libraries_2aron_2codegeneration_2typereader_2xml_2Data_8h_source.html

/*

 * This file is part of ArmarX.

 *

 * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),

 * Karlsruhe Institute of Technology (KIT), all rights reserved.

 *

 * ArmarX is free software; you can redistribute it and/or modify

 * it under the terms of the GNU General Public License version 2 as

 * published by the Free Software Foundation.

 *

 * ArmarX 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, see <http://www.gnu.org/licenses/>.

 *

 * @author     Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)

 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt

 *             GNU General Public License

 */


#pragma once


// STD/STL

#include <map>

#include <memory>

#include <optional>


// ArmarX

#include <SimoxUtility/xml.h>


#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>


/**

 * All constantes for the aron XML parser, in addition to some utility functions wrapping around the armarxcore-xml-parser

 */

namespace armarx::aron::typereader::xml

{

    namespace constantes

    {

        // Definition tags

        const constexpr auto TYPE_DEFINITION_TAG = "arontypedefinition";


        const constexpr auto CODE_INCLUDES_TAG = "codeincludes";

        const constexpr auto ARON_INCLUDES_TAG = "aronincludes";

        const constexpr auto INCLUDES_TAG = "includes";

        const constexpr auto SYSTEM_INCLUDE_TAG = "systeminclude";

        const constexpr auto PACKAGE_PATH_TAG = "packagepath";

        const constexpr auto INCLUDE_TAG = "include";

        const constexpr auto GENERATE_TYPES_TAG = "generatetypes";


        // Attribute names

        const constexpr auto ARON_ATTRIBUTE_NAME = "aron";

        const constexpr auto CODE_ATTRIBUTE_NAME = "code";

        const constexpr auto METHOD_ATTRIBUTE_NAME = "method";

        const constexpr auto RETURN_ATTRIBUTE_NAME = "return";

        const constexpr auto ARGUMENT_TYPE_ATTRIBUTE_NAME = "argumenttype";

        const constexpr auto INCLUDE_ATTRIBUTE_NAME = "include";

        const constexpr auto READER_ATTRIBUTE_NAME = "reader";

        const constexpr auto WRITER_ATTRIBUTE_NAME = "writer";

        const constexpr auto EXTENDS_ATTRIBUTE_NAME = "extends";

        const constexpr auto NAME_ATTRIBUTE_NAME = "name";

        const constexpr auto VALUE_ATTRIBUTE_NAME = "value";

        const constexpr auto TEMPLATE_ATTRIBUTE_NAME = "template";

        const constexpr auto KEY_ATTRIBUTE_NAME = "key";

        const constexpr auto TYPE_ATTRIBUTE_NAME = "type";

        const constexpr auto WIDTH_ATTRIBUTE_NAME = "width";

        const constexpr auto HEIGHT_ATTRIBUTE_NAME = "height";

        const constexpr auto ROWS_ATTRIBUTE_NAME = "rows";

        const constexpr auto COLS_ATTRIBUTE_NAME = "cols";

        const constexpr auto DIMENSIONS_ATTRIBUTE_NAME = "dimensions";

        const constexpr auto SHAPE_ATTRIBUTE_NAME = "shape";

        const constexpr auto OPTIONAL_ATTRIBUTE_NAME = "optional";

        const constexpr auto RAW_PTR_ATTRIBUTE_NAME = "raw_ptr";

        const constexpr auto SHARED_PTR_ATTRIBUTE_NAME = "shared_ptr";

        const constexpr auto UNIQUE_PTR_ATTRIBUTE_NAME = "unique_ptr";

        const constexpr auto PACKAGE_ATTRIBUTE_NAME = "package";

        const constexpr auto DOC_BRIEF_ATTRIBUTE_NAME = "doc-brief";

        const constexpr auto DOC_AUTHOR_ATTRIBUTE_NAME = "doc-author";

        const constexpr auto DOC_PARAM_ATTRIBUTE_NAME = "doc-param";

        const constexpr auto PATH_ATTRIBUTE_NAME = "path";

        const constexpr auto DEFAULT_ATTRIBUTE_NAME = "default";


