kazu
06e0e0a5aa
added corresponding test-cases switched to newer version of tinyxml due to some issues adjusted affected code-parts accordingly for better re-use, moved ceiling-calculation to a new class some minor fixes new helper methods worked on wifi-opt
490 lines
16 KiB
C++
490 lines
16 KiB
C++
#ifndef FLOORPLANREADER_H
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#define FLOORPLANREADER_H
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#include <iostream>
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#include "Floorplan.h"
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#include "../../misc/Debug.h"
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#include "../../Assertions.h"
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#include "../../lib/tinyxml/tinyxml2.h"
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namespace Floorplan {
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using XMLAttr = tinyxml2::XMLAttribute;
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using XMLElem = tinyxml2::XMLElement;
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using XMLNode = tinyxml2::XMLNode;
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/**
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* read an IndoorMaps from XML-data
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*/
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class Reader {
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private:
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static constexpr const char* name = "FPReader";
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public:
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/** read an IndoorMap from the given XML-file */
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static IndoorMap* readFromFile(const std::string& file) {
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Log::add(name, "reading floorplan from file: " + file);
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setlocale(LC_NUMERIC, "C");
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tinyxml2::XMLDocument doc;
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const tinyxml2::XMLError res = doc.LoadFile(file.c_str());
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if (res != tinyxml2::XMLError::XML_SUCCESS) {
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throw Exception(
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std::string() + "error while loading XML " + file + "\n" +
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((doc.GetErrorStr1()) ? (doc.GetErrorStr1()) : ("")) + "\n" +
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((doc.GetErrorStr2()) ? (doc.GetErrorStr2()) : (""))
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);
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}
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IndoorMap* map = parse(doc);
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return map;
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}
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/** read an IndoorMap from the given XMl-string */
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static IndoorMap* readFromString(const std::string& str) {
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Log::add(name, "reading floorplan from string");
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setlocale(LC_NUMERIC, "C");
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tinyxml2::XMLDocument doc;
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const tinyxml2::XMLError res = doc.Parse(str.c_str(), str.length());
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if (res != tinyxml2::XMLError::XML_SUCCESS) {
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throw Exception(
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std::string() + "error while parsing XML\n" +
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((doc.GetErrorStr1()) ? (doc.GetErrorStr1()) : ("")) + "\n" +
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((doc.GetErrorStr2()) ? (doc.GetErrorStr2()) : (""))
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);
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}
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IndoorMap* map = parse(doc);
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return map;
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}
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private:
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#define FOREACH_NODE(out, in) for( const XMLElem* out = in->FirstChildElement(); out; out = out->NextSiblingElement() )
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static void assertNode(const std::string& node, const XMLElem* el) {
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std::string err = std::string("unexpected node '") + el->Name() + "' expected '" + node + "'";
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Assert::equal(node, std::string(el->Name()), err);
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}
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/** parse the complete document */
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static IndoorMap* parse(tinyxml2::XMLDocument& doc) {
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return parseMap(doc.FirstChildElement());
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}
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/** parse the <map> node */
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static IndoorMap* parseMap(const XMLElem* el) {
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Log::add(name, "parsing the map");
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IndoorMap* map = new IndoorMap();
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map->width = el->FloatAttribute("width");
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map->depth = el->FloatAttribute("depth");
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FOREACH_NODE(n, el) {
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if (std::string("floors") == n->Name()) {map->floors = parseFloors(n);}
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}
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return map;
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}
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/** parse the <floors> node */
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static std::vector<Floor*> parseFloors(const XMLElem* el) {
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std::vector<Floor*> floors;
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FOREACH_NODE(n, el) {
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if (std::string("floor") == n->Name()) {floors.push_back(parseFloor(n));}
