GCC Code Coverage Report

Directory: ./
File: include/hpp/manipulation/parser/parser.hh
Date: 2025-06-05 11:04:44
Exec Total Coverage
Lines: 15 19 78.9%
Functions: 12 15 80.0%
Branches: 8 27 29.6%
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1 // Copyright (c) 2014, LAAS-CNRS
2 // Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3 //
4
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are
7 // met:
8 //
9 // 1. Redistributions of source code must retain the above copyright
10 // notice, this list of conditions and the following disclaimer.
11 //
12 // 2. Redistributions in binary form must reproduce the above copyright
13 // notice, this list of conditions and the following disclaimer in the
14 // documentation and/or other materials provided with the distribution.
15 //
16 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17 // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
18 // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19 // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20 // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
21 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
22 // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23 // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24 // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
27 // DAMAGE.
28
29 #ifndef HPP_MANIPULATION_PARSER_HH
30 #define HPP_MANIPULATION_PARSER_HH
31
32 #include <tinyxml2.h>
33
34 #include <hpp/manipulation/fwd.hh>
35 #include <iostream>
36 #include <list>
37 #include <map>
38 #include <string>
39
40 namespace hpp {
41 namespace manipulation {
42 namespace parser {
43 typedef tinyxml2::XMLElement XMLElement;
44 typedef tinyxml2::XMLDocument XMLDocument;
45 typedef tinyxml2::XMLAttribute XMLAttribute;
46 typedef tinyxml2::XMLNode XMLNode;
47 typedef tinyxml2::XMLText XMLText;
48
49 class RootFactory;
50
51 /// \defgroup factories
52 ///
53 /// \brief Classes used to build object from XML documents.
54 ///
55 /// See section \ref hpp_manipulation_urdf_extend_sec for more information
56 /// about how to extend the parser with factories.
57
58 /// \addtogroup factories
59 /// \{
60
61 /// \brief Class that catch XML Parser events for a specific tag and build the
62 /// corresponding Object.
63 ///
64 /// Derive this class if you wish to extend the Parser.
65 /// The event callbacks are called in the following order:
66 /// \li ObjectFactory::init after having created the object.
67 /// \li ObjectFactory::setAttribute for each attribute of the tag.
68 /// \li ObjectFactory::finishAttributes after having processed every attribute.
69 /// \li ObjectFactory::addTextChild when a child is a text element.
70 /// \li ObjectFactory::finishTags when all the children have been parsed.
71 /// \li ObjectFactory::finishFile when the file has been fully parsed.
72 ///
73 /// \note The derived class must have the following construtor
74 /// \code
75 /// DerivedFactory (ObjectFactory* parent, const XMLElement* element) :
76 /// ObjectFactory (parent, element)
77 /// {
78 /// /*
79 /// * Keep in mind that it might be more convenient
80 /// * to build objects in an event callback, when some information
81 /// * has already been parsed.
82 /// */
83 /// }
84 /// \endcode
85 class ObjectFactory {
86 public:
87 typedef std::vector<ObjectFactory*> ObjectFactoryList;
88
89 ObjectFactory(ObjectFactory* parent = NULL, const XMLElement* element = NULL);
90
91 156 virtual ~ObjectFactory() {}
92
93 /// \name Events
94 /// \{
95
96 /// Called when the object is created.
97 /// \return True to continue parsing this tag, False otherwise.
98 virtual bool init();
99
100 /// Called for each attribute.
101 /// A few reserved name are automatocally catched. The reserved names are
102 /// "name" and "id".
103 /// "name" expects a string.
104 /// "id" expects an unsigned integer and can be use to define pointers to
105 /// elements.
106 void setAttribute(const XMLAttribute* attr);
107
108 /// Add Text child.
109 virtual void addTextChild(const XMLText* text);
110
111 /// Called when all the attributes have been processed.
112 /// \return True to continue parsing this tag, False otherwise.
113 virtual bool finishAttributes();
114
115 /// Called when all the child tags have been processed.
116 virtual void finishTags();
117
118 /// Called when parsing is finished.
119 virtual void finishFile();
120
121 /// \}
122
123 /// \name Accessors
124 /// \{
125
126 /// Return tag name of the element is any.
127 /// Returns "No element" otherwise.
128 std::string tagName() const;
129
130 /// Return the content of the attribute name, or an
131 /// empty string.
132 std::string name() const;
133
134 /// Check if an attribute was set.
135 bool hasAttribute(const std::string& attr) const;
136
137 /// Return a given attributes.
138 std::string getAttribute(const std::string& attr) const;
139
140 /// Get a list of ObjectFactory whose tag name is type.
141 ObjectFactoryList getChildrenOfType(std::string type);
142
143 /// Get the ObjectFactory whose tag name is type.
144 /// \param[out] o Set to the first element of the requested type.
145 /// \return true if there was only element of the requested type. false if
146 /// there are more than one. \throws std::invalid_argument if no ObjectFactory
147 /// of the requested type exists.
148 bool getChildOfType(std::string type, ObjectFactory*& o);
149
150 /// \}
151
152 /// Set the name.
153 /// The default value is the value of the attribute "name"
154 /// of the XML tag or an empty string if this does not exist.
