Add Plugin XML Attributes to Mission XML Log

include/scrimmage/parse/MissionParse.h

@@ -47,6 +47,8 @@
 #include <string>
 #include <set>
 
+#include <rapidxml/rapidxml.hpp>
+
 namespace sp = scrimmage_proto;
 
 namespace scrimmage {
@@ -161,7 +163,9 @@ class MissionParse {
  protected:
     std::string mission_filename_ = "";
     std::string mission_file_content_ = "";
-
+    std::string plugin_file_content_ = "";
+    rapidxml::xml_document<> doc;
+
     double t0_ = 0;
     double tend_ = 50;
     double dt_ = 0.00833333;

missions/straight.xml

@@ -5,7 +5,7 @@
 
   <run start="0.0" end="100" dt="0.1"
        time_warp="10"
-       enable_gui="true"
+       enable_gui="false"
        network_gui="false"
        start_paused="true"
        full_screen="true"

src/parse/MissionParse.cpp

@@ -53,6 +53,7 @@
 #undef BOOST_NO_CXX11_SCOPED_ENUMS
 
 #include <rapidxml/rapidxml.hpp>
+#include <rapidxml/rapidxml_print.hpp>
 
 using std::cout;
 using std::endl;
@@ -83,6 +84,8 @@ void MissionParse::set_overrides(const std::string &overrides) {
 bool MissionParse::parse(const std::string &filename) {
     mission_filename_ = expand_user(filename);
 
+    //cout << "Natalie, filename: " << filename << " and the mission file name: " << mission_filename_ << endl;
+
     // First, explicitly search for the mission file.
     if (!fs::exists(mission_filename_)) {
         // If the file doesn't exist, search for the mission file under the
@@ -127,7 +130,7 @@ bool MissionParse::parse(const std::string &filename) {
     mission_file_content_ = std::regex_replace(mission_file_content_, reg, fmt);
 
     // Parse the xml tree.
-    rapidxml::xml_document<> doc;
+    //rapidxml::xml_document<> doc;
     // doc.parse requires a null terminated string that it can modify.
     std::vector<char> mission_file_content_vec(mission_file_content_.size() + 1); // allocation done here
     mission_file_content_vec.assign(mission_file_content_.begin(), mission_file_content_.end()); // copy
@@ -141,6 +144,11 @@ bool MissionParse::parse(const std::string &filename) {
         return false;
     }
 
+    // Natalie - this works for printing the document
+    std::string s;
+    rapidxml::print(std::back_inserter(s), doc, 0);
+    cout << s << endl;
+
     rapidxml::xml_node<> *runscript_node = doc.first_node("runscript");
     if (runscript_node == 0) {
         cout << "Missing runscript tag." << endl;
@@ -518,6 +526,105 @@ bool MissionParse::parse(const std::string &filename) {
              node = node->next_sibling()) {
 
