rule_editing.cpp

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#include "rule_editing.h"
#include "ui_rule_editing.h"
#include <QDomDocument>
#include <QSettings>
#include <QPlainTextEdit>
#include <QTimer>
#include <QMessageBox>

const char* DEFAULT_RULES =
        "<SubstitutionRules>\n"
        "\n"
        "<RosType name=\"sensor_msgs/JointState\">\n"
        "  <rule pattern=\"position.#\" alias=\"name.#\" substitution=\"@/pos\" />\n"
        "  <rule pattern=\"velocity.#\" alias=\"name.#\" substitution=\"@/vel\" />\n"
        "  <rule pattern=\"effort.#\"   alias=\"name.#\" substitution=\"@/eff\" />\n"
        "</RosType>\n"
        "\n"
        "<RosType name=\"tf/tfMessage\">"
        "  <rule pattern=\"transforms.#/header\"                alias=\"transforms.#/child_frame_id\"  substitution=\"@/header\" />\n"
        "  <rule pattern=\"transforms.#/transform/rotation\"    alias=\"transforms.#/child_frame_id\"  substitution=\"@/rotation\" />\n"
        "  <rule pattern=\"transforms.#/transform/translation\" alias=\"transforms.#/child_frame_id\"  substitution=\"@/translation\" />\n"
        "</RosType>\n"
        "\n"
        "<RosType name=\"tf2_msgs/TFMessage\">"
        "  <rule pattern=\"transforms.#/header\"                alias=\"transforms.#/child_frame_id\"  substitution=\"@/header\" />\n"
        "  <rule pattern=\"transforms.#/transform/rotation\"    alias=\"transforms.#/child_frame_id\"  substitution=\"@/rotation\" />\n"
        "  <rule pattern=\"transforms.#/transform/translation\" alias=\"transforms.#/child_frame_id\"  substitution=\"@/translation\" />\n"
        "</RosType>\n"
        "\n"
        "<RosType name=\"pal_statistics_msgs/Statistics\">\n"
        "  <rule pattern=\"statistics.#/value\" alias=\"statistics.#/name\" substitution=\"@\" />\n"
        "</RosType>\n"
        "</SubstitutionRules>\n"
        ;

XMLSyntaxHighlighter::XMLSyntaxHighlighter(QObject * parent) :
    QSyntaxHighlighter(parent)
{
    setRegexes();
    setFormats();
}

XMLSyntaxHighlighter::XMLSyntaxHighlighter(QTextDocument * parent) :
    QSyntaxHighlighter(parent)
{
    setRegexes();
    setFormats();
}

XMLSyntaxHighlighter::XMLSyntaxHighlighter(QTextEdit * parent) :
    QSyntaxHighlighter(parent)
{
    setRegexes();
    setFormats();
}

void XMLSyntaxHighlighter::highlightBlock(const QString & text)
{
    // Special treatment for xml element regex as we use captured text to emulate lookbehind
    int xmlElementIndex = _xmlElementRegex.indexIn(text);
    while(xmlElementIndex >= 0)
    {
        int matchedPos = _xmlElementRegex.pos(1);
        int matchedLength = _xmlElementRegex.cap(1).length();
        setFormat(matchedPos, matchedLength, _xmlElementFormat);

        xmlElementIndex = _xmlElementRegex.indexIn(text, matchedPos + matchedLength);
    }

    // Highlight xml keywords *after* xml elements to fix any occasional / captured into the enclosing element
    typedef QList<QRegExp>::const_iterator Iter;
    Iter xmlKeywordRegexesEnd = _xmlKeywordRegexes.end();
    for(Iter it = _xmlKeywordRegexes.begin(); it != xmlKeywordRegexesEnd; ++it) {
        const QRegExp & regex = *it;
        highlightByRegex(_xmlKeywordFormat, regex, text);
    }

    highlightByRegex(_xmlAttributeFormat, _xmlAttributeRegex, text);
    highlightByRegex(_xmlCommentFormat, _xmlCommentRegex, text);
    highlightByRegex(_xmlValueFormat, _xmlValueRegex, text);
}

void XMLSyntaxHighlighter::highlightByRegex(const QTextCharFormat & format,
                                            const QRegExp & regex,
                                            const QString & text)
{
    int index = regex.indexIn(text);
    while(index >= 0)
    {
        int matchedLength = regex.matchedLength();
        setFormat(index, matchedLength, format);
        index = regex.indexIn(text, index + matchedLength);
    }
}

void XMLSyntaxHighlighter::setRegexes()
{
    _xmlElementRegex.setPattern("<[\\s]*[/]?[\\s]*([^\\n]\\w*)(?=[\\s/>])");
    _xmlAttributeRegex.setPattern("\\w+(?=\\=)");
    _xmlValueRegex.setPattern("\"[^\\n\"]+\"(?=[\\s/>])");
    _xmlCommentRegex.setPattern("<!--[^\\n]*-->");

    _xmlKeywordRegexes = QList<QRegExp>() << QRegExp("<\\?") << QRegExp("/>")
                                          << QRegExp(">") << QRegExp("<") << QRegExp("</")
                                          << QRegExp("\\?>");
}

void XMLSyntaxHighlighter::setFormats()
{
    _xmlKeywordFormat.setForeground(Qt::blue);
    _xmlElementFormat.setForeground(Qt::darkMagenta);

    _xmlAttributeFormat.setForeground(Qt::darkGreen);
    _xmlAttributeFormat.setFontItalic(true);

    _xmlValueFormat.setForeground(Qt::darkRed);
    _xmlCommentFormat.setForeground(Qt::gray);
}

