Update of /cvsroot/simspark/simspark/spark/plugin/rosimporter
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv25404
Modified Files:
roselements.cpp rosimporter.cpp rosimporter.h
Log Message:
- ignore comments and other unknown XML elements
- treat unknown RoSimML tags like <elements> tag
- implemented a macro registry that stores XML subtrees indexed by string
- implemented RoSim macro definition and instsncing
Index: roselements.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/rosimporter/roselements.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** roselements.cpp 18 Feb 2006 19:52:14 -0000 1.1
--- roselements.cpp 19 Feb 2006 13:19:18 -0000 1.2
***************
*** 62,65 ****
--- 62,72 ----
ROS_DEFINE_ELEMENT(RE_CAPPEDCYLINDER,"CappedCylinder");
+ ROS_DEFINE_ELEMENT(RE_MACRO, "Macro");
+ ROS_DEFINE_ELEMENT(RE_USE, "Use");
+
+ ROS_DEFINE_ELEMENT(RE_HINGE,"Hinge");
+ ROS_DEFINE_ELEMENT(RE_ANCHORPOINT,"AnchorPoint");
+ ROS_DEFINE_ELEMENT(RE_AXIS,"Axis");
+
ROS_DEFINE_ELEMENT(RE_GLOBALPHYSICALPARAMETERS,"GlobalPhysicalParameters");
ROS_DEFINE_ELEMENT(RE_PHYSICALATTRIBUTES,"PhysicalAttributes");
Index: rosimporter.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/rosimporter/rosimporter.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** rosimporter.cpp 19 Feb 2006 11:11:58 -0000 1.4
--- rosimporter.cpp 19 Feb 2006 13:19:18 -0000 1.5
***************
*** 52,55 ****
--- 52,58 ----
static const string S_GEOM("geometry_");
static const string S_VISUAL("visual_");
+ static const string S_MACRO("macro_");
+
+ RosImporter::TMacroMap RosImporter::mMacroMap;
RosImporter::RosImporter() : SceneImporter()
***************
*** 151,160 ****
)
{
! TiXmlElement* element = static_cast<TiXmlElement*>(node);
! if (element == 0)
{
continue;
}
bool ok = true;
--- 154,175 ----
)
{
! if (node == 0)
! {
! continue;
! }
!
! switch(node->Type())
{
+ case TiXmlNode::ELEMENT:
+ break;
+
+ default:
+ /** ignore declarations, comments and other
+ unknown node types
+ */
continue;
}
+ TiXmlElement* element = static_cast<TiXmlElement*>(node);
bool ok = true;
***************
*** 173,176 ****
--- 188,196 ----
case RosElements::RE_SCENE:
ok = ReadScene(parent, element);
+ break;
+
+ case RosElements::RE_MACRO:
+ ok = ReadMacro(parent, element);
+ break;
}
***************
*** 376,379 ****
--- 396,416 ----
)
{
+ if (node == 0)
+ {
+ continue;
+ }
+
+ switch(node->Type())
+ {
+ case TiXmlNode::ELEMENT:
+ break;
+
+ default:
+ /** ignore declarations, comments and other
+ unknown node types
+ */
+ continue;
+ }
+
TiXmlElement* childElement = static_cast<TiXmlElement*>(node);
if (! ReadElements(parent, childElement, context))
***************
*** 408,413 ****
--- 445,452 ----
{
default:
+ // treat unknown tags like a <element> tag
GetLog()->Error() << "(RosImporter::ReadElements) ERROR: skipping unknown element "
<< GetXMLPath(element) << "\n";
+ ok = ReadElements(parent, element, context);
break;
***************
*** 439,442 ****
--- 478,485 ----
ok = ReadHinge(parent,element,context);
break;
+
+ case RosElements::RE_USE:
+ ok = ReadUse(parent,element,context);
+ break;
}
***************
*** 921,925 ****
shared_ptr<Body> body1 = GetJointParentBody(parent);
! if (! ReadChildElements(parent, element, context))
{
return false;
--- 964,970 ----
shared_ptr<Body> body1 = GetJointParentBody(parent);
! //! Todo: figure out if all objects below a joint node are
! //implicitly movable, i.e. are created with a Body node
! if (! ReadChildElements(parent, element, NC_MOVABLE))
{
return false;
***************
*** 934,938 ****
{
