rubysceneimporter.cpp

rcssserver3d Robocup 3D比赛官方指定平台

/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: rubysceneimporter.cpp,v 1.27 2008/05/12 09:39:14 rollmark Exp $

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include "rubysceneimporter.h"
#include <zeitgeist/logserver/logserver.h>
#include <zeitgeist/fileserver/fileserver.h>
#include <zeitgeist/scriptserver/scriptserver.h>
#include <oxygen/sceneserver/transform.h>
#include <oxygen/sceneserver/scenedict.h>
#include <boost/scoped_array.hpp>
#include <sstream>

using namespace zeitgeist;
using namespace oxygen;
using namespace boost;
using namespace std;

/**
    (RubySceneGraph <version major> <version minor>)
    (
    (template varName1 varName2 ...)
    (define varName value)
    (node <NodeName>
        method param param ...
        method param ...

        (node <NodeName>
            method param param ...
            method param ...
            )

            (node <NodeName>
            method param param ...
            method param ...
            )

        method param param ...
        method param ...
        )
*/

#define S_NODE     "node"
#define S_SELECT   "select"
#define S_PWD      "pwd"
#define S_TEMPLATE "template"
#define S_DEFINE   "define"
#define S_ATTACH   "attach"
#define S_SWITCH   "switch"

#define S_DELTASCENE "RubyDeltaScene"
#define S_SCENEGRAPH "RubySceneGraph"

#define S_SETLOCALTRANSFORM "setLocalTransform"
#define S_SETSCALE "setScale"
#define S_SETMATERIAL "setMaterial"
#define S_BASENODE "BaseNode"
#define S_SINGLEMATNODE "SingleMatNode"
#define S_TRANSFORM "Transform";

#define S_FROMSTRING "<from string>"

RubySceneImporter::RubySceneImporter() : SceneImporter()
{
    mVersionMajor = 0;
    mVersionMinor = 0;
    mDeltaScene = false;
    mAutoUnlink = false;
    mUpdateSceneDict = false;

    InitTranslationTable();
}

RubySceneImporter::~RubySceneImporter()
{
}

void RubySceneImporter::SetUnlinkOnCompleteScenes(bool unlink)
{
    mAutoUnlink = unlink;
}

void
RubySceneImporter::InitTranslationTable()
{
    mTranslationTable.clear();

    mTranslationTable["nd"]    = S_NODE;
    mTranslationTable["sel"]   = S_SELECT;
    mTranslationTable["pwd"]   = S_PWD;
    mTranslationTable["templ"] = S_TEMPLATE;
    mTranslationTable["def"]   = S_DEFINE;
    mTranslationTable["att"]   = S_ATTACH;
    mTranslationTable["RDS"]   = S_DELTASCENE;
    mTranslationTable["RSG"]   = S_SCENEGRAPH;
    mTranslationTable["SLT"]   = S_SETLOCALTRANSFORM;
    mTranslationTable["sSc"]   = S_SETSCALE;
    mTranslationTable["sMat"]  = S_SETMATERIAL;
    mTranslationTable["BN"]    = S_BASENODE;
    mTranslationTable["SMN"]   = S_SINGLEMATNODE;
    mTranslationTable["TRF"]   = S_TRANSFORM;
}

string RubySceneImporter::Lookup(const std::string& key)
{
    return ((mTranslationTable.find(key) != mTranslationTable.end()) ?
            mTranslationTable[key] : key);
//     if (mTranslationTable.find(key) != mTranslationTable.end())
//     {
//         return mTranslationTable[key];
//     } else {
//         GetLog()->Debug() << "DEBUG: " << key << " not in TranslationTable\n";
//         return key;
//     }
}


void
RubySceneImporter::EnableSceneDictionary(bool enable)
{
    mUpdateSceneDict = enable;
}

bool RubySceneImporter::ImportScene(const std::string& fileName,
                                    shared_ptr<BaseNode> root,
                                    shared_ptr<ParameterList> parameter)
{
    // try to open the file
    shared_ptr<salt::RFile> file = GetFile()->OpenResource(fileName);

    if (file.get() == 0)
        {
            GetLog()->Error() << "(RubySceneImporter) ERROR: cannot open file '"
                              << fileName << "'\n";
            return false;
        }

    std::string oldFileName = mFileName;
    mFileName = fileName;

    // read entire file into a temporary buffer
    scoped_array<char> buffer(new char[file->Size() + 1]);
    file->Read(buffer.get(), file->Size());
    buffer[file->Size()] = 0;

    bool ok = ParseScene(buffer.get(), file->Size(), root, parameter);
    mFileName = oldFileName;

    return ok;
}

bool RubySceneImporter::ParseScene(const std::string& scene,
                                   shared_ptr<BaseNode> root,
                                   shared_ptr<ParameterList> parameter)
{
    mFileName = S_FROMSTRING;
    return ParseScene(scene.c_str(),static_cast<int>(scene.size()),root,parameter);
}

bool RubySceneImporter::ParseScene(const char* scene, int size,
                                   boost::shared_ptr<oxygen::BaseNode> root,
                                   boost::shared_ptr<zeitgeist::ParameterList> parameter)
{
    // parse s-expressions
    pcont_t* pcont = init_continuation(const_cast<char*>(scene));
    sexp_t* sexp = iparse_sexp(const_cast<char*>(scene),size,pcont);

    // read scene magic and version
    if (
        (sexp == 0) ||
        (! ReadHeader(sexp)) ||
        (mVersionMajor != 0) ||
        (mVersionMinor != 1)
        )
        {
            destroy_sexp(sexp);
            destroy_continuation(pcont);
            return false;
        }

    // advance to next sexpression- the scene graph
    PushParameter(parameter);

    destroy_sexp(sexp);
    sexp = iparse_sexp(const_cast<char*>(scene),size,pcont);

    if (sexp == 0)
    {
        GetLog()->Error()
            << "(RubySceneImporter) ERROR: failed to parse S-Expressions. "
            << "Last read line was " << pcont->line << "\n";
        root->UnlinkChildren();
        return false;

    }

    if (
        (! mDeltaScene) &&
        (mAutoUnlink)
        )
        {
            root->UnlinkChildren();
        }

    bool ok = mDeltaScene ?
        ReadDeltaGraph(sexp,root) :
        ReadGraph(sexp,root);

    destroy_sexp(sexp);
    destroy_continuation(pcont);

    InvokeMethods();
    PopParameter();
    return ok;
}

void RubySceneImporter::PushParameter(shared_ptr<ParameterList> parameter)
{
    mParameterStack.push_back(ParamEnv(parameter));
}

void RubySceneImporter::PopParameter()
{
    if (mParameterStack.empty())
        {
            GetLog()->Debug()
                << "(RubySceneImporter) ERROR: PopParameter "
                << "called on empty stack\n";
            return;
        }

    mParameterStack.pop_back();
}

RubySceneImporter::ParamEnv& RubySceneImporter::GetParamEnv()
{
    if (mParameterStack.empty())
        {
            GetLog()->Debug()
                << "(RubySceneImporter) ERROR: GetParamEnv "
                << "called on empty stack\n";

            static ParamEnv nullEnv;
            return nullEnv;
        }

    return mParameterStack.back();
}

bool RubySceneImporter::ReadHeader(sexp_t* sexp)
{
    // (RubySceneGraph <int majorVersion> <int minorVersion>)
    if (
        (sexp == 0) ||
        (sexp->ty != SEXP_LIST) ||
        (sexp->list == 0)
        )
        {
            return false;
        }

    sexp = sexp->list;
    if (sexp->ty != SEXP_VALUE)
        {
            return false;
        }

    string val = Lookup(string(sexp->val));

    mDeltaScene = false;
    if (val == S_DELTASCENE)
        {
            mDeltaScene = true;
        }  else if (val != S_SCENEGRAPH)
            {
                return false;
            }

    // try to advance to version number
    sexp = sexp->next;
    if (
        (sexp == 0) ||
        (sexp->ty != SEXP_VALUE)
        )
        {
            return false;
        }

    string mastr(sexp->val);
    int major = atoi(mastr.c_str());

    if (major < 0)
        {
            return false;
        }

    sexp = sexp->next;

    if (
        (sexp == 0) ||
        (sexp->ty != SEXP_VALUE)
        )
        {
            return false;
        }

    string mistr(sexp->val);
    int minor = atoi(mistr.c_str());

    if (minor < 0)
        {
            return false;
        }

    mVersionMajor = major;
    mVersionMinor = minor;

    return true;
}

shared_ptr<Object> RubySceneImporter::CreateInstance(const string& className)
{
    static const string prefixes[] =
        {
            "",
            "oxygen/",
            "kerosin/"
        };

    const int n = sizeof(prefixes)/sizeof(string);
    for (int i=0;i<n;++i)
        {
            string name = prefixes[i] + className;
            if (GetCore()->ExistsClass(name))
                {
                    return GetCore()->New(name);
                }
        }

    return shared_ptr<Object>();
}

shared_ptr<BaseNode>
RubySceneImporter::CreateNode(sexp_t* sexp)
{
    if (sexp == 0)
    {
        return shared_ptr<BaseNode>();
    }

    string className(Lookup(sexp->val));

    // create a class instance
    shared_ptr<Object> obj = CreateInstance(className);

    if (obj.get() == 0)
    {
        GetLog()->Error()
            << "(RubySceneImporter) ERROR: in file '" << mFileName
            << "': unknown class '"
            << className << "'\n";
        return shared_ptr<BaseNode>();
    }

    shared_ptr<BaseNode> node = shared_dynamic_cast<BaseNode>(obj);

    if (node.get() == 0)
    {
        GetLog()->Error()
            << "(RubySceneImporter) ERROR: in file '" << mFileName
            << className << "': is not derived from BaseNode'\n";
        return shared_ptr<BaseNode>();
    }

    if (
        (mUpdateSceneDict) &&
        (mSceneDict != 0)
        )
    {
        mSceneDict->Insert
            (node, SceneDict::FileRef(mFileName,sexp->line));
    }

    return node;
}

bool RubySceneImporter::ReplaceVariable(string& param)
{
    // replace a template parameter
    const ParamEnv& env = GetParamEnv();

    param.erase(param.begin(),param.begin()+1);
    TParameterMap::const_iterator iter = env.parameterMap.find(param);

    if (iter == env.parameterMap.end())
        {
            GetLog()->Error()
                << "(RubySceneImporter) ERROR: in file '"
                << mFileName
                << "': unknown parameter '"
                << param << "'\n";
            return false;
        }

    int idx = (*iter).second;

    if (
        (idx < 0) ||
        (idx >= env.parameter->GetSize())
        )
        {
            GetLog()->Error()
                << "(RubySceneImporter) ERROR: in file '"
                << mFileName
                << "': parameter value '"
                << param << "' not supplied\n";
            return false;
        }

    string value;
    ParameterList::TVector::const_iterator pIter = (*env.parameter)[idx];
    if (! env.parameter->AdvanceValue(pIter,value))
        {
            GetLog()->Error()
                << "(RubySceneImporter) ERROR: in file '"
                << mFileName
                << "': failed to read parameter value '"
                << param << "'\n";
            return false;
        }

    param = value;
    return true;
}

bool RubySceneImporter::EvalParameter(sexp_t* sexp, string& value)
{
    const boost::shared_ptr<ScriptServer>&  script = GetScript();
    if (script.get() == 0)
        {
            GetLog()->Error()
                << "(RubySceneImporter) ERROR: in file '"
                << mFileName
                << "': cannot get ScriptServer to eval expression\n";
            return false;
        }

    if (sexp->ty != SEXP_VALUE)
        {
            return false;
        }

    string pred = Lookup(sexp->val);


    //Simply For String Link By Feng Xue
    //Begin
    {
        if (pred == "join")
        {
            stringstream ss;
            sexp = sexp->next;
            while (sexp != 0)
            {
                string atom;

                if (sexp->ty == SEXP_VALUE)
                {
                    atom = sexp->val; //todo: use TranslationTable here?
                    if ((atom[0] == '$') &&
                        (! ReplaceVariable(atom)))
                    {
                        return false;
                    }
                } 
                else
                {
                    if (! EvalParameter(sexp->list, atom))
                    {
                        return false;
                    }
                }

                ss << atom;
                sexp = sexp->next;
            }

            value = ss.str();
            return true;
        }
    }
    //End

    // if (pred == "switch")
    // {
    //     return ParseSwitch(sexp->next, value);
    // }

    if (pred != "eval")
        {
            GetLog()->Error()
                << "(RubySceneImporter) ERROR: in file '"
                << mFileName
                << "': unknown expression type '" << pred << "' in parameter list\n";
            return false;
        }

    string expr;
    sexp = sexp->next;
    while (sexp != 0)
        {
            string atom;

            if (sexp->ty == SEXP_VALUE)
                {
                    atom = sexp->val; //todo: use TranslationTable here?
                    if (
                        (atom[0] == '$') &&
                        (! ReplaceVariable(atom))
                        )
                        {
                            return false;
                        }
                } else
                {
                    if (! EvalParameter(sexp->list, atom))
                        {
                            return false;
                        }
                }

            expr = expr + atom;
            expr = expr + " ";

            sexp = sexp->next;
        }