        // Slugs

        const constexpr auto IDENTITY_SLUG = "identity";

        const constexpr auto ZEROS_SLUG = "zeros";

        const constexpr auto ONES_SLUG = "ones";

        const constexpr auto RGB_SLUG = "rgb24";

        const constexpr auto DEPTH_SLUG = "depth32";

        const constexpr auto POINT_XYZ_SLUG = "pointxyz";

        const constexpr auto POINT_XYZI_SLUG = "pointxyzi";

        const constexpr auto POINT_XYZL_SLUG = "pointxyzl";

        const constexpr auto POINT_XYZRGB_SLUG = "pointxyzrgb";

        const constexpr auto POINT_XYZRGBL_SLUG = "pointxyzrgbl";

        const constexpr auto POINT_XYZRGBA_SLUG = "pointxyzrgba";

        const constexpr auto POINT_XYZHSV_SLUG = "pointxyzhsv";


        const constexpr auto CHAR_SLUG = "int8";

        const constexpr auto UCHAR_SLUG = "uint8";

        const constexpr auto SHORT_SLUG = "int16";

        const constexpr auto USHORT_SLUG = "uint16";

        const constexpr auto INT_SLUG = "int32";

        const constexpr auto UINT_SLUG = "uint32";

        const constexpr auto LONG_SLUG = "int64";

        const constexpr auto ULONG_SLUG = "uint64";

        const constexpr auto FLOAT_SLUG = "float32";

        const constexpr auto DOUBLE_SLUG = "float64";


        // Second level tags. Only important if in specific top level tag

        const constexpr auto OBJECT_CHILD_TAG = "objectchild";

        const constexpr auto ENUM_VALUE_TAG = "enumvalue";


        // Top Level type tags

        const constexpr auto LIST_TAG = "list";

        const constexpr auto DICT_TAG = "dict";

        const constexpr auto OBJECT_TAG = "object";

        const constexpr auto PAIR_TAG = "pair";

        const constexpr auto TUPLE_TAG = "tuple";

        const constexpr auto INT_ENUM_TAG = "intenum";

        const constexpr auto NDARRAY_TAG = "ndarray";

        const constexpr auto MATRIX_TAG = "matrix";

        const constexpr auto QUATERNION_TAG = "quaternion";

        const constexpr auto IMAGE_TAG = "image";

        const constexpr auto POINT_CLOUD_TAG = "pointcloud";

        const constexpr auto CHAR_TAG = "int8";

        const constexpr auto UCHAR_TAG = "uint8";

        const constexpr auto SHORT_TAG = "int16";

        const constexpr auto USHORT_TAG = "uint16";

        const constexpr auto INT_TAG = "int32";

        const constexpr auto UINT_TAG = "uint32";

        const constexpr auto LONG_TAG = "int64";

        const constexpr auto ULONG_TAG = "uint64";

        const constexpr auto FLOAT_TAG = "float32";

        const constexpr auto DOUBLE_TAG = "float64";

        const constexpr auto STRING_TAG = "string";

        const constexpr auto BOOL_TAG = "bool";

        const constexpr auto ANY_OBJECT_TAG = "anyobject";


        // others

        const std::vector<std::string> WHATEVER_VALUES = {"?"};


        struct Replacement

        {

            std::string replacementTag;

            std::pair<std::string, std::string> additionalAronDTOXMLIncludePackagePath;

            std::string deprecatedWarning;

        };


        // Replacements ({tagName, {replacementsTag, additionalAronDTOXMLIncludePackagePath}, deprecationwarning})

        const std::map<std::string, Replacement> REPLACEMENTS = {

            {"int", {"int32", {}, "The <int />-tag is deprecated. Please use <int32 /> instead."}},

            {"long",

             {"int64", {}, "The <long />-tag is deprecated. Please use <int64 /> instead."}},

            {"float",

             {"float32", {}, "The <float />-tag is deprecated. Please use <float32 /> instead."}},

            {"double",

             {"float64", {}, "The <double />-tag is deprecated. Please use <float64 /> instead."}},


            // should that be deprecated?