155 void name(const std::string& n);
156
157 /// See name(const std::string&)
158 void name(const char* n);
159
160 /// Cast this class to any child class.
161 template <typename T>
162 30 T* as() {
163
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 30 if (!dynamic_cast<T*>(this)) {
164 ✗ std::ostringstream oss;
165 ✗ oss << "Unexpected tag: " << this->tagName();
166 ✗ throw std::invalid_argument(oss.str().c_str());
167 ✗ }
168 30 return static_cast<T*>(this);
169 }
170
171 protected:
172 ObjectFactory(RootFactory* root);
173
174 ObjectFactory* parent();
175
176 RootFactory* root();
177
178 bool hasParent() const;
179
180 const XMLElement* XMLelement();
181
182 virtual void impl_setAttribute(const XMLAttribute* attr);
183
184 void addChild(ObjectFactory* child);
185
186 virtual std::ostream& print(std::ostream& os) const;
187
188 private:
189 ObjectFactory* parent_;
190 RootFactory* root_;
191 typedef std::map<std::string, ObjectFactoryList> ChildrenMap;
192 ChildrenMap children_;
193
194 const XMLElement* element_;
195
196 typedef std::map<std::string, std::string> AttributeMap;
197 AttributeMap attrMap_;
198 std::string name_;
199 int id_;
200
201 friend std::ostream& operator<<(std::ostream&, const ObjectFactory&);
202 };
203
204 /// Represent a XML document.
205 class RootFactory : public ObjectFactory {
206 public:
207 36 virtual ~RootFactory() {}
208 RootFactory(const DevicePtr_t dev = DevicePtr_t());
209
210 DevicePtr_t device() const;
211
212 6 inline std::string prependPrefix(const std::string& in) const {
213
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 6 if (prefix_.empty()) return in;
214 4 return prefix_ + in;
215 }
216
217 inline std::string removePrefix(const std::string& in) const {
218 if (prefix_.empty()) return in;
219 assert(in.compare(0, prefix_.size(), prefix_) == 0);
220 return in.substr(prefix_.size());
221 }
222
223 9 void prefix(const std::string& prefix) {
224
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 9 if (prefix.empty()) return;
225
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 2 prefix_ = prefix + "/";
226 }
227
228 private:
229 DevicePtr_t device_;
230 std::string prefix_;
231 };
232
233 /// \}
234
235 /// To add a ObjectFactory to the Parser, use:
236 /// Parser::addObjectFactory (TagName, create <ObjectFactory>)
237 template <typename T>
238 76 ObjectFactory* create(ObjectFactory* parent = NULL,
239 const XMLElement* element = NULL) {
240
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 76 return new T(parent, element);
241 }
242
243 /// \brief Parse an XML document
244 ///
245 /// This class uses the tinyXML library and derived classes of ObjectFactory
246 /// to build object from an XML document.
247 /// To extend its capabilities, see ObjectFactory.
248 class Parser {
249 public:
250 typedef ObjectFactory* (*FactoryType)(ObjectFactory*, const XMLElement*);
251 typedef ObjectFactory::ObjectFactoryList ObjectFactoryList;
252
253 /// Constructor
254 /// \param fillWithDefaultFactories Set to true if you want to insert the
255 /// default
256 /// factories. If set to false, the created instance will have no
257 /// factories.
258 /// \param defaultFactory The factory used when a tag is not know.
259 Parser(bool fillWithDefaultFactories = true,
260 FactoryType defaultFactory = create<ObjectFactory>);
261
262 ~Parser();
263
264 void addObjectFactory(const std::string& tagname, FactoryType factory);
265
266 void parseString(const std::string& xmlString, DevicePtr_t robot);
267
268 void parseFile(const std::string& filename, DevicePtr_t robot);
269
270 15 const ObjectFactoryList& objectFactories() const { return objectFactories_; }
271
272 /// Set the prefix of all joints
273 2 void prefix(const std::string& prefix) { prefix_ = prefix; }
274
275 private:
276 XMLDocument doc_;
277 RootFactory* root_;
278 DevicePtr_t device_;
279
280 void loadFile(const char* filename);
281
282 void loadString(const char* xmlstring);
283
284 void parse();
285
286 void parseElement(const XMLElement* element, ObjectFactory* parent);
287
288 typedef std::map<std::string, FactoryType> ObjectFactoryMap;
289 typedef std::pair<std::string, FactoryType> ObjectFactoryPair;
290 typedef std::pair<ObjectFactoryMap::iterator, bool> ObjectFactoryInsertRet;
291 ObjectFactoryMap objFactoryMap_;
292 FactoryType defaultFactory_;
293
294 ObjectFactoryList objectFactories_;
295
296 std::string prefix_;
297
298 std::ostream& print(std::ostream&) const;
299 friend std::ostream& operator<<(std::ostream&, const Parser&);
300 };
301
302 std::ostream& operator<<(std::ostream&, const ObjectFactory&);
303 std::ostream& operator<<(std::ostream&, const Parser&);
304 } // namespace parser
305 } // namespace manipulation
306 } // namespace hpp
307
308 #endif // HPP_MANIPULATION_PARSER_HH
309