RapidXmlReader.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, 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/>.
 *
 * @package
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <experimental/source_location>
#include <fstream>
#include <functional>
#include <memory>
#include <streambuf>
#include <string>
 
#include <ArmarXCore/core/exceptions/Exception.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/rapidxml/rapidxml.hpp>
#include <ArmarXCore/core/rapidxml/rapidxml_print.hpp>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/util/StringHelpers.h>
#include <ArmarXCore/util/CPPUtility/trace.h>
 
namespace armarx::exceptions::local
{
    class RapidXmlReaderException : public armarx::LocalException
    {
    public:
        RapidXmlReaderException(const std::string& message) noexcept :
            armarx::LocalException(message)
        {
        }
 
        ~RapidXmlReaderException() noexcept override
        {
        }
 
        std::string
        name() const override
        {
            return "armarx::exceptions::local::RapidXmlWrapperException";
        }
    };
} // namespace armarx::exceptions::local
 
namespace armarx
{
    class RapidXmlReader;
    using RapidXmlReaderPtr = std::shared_ptr<RapidXmlReader>;
 
    class RapidXmlReaderNode
    {
        friend class RapidXmlReader;
 
    private:
        rapidxml::xml_node<>* node;
        std::shared_ptr<rapidxml::xml_document<>> doc;
        std::shared_ptr<char[]> cstr;
 
        RapidXmlReaderNode(rapidxml::xml_node<>* node,
                           std::shared_ptr<rapidxml::xml_document<>> doc,
                           std::shared_ptr<char[]> cstr) :
            node(node), doc(doc), cstr(cstr)
        {
        }
 
        void
        check(const std::string& msg = "",
              const std::experimental::source_location& location = {}) const
        {
            ARMARX_TRACE;
            if (!node)
            {
                std::stringstream str;
                str << "RapidXmlWrapper NullPointerException\n"
                    << "from " << location.file_name() << ':' << location.line() << " ("
                    << location.function_name() << ")\nTrace:\n";
 
                detail::Trace::PrintExceptionBacktrace(str, ">>> ");
                str << "\nmsg: " << msg;
                throw exceptions::local::RapidXmlReaderException(str.str());
            }
        }
 
        char*
        get_attrib_value(const char* attrName) const
        {
            ARMARX_TRACE;
            check();
            rapidxml::xml_attribute<>* attrib = node->first_attribute(attrName);
 
            if (!attrib)
            {
                throw exceptions::local::RapidXmlReaderException(
                    std::string("Attribute '") + attrName + "' does not exist in node " +
                    getPath());
            }
 
            return attrib->value();
        }
 
    public:
        std::string
        toString() const
        {
            check();
            std::stringstream str;
            str << *node;
            return str.str();
        }
 
        static RapidXmlReaderNode
        NullNode()
        {
            return RapidXmlReaderNode(
                nullptr, std::shared_ptr<rapidxml::xml_document<>>(), std::shared_ptr<char[]>());
        }
 
        /**
         * @brief get_node_ptr only for legacy code.
         * @return internal pointer
         */
        rapidxml::xml_node<>*
        get_node_ptr() const
        {
            return node;
        }
 
        RapidXmlReaderNode
        parent_node() const
        {
            ARMARX_TRACE;
            check();
            return RapidXmlReaderNode(node->parent(), doc, cstr);
        }
 
        RapidXmlReaderNode
        first_node(const char* name = nullptr) const
        {
            ARMARX_TRACE;
            check();
            return RapidXmlReaderNode(node->first_node(name), doc, cstr);
        }
 
        RapidXmlReaderNode
        first_node_with_attr_value(const char* tagName,
                                   const char* attrName,
                                   const char* attrValue) const
        {
            ARMARX_TRACE;
            for (RapidXmlReaderNode n = first_node(tagName); n.is_valid();
                 n = n.next_sibling(tagName))
            {
                if (n.has_attribute_with_value(attrName, attrValue))
                {
                    return n;
                }
            }
            return NullNode();
        }
 
        std::vector<RapidXmlReaderNode>
        nodes(const char* name = nullptr) const
        {
            ARMARX_TRACE;
            std::vector<RapidXmlReaderNode> vec;
            nodes(name, vec);
            return vec;
        }
 
        void
        nodes(const char* name, std::vector<RapidXmlReaderNode>& vec) const
        {
            ARMARX_TRACE;
            for (RapidXmlReaderNode n = first_node(name); n.is_valid(); n = n.next_sibling(name))
            {
                vec.push_back(n);
            }
        }
 