GetLog()->Error() << "(RosImporter::ReadHinge) found no bodies to attach hinge to in "
! << GetXMLPath(element) << "\n";
return false;
}
--- 979,983 ----
{
GetLog()->Error() << "(RosImporter::ReadHinge) found no bodies to attach hinge to in "
! << GetXMLPath(element) << " named " << name << "\n";
return false;
}
***************
*** 950,951 ****
--- 995,1054 ----
GetLog()->Debug() << "(RosImporter) created hinge joint " << name << "\n";
}
+
+ bool RosImporter::ReadMacro(shared_ptr<BaseNode> parent, TiXmlElement* element)
+ {
+ string name;
+ if (! ReadAttribute(element, RA_NAME, name))
+ {
+ return false;
+ }
+
+ shared_ptr<TiXmlElement> macro(new TiXmlElement(*element));
+ mMacroMap[name] = macro;
+
+ GetLog()->Debug() << "(RosImporter) defined macro " << name << "\n";
+ }
+
+ bool RosImporter::ReadUse(shared_ptr<BaseNode> parent, TiXmlElement* element, ENodeContext context)
+ {
+ string name;
+ string instance;
+ Trans trans;
+
+ if (
+ (! ReadAttribute(element, RA_MACRONAME, name)) ||
+ (! ReadAttribute(element, RA_INSTANCENAME, instance, true)) ||
+ (! ReadTrans(element, trans))
+ )
+ {
+ return false;
+ }
+
+ TMacroMap::const_iterator iter = mMacroMap.find(name);
+ if (iter == mMacroMap.end())
+ {
+ GetLog()->Error() << "(RosImporter) use of undefined macro " << name << " in "
+ << GetXMLPath(element) << "\n";
+ return false;
+ }
+
+ // todo: <SubstituteSurfaces>
+ // todo: <SubstituteAllSurfaces>
+
+ if (instance.empty())
+ {
+ instance = name;
+ }
+
+ shared_ptr<Transform> transform = CreateTransform(parent, trans);
+ transform->SetName(S_MACRO+instance);
+
+ GetLog()->Debug() << "(RosImporter) START instancing macro " << name << "\n";
+
+ shared_ptr<TiXmlElement> tree = (*iter).second;
+ bool ok = ReadElements(transform, tree.get(), context);
+
+ GetLog()->Debug() << "(RosImporter) END instancing macro " << name << "\n";
+
+ return ok;
+ }
Index: rosimporter.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/rosimporter/rosimporter.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** rosimporter.h 19 Feb 2006 10:44:28 -0000 1.3
--- rosimporter.h 19 Feb 2006 13:19:18 -0000 1.4
***************
*** 23,27 ****
#define ROSIMPORTER_H
! #include <list>
#include <oxygen/sceneserver/sceneimporter.h>
#include <tinyxml/tinyxml.h>
--- 23,27 ----
#define ROSIMPORTER_H
! #include <map>
#include <oxygen/sceneserver/sceneimporter.h>
#include <tinyxml/tinyxml.h>
***************
*** 86,89 ****
--- 86,94 ----
};
+ /** define a registry of macros; a macro is a XML subtree with the
+ <Macro> node a the root element
+ */
+ typedef std::map<std::string, boost::shared_ptr<TiXmlElement> > TMacroMap;
+
public:
RosImporter();
***************
*** 126,129 ****
--- 131,137 ----
bool ReadScene(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element);
+ bool ReadMacro(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element);
+ bool ReadUse(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element, ENodeContext context);
+
bool ReadChildElements(boost::shared_ptr<oxygen::BaseNode> parent, TiXmlElement* element, ENodeContext context);
***************
*** 146,150 ****
bool ReadAxis(TiXmlElement* element, salt::Vector3f& axis);
-
boost::shared_ptr<oxygen::Body> RosImporter::GetJointParentBody(boost::shared_ptr<oxygen::BaseNode> parent);
boost::shared_ptr<oxygen::Body> RosImporter::GetJointChildBody(boost::shared_ptr<oxygen::BaseNode> parent);
--- 154,157 ----
***************
*** 165,168 ****
--- 172,179 ----
double mGlobalCFM;
+ /** the static macro registry is shared across RosImporter
+ instances
+ */
+ static TMacroMap mMacroMap;
};
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