/home/fwph/code/wurde/modules/rFlexBase/xmlparser.cpp

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#include <xercesc/util/PlatformUtils.hpp>
#include <xercesc/dom/DOM.hpp>
#include <xercesc/parsers/XercesDOMParser.hpp>
#include <xercesc/util/XMLChar.hpp>
#include <string>
#include <iostream>
#include <Logger.H>
#include <WURDEConfiguration.H>

// Other include files, declarations, and non-Xerces-C++ initializations.
XERCES_CPP_NAMESPACE_USE 

using namespace WURDE;
using namespace std;

string parseRflexConfig(std::string config,std::string rflexName){
       string port=" ";
       
       try {
              XMLPlatformUtils::Initialize();
       }
       catch (const XMLException& toCatch) {          
              cout << "Something went wrong.\n";
              //we should probably do some more failure processing, and generally catch the exceptions
              //that can be thrown by Xerces, but i'm not doing that right now.
              return port;
       }
       
       //this is all startup stuff for Xerces.we may not actually be validating now. should check on that.
       static const XMLCh gLS[] = { chLatin_L, chLatin_S, chNull };
       DOMImplementation *impl = DOMImplementationRegistry::getDOMImplementation(gLS);
       DOMBuilder        *parser = ((DOMImplementationLS*)impl)->createDOMBuilder(DOMImplementationLS::MODE_SYNCHRONOUS, 0);
       XERCES_CPP_NAMESPACE_QUALIFIER DOMDocument *doc = 0;
       DOMElement *root;
       DOMNode *curr,*name,*child, *item;
       DOMNodeList *theNodes,*children;
       DOMNamedNodeMap *attr;
       bool found=false;

       doc = parser->parseURI(config.c_str());
       if(!doc){
              g_logfatal << "Config file " << config.c_str() << " not found!"<< endl;
              exit(1);
       }
       
       root=doc->getDocumentElement();
       
       //now the code
       string currentname, temp;
       
       //make sure we've got an mcp-config section
       temp=XMLString::transcode(root->getTagName());
       if(temp!="rflex-config"){
              g_logfatal << temp << " has no rflex-config.\n";
              exit(1);
       }
       
       //get the module nodes
       theNodes=doc->getElementsByTagName(XMLString::transcode("device"));
       
       for(unsigned int i=0;i<theNodes->getLength();i++){
              string id;
              
              curr=theNodes->item(i);
              attr=curr->getAttributes();
              
              name=attr->getNamedItem(XMLString::transcode("name"));
              currentname=XMLString::transcode(name->getNodeValue());

              if(currentname==rflexName){
                     found=true;
                     
                     name=attr->getNamedItem(XMLString::transcode("port"));
                     port=XMLString::transcode(name->getNodeValue());

                     name=attr->getNamedItem(XMLString::transcode("type"));
                     string type=XMLString::transcode(name->getNodeValue());
                     g_globalConfiguration.setOption("rFlexType",type);
              }
       }

       theNodes=doc->getElementsByTagName(XMLString::transcode("limits"));
       
       for(unsigned int i=0;i<theNodes->getLength();i++){
              string id;
              string val;

              curr=theNodes->item(i);
              attr=curr->getAttributes();
              
              name=attr->getNamedItem(XMLString::transcode("maxTrans"));
              if(name){
                     val=XMLString::transcode(name->getNodeValue());
                     g_globalConfiguration.setOption("rFlexMaxTrans",val);
              }

              name=attr->getNamedItem(XMLString::transcode("maxSteer"));
              
              if(name){
                     val=XMLString::transcode(name->getNodeValue());
                     g_globalConfiguration.setOption("rFlexMaxTrans",val);
              }

              name=attr->getNamedItem(XMLString::transcode("rFlexUnsafeBrake"));
              
              if(name){
                     val=XMLString::transcode(name->getNodeValue());
                     g_globalConfiguration.setOption("rFlexUnsafeBrake",val);
              }

       }

       
       if(!found){
              g_logfatal << "Couldn't find rflex " << rflexName << endl;
              exit(1);
       }
       
       XMLPlatformUtils::Terminate();
       
       return port;
}
        

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