        void
        nodes(const char* name1, const char* name2, std::vector<RapidXmlReaderNode>& vec) const
        {
            for (RapidXmlReaderNode n = first_node(name1); n.is_valid(); n = n.next_sibling(name1))
            {
                n.nodes(name2, vec);
            }
        }
 
        std::vector<RapidXmlReaderNode>
        nodes(const char* name1, const char* name2) const
        {
            std::vector<RapidXmlReaderNode> vec;
            nodes(name1, name2, vec);
            return vec;
        }
 
        std::vector<RapidXmlReaderNode>
        nodes(const char* name1, const char* name2, const char* name3) const
        {
            std::vector<RapidXmlReaderNode> vec;
 
            for (RapidXmlReaderNode n = first_node(name1); n.is_valid(); n = n.next_sibling(name1))
            {
                n.nodes(name2, name3, vec);
            }
 
            return vec;
        }
 
        std::string
        attribute_value(const char* attrName) const
        {
            return std::string(get_attrib_value(attrName));
        }
 
        bool
        has_node(const char* nodeName) const
        {
            check();
            return node->first_node(nodeName) != nullptr;
        }
 
        bool
        has_attribute(const char* attrName) const
        {
            check();
            return node->first_attribute(attrName) != nullptr;
        }
 
        bool
        has_attribute_with_value(const char* attrName, const char* attrValue) const
        {
            check();
            rapidxml::xml_attribute<>* attrib = node->first_attribute(attrName);
            if (!attrib)
            {
                return false;
            }
            return std::string(attrib->value()) == std::string(attrValue);
        }
 
        std::string
        attribute_value_or_default(const char* attrName, const std::string& defaultValue) const
        {
            check();
            rapidxml::xml_attribute<>* attrib = node->first_attribute(attrName);
 
            if (!attrib)
            {
                return defaultValue;
            }
 
            return std::string(attrib->value());
        }
 
        bool
        attribute_as_bool(const char* attrName,
                          const std::string& trueValue,
                          const std::string& falseValue) const
        {
            std::string value = std::string(get_attrib_value(attrName));
 
            if (value == trueValue)
            {
                return true;
            }
            else if (value == falseValue)
            {
                return false;
            }
            else
            {
                throw exceptions::local::RapidXmlReaderException(
                    std::string("Invalid value '") + value + "' for attribute '" + attrName +
                    "'. Expecting '" + trueValue + "' or '" + falseValue + "'.");
            }
        }
 
        bool
        attribute_as_optional_bool(const char* name,
                                   const std::string& trueValue,
                                   const std::string& falseValue,
                                   bool defaultValue) const
        {
            check();
            rapidxml::xml_attribute<>* attrib = node->first_attribute(name);
 
            if (!attrib)
            {
                return defaultValue;
            }
 
            std::string value = std::string(attrib->value());
 
            if (value == trueValue)
            {
                return true;
            }
            else if (value == falseValue)
            {
                return false;
            }
            else
            {
                throw exceptions::local::RapidXmlReaderException(
                    std::string("Invalid value '") + value + "' for attribute '" + name +
                    "'. Expecting '" + trueValue + "' or '" + falseValue + "'.");
            }
        }
 
        float
        attribute_as_float(const char* attrName) const
        {
            return static_cast<float>(atof(get_attrib_value(attrName)));
        }
 
        uint32_t
        attribute_as_uint(const char* attrName) const
        {
            std::stringstream strValue(get_attrib_value(attrName));
            uint32_t retValue;
            strValue >> retValue;
            return retValue;
        }
 
        std::vector<std::pair<std::string, std::string>>
        get_all_attributes() const
        {
            check();
            std::vector<std::pair<std::string, std::string>> attributes;
 
            rapidxml::xml_attribute<>* attrib = node->first_attribute();
 
            while (attrib)
            {
                std::string name = std::string(attrib->name());
                std::string value = std::string(attrib->value());
                attributes.push_back({name, value});
                attrib = attrib->next_attribute();
            }
 
            return attributes;
        }
 
        std::string
        value() const
        {
            check();
            return std::string(node->value());
        }
 
        float
        value_as_float() const
        {
            check();
            return static_cast<float>(atof(node->value()));
        }
 
        uint32_t
        value_as_uint32() const
        {
            check();
            return static_cast<uint32_t>(armarx::toUInt(node->value()));
        }
 
        uint16_t
        value_as_uint16() const
        {
            check();
            return static_cast<uint16_t>(armarx::toUInt(node->value()));
        }
 
