templates_files.forEach(function(val, index, array) {
var _ = val.split('.');
_.pop();
_ = _.join('.').split('/');
var name = _.pop();
var template_string = fs.readFileSync(val, {encoding: 'utf8'});
if(drop_spaces) {
template_string = template_string.replace(/>\s+</g, '><');
}
node(name, 'root', parser.parseFromString(template_string), collector);
});
function linkifyNode(child, state) {try{
const {mutate} = state
if(!child.data) return
const data = XMLSerializer.serializeToString(child)
if(/code/i.test(child.parentNode.tagName)) return
if(/a/i.test(child.parentNode.tagName)) return
const content = linkify(data, state.mutate, state.hashtags, state.usertags, state.images, state.links)
if(mutate && content !== data) {
child.parentNode.replaceChild(DOMParser.parseFromString(`<span>${content}</span>`), child)
}
} catch(error) {console.log(error)}}
it("Default indent - 2 spaces for attributes and 4 spaces for nested elements", function(){
var doc = parser.parseFromString("<doc a='1'><nested>text</nested></doc>");
var docCanon =
"<doc\n" +
" a=\"1\">\n" +
" <nested>\n" +
" text\n" +
" </nested>\n" +
"</doc>";
assert.equal(docCanon, canonize(doc));
});
it("grouping differences by source node XPath", function(){
var doc = parser.parseFromString("<doc attr1='1' attr2='2'><node1 attrX='y'><inner1 /></node1><node2><inner /></node2></doc>");
var doc2 = parser.parseFromString("<doc attr1='10'><node1 /><node2 /><extraNode /></doc>");
var failures = reporter.getDefferences(compare(doc, doc2));
assert.equal(3, Object.keys(failures).length);
assert.equal(3, failures['/doc'].length);
assert.equal(2, failures['/doc/node1'].length);
assert.equal(1, failures['/doc/node2'].length);
// check for results doplication
failures = reporter.getDefferences(compare(doc, doc2));
assert.equal(3, Object.keys(failures).length);
assert.equal(3, failures['/doc'].length);
assert.equal(2, failures['/doc/node1'].length);
assert.equal(1, failures['/doc/node2'].length);
});
function embedYouTubeNode(child, links, images) { try {
if(!child.data) return false
const data = child.data
const yt = youTubeId(data)
if(!yt) return false
const v = DOMParser.parseFromString(`~~~ embed:${yt.id} youtube ~~~`)
child.parentNode.replaceChild(v, child)
if(links) links.add(yt.url)
if(images) images.add('https://img.youtube.com/vi/' + yt.id + '/0.jpg')
return true
} catch(error) { console.log(error); return false } }
it("Not found nodes reported", function(){
var doc1 = parser.parseFromString("<root>First<a />Second</root>");
var doc2 = parser.parseFromString("<root>First<a /></root>");
var result = compare(doc1, doc2, {});
var failures = result.getDifferences();
assert.equal(1, failures.length);
assert.equal("Text node 'Second' is missed", failures[0].message);
doc1 = parser.parseFromString("<root>First <a /> Second</root>");
doc2 = parser.parseFromString("<root> First<a /></root>");
result = compare(doc1, doc2, { stripSpaces: true });
failures = result.getDifferences();
assert.equal(1, failures.length);
assert.equal("Text node 'Second' is missed", failures[0].message);
});
it("Any leading/triling whitespace in text and comment nodes is trimmed", function(){
var doc = parser.parseFromString("<doc> test<elem> aaa </elem><!-- comment --></doc>");
var docCanon =
"<doc>\n" +
" test\n" +
" <elem>\n" +
" aaa\n" +
" </elem>\n" +
" <!--comment-->\n" +
"</doc>";
assert.equal(docCanon, canonize(doc));
});
this.process = function(xmlFileAsString, callback, complete) {
this.data = {}
var numItems = 0;
// console.log("processing:");
var parser = new DOMParser();
var xmlData = parser.parseFromString(xmlFileAsString,"text/xml");
var elements = xmlData.getElementsByTagName("message");
for(var m=0;m<elements.length;++m) {
var text = elements[m].textContent;
if(this.sizeLimit == null || text.length < this.sizeLimit) {
var mid = elements[m].getAttribute("mid");
