GripperSetpointFactory.cpp

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#include "robot_instance/GripperSetpointFactory.h"

using namespace std;
using namespace log4cpp;

GripperSetpointMap::value_type GripperSetpointFactory::fromXml(const std::string& xml)
{
    TiXmlDocument file;
    file.Parse(xml.c_str());
    TiXmlHandle doc(&file);
    TiXmlHandle elementHandle(doc.FirstChild("Setpoint"));

    if (elementHandle.ToElement())
    {
        string name = "";

        if (elementHandle.ToElement()->Attribute("id"))
        {
            name = elementHandle.ToElement()->Attribute("id");
        }
        else
        {
            stringstream err;
            err << "The attribute [id] was not found for element [" << elementHandle.ToElement()->ValueStr() << "]";
            NasaCommonLogging::Logger::log("gov.nasa.configuration.GripperSetpointFactory", Priority::ERROR, err.str());
            MissingXMLElementException missingXMLElementException;
            throw missingXMLElementException;
        }

        GripperSetpoint setpoint;

        TiXmlHandle jawPositionElement(elementHandle.FirstChildElement("JawPosition"));

        if (jawPositionElement.ToElement())
        {
            setpoint.jawPosition      = boost::lexical_cast<float>(Private::getAttribute(jawPositionElement, "value"));
            setpoint.jawPositionDelta = boost::lexical_cast<float>(Private::getAttribute(jawPositionElement, "delta"));
        }
        else
        {
            stringstream err;
            err << "Setpoint [" << name << "] has no element named [JawPosition]";
            NasaCommonLogging::Logger::log("gov.nasa.configuration.GripperSetpointFactory", Priority::INFO, err.str());
            throw runtime_error(err.str());
        }

        TiXmlHandle expectedLoadElement(elementHandle.FirstChildElement("ExpectedLoad"));

        if (expectedLoadElement.ToElement())
        {
            setpoint.expectedLoad      = boost::lexical_cast<float>(Private::getAttribute(expectedLoadElement, "value"));
            setpoint.expectedLoadDelta = boost::lexical_cast<float>(Private::getAttribute(expectedLoadElement, "delta"));
        }
        else
        {
            stringstream err;
            err << "Setpoint [" << name << "] has no element named [ExpectedLoad]";
            NasaCommonLogging::Logger::log("gov.nasa.configuration.GripperSetpointFactory", Priority::INFO, err.str());
            throw runtime_error(err.str());
        }

        // Create and return the new setpoint
        return GripperSetpointMap::value_type(name, setpoint);
    }
    else
    {
        stringstream err;
        err << "The element [Setpoint] was not found.";
        NasaCommonLogging::Logger::log("gov.nasa.configuration.GripperSetpointFactory", Priority::ERROR, err.str());
        MissingXMLElementException missingXMLElementException;
        throw missingXMLElementException;
    }
}

void GripperSetpointFactory::fromFile(const std::string& filename, GripperSetpointMapPtr setpointMap)
{
    TiXmlDocument file(filename.c_str());
    bool          loadOkay = file.LoadFile();

    if (!loadOkay)
    {
        stringstream err;
        err << "Failed to load file [" << filename << "]";
        NasaCommonLogging::Logger::log("gov.nasa.configuration.GripperSetpointFactory", Priority::FATAL, err.str());
        throw runtime_error(err.str());
    }

    TiXmlHandle doc(&file);
    NasaCommonLogging::Logger::log("gov.nasa.configuration.GripperSetpointFactory", Priority::INFO, "GripperSetpointFile [" + filename + "] successfully loaded.");

    setpointMap->clear();

    string elementString;

    // Print the XML file's contents
    // cout << "Successfully loaded file: " << filename << endl;
    // TiXmlPrinter printer;
    // printer.SetIndent("\t");
    // file.Accept(&printer);
    // cout << printer.Str() << endl;

    // Check for GripperSetpoints
    if (!(doc.FirstChildElement("GripperSetpoints").ToElement()))
    {
        stringstream err;
        err << "The file " << filename << " has no element named [GripperSetpoints]";
        NasaCommonLogging::Logger::log("gov.nasa.configuration.GripperSetpointFactory", Priority::ERROR, err.str());
        throw runtime_error(err.str());
    }

    // Check for SetPoints
    TiXmlHandle setpointsElement(doc.FirstChildElement("GripperSetpoints").FirstChildElement("Setpoints"));

    if (setpointsElement.ToElement())
    {
        TiXmlHandle currentSetpointElement = 0;

        // Iterate over SetPoints
        currentSetpointElement = setpointsElement.FirstChild("Setpoint");

        while (currentSetpointElement.ToElement())
        {
            elementString.clear();
            elementString << *(currentSetpointElement.ToElement());
            elementString.append("\n");

            GripperSetpointMap::value_type newGripperSetpointMapMember(fromXml(elementString));

            if (setpointMap->find(newGripperSetpointMapMember.first) == setpointMap->end())
            {
                setpointMap->insert(newGripperSetpointMapMember);
            }
            else
            {
                NasaCommonLogging::Logger::log("gov.nasa.configuration.GripperSetpointFactory", Priority::WARN, "setpointMap already contains element with key = " + newGripperSetpointMapMember.first);
            }

            currentSetpointElement = currentSetpointElement.ToElement()->NextSiblingElement("Setpoint");
        }
    }
    else
    {
        stringstream err;
        err << "The file " << filename << " has no element named [Setpoints]";
        NasaCommonLogging::Logger::log("gov.nasa.configuration.GripperSetpointFactory", Priority::ERROR, err.str());
        throw runtime_error(err.str());
    }
}

const std::string GripperSetpointFactory::Private::getAttribute(TiXmlHandle handle, const std::string& attribute, bool required)
{
    if (handle.ToElement()->Attribute(attribute))
    {
        return *(handle.ToElement()->Attribute(attribute));
    }
    else
    {
        if (required)
        {
            stringstream err;
            err << "The attribute [" << attribute << "] was not found for element [" << handle.ToElement()->ValueStr() << "]";
            NasaCommonLogging::Logger::log("gov.nasa.configuration.GripperSetpointFactory", Priority::ERROR, err.str());
            throw runtime_error(err.str());
        }

        return "";
    }
}