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}
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return floors;
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}
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/** parse one <floor> node */
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static Floor* parseFloor(const XMLElem* el) {
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Floor* floor = new Floor();
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Log::add(name, std::string("parsing floor ") + el->Attribute("name"));
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floor->atHeight = el->FloatAttribute("atHeight");
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floor->height = el->FloatAttribute("height");
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floor->name = el->Attribute("name");
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FOREACH_NODE(n, el) {
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if (std::string("outline") == n->Name()) {floor->outline = parseFloorOutline(n);}
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if (std::string("obstacles") == n->Name()) {floor->obstacles = parseFloorObstacles(n);}
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if (std::string("accesspoints") == n->Name()) {floor->accesspoints = parseFloorAccessPoints(n);}
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if (std::string("beacons") == n->Name()) {floor->beacons = parseFloorBeacons(n);}
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if (std::string("fingerprints") == n->Name()) {floor->fpLocations = parseFingerprintLocations(n);}
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if (std::string("regions") == n->Name()) {floor->regions = parseFloorRegions(n);}
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if (std::string("underlays") == n->Name()) {floor->underlays = parseFloorUnderlays(n);}
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if (std::string("pois") == n->Name()) {floor->pois = parseFloorPOIs(n);}
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if (std::string("stairs") == n->Name()) {floor->stairs = parseFloorStairs(n);}
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if (std::string("elevators") == n->Name()) {floor->elevators = parseFloorElevators(n);}
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if (std::string("gtpoints") == n->Name()) {floor->gtpoints = parseFloorGroundTruthPoints(n);}
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}
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return floor;
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}
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/** parse the <elevators> tag */
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static std::vector<Elevator*> parseFloorElevators(const XMLElem* el) {
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std::vector<Elevator*> vec;
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FOREACH_NODE(n, el) {
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if (std::string("elevator") == n->Name()) { vec.push_back(parseFloorElevator(n)); }
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}
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return vec;
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}
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/** parse the <stairs> tag */
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static std::vector<Stair*> parseFloorStairs(const XMLElem* el) {
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std::vector<Stair*> vec;
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FOREACH_NODE(n, el) {
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if (std::string("stair") == n->Name()) { vec.push_back(parseFloorStair(n)); }
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}
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return vec;
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}
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/** parse an <elevator> tag */
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static Elevator* parseFloorElevator(const XMLElem* el) {
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Elevator* elev = new Elevator();
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elev->center = Point2(el->FloatAttribute("cx"), el->FloatAttribute("cy"));
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elev->depth = el->FloatAttribute("depth");
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elev->width = el->FloatAttribute("width");
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elev->rotation = el->FloatAttribute("rotation");
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return elev;
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}
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/** parse a <stair> tag */
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static Stair* parseFloorStair(const XMLElem* el) {
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Stair* stair = nullptr;
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if (el->IntAttribute("type") == 0) {
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stair = new StairFreeform();
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FOREACH_NODE(n, el) {
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if (std::string("part") == n->Name()) {
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StairPart part;
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part.connectWithPrev = n->BoolAttribute("connect");
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part.start.x = n->FloatAttribute("x1");
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part.start.y = n->FloatAttribute("y1");
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part.start.z = n->FloatAttribute("z1");
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part.end.x = n->FloatAttribute("x2");
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part.end.y = n->FloatAttribute("y2");
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part.end.z = n->FloatAttribute("z2");
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part.width = n->FloatAttribute("w");
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((StairFreeform*)stair)->parts.push_back(part);
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} else {
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throw "not yet implemented";
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}
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}
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} else {
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throw "not yet implemented";
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}
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// stair meta information?