this.data[mid] = text.replace(/\\n/g, ' ').replace(/\n/g, ' ').replace(/#r/g, '').replace(/#Y/g, '').replace(/#y/g, '').replace(/#w/g, '').replace(/#j/g, '').replace(/#s/g, '').replace(/#j/g, '').replace(/#v/g, '').replace(/#g/g, '');
numItems++;
}
}
callback('loaded ' + numItems + ' translations');
complete();
}
/**
* Generate appx manifest properties
*
* <manifest>:
* . May appear multiple times (target="phone" or target="store")
* . When it doesn't have "target" that means common properties across phone & store
*
* Example:
* <windows>
* <manifest target="phone">
* <Capabilities>
* <Capability Name="location" />
* </Capabilities>
* </manifest>
* <manifest target="store">
* <Capabilities>
* <Capability Name="optical" />
* </Capabilities>
* </manifest>
* <manifest>
* <Capabilities>
* <Capability Name="internetClient" />
* </Capabilities>
* </manifest>
* </windows>
*/
function mergeAppxManifestForModule() {
var _t = this;
this.tiapp.windows.manifests = this.tiapp.windows.manifests || [];
var domParser = new DOMParser();
for (var i = 0; i < this.modules.length; i++) {
var timodule = path.join(this.modules[i].modulePath, 'timodule.xml');
if (fs.existsSync(timodule)) {
var content = fs.readFileSync(timodule, 'utf8'),
dom = domParser.parseFromString(content, 'text/xml'),
root = dom.documentElement;
appc.xml.forEachElement(root, function (node) {
if (node.tagName == 'windows') {
appc.xml.forEachElement(node, function (node) {
if (node.tagName == 'manifest') {
_t.tiapp.windows.manifests.push(node.toString());
}
});
}
});
}
}
}
data.replace(linksRe.youTube, url => {
const match = url.match(linksRe.youTubeId)
if(match && match.length >= 2) {
const id = match[1]
const v = DOMParser.parseFromString(`~~~ youtube:${id} ~~~`)
child.parentNode.replaceChild(v, child)
replaced = true
if(links) links.add(url)
if(images) images.add('https://img.youtube.com/vi/' + id + '/0.jpg')
return
}
console.log("Youtube link without ID?", url);
})
aquarius.onCommand(/^define (?<word>.+)$/i, async (message, { groups }) => {
const check = aquarius.permissions.check(
message.guild,
...info.permissions
);
if (!check.valid) {
log('Invalid permissions');
message.channel.send(aquarius.permissions.getRequestMessage(check.missing));
return;
}
aquarius.loading.start(message.channel);
try {
log(`Querying for '${groups.word}'`);
const auth = `key=${process.env.DICTIONARY_API_KEY}`;
const response = await fetch(`${API}/${groups.word}?${auth}`);
const xml = await response.text();
const parser = new DOMParser();
const dom = parser.parseFromString(xml, 'text/xml');
const embed = new RichEmbed()
.setTitle(capitalize(dom.getElementsByTagName('ew')[0].textContent))
.setColor(0x0074D9)
.setFooter('Definitions provided by Merriam Webster')
.addField('Definition', getDefinition(dom))
.addField('Plural', getPlural(dom))
.addField('Pronunciation', getPronunciation(dom));
message.channel.send(embed);
analytics.trackUsage('define', message);
} catch (err) {
log(err);
}
aquarius.loading.stop(message.channel);
});
this._request.call(null, url, function(err, res, data) {
if (err) {
return done(err);
}
try {
var doc = parser.parseFromString(data);
} catch (e) {
return done(e);
}
var definition = doc.getElementsByTagNameNS("http://schemas.xmlsoap.org/wsdl/", "definitions");
if (!definition || definition.length !== 1) {
return done(Error("couldn't find root definitions object"));
}
definition = definition[0];
var targetNamespace = definition.getAttribute("targetNamespace");
self.state.targetNamespace.push(targetNamespace);
var i;
var messages = definition.getElementsByTagNameNS("http://schemas.xmlsoap.org/wsdl/", "message");
for (i=0;i<messages.length;++i) {
self.messages.push(self.messageFromXML(messages[i]));
}
var portTypes = definition.getElementsByTagNameNS("http://schemas.xmlsoap.org/wsdl/", "portType");
for (i=0;i<portTypes.length;++i) {
self.portTypes.push(self.portTypeFromXML(portTypes[i]));
}
var bindings = definition.getElementsByTagNameNS("http://schemas.xmlsoap.org/wsdl/", "binding");
