laelaps::LaeXmlCfg Class Reference

LaeXmlCfg Laelaps XML configuration class. More...

#include <laeXmlCfg.h>

Inheritance diagram for laelaps::LaeXmlCfg:

Public Member Functions
	LaeXmlCfg ()
	Default constructor.
virtual	~LaeXmlCfg ()
	Destructor.
virtual int	load (LaeDesc &desc, const std::string &strSearchPath, const std::string &strXmlFileName, bool bAllInstances=false)
	Load XML file into DOM and set the Laelaps description. More...
virtual int	loadFile (const std::string &strXmlFileName=LaeEtcCfg)
	Load XML file into DOM. More...
virtual int	loadFile (LaeDesc &desc, const std::string &strXmlFileName=LaeEtcCfg)
	Load XML file into DOM and set the Laelaps description. More...
virtual int	saveFile (const std::string &strXmlFileName=LaeEtcCfg)
	Save DOM to XML file. More...
virtual int	saveFile (const LaeDesc &desc, const std::string &strXmlFileName=LaeEtcCfg)
	Set DOM from Laelaps description and save XML file. More...
virtual int	createTemplateFile (const std::string &strXmlFileName=LaeEtcCfg)
	Create a template Laelaps XML configuration file. root element. More...
virtual int	setDescFromDOM (LaeDesc &desc)
	Set Laelaps description for DOM. More...
virtual int	setDOMFromDesc (const LaeDesc &desc)
	Set the DOM from the Laelaps description. More...

Protected Member Functions
virtual int	setBaseDesc (TiXmlElement *pElemMaj, LaeDesc &desc)
	Set Laelaps robotic base description for DOM. More...
virtual int	setOptionsDesc (TiXmlElement *pElemMaj, LaeDesc &desc)
	Set Laelaps package options descriptions for DOM. More...
void	warnUnknownElem (const std::string &strElem)
	Warn on unknown element. More...

Protected Attributes
std::string	m_strMajElemBase
	robotic base major element name
std::string	m_strMajElemOptions
	package options major element name

Detailed Description

LaeXmlCfg Laelaps XML configuration class.

Definition at line 71 of file laeXmlCfg.h.

Member Function Documentation

int LaeXmlCfg::createTemplateFile ( const std::string &  strXmlFileName = LaeEtcCfg )

virtual

Create a template Laelaps XML configuration file. root element.

Any current DOM is not accessed nor altered.

Parameters

strXmlFileName

XML file path name.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 167 of file laeXmlCfg.cxx.

Referenced by ~LaeXmlCfg().

{
  FILE       *fp;     // opened file pointer

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

  makeXmlHead();
  makeXmlTail();

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

  //
  // Robotic base major element.
  //
  fprintf(fp, "  <!-- Laelaps robotic mobile base -->\n");
  fprintf(fp, "  <%s>\n", m_strMajElemBase.c_str());

  fprintf(fp, "    <!-- DESCRIPTION ELEMENTS HERE -->\n");

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

  //
  // Package options major element.
  //
  fprintf(fp, "  <!-- Laelaps package options -->\n");
  fprintf(fp, "  <%s>\n", m_strMajElemOptions.c_str());

  fprintf(fp, "    <!-- OPTION ELEMENTS HERE -->\n");

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

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

  fclose(fp);

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

  return LAE_OK;
}

int LaeXmlCfg::load ( LaeDesc &  desc, const std::string &  strSearchPath, const std::string &  strXmlFileName, bool  bAllInstances = false  )

virtual

Load XML file into DOM and set the Laelaps description.

Parameters

[out]

desc

Definition at line 65 of file laeXmlCfg.cxx.

References laelaps::LaeDesc::clear(), and laelaps::split().

Referenced by ~LaeXmlCfg().

{
  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              = LAE_OK;

  desc.clear();

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

      bFoundInstance = true;

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

      if( rc == LAE_OK )
      {
        LOGDIAG2("Loaded Laelaps description from XML file %s.",
            fqname.c_str());
      }

      if( !bAllInstances )
      {
        break;
      }
    }
  }

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

  return rc;
}

virtual int laelaps::LaeXmlCfg::loadFile ( const std::string &  strXmlFileName = LaeEtcCfg )

virtual

Load XML file into DOM.

Parameters

strXmlFileName

XML file path name.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Referenced by main(), mainInit(), and ~LaeXmlCfg().

virtual int laelaps::LaeXmlCfg::loadFile ( LaeDesc &  desc, const std::string &  strXmlFileName = LaeEtcCfg  )

virtual

Load XML file into DOM and set the Laelaps description.

Parameters

desc

virtual int laelaps::LaeXmlCfg::saveFile ( const std::string &  strXmlFileName = LaeEtcCfg )

virtual

Save DOM to XML file.

Parameters

strXmlFileName

XML file path name.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Referenced by ~LaeXmlCfg().

virtual int laelaps::LaeXmlCfg::saveFile ( const LaeDesc &  desc, const std::string &  strXmlFileName = LaeEtcCfg  )

virtual

Set DOM from Laelaps description and save XML file.

Parameters

desc

int LaeXmlCfg::setBaseDesc ( TiXmlElement *  pElemMaj, LaeDesc &  desc  )

protectedvirtual

Set Laelaps robotic base description for DOM.

Parameters

pElemMaj	Pointer to major DOM base description element.
desc

Definition at line 279 of file laeXmlCfg.cxx.

References laelaps::LaeDesc::m_eProdId, laelaps::LaeDesc::m_strProdBrief, laelaps::LaeDesc::m_strProdFamily, laelaps::LaeDesc::m_strProdHwVer, laelaps::LaeDesc::m_strProdModel, laelaps::LaeDesc::m_strProdName, laelaps::LaeDesc::m_uProdHwVer, and laelaps::strToVersion().