             std::string nm = node->name();
+
+            std::map<std::string, std::string> plugin_spec_attrs; 
+            /////////////////////////////////////////////////
+            /////////////////////////////////////////////////
+            // Plugin type: nm
+            // Plugin name: node->value()
+            // Plugin attribute name: attr->name()
+            // Plugin attribute value: attr->value()
+            // 
+            // Need to open the plugin specific xml file if it is one of the following
+            // plugins:
+            // - Autonomy
+            // - Controller
+            // - Motion model
+            // - ?
+            // 
+            // Starting with just the autonomy plugin, let's open that file...
+            if (nm == "autonomy"){
+                cout << "Natalie - in the autonomy file opener" << endl;    
+                std::string plugin_file = node->value() + std::string(".xml");
+                std::string plugin_filename_ = expand_user(plugin_file);
+
+                // First, explicitly search for the mission file.
+                if (!fs::exists(plugin_filename_)) {
+                    // If the file doesn't exist, search for the mission file under the
+                    // SCRIMMAGE_MISSION_PATH.
+                    FileSearch file_search;
+                    std::string result = "";
+
+                    std::string pluginxml_path = "/home/ndavis64/scrimmage/scrimmage/include/scrimmage/plugins/" + nm + "/" + node->value();
+
+                    bool status = file_search.find_file(plugin_filename_, "xml",
+                                                        pluginxml_path,
+                                                        result, false);
+                    if (!status) {
+                        // The mission file wasn't found. Exit.
+                        cout << "SCRIMMAGE mission file not found: " << plugin_filename_ << endl;
+                        return false;
+                    }
+                    // The mission file was found, save its path.
+                    plugin_filename_ = result;
+                }
+
+                std::ifstream file(plugin_filename_.c_str());
+                if (!file.is_open()) {
+                    std::cout << "Failed to open mission file: " << plugin_filename_ << endl;
+                    return false;
+                }
+
+                std::stringstream buffer;
+                buffer << file.rdbuf();
+                file.close();
+                plugin_file_content_ = buffer.str();
+
+                // Search and replace any overrides of the form ${key=value} in the mission
+                // file
+                for (auto &kv : overrides_map_) {
+                    std::regex reg("\\$\\{" + kv.first + "=(.+?)\\}");
+                    plugin_file_content_ = std::regex_replace(plugin_file_content_, reg,
+                                                            kv.second);
+                }
+
+                // Replace our xml variables of the form ${var=default} with the default
+                // value
+                std::string fmt{"$1"};
+                std::regex reg("\\$\\{.+?=(.+?)\\}");
+                plugin_file_content_ = std::regex_replace(plugin_file_content_, reg, fmt);
+
+                // Parse the xml tree.
+                rapidxml::xml_document<> plugin_doc;
+                // doc.parse requires a null terminated string that it can modify.
+                std::vector<char> plugin_file_content_vec(plugin_file_content_.size() + 1); // allocation done here
+                plugin_file_content_vec.assign(plugin_file_content_.begin(), plugin_file_content_.end()); // copy
+                plugin_file_content_vec.push_back('\0'); // shouldn't reallocate
+                try {
+                    // Note: This parse function can hard fail (seg fault, no exception) on
+                    //       badly formatted xml data. Sometimes it'll except, sometimes not.
+                    plugin_doc.parse<0>(plugin_file_content_vec.data());
+                } catch (...) {
+                    cout << "scrimmage::MissionParse::parse: Exception during rapidxml::xml_document<>.parse<>()." << endl;
+                    return false;
+                }
+
+                rapidxml::xml_node<> *params_node = plugin_doc.first_node("params");
+                if (params_node == 0) {
+                    cout << "Missing params tag." << endl;
+                    return false;
+                }
+
+                for (rapidxml::xml_node<> *node = params_node->first_node(); node != 0;
+                node = node->next_sibling()){
+                    plugin_spec_attrs.insert({node->name(), node->value()});
+                    cout << "Natalie node name: " << typeid(node->name()).name() << " and the value: " << node->value() << endl;
+                }
+
+             }
+            /////////////////////////////////////////////////
+            /////////////////////////////////////////////////
+
             if (nm == "autonomy") {
                 nm += std::to_string(autonomy_order++);
             } else if (nm == "controller") {
@@ -536,16 +643,35 @@ bool MissionParse::parse(const std::string &filename) {
                  attr; attr = attr->next_attribute()) {
 
                 const std::string attr_name = attr->name();
+
                 if (attr_name == "param_common") {
                     for (auto &kv : param_common[attr->value()]) {
                         entity_attributes_[ent_desc_id][nm][kv.first] = kv.second;
                     }
                 } else {
+                    if (plugin_spec_attrs[attr->name()]!=""){
+                        cout << "The key is specified in the mission xml file, so delete it from the map." << endl;
+                        plugin_spec_attrs.erase(attr->name());
+                    }
                     entity_attributes_[ent_desc_id][nm][attr_name] = attr->value();
                 }
             }
-        }
 
+            for(std::map<std::string,std::string>::iterator mapitr=plugin_spec_attrs.begin(); mapitr!=plugin_spec_attrs.end(); ++mapitr){
+                cout << "Natalie adding new lines to plugin: 1. " << mapitr->first << " 2. " << mapitr->second << endl;
+                //rapidxml::xml_attribute <> *tempattr = doc.allocate_attribute((mapitr->first).c_str(), (mapitr->second).c_str());
+                char *attribute_name = doc.allocate_string(mapitr->first.c_str());
+                char *attribute_value = doc.allocate_string(mapitr->second.c_str());
+                rapidxml::xml_attribute <> *tempattr = doc.allocate_attribute(attribute_name, attribute_value);     
+                node->append_attribute(tempattr);
+            }
+
+            // Natalie - this works for printing the document
+             std::string s;
+             rapidxml::print(std::back_inserter(s), doc, 0);
+             cout << s << endl;
+        }
+
         // For each entity, if the lat/lon are defined, use these values to
         // overwrite the "x" and "y" values
         // Search for lon lat alt.