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const XMLElem* meta = el->FirstChildElement("meta");
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if (meta) {stair->setMeta(parseMetaElement(meta));}
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return stair;
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}
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/** parse the <pois> tag */
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static std::vector<POI*> parseFloorPOIs(const XMLElem* el) {
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std::vector<POI*> vec;
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FOREACH_NODE(n, el) {
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if (std::string("poi") == n->Name()) { vec.push_back(parseFloorPOI(n)); }
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}
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return vec;
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}
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/** parse a <poi> tag */
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static POI* parseFloorPOI(const XMLElem* el) {
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POI* poi = new POI();
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poi->name = el->Attribute("name");
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poi->type = (POIType) el->IntAttribute("type");
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poi->pos = parsePoint2(el);
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return poi;
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}
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/** parse the <gtpoints> tag */
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static std::vector<GroundTruthPoint*> parseFloorGroundTruthPoints(const XMLElem* el) {
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std::vector<GroundTruthPoint*> vec;
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FOREACH_NODE(n, el) {
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if (std::string("gtpoint") == n->Name()) { vec.push_back(parseFloorGroundTruthPoint(n)); }
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}
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return vec;
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}
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/** parse a <gtpoint> tag */
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static GroundTruthPoint* parseFloorGroundTruthPoint(const XMLElem* el) {
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GroundTruthPoint* gtp = new GroundTruthPoint();
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gtp->id = el->IntAttribute("id");
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gtp->pos = parsePoint2(el);
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return gtp;
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}
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/** parse the <accesspoints> tag */
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static std::vector<AccessPoint*> parseFloorAccessPoints(const XMLElem* el) {
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std::vector<AccessPoint*> vec;
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FOREACH_NODE(n, el) {
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if (std::string("accesspoint") == n->Name()) { vec.push_back(parseAccessPoint(n)); }
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}
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return vec;
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}
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/** parse the <underlays> tag */
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static FloorUnderlays parseFloorUnderlays(const XMLElem* el) {
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FloorUnderlays res;
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FOREACH_NODE(n, el) {
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if (std::string("underlay") == n->Name()) { res.push_back(parseFloorUnderlay(n)); }
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}
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return res;
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}
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/** parse an underlay image */
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static UnderlayImage* parseFloorUnderlay(const XMLElem* el) {
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UnderlayImage* img = new UnderlayImage();
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img->anchor.x = el->FloatAttribute("x");
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img->anchor.y = el->FloatAttribute("y");
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img->scaleX = el->FloatAttribute("sx");
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img->scaleY = el->FloatAttribute("sy");
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img->name = el->Attribute("name");
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img->filename = el->Attribute("file");
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return img;
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}
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// /** parse the <other> tag */
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// static FloorKeyValue parseFloorKeyValue(const XMLElem* el) {
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// FloorKeyValue res;
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// FOREACH_NODE(n, el) {
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// if (std::string("keyval") == n->Name()) { res.elements.push_back(parseKeyValueElement(n)); }
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// }
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// return res;
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// }
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/** parse one <meta> element */
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static Meta* parseMetaElement(const XMLElem* n) {
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Meta* elem = new Meta();
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// const XMLAttr* attr = n->FirstAttribute();
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// while (attr) {
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// elem->setVal(attr->Name(), attr->Value());
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// attr = attr->Next();
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// }
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const XMLElem* sub = n->FirstChildElement();
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while(sub) {
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// <entry key="123">abc</entry>
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const std::string key = sub->Attribute("key");
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const std::string val = sub->GetText();
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elem->add(key, val);
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sub = sub->NextSiblingElement();
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}
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return elem;
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}
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static AccessPoint* parseAccessPoint(const XMLElem* n) {