{
  // sub-elements
  string strAttrProdId("product_id");
  string strElemProdName("product_name");
  string strElemProdBrief("product_brief");
  string strElemProdFamily("product_family");
  string strElemProdModel("product_model");
  string strElemProdHwVer("hw_version");

  TiXmlElement *pElem;
  const char   *sValue;
  string        str;
  int           iVal;
  int           rc;

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

  desc.m_eProdId = iVal;

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

    // product name
    else if( !strcasecmp(sValue, strElemProdName.c_str()) )
    {
      desc.m_strProdName = elemText(pElem);
    }

    // product brief
    else if( !strcasecmp(sValue, strElemProdBrief.c_str()) )
    {
      desc.m_strProdBrief = elemText(pElem);
    }

    // product family
    else if( !strcasecmp(sValue, strElemProdFamily.c_str()) )
    {
      desc.m_strProdFamily = elemText(pElem);
    }

    // product model
    else if( !strcasecmp(sValue, strElemProdModel.c_str()) )
    {
      desc.m_strProdModel = elemText(pElem);
    }

    // product hardware version
    else if( !strcasecmp(sValue, strElemProdHwVer.c_str()) )
    {
      desc.m_strProdHwVer = elemText(pElem);
      desc.m_uProdHwVer   = strToVersion(desc.m_strProdHwVer);
    }

    else
    {
      warnUnknownElem(sValue);
    }
  }

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

  return LAE_OK;
}

int LaeXmlCfg::setDescFromDOM ( LaeDesc &  desc )

virtual

Set Laelaps description for DOM.

Parameters

desc

Definition at line 230 of file laeXmlCfg.cxx.

Referenced by ~LaeXmlCfg().

{
  TiXmlElement *pElem;
  const char   *sValue;
  const char   *sAttr;
  const char   *sText;
  int           n;
  int           rc;

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

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

    // robotic base description
    if( !strcasecmp(sValue, m_strMajElemBase.c_str()) )
    {
      setBaseDesc(pElem, desc);
    }

    // robotic package options descriptions
    else if( !strcasecmp(sValue, m_strMajElemOptions.c_str()) )
    {
      setOptionsDesc(pElem, desc);
    }

    else
    {
      warnUnknownElem(sValue);
    }
  }

  return LAE_OK;
}

int LaeXmlCfg::setDOMFromDesc ( const LaeDesc &  desc )

virtual

Set the DOM from the Laelaps description.

Parameters

desc

Definition at line 427 of file laeXmlCfg.cxx.

Referenced by ~LaeXmlCfg().

{
  // TODO
  return -LAE_ECODE_GEN;
}

int LaeXmlCfg::setOptionsDesc ( TiXmlElement *  pElemMaj, LaeDesc &  desc  )

protectedvirtual

Set Laelaps package options descriptions for DOM.

Parameters

pElemMaj	Pointer to major DOM base description element.
desc

Definition at line 360 of file laeXmlCfg.cxx.

References laelaps::LaeDescOptions::m_strPkgFCam, and laelaps::LaeDescOptions::m_strPkgToF.

{
  // sub-elements
  string strElemOptToF("tof_option");
  string strElemOptFCam("fcam_option");

  TiXmlElement *pElem;
  const char   *sValue;
  string        strText;

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

    // time-of-flight range sensor package
    else if( !strcasecmp(sValue, strElemOptToF.c_str()) )
    {
      strText = elemText(pElem);
      if( !strcasecmp(strText.c_str(), LaeDescOptions::PkgOptStd) )
      {
        desc.m_options.m_strPkgToF = LaeDescOptions::PkgOptStd;
      }
      else if( !strcasecmp(strText.c_str(), LaeDescOptions::PkgOptDeluxe) )
      {
        desc.m_options.m_strPkgToF = LaeDescOptions::PkgOptDeluxe;
      }
      else
      {
        LOGWARN("%s: unknown %s package option - assuming %s.",
            strText.c_str(), strElemOptToF.c_str(), LaeDescOptions::PkgOptStd);
        desc.m_options.m_strPkgToF = LaeDescOptions::PkgOptStd;
      }
    }

    // front camera sensor package
    else if( !strcasecmp(sValue, strElemOptFCam.c_str()) )
    {
      strText = elemText(pElem);
      if( !strcasecmp(strText.c_str(), LaeDescOptions::PkgOptStd) )
      {
        desc.m_options.m_strPkgFCam = LaeDescOptions::PkgOptStd;
      }
      else
      {
        LOGWARN("%s: unknown %s package option - assuming %s.",
            strText.c_str(), strElemOptFCam.c_str(), LaeDescOptions::PkgOptStd);
        desc.m_options.m_strPkgFCam = LaeDescOptions::PkgOptStd;
      }
    }

    else
    {
      warnUnknownElem(sValue);
    }
  }

  LOGDIAG3("%s: Laelaps package options set.", m_strXmlFileName.c_str());

  return LAE_OK;
}

void laelaps::LaeXmlCfg::warnUnknownElem ( const std::string &  strElem )

inlineprotected

Warn on unknown element.

Parameters

strElem

Element name.

Definition at line 212 of file laeXmlCfg.h.

    {
      setErrorMsg("%s: Element <%s> unknown - ignoring.",
            m_strXmlFileName.c_str(), strElem.c_str());
      LOGWARN("%s", m_bufErrMsg);
    }

---

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

• include/Laelaps/laeXmlCfg.h
• sw/liblaelaps/laeXmlCfg.cxx