parser.hh

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// Copyright (c) 2014, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_MANIPULATION_PARSER_HH
#define HPP_MANIPULATION_PARSER_HH
 
#include <tinyxml2.h>
 
#include <hpp/manipulation/fwd.hh>
#include <iostream>
#include <list>
#include <map>
#include <string>
 
namespace hpp {
namespace manipulation {
namespace parser {
typedef tinyxml2::XMLElement XMLElement;
typedef tinyxml2::XMLDocument XMLDocument;
typedef tinyxml2::XMLAttribute XMLAttribute;
typedef tinyxml2::XMLNode XMLNode;
typedef tinyxml2::XMLText XMLText;
 
class RootFactory;
 
 
 
class ObjectFactory {
 public:
  typedef std::vector<ObjectFactory*> ObjectFactoryList;
 
  ObjectFactory(ObjectFactory* parent = NULL, const XMLElement* element = NULL);
 
  virtual ~ObjectFactory() {}
 
 
  virtual bool init();
 
  void setAttribute(const XMLAttribute* attr);
 
  virtual void addTextChild(const XMLText* text);
 
  virtual bool finishAttributes();
 
  virtual void finishTags();
 
  virtual void finishFile();
 
 
 
  std::string tagName() const;
 
  std::string name() const;
 
  bool hasAttribute(const std::string& attr) const;
 
  std::string getAttribute(const std::string& attr) const;
 
  ObjectFactoryList getChildrenOfType(std::string type);
 
  bool getChildOfType(std::string type, ObjectFactory*& o);
 
 
  void name(const std::string& n);
 
  void name(const char* n);
 
  template <typename T>
  T* as() {
    if (!dynamic_cast<T*>(this)) {
      std::ostringstream oss;
      oss << "Unexpected tag: " << this->tagName();
      throw std::invalid_argument(oss.str().c_str());
    }
    return static_cast<T*>(this);
  }
 
 protected:
  ObjectFactory(RootFactory* root);
 
  ObjectFactory* parent();
 
  RootFactory* root();
 
  bool hasParent() const;
 
  const XMLElement* XMLelement();
 
  virtual void impl_setAttribute(const XMLAttribute* attr);
 
  void addChild(ObjectFactory* child);
 
  virtual std::ostream& print(std::ostream& os) const;
 
 private:
  ObjectFactory* parent_;
  RootFactory* root_;
  typedef std::map<std::string, ObjectFactoryList> ChildrenMap;
  ChildrenMap children_;
 
  const XMLElement* element_;
 
  typedef std::map<std::string, std::string> AttributeMap;
  AttributeMap attrMap_;
  std::string name_;
  int id_;
 
  friend std::ostream& operator<<(std::ostream&, const ObjectFactory&);
};
 
class RootFactory : public ObjectFactory {
 public:
  virtual ~RootFactory() {}
  RootFactory(const DevicePtr_t dev = DevicePtr_t());
 
  DevicePtr_t device() const;
 
  inline std::string prependPrefix(const std::string& in) const {
    if (prefix_.empty()) return in;
    return prefix_ + in;
  }
 
  inline std::string removePrefix(const std::string& in) const {
    if (prefix_.empty()) return in;
    assert(in.compare(0, prefix_.size(), prefix_) == 0);
    return in.substr(prefix_.size());
  }
 
  void prefix(const std::string& prefix) {
    if (prefix.empty()) return;
    prefix_ = prefix + "/";
  }
 
 private:
  DevicePtr_t device_;
  std::string prefix_;
};
 
 
template <typename T>
ObjectFactory* create(ObjectFactory* parent = NULL,
                      const XMLElement* element = NULL) {
  return new T(parent, element);
}
 
class Parser {
 public:
  typedef ObjectFactory* (*FactoryType)(ObjectFactory*, const XMLElement*);
  typedef ObjectFactory::ObjectFactoryList ObjectFactoryList;
 
  Parser(bool fillWithDefaultFactories = true,
         FactoryType defaultFactory = create<ObjectFactory>);
 
  ~Parser();
 
  void addObjectFactory(const std::string& tagname, FactoryType factory);
 
  void parseString(const std::string& xmlString, DevicePtr_t robot);
 
  void parseFile(const std::string& filename, DevicePtr_t robot);
 
  const ObjectFactoryList& objectFactories() const { return objectFactories_; }
 
  void prefix(const std::string& prefix) { prefix_ = prefix; }
 
 private:
  XMLDocument doc_;
  RootFactory* root_;
  DevicePtr_t device_;
 
  void loadFile(const char* filename);
 
  void loadString(const char* xmlstring);
 
  void parse();
 
  void parseElement(const XMLElement* element, ObjectFactory* parent);
 
  typedef std::map<std::string, FactoryType> ObjectFactoryMap;
  typedef std::pair<std::string, FactoryType> ObjectFactoryPair;
  typedef std::pair<ObjectFactoryMap::iterator, bool> ObjectFactoryInsertRet;
  ObjectFactoryMap objFactoryMap_;
  FactoryType defaultFactory_;
 
  ObjectFactoryList objectFactories_;
 
  std::string prefix_;
 
  std::ostream& print(std::ostream&) const;
  friend std::ostream& operator<<(std::ostream&, const Parser&);
};
 
std::ostream& operator<<(std::ostream&, const ObjectFactory&);
std::ostream& operator<<(std::ostream&, const Parser&);
}  // namespace parser
}  // namespace manipulation
}  // namespace hpp
 
#endif  //  HPP_MANIPULATION_PARSER_HH