xmlPrinter.hpp

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/*********************************************************************
 * xmlPrinter.hpp
 *
 *  Created on: Apr 3, 2014
 *      Author: Filip Mandic
 *
 ********************************************************************/

/*********************************************************************
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#ifndef XMLPRINTER_HPP_
#define XMLPRINTER_HPP_

#include <labust_mission/labustMission.hpp>
#include <tinyxml2.h>

using namespace tinyxml2;
using namespace std;

namespace labust{
        namespace utils {

                /*****************************************************************
                 *** WriteXML Class definition
                 ****************************************************************/

                class WriteXML{

                public:

                        /************************************************************
                         *** Class functions
                         ************************************************************/

                        WriteXML();

                        void addMission();

                        void addEvent();

                        void saveXML(string fileName);

                        void addXMLNode(XMLNode* parentNode, string nodeName, string attrName, string attrValue, double value);

                        void addGo2point_FA(double north, double east, double speed, double victoryRadius);

                        void addGo2point_UA(double north, double east, double speed, double victoryRadius);

                        void addDynamic_positioning(double north, double east, double heading);

                        void addCourse_keeping_FA(double course, double speed, double heading);

                        void addCourse_keeping_UA(double course, double speed);


                        /************************************************************
                         *** Class variables
                         ************************************************************/

                        XMLDocument doc;

                        XMLNode *mission;
                        XMLNode *main;
                        XMLNode *primitive;
                        XMLNode *param;
                        XMLNode *idNode;
                        XMLNode *events;

                        int id;

                };

                WriteXML::WriteXML():id(0){

                }

                void WriteXML::addMission(){
                        main = doc.NewElement("main");
                        mission = doc.NewElement("mission");
                        doc.InsertEndChild(main);
                        main->InsertEndChild(mission);
                        id = 0;
                }

                void WriteXML::addEvent(){

                        events = doc.NewElement("events");
                        doc.InsertEndChild(events); // Provjeri ubacuje li u pravi parent
                }

                void WriteXML::saveXML(string fileName){

                        doc.SaveFile( fileName.c_str() );
                        doc.Clear();
                        ROS_ERROR("Mission generated.");
                }


                void WriteXML::addXMLNode(XMLNode* parentNode, string nodeName, string attrName, string attrValue, double value){

                        XMLNode *node;
                        string text;
                        node = doc.NewElement(nodeName.c_str());
                        if(attrName.empty() == 0)
                                node->ToElement()->SetAttribute(attrName.c_str(),attrValue.c_str());

                        text.assign(static_cast<ostringstream*>( &(ostringstream() << value) )->str());
                        node->InsertEndChild(doc.NewText(text.c_str()));
                        parentNode->InsertEndChild(node);
                }

                void WriteXML::addGo2point_UA(double north, double east, double speed, double victoryRadius){

                        id++;

                        primitive = doc.NewElement("primitive");
                        primitive->ToElement()->SetAttribute("name","go2point_UA");

                        addXMLNode(primitive,"id","","",id);

                        addXMLNode(primitive,"param","name","north",north);
                        addXMLNode(primitive,"param","name","east",east);
                        addXMLNode(primitive,"param","name","speed",speed);
                        addXMLNode(primitive,"param","name","victory_radius",victoryRadius);

                        mission->InsertEndChild(primitive);
                }

                void WriteXML::addGo2point_FA(double north, double east, double speed, double victoryRadius){

                        id++;

                        primitive = doc.NewElement("primitive");
                        primitive->ToElement()->SetAttribute("name","go2point_FA");

                        addXMLNode(primitive,"id","","",id);

                        addXMLNode(primitive,"param","name","north",north);
                        addXMLNode(primitive,"param","name","east",east);
                        //addXMLNode(primitive,"param","name","heading",heading);
                        addXMLNode(primitive,"param","name","speed",speed);
                        addXMLNode(primitive,"param","name","victory_radius",victoryRadius);

                        mission->InsertEndChild(primitive);
                }

                void WriteXML::addDynamic_positioning(double north, double east, double heading){

                        id++;

                        primitive = doc.NewElement("primitive");
                        primitive->ToElement()->SetAttribute("name","dynamic_positioning");

                        addXMLNode(primitive,"id","","",id);

                        addXMLNode(primitive,"param","name","north",north);
                        addXMLNode(primitive,"param","name","east",east);
                        addXMLNode(primitive,"param","name","heading",heading);
                        addXMLNode(primitive,"param","name","timeout",0);

                        mission->InsertEndChild(primitive);
                }

                void WriteXML::addCourse_keeping_FA(double course, double speed, double heading){

                        id++;

                        primitive = doc.NewElement("primitive");
                        primitive->ToElement()->SetAttribute("name","course_keeping_FA");

                        addXMLNode(primitive,"id","","",id);

                        addXMLNode(primitive,"param","name","course",course);
                        addXMLNode(primitive,"param","name","speed",speed);
                        addXMLNode(primitive,"param","name","heading",heading);
                        addXMLNode(primitive,"param","name","timeout",10);

                        mission->InsertEndChild(primitive);
                }

                void WriteXML::addCourse_keeping_UA(double course, double speed){

                        id++;

                        primitive = doc.NewElement("primitive");
                        primitive->ToElement()->SetAttribute("name","course_keeping_UA");

                        addXMLNode(primitive,"id","","",id);

                        addXMLNode(primitive,"param","name","course",course);
                        addXMLNode(primitive,"param","name","speed",speed);
                        addXMLNode(primitive,"param","name","timeout",10);

                        mission->InsertEndChild(primitive);
                }
        }
}

#endif /* XMLPRINTER_HPP_ */