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XMLConfig.hh

/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  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; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  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., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/* Desc: XML config file
 * Author: Andrew Howard and Nate Koenig
 * Date: 3 Apr 2007
 * SVN: $Id: XMLConfig.hh 235 2008-01-23 13:00:01Z robotos $
 */

#ifndef XMLCONFIG_HH
#define XMLCONFIG_HH

#include <libxml/parser.h>
#include <libxml/xpath.h>
#include <string>

#include "Vector3.hh"
#include "Vector2.hh"
#include "Quatern.hh"
#include "Time.hh"
#include "StringValue.hh"

namespace gazebo
{
  
  // Forward declarations
  class XMLConfigNode;
  
  
  class XMLConfig
  {
    public: XMLConfig();
  
    public: ~XMLConfig();
  
    public: void Load(const std::string &filename );
  
    public: void LoadString(const std::string &str );
  
    public: int Save(const std::string &filename );
  
    public: XMLConfigNode *GetRootNode() const;
  
    private: XMLConfigNode *CreateNodes( XMLConfigNode *parent, 
                                         xmlNodePtr xmlNode );
    public: std::string filename;
    
    private: xmlDocPtr xmlDoc;
  
    private: XMLConfigNode *root;
  
    private: xmlXPathContextPtr xpathContex;
  };
  
  
  class XMLConfigNode
  {
    public: XMLConfigNode( XMLConfig *cfg, XMLConfigNode *parent, 
                          xmlNodePtr xmlNode, xmlDocPtr xmlDoc );
  
    public: ~XMLConfigNode();
  
    public: std::string GetName();
  
    public: std::string GetNSPrefix();
  
    public: XMLConfigNode *GetNext();

    public: XMLConfigNode *GetNext(const std::string &name,const std::string &prefix=std::string());

    public: XMLConfigNode *GetNextByNSPrefix(const std::string &prefix);
  
    public: XMLConfigNode *GetChild();
  
    public: XMLConfigNode *GetChild(const std::string &name, const std::string &prefix=std::string() );
  
    public: XMLConfigNode *GetChildByNSPrefix(const std::string &prefix );
  
    public: XMLConfigNode *Rewind();
  
    public: void Print();
  
    public: std::string GetValue();
  
    public: std::string GetString( const std::string &key, const std::string &def, 
                                   int require = 0 );
  
    public: unsigned char GetChar( const std::string &key, char def, int require = 0 );
  
    public: std::string GetFilename( const std::string &key, const std::string &def, 
                                     int require = 0);
  
    public: int GetInt( const std::string &key, int def, int require = 0 );
  
    public: double GetDouble( const std::string &key, double def, int require = 0 );
  
    public: float GetFloat( const std::string &key, float def, int require = 0 );
  
    public: bool GetBool( const std::string &key, bool def, int require = 0 );
  
    public: double GetLength( const std::string &key, double def, int require = 0 );
  
    public: gazebo::Time GetTime( const std::string &key, double def, int require = 0 );
  
    public: Vector3 GetVector3( const std::string &key, Vector3 def );
  
    public: Vector2<double> GetVector2d( const std::string &key, Vector2<double> def );

    public: Vector2<int> GetVector2i( const std::string &key, Vector2<int> def );
  
    public: Quatern GetRotation( const std::string &key, Quatern def );
  
    public: std::string GetTupleString( const std::string &key, int index, 
                                        const std::string &def );
  
    public: int GetTupleInt( const std::string &key, int index, int def );
  
    public: double GetTupleDouble( const std::string &key, int index, double def );
  
    public: double GetTupleLength( const std::string &key, int index, double def );
  
    public: double GetTupleAngle( const std::string &key, int index, double def );
  
    public: void SetValue(const std::string &key, const StringValue &data, int require =0, int type=0);

    protected: xmlChar* GetNodeValue( const std::string &key );
  
    protected: bool SetNodeValue(const std::string& key,const std::string& value);

    protected: void NewNode(const char* key, const char* value, int type);

    private: XMLConfig *config;
    
    private: XMLConfigNode *parent;
    
    private: XMLConfigNode *next, *prev;
    
    private: XMLConfigNode *childFirst, *childLast;
  
    private: xmlNodePtr xmlNode;
  
    private: xmlDocPtr xmlDoc;
  };


}

#endif

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Last updated Aug 04 2007