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assertNode("accesspoint", n);
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AccessPoint* ap = new AccessPoint();
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ap->mac = n->Attribute("mac");
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ap->name = n->Attribute("name");
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ap->pos = parsePoint3(n);
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ap->model.txp = n->FloatAttribute("mdl_txp");
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ap->model.exp = n->FloatAttribute("mdl_exp");
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ap->model.waf = n->FloatAttribute("mdl_waf");
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const XMLElem* meta = n->FirstChildElement("meta");
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if (meta) {ap->setMeta(parseMetaElement(meta));}
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return ap;
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}
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/** parse the <beacons> tag */
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static std::vector<Beacon*> parseFloorBeacons(const XMLElem* el) {
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std::vector<Beacon*> vec;
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FOREACH_NODE(n, el) {
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if (std::string("beacon") == n->Name()) { vec.push_back(parseBeacon(n)); }
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}
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return vec;
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}
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static Beacon* parseBeacon(const XMLElem* n) {
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assertNode("beacon", n);
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Beacon* b = new Beacon();
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b->mac = n->Attribute("mac");
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b->name = n->Attribute("name");
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b->major = n->Attribute("major") ? n->Attribute("major") : "";
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b->minor = n->Attribute("minor") ? n->Attribute("minor") : "";
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b->uuid = n->Attribute("uuid") ? n->Attribute("uuid") : "";
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b->model.txp = n->FloatAttribute("mdl_txp");
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b->model.exp = n->FloatAttribute("mdl_exp");
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b->model.waf = n->FloatAttribute("mdl_waf");
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b->pos = parsePoint3(n);
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return b;
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}
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/** parse <fingerprints> <location>s */
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static std::vector<FingerprintLocation*> parseFingerprintLocations(const XMLElem* el) {
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assertNode("fingerprints", el);
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std::vector<FingerprintLocation*> vec;
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FOREACH_NODE(n, el) {
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if (std::string("location") == n->Name()) { vec.push_back(parseFingerprintLocation(n)); }
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}
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return vec;
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}
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/** parse one fingerprint <location> */
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static FingerprintLocation* parseFingerprintLocation(const XMLElem* n) {
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assertNode("location", n);
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FingerprintLocation* fpl = new FingerprintLocation();
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fpl->name = n->Attribute("name");
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fpl->posOnFloor.x = n->FloatAttribute("x");
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fpl->posOnFloor.y = n->FloatAttribute("y");
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fpl->heightAboveFloor = n->FloatAttribute("dz");
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const XMLElem* meta = n->FirstChildElement("meta");
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if (meta) {fpl->setMeta(parseMetaElement(meta));}
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return fpl;
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}
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static std::vector<FloorRegion*> parseFloorRegions(const XMLElem* el) {
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std::vector<FloorRegion*> vec;
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FOREACH_NODE(n, el) {
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if (std::string("region") == n->Name()) { vec.push_back(parseFloorRegion(n)); }
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}
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return vec;
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}
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static FloorRegion* parseFloorRegion(const XMLElem* n) {
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assertNode("region", n);
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FloorRegion* reg = new FloorRegion();
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reg->name = n->Attribute("name");
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reg->poly = parsePoly2(n);
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return reg;
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}
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/** parse the <obstacles> tag */
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static std::vector<FloorObstacle*> parseFloorObstacles(const XMLElem* el) {
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assertNode("obstacles", el);
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std::vector<FloorObstacle*> obstacles;
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FOREACH_NODE(n, el) {
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// if (std::string("wall") == n->Name()) {obstacles.push_back(parseFloorObstacleWall(n));}
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// if (std::string("door") == n->Name()) {obstacles.push_back(parseFloorObstacleDoor(n));}
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// if (std::string("window") == n->Name()) {obstacles.push_back(parseFloorObstacleWindow(n));}
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// if (std::string("pillar") == n->Name()) {obstacles.push_back(parseFloorObstaclePillar(n));}
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//if (std::string("obstacle") == n->Name()) {obstacles.push_back(parseFloorObstacleLine(n));} // OLD
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if (std::string("line") == n->Name()) {obstacles.push_back(parseFloorObstacleLine(n));}
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if (std::string("circle") == n->Name()) {obstacles.push_back(parseFloorObstacleCircle(n));}
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if (std::string("door") == n->Name()) {obstacles.push_back(parseFloorObstacleDoor(n));}
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}
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return obstacles;
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}
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/** parse one line */
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static FloorObstacleLine* parseFloorObstacleLine(const XMLElem* el) {
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return new FloorObstacleLine(
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parseObstacleType(el->Attribute("type")),
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parseMaterial(el->Attribute("material")),
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el->FloatAttribute("x1"), el->FloatAttribute("y1"),
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el->FloatAttribute("x2"), el->FloatAttribute("y2")
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);
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}
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/** parse one cirlce */
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static FloorObstacleCircle* parseFloorObstacleCircle(const XMLElem* el) {
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return new FloorObstacleCircle(
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parseMaterial(el->Attribute("material")),
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el->FloatAttribute("cx"), el->FloatAttribute("cy"),
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el->FloatAttribute("radius")
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);
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}
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/** parse one door */
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static FloorObstacleDoor* parseFloorObstacleDoor(const XMLElem* el) {
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return new FloorObstacleDoor(
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parseDoorType(el->Attribute("type")),
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parseMaterial(el->Attribute("material")),
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el->FloatAttribute("x1"), el->FloatAttribute("y1"),
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el->FloatAttribute("x2"), el->FloatAttribute("y2"),
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el->FloatAttribute("height"), el->BoolAttribute("swap")
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);
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}
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/** parse a floor's <outline> tag */
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static FloorOutline parseFloorOutline(const XMLElem* el) {
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FloorOutline outline;
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FOREACH_NODE(n, el) {
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if (std::string("polygon") == n->Name()) {
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outline.push_back(parseFloorPolygon(n));
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}
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}
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return outline;
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}
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/** parse one polygon */
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static FloorOutlinePolygon* parseFloorPolygon(const XMLElem* el) {
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FloorOutlinePolygon* poly = new FloorOutlinePolygon();
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poly->name = el->Attribute("name");
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poly->outdoor = el->BoolAttribute("outdoor");
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poly->method = parseOutlineMethod(el->Attribute("method"));
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poly->poly = parsePoly2(el);
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return poly;
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}
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/** parse a 2d-polygon denoted by several points */
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static Polygon2 parsePoly2(const XMLElem* el) {
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Polygon2 poly;
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FOREACH_NODE(n, el) {
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if (std::string("point") == n->Name()) {
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const Point2 p2 = parsePoint2(n);
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poly.points.push_back(p2);
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}
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}
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if (poly.points.size() < 4 || poly.points.size() > 1024) {
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throw Exception("detected invalid outline-polygon during XML parsing");
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}
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return poly;
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}
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/** parse a 2D point (x,y) using the given tag's attributes. missing attributes are set to 0 */
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static Point2 parsePoint2(const XMLElem* el) {
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Point2 point;
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point.x = el->FloatAttribute("x");
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point.y = el->FloatAttribute("y");
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return point;
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}
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/** parse a 3D point (x,y,z) using the given tag's attributes. missing attributes are set to 0 */
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static Point3 parsePoint3(const XMLElem* el) {
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Point3 point;
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point.x = el->FloatAttribute("x");
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point.y = el->FloatAttribute("y");
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point.z = el->FloatAttribute("z");
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return point;
|
|
}
|
|
|
|
static ObstacleType parseObstacleType(const std::string type) {
|
|
try {
|
|
return (ObstacleType) std::stoi(type);
|
|
} catch (...) {
|
|
return ObstacleType::UNKNOWN;
|
|
}
|
|
}
|
|
|
|
static DoorType parseDoorType(const std::string type) {
|
|
try { return (DoorType) std::stoi(type); } catch (...) { return DoorType::UNKNOWN; }
|
|
}
|
|
|
|
static Material parseMaterial(const std::string material) {
|
|
try {
|
|
return (Material) std::stoi(material);
|
|
} catch (...) {
|
|
return Material::UNKNOWN;
|
|
}
|
|
}
|
|
|
|
static OutlineMethod parseOutlineMethod(const std::string method) {
|
|
try {
|
|
return (OutlineMethod) std::stoi(method);
|
|
} catch (...) {
|
|
return OutlineMethod::ADD;
|
|
}
|
|
}
|
|
|
|
};
|
|
|
|
}
|
|
|
|
#endif // FLOORPLANREADER_H
|