        int32_t
        value_as_int32() const
        {
            check();
            return static_cast<int32_t>(std::stoul(node->value(), nullptr, 0));
        }
 
        int16_t
        value_as_int16() const
        {
            check();
            return static_cast<int16_t>(std::stoul(node->value(), nullptr, 0));
        }
 
        std::string
        name() const
        {
            check();
            return std::string(node->name());
        }
 
        rapidxml::node_type
        type()
        {
            check();
            return node->type();
        }
 
        std::string
        first_node_value(const char* nodeName = nullptr) const
        {
            check();
            rapidxml::xml_node<>* childNode = node->first_node(nodeName);
 
            if (!childNode)
            {
                throw exceptions::local::RapidXmlReaderException(
                    std::string("Node '") + nodeName + "' does not exist in node " + getPath());
            }
 
            return std::string(childNode->value());
        }
 
        std::string
        first_node_value_or_default(const char* name, const std::string& defaultValue) const
        {
            check();
            rapidxml::xml_node<>* childNode = node->first_node(name);
 
            if (!childNode)
            {
                return defaultValue;
            }
 
            return std::string(childNode->value());
        }
 
        RapidXmlReaderNode
        next_sibling(const char* name = nullptr) const
        {
            check();
            return RapidXmlReaderNode(node->next_sibling(name), doc, cstr);
        }
 
        bool
        is_valid() const
        {
            return node != nullptr;
        }
 
        std::string
        getParentPath() const
        {
            check();
            std::string result;
            rapidxml::xml_node<>* p = node->parent();
 
            while (p)
            {
                result = std::string(p->name()) + "/" + result;
                p = p->parent();
            }
 
            return result;
        }
 
        std::string
        getPath() const
        {
            check();
            return getParentPath() + name();
        }
 
    private:
        static void
        collect_child_names(std::vector<std::string>& out,
                            const RapidXmlReaderNode& n,
                            const std::string& pre)
        {
            ARMARX_TRACE;
            std::string name = pre + n.name();
            const auto cs = n.nodes();
 
            if (cs.empty())
            {
                out.emplace_back(name);
                return;
            }
            name += '/';
            for (const auto& c : cs)
            {
                collect_child_names(out, c, name);
            }
        }
 
    public:
        std::vector<std::string>
        getChildPaths() const
        {
            ARMARX_TRACE;
            std::vector<std::string> result;
            if (is_valid())
            {
                collect_child_names(result, *this, getParentPath());
            }
            return result;
        }
    };
 
    class RapidXmlReader
    {
    private:
        std::shared_ptr<rapidxml::xml_document<>> doc;
        std::shared_ptr<char[]> cstr;
 
        RapidXmlReader(const std::string& xml) : doc(new rapidxml::xml_document<>())
        {
            cstr.reset(new char[xml.size() + 1]); // Create char buffer to store string copy
            strcpy(cstr.get(), xml.c_str()); // Copy string into char buffer
            doc->parse<0>(cstr.get()); // Pass the non-const char* to parse()
        }
 
    public:
        static std::string
        ReadFileContents(const std::string& path)
        {
            bool found = false;
            std::string absolutePath;
            if (path.front() == '/') // Avoid <filesystem> in header ...
            {
                absolutePath = path;
                found = true;
            }
            else
            {
                found = ArmarXDataPath::getAbsolutePath(path, absolutePath);
            }
 
            std::ifstream t(absolutePath);
            if (!found || !t.is_open())
            {
                throw exceptions::local::RapidXmlReaderException("Could not open file ") << path;
            }
 
            std::string str;
            t.seekg(0, std::ios::end);
            str.reserve(t.tellg());
            t.seekg(0, std::ios::beg);
 
            str.assign((std::istreambuf_iterator<char>(t)), std::istreambuf_iterator<char>());
            return str;
        }
 
        static RapidXmlReaderPtr
        FromXmlString(const std::string& xml)
        {
            RapidXmlReaderPtr wrapper(new RapidXmlReader(xml));
            return wrapper;
        }
 
        static RapidXmlReaderPtr
        FromFile(const std::string& path)
        {
            return FromXmlString(ReadFileContents(path));
        }
 
        RapidXmlReaderNode
        getDocument()
        {
            return RapidXmlReaderNode(doc.get(), doc, cstr);
        }
 
        RapidXmlReaderNode
        getRoot(const char* name = nullptr)
        {
            return getDocument().first_node(name);
        }
    };
 
} // namespace armarx