for (i=0;i<bindings.length;++i) {
self.bindings.push(self.bindingFromXML(bindings[i]));
}
var services = definition.getElementsByTagNameNS("http://schemas.xmlsoap.org/wsdl/", "service");
for (i=0;i<services.length;++i) {
self.services.push(self.serviceFromXML(services[i]));
}
self.state.targetNamespace.pop();
return done();
});
it("User can provide custom comparison routine, it can be used to extended reporting", function(){
var doc1 = parser.parseFromString("<root><a attr='10' /></root>");
var doc2 = parser.parseFromString("<root><a attr='20' /></root>");
var result = compare(doc1, doc2, {
comparators: {
ATTRIBUTE_NODE: function(e, a) {
if(e.nodeValue > a.nodeValue)
return "Actual value is less than expected";
else if(e.nodeValue < a.nodeValue)
return "Actual value is greater than expected";
}
}
});
var failures = result.getDifferences();
assert.equal(1, failures.length);
assert.equal("Actual value is greater than expected", failures[0].message);
});
t.test('has valid links', function(t) {
var baseURL = server.getBaseURL();
var select = xpath.useNamespaces({"atom": "http://www.w3.org/2005/Atom"});
var parser = new xmldom.DOMParser();
var doc = parser.parseFromString(atomBody, "text/xml");
async.eachSeries(["atom:feed/atom:link[not(@rel)]/@href",
"atom:feed/atom:link[@rel='alternate']/@href",
"atom:feed/atom:link[@rel='self']/@href",
"atom:feed/atom:link[@rel='first']/@href",
"atom:feed/atom:link[@rel='last']/@href"
], function(expression, done) {
var results = select(expression, doc);
t.equal(1, results.length);
var href = results[0].nodeValue;
var patched_href = href.replace(new RegExp("^https://oversight.garden"),
baseURL);
request(patched_href, function(error, response, body) {
t.ifError(error);
t.equal(200, response.statusCode);
done();
});
}, t.end);
});
data.replace(linksRe.youTube, url => {
const match = url.match(linksRe.youTubeId)
if(match && match.length >= 2) {
const id = match[1]
const src = `//www.youtube.com/embed/${id}?enablejsapi=0&rel=0&origin=https://steemit.com`
const v = DOMParser.parseFromString(`<!--split--><div key="${id}" class="videoWrapper">
<iframe width="${large ? '640' : '384'}" height="${large ? 360 : 240}" src="${src}" frameBorder="0" allowFullScreen="true"></iframe>
</div><!--split-->`)
child.parentNode.replaceChild(v, child)
replaced = true
if(links) links.add(url)
return
}
console.log("Youtube link without ID?", url);
})
module.exports.transform = function (content, options) {
var document = domParser.parseFromString(content);
// move css to the top and combine it
var imgNodes = document.getElementsByTagName("img");
if (imgNodes.length > 0) {
for (var i = 0; i < imgNodes.length; i++) {
var node = imgNodes[i];
node.setAttribute("data-original", node.getAttribute("src"));
node.setAttribute("src", "/loader.gif");
}
}
return xmlSerializer.serializeToString(document.documentElement);
};
fs.readFile('tests/test1.xml', {encoding: 'utf8'}, function(err, data) {
if (err)
{
throw err;
}
else
{
test.notEqual(null, data);
var dataString = data.toString();
test.notEqual(null, dataString);
parser.parseFromString(dataString, 'application/xml');
}
test.ifError(err);
test.done();
});
module.exports = function(templates_files, as_module, drop_spaces /*> <*/){
if(!(templates_files instanceof Array)){
templates_files = [templates_files];
}
var parser = new DOMParser();
var templates = {};
function collector(ins, source, arg1, arg2, arg3) {
if(! templates.hasOwnProperty(source)) {
templates[source] = [];
}
if(ins === 'node') { //Nodes go up
templates[source].unshift([ins, arg1, arg2]);
} else { // Other down
templates[source].push([ins, arg1, arg2, arg3]);
}
}
templates_files.forEach(function(val, index, array) {
var _ = val.split('.');
_.pop();
_ = _.join('.').split('/');
var name = _.pop();
var template_string = fs.readFileSync(val, {encoding: 'utf8'});
if(drop_spaces) {
template_string = template_string.replace(/>\s+</g, '><');
}
node(name, 'root', parser.parseFromString(template_string), collector);
});
var templates_code = [];
for(var k in templates) {
if(templates[k].length > 1) //Ignore stop instruction
templates_code.push(k + ': function(pool){' + builder(templates[k]) + '}');
}
if(as_module){
return 'module.exports = {' + templates_code.join(',') + '};';
} else {
return '(function(window){' +
'var templates_list = {' + templates_code.join(',') + '};' +
'window.templates = temple_utils.pool(templates_list);' +
'})(window);';
}
};
function setNodeValue(node, value) {
if (_.isFunction(value)) value = value(node, getNodeValue(node));
if (node.nodeType == ATTRIBUTE_NODE) {
node.value = node.nodeValue = String(value);
}
else if (isCDataValue(value)) {
clearChildNodes(node);
node.appendChild(node.ownerDocument
.createCDATASection(value.value));
}
else if (isXmlString(value)) {
clearChildNodes(node);
node.appendChild(xmlParser.parseFromString(value.source));
}
else {
node.textContent = String(value);
}
}
function linkifyNode(child, state) {try{
const tag = child.parentNode.tagName ? child.parentNode.tagName.toLowerCase() : child.parentNode.tagName
if(tag === 'code') return
if(tag === 'a') return
const {mutate} = state
if(!child.data) return
if(embedYouTubeNode(child, state.links, state.images)) return
if(embedVimeoNode(child, state.links, state.images)) return
const data = XMLSerializer.serializeToString(child)
const content = linkify(data, state.mutate, state.hashtags, state.usertags, state.images, state.links)
if(mutate && content !== data) {
const newChild = DOMParser.parseFromString(`<span>${content}</span>`)
child.parentNode.replaceChild(newChild, child)
return newChild;
}
} catch(error) {console.log(error)}}
saxStream.on('match', function(xml) {
if (exiting) {
return;
}
// if (++count > 100) {
// return;
// }
var xmlDOM = domParser.parseFromString(xml);
var buildingId = xmlDOM.firstChild.getAttribute('gml:id') || UUID.v4();
var prefixedId;
if (prefix) {
prefixedId = prefix + buildingId;
}
// Skip building if already in streamed set
redis.sismember('polygoncity:job:' + id + ':streamed_buildings', buildingId).then(function(result) {
if (result === 1) {
return;
}
// Append data onto job payload
var newData = _.extend({}, data, {
buildingId: (prefixedId) ? prefixedId : buildingId,
buildingIdOriginal: buildingId,
xml: xml
});
// console.log(buildingId);
// Add building to processing queue
queue.create('repair_building_queue', newData).save(function() {
// Add building ID to streamed buildings set
redis.sadd('polygoncity:job:' + id + ':streamed_buildings', buildingId);
// Increment building count
redis.hincrby('polygoncity:job:' + id, 'buildings_count', 1);
});
});
});
// wrap iframes in div.videoWrapper to control size/aspect ratio
function iframe(state, child) {
const url = child.getAttribute('src')
if(url) {
const {images, links} = state
const yt = youTubeId(url)
if(yt && images && links) {
links.add(yt.url)
images.add('https://img.youtube.com/vi/' + yt.id + '/0.jpg')
}
}
const {mutate} = state
if(!mutate) return
const tag = child.parentNode.tagName ? child.parentNode.tagName.toLowerCase() : child.parentNode.tagName
if(tag == 'div' && child.parentNode.getAttribute('class') == 'videoWrapper') return;
const html = XMLSerializer.serializeToString(child)
child.parentNode.replaceChild(DOMParser.parseFromString(`<div class="videoWrapper">${html}</div>`), child)
}
module.exports = (file, cb) => {
const contents = lang.trim(String(file.contents));
const doc = domParser.parseFromString(contents);
if (doc && !(doc.childNodes.length === 1 && lang.isFunction(doc.firstChild.substringData))) {
svgo.optimize(contents, result => {
if (result.error) {
console.log(doc);
console.log(file.path, result.error);
} else {
file.contents = new Buffer(result.data);
cb(null, file);
}
console.log(file.path);
});
} else {
cb();
console.log(`[ERROR FOUND]: ${file.path}`);
}
};
/** Embed videos, link mentions and hashtags, etc...
*/
export default function (html, {large = false, mutate = true}) {
const state = {large, mutate}
state.hashtags = new Set()
state.usertags = new Set()
state.images = new Set()
state.links = new Set()
try {
const doc = DOMParser.parseFromString(html, 'text/html')
traverse(doc, state)
if(mutate) proxifyImages(doc)
// console.log('state', state)
if(!mutate) return state
return {html: XMLSerializer.serializeToString(doc), ...state}
}catch(error) {
// Not Used, parseFromString might throw an error in the future
console.error(error.toString())
return {html}
}
}
AIMLProcessor.prototype.recursEval = function (node)
{
if (node.nodeName == "#text") { return ValuePromise(node.nodeValue) }
else if (node.nodeName == "#comment") { return ValuePromise("") }
else if (node.nodeName == "template") { return this.evalTagContent( node ) }
else if (node.nodeName == "random" ) { return this.random( node ) }
else if (node.nodeName == "star") { return this.inputStar( node ) }
else if (node.nodeName == "thatstar") { return this.thatStar( node ) }
else if (node.nodeName == "topicstar") { return this.topicStar( node ) }
else if (node.nodeName == "that") { return this.that( node ) }
else if (node.nodeName == "input") { return this.input( node ) }
else if (node.nodeName == "request") { return this.request( node ) }
else if (node.nodeName == "response") { return this.response( node ) }
else if (node.nodeName == "person") { return this.person(node) }
else if (node.nodeName == "person2") { return this.person2(node) }
else if (node.nodeName == "bot") { return this.botNode( node ) }
else if (node.nodeName == "vocabulary") { return ValuePromise(this.bot.vocabulary.size) }
else if (node.nodeName == "size") { return ValuePromise(this.bot.size) }
else if (node.nodeName == "program") { return ValuePromise(Config.name + ' ' + Config.version) }
else if (node.nodeName == "interval") { return this.interval(node) }
else if (node.nodeName == "date") { return this.date(node) }
else if (node.nodeName == "srai") { return this.srai(node) }
else if (node.nodeName == "sr") { return this.srai(DOMParser.parseFromString("<srai>"+this.inputStars[0]+"</srai>").childNodes[0]) }
else if (node.nodeName == "set") { return this.set(node) }
else if (node.nodeName == "map") { return this.map(node) }
else if (node.nodeName == "get") { return this.get(node) }
else if (node.nodeName == "think") { return this.evalTagContent(node).then((res)=>{return""}); }
else if (node.nodeName == "normalize") { return this.normalize(node) }
else if (node.nodeName == "denormalize") { return this.denormalize(node) }
else if (node.nodeName == "explode") { return this.explode(node) }
else if (node.nodeName == "formal") { return this.formal(node) }
else if (node.nodeName == "uppercase") { return this.uppercase(node) }
else if (node.nodeName == "lowercase") { return this.lowercase(node) }
else if (node.nodeName == "condition") { return this.loopCondition(node) }
else if (node.nodeName == "learn") { return this.learn(node) }
else if (node.nodeName == "first") { return this.first(node) }
else if (node.nodeName == "rest") { return this.rest(node) }
else if (node.nodeName == "sraix") { return this.sraix(node) }
else if (node.nodeName == "javascript" ) { return this.jsTag(node) }
else if (node.nodeName == "system" ) { return this.systemTag(node) }
else { return this.unevaluatedXML(node) }
}
nodes.forEach(function (node) {
var value = getValue(node);
grunt.verbose.writeln('setting value of "' + query + '" to "' + value + '"');
if (valueType === 'element') {
node.textContent = '';
while (node.firstChild) {
node.removeChild(node.firstChild);
}
node.appendChild(domParser.parseFromString(value));
}
else if (valueType === 'remove') {
var parentNode = node.parentNode;
parentNode.removeChild(node);
}
else if (node.nodeType === ATTRIBUTE_NODE) {
node.value = value;
} else {
node.textContent = value;
}
});
function embedVimeoNode(child, links, /*images*/) {try{
if(!child.data) return false
const data = child.data
let id
{
const m = data.match(linksRe.vimeoId)
id = m && m.length >= 2 ? m[1] : null
}
if(!id) return false;
const url = `https://player.vimeo.com/video/${id}`
const v = DOMParser.parseFromString(`~~~ embed:${id} vimeo ~~~`)
child.parentNode.replaceChild(v, child)
if(links) links.add(url)
// Preview image requires a callback.. http://stackoverflow.com/questions/1361149/get-img-thumbnails-from-vimeo
// if(images) images.add('https://.../vi/' + id + '/0.jpg')
return true
} catch(error) {console.log(error); return false}}
var citygmlPoints = function(xml) {
var points = [];
var xmlDOM = domParser.parseFromString(xml);
// Only retreive the first posList
// TODO: Decide if there's a need for supporting multiple posLists
var pointsDOM = xmlDOM.getElementsByTagName("gml:posList")[0];
var coords;
if (pointsDOM && pointsDOM.textContent.length > 0) {
coords = pointsDOM.textContent.replace(poslistRegex, " ").trim().split(" ");
} else {
// Try gml:pos
// This will return all gml:pos elements within a single array
pointsDOM = xmlDOM.getElementsByTagName("gml:pos");
if (pointsDOM.length > 0) {
coords = [];
_.each(pointsDOM, function(posDOM) {
coords.push(posDOM.textContent.trim().split(" "));
});
coords = _.flatten(coords);
}
}
// TODO: Validate coordinate count against srsDimension
var coordCount = coords.length;
for (var i = 0; i < coordCount / 3; i++) {
var index = i * 3;
// [x, y, alt]
points.push([Number(coords[index]), Number(coords[index + 1]), Number(coords[index + 2])]);
}
return points;
};
function generateAppxManifest(next) {
this.tiapp.windows = this.tiapp.windows || {};
this.readTiAppManifest();
this.mergeAppxManifestForModule();
var xprops = {
phone: { '8.1': {}, '10.0': {} },
store: { '8.1': {}, '10.0': {} }
},
domParser = new DOMParser();
if (this.tiapp.windows.manifests) {
// Construct manifest properties
for (var i = 0; i < this.tiapp.windows.manifests.length; i++) {
var manifest = this.tiapp.windows.manifests[i];
var dom = domParser.parseFromString(manifest, 'text/xml'),
root = dom.documentElement,
target = appc.xml.getAttr(root, "target"),
version = appc.xml.getAttr(root, "version");
appc.xml.forEachElement(root, function (node) {
var key = node.tagName,
elements = [];
// gather all the child tags
appc.xml.forEachElement(node, function (elm) {
elements.push(elm);
});
xprops.phone['8.1'][key] = xprops.phone['8.1'][key] || [];
xprops.store['8.1'][key] = xprops.store['8.1'][key] || [];
xprops.store['10.0'][key] = xprops.store['10.0'][key] || [];
// If version is 10.0 or not specified, add it to store['10.0']
if (version == '10.0' || !version) {
xprops.store['10.0'][key] = xprops.store['10.0'][key].concat(xprops.store['10.0'][key].concat(elements));
}
// If version is 8.1 or not defined, check target to determine phone[8.1] and/or store[8.1]
if (version == '8.1' || !version) {
if (target == "phone") {
xprops.phone['8.1'][key] = xprops.phone['8.1'][key].concat(xprops.phone['8.1'][key].concat(elements));
} else if (target == "store") {
xprops.store['8.1'][key] = xprops.store['8.1'][key].concat(xprops.store['8.1'][key].concat(elements));
} else {
xprops.phone['8.1'][key] = xprops.phone['8.1'][key].concat(xprops.phone['8.1'][key].concat(elements));
xprops.store['8.1'][key] = xprops.store['8.1'][key].concat(xprops.store['8.1'][key].concat(elements));
}
}
});
}
}
// TODO Only generate the manifest for the target we're building for!
// TODO Write them out in parallel
this.generateAppxManifestForPlatform("store", xprops.store['8.1']);
this.generateAppxManifestForPlatform("phone", xprops.phone['8.1']);
this.generateAppxManifestForPlatform("win10", xprops.store['10.0']);
next();
};
/**
* A URDF Model can be used to parse a given URDF into the appropriate elements.
*
* @constructor
* @param options - object with following keys:
* * xml - the XML element to parse
* * string - the XML element to parse as a string
*/
function UrdfModel(options) {
options = options || {};
var xmlDoc = options.xml;
var string = options.string;
this.materials = {};
this.links = {};
this.joints = {};
// Check if we are using a string or an XML element
if (string) {
// Parse the string
var parser = new DOMParser();
xmlDoc = parser.parseFromString(string, 'text/xml');
}
// Initialize the model with the given XML node.
// