simspark-cvs

[Markus R. <rol...@us...>]

Update of /cvsroot/simspark/simspark/spark/plugin/rosimporter
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv2613/rosimporter

Added Files:
	Makefile.am export.cpp rosimporter.cpp rosimporter.h 
	rosimporter_c.cpp 
Log Message:
- added initial skeleton for a RosSim XML Importer


--- NEW FILE: rosimporter_c.cpp ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: rosimporter_c.cpp,v 1.1 2006/01/24 19:16:32 rollmark Exp $

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/

#include "rosimporter.h"

void CLASS(RosImporter)::DefineClass()
{
    DEFINE_BASECLASS(oxygen/SceneImporter);
}



--- NEW FILE: export.cpp ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: export.cpp,v 1.1 2006/01/24 19:16:32 rollmark Exp $

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include "rosimporter.h"

ZEITGEIST_EXPORT_BEGIN()
    ZEITGEIST_EXPORT(RosImporter);
ZEITGEIST_EXPORT_END()

--- NEW FILE: Makefile.am ---
pkglib_LTLIBRARIES = rosimporter.la

rosimporter_la_SOURCES =\
	export.cpp \
	rosimporter.cpp\
	rosimporter.h \
	rosimporter_c.cpp 

# -module tells automake we're not building a library but a loadable module
# so we don't need the "lib" prefix in the module name
rosimporter_la_LDFLAGS = -module -avoid-version -L${top_srcdir}/utility/tinyxml
rosimporter_la_LIBADD = -ltinyxml

AM_CPPFLAGS = -I${top_srcdir}/lib -I${top_srcdir}/utility @RUBY_CPPFLAGS@

--- NEW FILE: rosimporter.cpp ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: rosimporter.cpp,v 1.1 2006/01/24 19:16:32 rollmark Exp $

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include "rosimporter.h"
#include <zeitgeist/logserver/logserver.h>
#include <zeitgeist/fileserver/fileserver.h>
#include <boost/scoped_array.hpp>

using namespace zeitgeist;
using namespace oxygen;
using namespace boost;
using namespace std;

#define S_FROMSTRING "<from string>";

RosImporter::RosImporter() : SceneImporter()
{
}

RosImporter::~RosImporter()
{
}

TiXmlElement* RosImporter::GetFirstChild(TiXmlNode* node, const std::string& type)
{
    TiXmlNode* childNode
        = node->FirstChild(type.c_str());

    if (
        (childNode == 0) ||
        (childNode->Type() != TiXmlNode::ELEMENT)
        )
        {
            return 0;
        }

    return static_cast<TiXmlElement*>(childNode);
}

TiXmlElement* RosImporter::IterateChildren(TiXmlNode* node, const std::string& type)
{
    TiXmlNode* childNode
        = node->Parent()->IterateChildren(type.c_str(),node);

    if (
        (childNode == 0) ||
        (childNode->Type() != TiXmlNode::ELEMENT)
        )
        {
            return 0;
        }

    return static_cast<TiXmlElement*>(childNode);
}

bool RosImporter::ImportScene(const std::string& fileName,
                                    shared_ptr<BaseNode> root,
                                    shared_ptr<ParameterList> parameter)
{
    // try to open the file
    shared_ptr<salt::RFile> file = GetFile()->Open(fileName);

    if (file.get() == 0)
        {
            GetLog()->Error() << "(RosImporter) ERROR: cannot open file '"
                              << fileName << "'\n";
            return false;
        }

    mFileName = fileName;

    // read entire file into a temporary buffer
    scoped_array<char> buffer(new char[file->Size() + 1]);
    file->Read(buffer.get(), file->Size());
    buffer[file->Size()] = 0;

    return ParseScene(buffer.get(), file->Size(), root, parameter);
}

bool RosImporter::ParseScene(const std::string& scene,
                                   shared_ptr<BaseNode> root,
                                   shared_ptr<ParameterList> parameter)
{
    mFileName = S_FROMSTRING;
    return ParseScene(scene.c_str(),scene.size(),root,parameter);
}

bool RosImporter::ParseScene(const char* scene, int size,
                                   boost::shared_ptr<oxygen::BaseNode> root,
                                   boost::shared_ptr<zeitgeist::ParameterList> parameter)
{
    TiXmlDocument document;
    document.Parse(scene);

    if (document.Error())
        {
            GetLog()->Error() << "(RosImporter) ERROR: xml parsing error: "
                              << document.ErrorDesc() << std::endl;
            return false;
        }

    TiXmlElement* xmlRoot = document.RootElement();
    if (xmlRoot == 0)
        {
            // empty doc
            return true;
        }

    for (
         TiXmlNode* node = xmlRoot->FirstChild();
         xmlRoot != 0;
         node = xmlRoot->IterateChildren(node)
         )
        {
            TiXmlElement* element = static_cast<TiXmlElement*>(node);

            std::string value(node->Value());
        }

    return true;
}


--- NEW FILE: rosimporter.h ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: rosimporter.h,v 1.1 2006/01/24 19:16:32 rollmark Exp $

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#ifndef ROSIMPORTER_H
#define ROSIMPORTER_H

#include <oxygen/sceneserver/sceneimporter.h>
#include <oxygen/sceneserver/basenode.h>
#include <tinyxml/tinyxml.h>

class RosImporter : public oxygen::SceneImporter
{
public:
    RosImporter();
    virtual ~RosImporter();

    virtual bool ImportScene(const std::string& fileName,
                             boost::shared_ptr<oxygen::BaseNode> root,
                             boost::shared_ptr<zeitgeist::ParameterList> parameter);

    virtual bool ParseScene(const std::string& scene,
                             boost::shared_ptr<oxygen::BaseNode> root,
                             boost::shared_ptr<zeitgeist::ParameterList> parameter);

protected:
    virtual bool ParseScene(const char* scene, int size,
                             boost::shared_ptr<oxygen::BaseNode> root,
                             boost::shared_ptr<zeitgeist::ParameterList> parameter);

    TiXmlElement* GetFirstChild(TiXmlNode* node, const std::string& type);
    TiXmlElement* IterateChildren(TiXmlNode* node, const std::string& type);

protected:
    /** the last supplied fileName */
    std::string mFileName;
};

DECLARE_CLASS(RosImporter);

#endif // ROSIMPORTER_H