            {"position", {"matrix rows='3' cols='1' type='float32'", {}, ""}},

            {"pose", {"matrix rows='4' cols='4' type='float32'", {}, ""}},

            {"orientation", {"quaternion type='float32'", {}, ""}},


            // values similar to eigen

            {"quaternionf", {"quaternion type='float32'", {}, ""}},

            {"quaterniond", {"quaternion type='float64'", {}, ""}},

            {"vector2f", {"matrix rows='2' cols='1' type='float32'", {}, ""}},

            {"vector2d", {"matrix rows='2' cols='1' type='float64'", {}, ""}},

            {"vector3f", {"matrix rows='3' cols='1' type='float32'", {}, ""}},

            {"vector3d", {"matrix rows='3' cols='1' type='float64'", {}, ""}},

            {"vector4f", {"matrix rows='4' cols='1' type='float32'", {}, ""}},

            {"vector4d", {"matrix rows='4' cols='1' type='float64'", {}, ""}},

            {"matrix2f", {"matrix rows='2' cols='2' type='float32'", {}, ""}},

            {"matrix2d", {"matrix rows='2' cols='2' type='float64'", {}, ""}},

            {"matrix3f", {"matrix rows='3' cols='3' type='float32'", {}, ""}},

            {"matrix3d", {"matrix rows='3' cols='3' type='float64'", {}, ""}},

            {"matrix4f", {"matrix rows='4' cols='4' type='float32'", {}, ""}},

            {"matrix4d", {"matrix rows='4' cols='4' type='float64'", {}, ""}},


            // You can also add replacements for arondtos here!

            // structure: {xml-identifier, {replacement, auto-ARON-include (NO CPP SPECIFIC STUFF HERE!)}, deprecationwarning}

            {"datetime",

             {"armarx::arondto::DateTime",

              {"RobotAPI", "libraries/aron/common/aron/time.xml"},

              ""}},

            {"time",

             {"armarx::arondto::DateTime",

              {"RobotAPI", "libraries/aron/common/aron/time.xml"},

              ""}},

            {"duration",

             {"armarx::arondto::Duration",

              {"RobotAPI", "libraries/aron/common/aron/time.xml"},

              ""}},


            {"memoryid",

             {"armarx::armem::arondto::MemoryID",

              {"RobotAPI", "libraries/armem/aron/MemoryID.xml"},

              ""}},


            // TODO: Replace with geometry package

            {"framedposition",

             {"armarx::arondto::FramedPosition",

              {"RobotAPI", "libraries/aron/common/aron/framed.xml"},

              ""}},

            {"framedorientation",

             {"armarx::arondto::FramedOrientation",

              {"RobotAPI", "libraries/aron/common/aron/framed.xml"},

              ""}},

            {"framedpose",

             {"armarx::arondto::FramedPose",

              {"RobotAPI", "libraries/aron/common/aron/framed.xml"},

              ""}}};

    } // namespace constantes


    namespace util

    {

        bool CheckStrIsInt(const std::string&);

        void EnforceStrIsInt(const std::string&);

        bool CheckStrIsFloat(const std::string&);

        void EnforceStrIsFloat(const std::string&);

        bool CheckStrIsNumber(const std::string&);

        void EnforceStrIsNumber(const std::string&);

        bool CheckStrIsNumberSeq(const std::string&);

        void EnforceStrIsNumberSeq(const std::string&);

        bool CheckStrIsBool(const std::string&);

        void EnforceStrIsBool(const std::string&);


        std::optional<RapidXmlReaderNode> GetFirstNodeWithTag(const RapidXmlReaderNode& node,

                                                              const std::string& name);


        void EnforceAttribute(const RapidXmlReaderNode& node, const std::string& att);

        bool HasAttribute(const RapidXmlReaderNode& node, const std::string& att);

        std::string GetAttribute(const RapidXmlReaderNode& node, const std::string& att);

        std::string GetAttributeWithDefault(const RapidXmlReaderNode& node,

                                            const std::string& att,

                                            const std::string& def);

        bool AttributeIsTrue(const RapidXmlReaderNode& node, const std::string& att);


        bool HasTagName(const RapidXmlReaderNode& node, const std::string& name);

        void EnforceTagName(const RapidXmlReaderNode& node, const std::string& name);

        void EnforceTagNames(const RapidXmlReaderNode& node, const std::vector<std::string>& names);

        std::string GetTagName(const RapidXmlReaderNode& node);


        void EnforceChildSizeSmaller(const RapidXmlReaderNode& node, const size_t size);

        void EnforceChildSizeSmallerEqual(const RapidXmlReaderNode& node, const size_t size);

        void EnforceChildSize(const RapidXmlReaderNode& node, const size_t size);

        void EnforceChildSizeGreaterEqual(const RapidXmlReaderNode& node, const size_t size);

        void EnforceChildSizeGreater(const RapidXmlReaderNode& node, const size_t size);

    } // namespace util

} // namespace armarx::aron::typereader::xml