RuleEditing::RuleEditing(QWidget *parent) :
    QDialog(parent),
    ui(new Ui::RuleEditing)
{
    ui->setupUi(this);

    _highlighter = new XMLSyntaxHighlighter(ui->textEdit);

    QSettings settings;
    restoreGeometry(settings.value("RuleEditing.geometry").toByteArray());

    ui->textEdit->setPlainText( getRenamingXML() );

    _timer.setInterval(200);
    _timer.setSingleShot(false);
    _timer.start();

    const QFont fixedFont = QFontDatabase::systemFont(QFontDatabase::FixedFont);

    ui->textEdit->setFont(fixedFont);

    connect(&_timer, &QTimer::timeout, this, &RuleEditing::on_timer );
}

RuleEditing::~RuleEditing()
{
    delete ui;
}


bool RuleEditing::isValidXml()
{
    QString errorStr;
    int errorLine, errorColumn;
    bool valid = true;

    QDomDocument domDocument;
    QString text = ui->textEdit->toPlainText();

    if (!domDocument.setContent(text , true,
                                &errorStr, &errorLine, &errorColumn))
    {
        ui->labelValidSyntax->setText("Invalid XML: " + errorStr);
        return false;
    }
    QDomElement root = domDocument.namedItem("SubstitutionRules").toElement();

    if( root.isNull() ){
        errorStr = tr("the root node should be <SubstitutionRules>");
        ui->labelValidSyntax->setText(tr("Invalid: ") + errorStr);
        return false;
    }

    for ( auto type_el = root.firstChildElement( )  ;
          type_el.isNull() == false;
          type_el = type_el.nextSiblingElement() )
    {
        if( type_el.nodeName() != "RosType")
        {
            errorStr = tr("<SubstitutionRules> must have children named <RosType>");
            ui->labelValidSyntax->setText(tr("Invalid: ") + errorStr);
            return false;
        }
        if( type_el.hasAttribute("name") == false)
        {
            errorStr = tr("node <RosType> must have the attribute [name]");
            ui->labelValidSyntax->setText(tr("Invalid: ") + errorStr);
            return false;
        }

        for ( auto rule_el = type_el.firstChildElement( )  ;
              rule_el.isNull() == false;
              rule_el = rule_el.nextSiblingElement( ) )
        {
            if( rule_el.nodeName() != "rule")
            {
                errorStr = tr("<RosType> must have children named <rule>");
                ui->labelValidSyntax->setText(tr("Invalid: ") + errorStr);
                return false;
            }
            if( !rule_el.hasAttribute("pattern") ||
                    !rule_el.hasAttribute("alias") ||
                    !rule_el.hasAttribute("substitution") )
            {
                errorStr = tr("<rule> must have the attributes 'pattern', 'alias' and 'substitution'");
                ui->labelValidSyntax->setText(tr("Invalid: ") + errorStr);
                return false;
            }
        }
    }
    ui->labelValidSyntax->setText(tr("Valid") + errorStr);
    return true;
}

void RuleEditing::on_pushButtonSave_pressed()
{
    QSettings settings;
    settings.setValue("RuleEditing.text", ui->textEdit->toPlainText() );
    this->close();
}

void RuleEditing::closeEvent(QCloseEvent *event)
{
    QSettings settings;
    settings.setValue("RuleEditing.geometry", saveGeometry());
    QWidget::closeEvent(event);
}

void RuleEditing::on_timer()
{
    bool valid = isValidXml();
    ui->pushButtonSave->setEnabled(valid);
}

void RuleEditing::on_pushButtonCancel_pressed()
{
    this->close();
}

void RuleEditing::on_pushButtonReset_pressed()
{
    QMessageBox::StandardButton reply;
    reply = QMessageBox::question(0, tr("Warning"),
                                  tr("Do you really want to overwrite these rules\n"),
                                  QMessageBox::Yes | QMessageBox::No,
                                  QMessageBox::No );
    if( reply == QMessageBox::Yes )
    {
        ui->textEdit->setPlainText( DEFAULT_RULES );
    }
}

QString RuleEditing::getRenamingXML()
{
    QSettings settings;
    if( settings.contains("RuleEditing.text") )
    {
        return settings.value("RuleEditing.text").toString();
    }
    else{
        return DEFAULT_RULES;
    }
}

RosIntrospection::SubstitutionRuleMap RuleEditing::getRenamingRules()
{
    using namespace RosIntrospection;
    SubstitutionRuleMap rule_map;

    QDomDocument domDocument;

    if (!domDocument.setContent( getRenamingXML() , true))
    {
        return rule_map;
    }
    QDomElement root = domDocument.namedItem("SubstitutionRules").toElement();

    for ( auto type_el = root.firstChildElement("RosType")  ;
          type_el.isNull() == false;
          type_el = type_el.nextSiblingElement("RosType") )
    {
        std::string type_name = type_el.attribute("name").toStdString();
        std::vector<SubstitutionRule> rules_vect;

        for ( auto rule_el = type_el.firstChildElement("rule")  ;
              rule_el.isNull() == false;
              rule_el = rule_el.nextSiblingElement("rule") )
        {
            std::string pattern      = rule_el.attribute("pattern").toStdString();
            std::string substitution = rule_el.attribute("substitution").toStdString();
            std::string alias        = rule_el.attribute("alias").toStdString();

            SubstitutionRule rule( pattern.c_str(),
                                   alias.c_str(),
                                   substitution.c_str() );

            rules_vect.push_back( rule );
        }
        rule_map.insert( std::make_pair( ROSType(type_name), std::move( rules_vect ) ));
    }
    return rule_map;
}