display_factory.cpp

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "rviz/display_group.h"

#include "rviz/display_factory.h"

#include <tinyxml.h>

namespace rviz
{

static Display* newDisplayGroup()
{
  return new DisplayGroup();
}

DisplayFactory::DisplayFactory()
  : PluginlibFactory<Display>( "rviz", "rviz::Display" )
{
  addBuiltInClass( "rviz", "Group", "A container for Displays", &newDisplayGroup );
}

Display* DisplayFactory::makeRaw( const QString& class_id, QString* error_return )
{
  Display* display = PluginlibFactory<Display>::makeRaw( class_id, error_return );
  if ( display )
  {
    display->setIcon( getIcon( class_id ));
  }
  return display;
}

QSet<QString> DisplayFactory::getMessageTypes( const QString& class_id )
{
  // lookup in cache
  if ( message_type_cache_.find( class_id ) != message_type_cache_.end() )
  {
    return message_type_cache_[class_id];
  }

  // Always initialize cache as empty so if we don't find it, next time
  // we won't look for it anymore either.
  message_type_cache_[ class_id ] = QSet<QString>();

  // parse xml plugin description to find out message types of all displays in it.
  QString xml_file = getPluginManifestPath( class_id );

  if ( !xml_file.isEmpty() )
  {
    ROS_DEBUG_STREAM("Parsing " << xml_file.toStdString());
    TiXmlDocument document;
    document.LoadFile(xml_file.toStdString());
    TiXmlElement * config = document.RootElement();
    if (config == NULL)
    {
      ROS_ERROR("Skipping XML Document \"%s\" which had no Root Element.  This likely means the XML is malformed or missing.", xml_file.toStdString().c_str());
      return QSet<QString>();
    }
    if (config->ValueStr() != "library" &&
        config->ValueStr() != "class_libraries")
    {
      ROS_ERROR("The XML document \"%s\" given to add must have either \"library\" or \
          \"class_libraries\" as the root tag", xml_file.toStdString().c_str());
      return QSet<QString>();
    }
    //Step into the filter list if necessary
    if (config->ValueStr() == "class_libraries")
    {
      config = config->FirstChildElement("library");
    }

    TiXmlElement* library = config;
    while ( library != NULL)
    {
      TiXmlElement* class_element = library->FirstChildElement("class");
      while (class_element)
      {
        std::string derived_class = class_element->Attribute("type");

        std::string current_class_id;
        if(class_element->Attribute("name") != NULL)
        {
          current_class_id = class_element->Attribute("name");
          ROS_DEBUG("XML file specifies lookup name (i.e. magic name) = %s.", current_class_id.c_str());
        }
        else
        {
          ROS_DEBUG("XML file has no lookup name (i.e. magic name) for class %s, assuming class_id == real class name.", derived_class.c_str());
          current_class_id = derived_class;
        }

        QSet<QString> message_types;
        TiXmlElement* message_type = class_element->FirstChildElement("message_type");

        while ( message_type )
        {
          if ( message_type->GetText() )
          {
            const char* message_type_str = message_type->GetText();
            ROS_DEBUG_STREAM(current_class_id << " supports message type " << message_type_str );
#if QT_VERSION < QT_VERSION_CHECK(5, 0, 0)
            message_types.insert( QString::fromAscii( message_type_str ) );
#else
            message_types.insert( QString(message_type_str) );
#endif
          }
          message_type = message_type->NextSiblingElement("message_type");
        }

        message_type_cache_[ QString::fromStdString(current_class_id) ] = message_types;

        //step to next class_element
        class_element = class_element->NextSiblingElement( "class" );
      }
      library = library->NextSiblingElement( "library" );
    }
  }

  // search cache again.
  if ( message_type_cache_.find( class_id ) != message_type_cache_.end() )
  {
    return message_type_cache_[class_id];
  }

  return QSet<QString>();
}


} // end namespace rviz