Syntax validation plugin for XML plans. More...

#include <xml_parser_plugin.hpp>

Inheritance diagram for fabric::XMLParser:

Collaboration diagram for fabric::XMLParser:

Public Member Functions
	XMLParser ()=default

virtual	~XMLParser ()=default

void	initialize (const rclcpp::Node::SharedPtr &node) override
	Initialize the XML parser plugin.

bool	load_file (const std::string &file_path, fabric::Plan &plan) override
	load a file into an XML document

bool	check_compatibility (const fabric::Plan &plan) override
	Check the compatibility of the given plan with the given parser.

void	parse (fabric::Plan &plan) override
	Parse the given XML plan.

Public Member Functions inherited from fabric::ParserBase
virtual	~ParserBase ()=default

Protected Member Functions
void	convert_to_string (tinyxml2::XMLDocument &document_xml, std::string &document_string)
	convert XMLDocument to std::string

bool	search (std::vector< std::string > list, std::string value)
	search a string in a vector of strings

tinyxml2::XMLElement *	extract_plan (tinyxml2::XMLDocument &document)
	Extract the <Plan> element from the XML document.

bool	convert_to_string (tinyxml2::XMLElement *element, std::string &parameters)
	convert XMLElement to std::string

bool	check_syntax (tinyxml2::XMLElement *element, std::vector< std::string > &control_list, std::vector< std::string > &rejected, std::string &error)
	check the plan to make sure all control and runner XML elements are valid with minimal required attributes. The function uses recursive approach to go through the xml plan

void	add_completion_runner (tinyxml2::XMLDocument &document, const std::string &plan_id)
	add a completion runner to the plan This function adds a new <Control> element with type "sequential" and a <Runner> element for the completion runner to the existing <Plan> element in the XML document.

int	add_parallel_all (fabric::Plan &plan, int connection_id=0, std::string description="")
	Adds a system connection for parallel input multiplexing with waiting for all inputs.

int	add_parallel_any (fabric::Plan &plan, int connection_id=0, std::string description="")
	Adds a system connection for parallel input multiplexing with waiting for any inputs.

capabilities2_events::EventParameters	convert_xml_to_event_parameters (tinyxml2::XMLElement *element)
	Check and update the system runner id for the successor based on the predecessor's id.

int	extract_connections (tinyxml2::XMLElement *element, fabric::Plan &plan, int connection_id=0, fabric::event connection_type=fabric::event::ON_SUCCESS, std::string conn_description="")
	parse through the plan and extract the connections

Protected Member Functions inherited from fabric::ParserBase
void	initialize_base (const rclcpp::Node::SharedPtr &node, const std::string &plugin_name)
	Base initialization method for derived classes.

Protected Attributes
std::vector< std::string >	control_list
	List of valid control tags.

tinyxml2::XMLDocument	system_doc
	XML Document for system runners.

int	runner_index = 0
	Index for assigning unique IDs to system runners.

tinyxml2::XMLElement *	plan_ = nullptr
	Pointer to the plan element in the XML document.

tinyxml2::XMLDocument	default_document
	Default XML document for loading from file.

tinyxml2::XMLDocument	current_document_
	XML Document to hold the current plan.

Protected Attributes inherited from fabric::ParserBase
rclcpp::Node::SharedPtr	node_
	Shared pointer to the ROS2 node.

std::string	plugin_name_
	Name of the validation plugin.

Detailed Description

Syntax validation plugin for XML plans.

This plugin checks the XML plan for basic syntax errors (well-formedness, root tag, etc).

Constructor & Destructor Documentation

◆ XMLParser()

fabric::XMLParser::XMLParser ( )

default

◆ ~XMLParser()

virtual fabric::XMLParser::~XMLParser ( )

virtualdefault

Member Function Documentation

◆ add_completion_runner()

void fabric::XMLParser::add_completion_runner	(	tinyxml2::XMLDocument &	document,
		const std::string &	plan_id
	)

inlineprotected

add a completion runner to the plan This function adds a new <Control> element with type "sequential" and a <Runner> element for the completion runner to the existing <Plan> element in the XML document.

Parameters

document	XML document to which the completion runner will be added
plan_id	ID of the plan to be associated with the completion runner

◆ add_parallel_all()

int fabric::XMLParser::add_parallel_all	(	fabric::Plan &	plan,
		int	connection_id = `0`,
		std::string	description = `""`
	)

inlineprotected

Adds a system connection for parallel input multiplexing with waiting for all inputs.

Parameters

connections	fabric::Plan containing connections
connection_id	connection id to be used for the new connection
description	description of the connection

Returns: int next connection id

◆ add_parallel_any()

int fabric::XMLParser::add_parallel_any	(	fabric::Plan &	plan,
		int	connection_id = `0`,
		std::string	description = `""`
	)

inlineprotected

Adds a system connection for parallel input multiplexing with waiting for any inputs.

Parameters

plan	fabric::Plan containing connections
connection_id	connection id to be used for the new connection
description	description of the connection

Returns: int next connection id

◆ check_compatibility()

bool fabric::XMLParser::check_compatibility ( const fabric::Plan & plan )

inlineoverridevirtual

Check the compatibility of the given plan with the given parser.

Parameters

plan	The plan to check for compatibility.

Returns: true if the plan is compatible, false otherwise.

Implements fabric::ParserBase.

◆ check_syntax()

bool fabric::XMLParser::check_syntax	(	tinyxml2::XMLElement *	element,
		std::vector< std::string > &	control_list,
		std::vector< std::string > &	rejected,
		std::string &	error
	)

inlineprotected

check the plan to make sure all control and runner XML elements are valid with minimal required attributes. The function uses recursive approach to go through the xml plan

Parameters

element	XML Element to be evaluated
control_list	list of valid control tags
rejected	list containing invalid tags
error	output string for error messages

Returns: true if element valid and supported and false otherwise

◆ convert_to_string() [1/2]

void fabric::XMLParser::convert_to_string	(	tinyxml2::XMLDocument &	document_xml,
		std::string &	document_string
	)

inlineprotected

convert XMLDocument to std::string

Parameters

document element to be converted

Returns: std::string converted document

◆ convert_to_string() [2/2]

bool fabric::XMLParser::convert_to_string	(	tinyxml2::XMLElement *	element,
		std::string &	parameters
	)

inlineprotected

convert XMLElement to std::string

Parameters

element	XMLElement element to be converted
paramters	parameter to hold std::string

Returns: true if element is not nullptr and conversion successful, false if element is nullptr

◆ convert_xml_to_event_parameters()

capabilities2_events::EventParameters fabric::XMLParser::convert_xml_to_event_parameters ( tinyxml2::XMLElement * element )

inlineprotected

Check and update the system runner id for the successor based on the predecessor's id.

This function checks if the predecessor is a system runner and has parameters. If so, it updates the successor's parameters with the predecessor's id.

Parameters

predecessor	The predecessor node_t containing the source runner
successor	The successor node_t to be updated

convert tinyxml2::XMLElement attributes to EventParameters. Treats the original attributes as string and let the runners that they are related to handle the conversion from string to correct data type

Parameters

element tinyxml2::XMLElement element to be converted.

Returns: capabilities2_events::EventParameters converted parameters

◆ extract_connections()

int fabric::XMLParser::extract_connections	(	tinyxml2::XMLElement *	element,
		fabric::Plan &	plan,
		int	connection_id = `0`,
		fabric::event	connection_type = `fabric::event::ON_SUCCESS`,
		std::string	conn_description = `""`
	)

inlineprotected

parse through the plan and extract the connections

Parameters

element	XML Element to be evaluated
connections	std::map containing extracted connections

◆ extract_plan()

tinyxml2::XMLElement * fabric::XMLParser::extract_plan ( tinyxml2::XMLDocument & document )

inlineprotected

Extract the <Plan> element from the XML document.

This function checks if the root element of the provided XML document is <Plan>. If so, it returns the first child element of <Plan>. Otherwise, it indicates failure.

Parameters

document The XMLDocument to extract the plan from

Returns: tinyxml2::XMLElement* Pointer to the first child of <Plan> if successful, nullptr otherwise

◆ initialize()

void fabric::XMLParser::initialize ( const rclcpp::Node::SharedPtr & node )

inlineoverridevirtual

Initialize the XML parser plugin.

Parameters

node	Shared pointer to the ROS2 node.

Reimplemented from fabric::ParserBase.

◆ load_file()

bool fabric::XMLParser::load_file	(	const std::string &	file_path,
		fabric::Plan &	plan
	)

inlineoverridevirtual

load a file into an XML document

Parameters

document The path to the XML file to be loaded

Returns: true if the file was loaded successfully, false otherwise

Implements fabric::ParserBase.

◆ parse()

void fabric::XMLParser::parse ( fabric::Plan & plan )

inlineoverridevirtual

Parse the given XML plan.

Parameters

document	The XMLDocument representing the plan.
plan	The parsed plan.

Implements fabric::ParserBase.

◆ search()

bool fabric::XMLParser::search	(	std::vector< std::string >	list,
		std::string	value
	)

inlineprotected

search a string in a vector of strings

Parameters

list	vector of strings to be searched
value	string to be searched in the vector

Returns: true if value is found in list and false otherwise

Member Data Documentation

◆ control_list

std::vector<std::string> fabric::XMLParser::control_list

protected

List of valid control tags.

◆ current_document_

tinyxml2::XMLDocument fabric::XMLParser::current_document_

protected

XML Document to hold the current plan.

◆ default_document

tinyxml2::XMLDocument fabric::XMLParser::default_document

protected

Default XML document for loading from file.

◆ plan_

tinyxml2::XMLElement* fabric::XMLParser::plan_ = nullptr

protected

Pointer to the plan element in the XML document.

◆ runner_index

int fabric::XMLParser::runner_index = 0

protected

Index for assigning unique IDs to system runners.

◆ system_doc

tinyxml2::XMLDocument fabric::XMLParser::system_doc

protected

XML Document for system runners.

The documentation for this class was generated from the following file:

fabric_parser_xml/include/fabric_parser_xml/xml_parser_plugin.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ XMLParser()

◆ ~XMLParser()

Member Function Documentation

◆ add_completion_runner()

◆ add_parallel_all()

◆ add_parallel_any()

◆ check_compatibility()

◆ check_syntax()

◆ convert_to_string() [1/2]

◆ convert_to_string() [2/2]

◆ convert_xml_to_event_parameters()

◆ extract_connections()

◆ extract_plan()

◆ initialize()

◆ load_file()

◆ parse()

◆ search()

Member Data Documentation

◆ control_list

◆ current_document_

◆ default_document

◆ plan_

◆ runner_index

◆ system_doc