fprintf(fp, "    <%s>PRODSIZE</%s>\n",
      m_strElemProdSize.c_str(), m_strElemProdSize.c_str());

  fprintf(fp, "  </%s>\n\n", m_strMajElemArm.c_str());

  //
  // End effector major element.
  //
  fprintf(fp, "  <!-- Hekateros end effector tool -->\n");
  fprintf(fp, "  <%s product_id=\"EEPRODID\">\n", m_strMajElemEE.c_str());

  fprintf(fp, "    <%s>PRODNAME</%s>\n",
      m_strElemProdName.c_str(), m_strElemProdName.c_str());

  fprintf(fp, "    <%s>\n    EEPRODBRIEF\n    </%s>\n",
      m_strElemProdBrief.c_str(), m_strElemProdBrief.c_str());

  fprintf(fp, "    <%s>EEPRODHWVER</%s>\n",
      m_strElemProdHwVer.c_str(), m_strElemProdHwVer.c_str());

  fprintf(fp, "    <%s>EEDOF</%s>\n",
      m_strElemProdDoF.c_str(), m_strElemProdDoF.c_str());

  fprintf(fp, "    <%s>EEPRODSIZE</%s>\n",
      m_strElemProdSize.c_str(), m_strElemProdSize.c_str());

  fprintf(fp, "  </%s>\n\n", m_strMajElemEE.c_str());


  //
  // XML tail
  //
  fprintf(fp, "%s", m_strXmlTail.c_str());

  fclose(fp);

  LOGDIAG3("Created file %s.", m_strXmlFileName.c_str());

  return HEK_OK;
}

int HekXmlCfg::load ( HekDesc &  desc, const std::string &  strSearchPath = HekSysCfgPath, const std::string &  strXmlFileName = HekEtcCfg, bool  bAllInstances = false  )

virtual

Load XML file into DOM and set the Hekateros description.

Parameters

[out]

desc

Definition at line 69 of file hekXmlCfg.cxx.

References hekateros::split().

Referenced by ~HekXmlCfg().

{
  vector<string>  vecPath;          // vector of search paths
  string          fqname;           // fully qualified file name
  bool            bFoundInstance;   // [not] found instance
  size_t          i;                // working index
  int             rc;               // return code

  split(strSearchPath, ':', vecPath);

  bFoundInstance  = false;
  rc              = HEK_OK;

  for(i=0; i<vecPath.size(); ++i)
  {
    fqname = vecPath[i] + '/' + strXmlFileName;
    if( access(fqname.c_str(), F_OK) == 0 )
    {
      LOGDIAG3("Loading Hekateros description XML file: %s.", fqname.c_str());

      bFoundInstance = true;

      if( (rc = Xml::loadFile(fqname)) < 0 )
      {
        LOGERROR("Parse of Hekateros description from XML file %s failed.",
            fqname.c_str());
        rc = -HEK_ECODE_XML;
      }
      else
      {
        rc = setHekDescFromDOM(desc);
      }

      if( rc == HEK_OK )
      {
        LOGDIAG2("Hekateros description from XML file %s loaded.",
            fqname.c_str());
      }

      if( !bAllInstances )
      {
        break;
      }
    }
  }

  if( !bFoundInstance )
  {
    LOGERROR("XML file %s not found.", strXmlFileName.c_str());
    rc = -HEK_ECODE_XML;
  }

  return rc;
}

virtual int hekateros::HekXmlCfg::loadFile ( const std::string &  strXmlFileName = HekEtcCfg )

inlinevirtual

Load XML file into DOM.

Parameters

strXmlFileName

XML file path name.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 126 of file hekXmlCfg.h.

References hekateros::HEK_ECODE_XML, and hekateros::HEK_OK.

    {
      int   rc;

      rc = Xml::loadFile(strXmlFileName);

      return rc < 0? -HEK_ECODE_XML: HEK_OK;
    }

virtual int hekateros::HekXmlCfg::loadFile ( HekDesc &  desc, const std::string &  strXmlFileName = HekEtcCfg  )

inlinevirtual

Load XML file into DOM and set the Hekateros description.

Parameters

desc

Definition at line 143 of file hekXmlCfg.h.

References hekateros::HEK_ECODE_XML, hekateros::HEK_OK, and setHekDescFromDOM().

    {
      int   rc;

      if( (rc = Xml::loadFile(strXmlFileName)) == OK )
      {
        rc = setHekDescFromDOM(desc);
      }

      return rc < 0? -HEK_ECODE_XML: HEK_OK;
    }

int HekXmlCfg::prodSizeToStr ( const int  val, std::string &  str  )

protected

Convert product size to string equivalent.

Parameters

[in]	val	Product size enumerate.
[out]	str	Converted string equivalent.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 497 of file hekXmlCfg.cxx.

{
  int   rc = HEK_OK;

  switch(val)
  {
    case HekProdSizeUnknown:
      str = "?";
      break;
    case HekProdSizeStd:
      str = "N";
      break;
    case HekProdSizeShort:
      str = "S";
      break;
    case HekProdSizeLong:
      str = "L";
      break;
    default:
      LOGERROR("%c: Unknown product size code.", val);
      rc = -HEK_ECODE_XML;
      break;
  }

  return rc;
}

virtual int hekateros::HekXmlCfg::saveFile ( const std::string &  strXmlFileName = HekEtcCfg )

inlinevirtual

Save DOM to XML file.

Parameters

strXmlFileName

XML file path name.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 163 of file hekXmlCfg.h.

References hekateros::HEK_ECODE_XML, and hekateros::HEK_OK.

    {
      int   rc;

      rc = Xml::saveFile(strXmlFileName);

      return rc < 0? -HEK_ECODE_XML: HEK_OK;
    }

virtual int hekateros::HekXmlCfg::saveFile ( const HekDesc &  desc, const std::string &  strXmlFileName = HekEtcCfg  )

inlinevirtual

Set DOM from Hekateros description and save XML file.

Parameters

desc

Definition at line 180 of file hekXmlCfg.h.

References createTemplateFile(), hekateros::HEK_ECODE_XML, hekateros::HEK_OK, hekateros::HekEtcCfg, setDOMFromHekDesc(), and setHekDescFromDOM().

    {
      int   rc;

      if( (rc = setDOMFromHekDesc(desc)) == HEK_OK )
      {
        rc = Xml::saveFile(strXmlFileName);
      }

      return rc < 0? -HEK_ECODE_XML: HEK_OK;
    }

int HekXmlCfg::setDOMFromHekDesc ( const HekDesc &  desc )

virtual

Set the DOM from the Hekateros description.

Parameters

desc

Definition at line 272 of file hekXmlCfg.cxx.

Referenced by saveFile().

{
  // TODO
  return -HEK_ECODE_GEN;
}

int HekXmlCfg::setHekArmDescFromDOM ( TiXmlElement *  pElemMaj, HekDescArm *  pDesc  )

protectedvirtual

Set Hekateros robotic base description from the DOM.

Parameters

pElemMaj	Pointer to major DOM base description element.
pDesc	Point to Hekateros robotic base description.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 278 of file hekXmlCfg.cxx.

{
  TiXmlElement *pElem;
  const char   *sValue;
  string        str;
  int           eProdId;
  string        strProdName;
  string        strProdBrief;
  string        strHwVer;
  int           nDoF = 0;
  int           eProdSize = HekProdSizeUnknown;
  int           rc;

  if( (rc = strToInt(elemAttr(pElemMaj, m_strAttrProdId), eProdId)) < 0 )
  {
    setErrorMsg("%s: No %s attribute of <%s> found or value not an integer.",
      m_strXmlFileName.c_str(),
      m_strAttrProdId.c_str(),
      m_strMajElemArm.c_str());
    LOGERROR("%s", m_bufErrMsg);
    return -HEK_ECODE_XML;
  }

  // child elements
  for(pElem = pElemMaj->FirstChildElement();
      pElem != NULL;
      pElem = pElem->NextSiblingElement())
  {
    if( (sValue = pElem->Value()) == NULL )
    {
      continue;
    }

    // product name
    else if( !strcasecmp(sValue, m_strElemProdName.c_str()) )
    {
      strProdName = elemText(pElem);
    }

    // product brief
    else if( !strcasecmp(sValue, m_strElemProdBrief.c_str()) )
    {
      strProdBrief = elemText(pElem);
    }

    // product hardware version
    else if( !strcasecmp(sValue, m_strElemProdHwVer.c_str()) )
    {
      strHwVer = elemText(pElem);
    }

    // degrees of freedom
    else if( !strcasecmp(sValue, m_strElemProdDoF.c_str()) )
    {
      str = elemText(pElem);
      if( !str.empty() )
      {
        if( (rc = strToInt(str, nDoF)) < 0 )
        {
          setErrorMsg("%s: Element <%s> text \"%s\" not an integer.",
            m_strXmlFileName.c_str(), m_strElemProdDoF.c_str(), str.c_str());
          LOGERROR("%s", m_bufErrMsg);
          return -HEK_ECODE_XML;
        }
      }
    }

    // product size
    else if( !strcasecmp(sValue, m_strElemProdSize.c_str()) )
    {
      str = elemText(pElem);
      if( !str.empty() )
      {
        if( (rc = strToProdSizeCode(str, eProdSize)) < 0 )
        {
          setErrorMsg("%s: Element <%s> text \"%s\" not a recognized "
                      "product size.",
            m_strXmlFileName.c_str(), m_strElemProdSize.c_str(), str.c_str());
          LOGERROR("%s", m_bufErrMsg);
          return -HEK_ECODE_XML;
        }
      }
    }
  }

  pDesc->setDesc(eProdId, strProdName, strProdBrief, strHwVer, nDoF, eProdSize);

  LOGDIAG3("%s: Hekateros robotic base description set.",
      m_strXmlFileName.c_str());

  return HEK_OK;
}

int HekXmlCfg::setHekDescFromDOM ( HekDesc &  desc )

virtual

Set Hekateros description for DOM.

Parameters

desc

Definition at line 218 of file hekXmlCfg.cxx.

References hekateros::HekDesc::getArmDesc(), hekateros::HekDesc::getEEDesc(), hekateros::HekDescEE::resetDesc(), and hekateros::HekDescArm::resetDesc().

Referenced by loadFile(), and saveFile().

{
  HekDescArm   *pDescArm;
  HekDescEE    *pDescEE;
  TiXmlElement *pElem;
  const char   *sValue;
  const char   *sAttr;
  const char   *sText;
  int           n;
  int           rc;

  //
  // Subsection descriptions.
  //
  pDescArm  = desc.getArmDesc();
  pDescEE   = desc.getEEDesc();

  pDescArm->resetDesc();
  pDescEE->resetDesc();

  if( m_pElemRoot == NULL )
  {
    setErrorMsg("Missing DOM and/or <%s> root element missing.",
       m_strRootElemName.c_str());
    LOGERROR("%s", m_bufErrMsg);
    return -HEK_ECODE_XML;
  }

  // search secion elements
  for(pElem = m_pElemRoot->FirstChildElement();
      pElem != NULL;
      pElem = pElem->NextSiblingElement())
  {
    if( (sValue = pElem->Value()) == NULL )
    {
      continue;
    }

    // robotic base description
    else if( !strcasecmp(sValue, m_strMajElemArm.c_str()) )
    {
      setHekArmDescFromDOM(pElem, pDescArm);
    }

    // end effecotr description
    else if( !strcasecmp(sValue, m_strMajElemEE.c_str()) )
    {
      setHekEEDescFromDOM(pElem, pDescEE);
    }
  }

  return HEK_OK;
}

int HekXmlCfg::setHekEEDescFromDOM ( TiXmlElement *  pElemMaj, HekDescEE *  pDesc  )

protectedvirtual

Set Hekateros end effector description for DOM.

Parameters

pElemMaj	Pointer to major DOM base description element.
pDesc	Point to Hekateros end effector description.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 371 of file hekXmlCfg.cxx.

{
  TiXmlElement *pElem;
  const char   *sValue;
  string        str;
  int           eProdId;
  string        strProdName;
  string        strProdBrief;
  string        strHwVer;
  int           nDoF = 0;
  int           eProdSize = HekProdSizeUnknown;
  int           rc;

  if( (rc = strToInt(elemAttr(pElemMaj, m_strAttrProdId), eProdId)) < 0 )
  {
    setErrorMsg("%s: No %s attribute of <%s> found or value not an integer.",
      m_strXmlFileName.c_str(),
      m_strAttrProdId.c_str(),
      m_strMajElemArm.c_str());
    LOGERROR("%s", m_bufErrMsg);
    return -HEK_ECODE_XML;
  }

  // child elements
  for(pElem = pElemMaj->FirstChildElement();
      pElem != NULL;
      pElem = pElem->NextSiblingElement())
  {
    if( (sValue = pElem->Value()) == NULL )
    {
      continue;
    }

    // product name
    else if( !strcasecmp(sValue, m_strElemProdName.c_str()) )
    {
      strProdName = elemText(pElem);
    }

    // product brief
    else if( !strcasecmp(sValue, m_strElemProdBrief.c_str()) )
    {
      strProdBrief = elemText(pElem);
    }

    // product hardware version
    else if( !strcasecmp(sValue, m_strElemProdHwVer.c_str()) )
    {
      strHwVer = elemText(pElem);
    }

    // degrees of freedom
    else if( !strcasecmp(sValue, m_strElemProdDoF.c_str()) )
    {
      str = elemText(pElem);
      if( !str.empty() )
      {
        if( (rc = strToInt(str, nDoF)) < 0 )
        {
          setErrorMsg("%s: Element <%s> text \"%s\" not an integer.",
            m_strXmlFileName.c_str(), m_strElemProdDoF.c_str(), str.c_str());
          LOGERROR("%s", m_bufErrMsg);
          return -HEK_ECODE_XML;
        }
      }
    }

    // product size
    else if( !strcasecmp(sValue, m_strElemProdSize.c_str()) )
    {
      str = elemText(pElem);
      if( !str.empty() )
      {
        if( (rc = strToProdSizeCode(str, eProdSize)) < 0 )
        {
          setErrorMsg("%s: Element <%s> text \"%s\" not a recognized "
                      "product size.",
            m_strXmlFileName.c_str(), m_strElemProdSize.c_str(), str.c_str());
          LOGERROR("%s", m_bufErrMsg);
          return -HEK_ECODE_XML;
        }
      }
    }
  }

  pDesc->setDesc(eProdId, strProdName, strProdBrief, strHwVer, nDoF, eProdSize);

  LOGDIAG3("%s: Hekateros end effector description set.",
      m_strXmlFileName.c_str());

  return HEK_OK;
}

int HekXmlCfg::strToProdSizeCode ( const std::string &  str, int &  val  )

protected

Convert string to Hekateros product size code.

Parameters

[in]	str	String in hex, decimal, or octal format.
[out]	val	Converted product size.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 464 of file hekXmlCfg.cxx.

{
  int   rc = HEK_OK;

  if( str.empty() )
  {
    val = HekProdSizeUnknown;
  }
  else if( !strcmp(str.c_str(), HekProdSizeStrUnknown) )
  {
    val = HekProdSizeUnknown;
  }
  else if( !strcmp(str.c_str(), HekProdSizeStrStd) )
  {
    val = HekProdSizeStd;
  }
  else if( !strcmp(str.c_str(), HekProdSizeStrShort) )
  {
    val = HekProdSizeShort;
  }
  else if( !strcmp(str.c_str(), HekProdSizeStrLong) )
  {
    val = HekProdSizeLong;
  }
  else
  {
    LOGERROR("%s: Unknown product size code.", str.c_str());
    rc = -HEK_ECODE_XML;
  }

  return rc;
}

---

The documentation for this class was generated from the following files:

• include/Hekateros/hekXmlCfg.h
• sw/libhekateros/hekXmlCfg.cxx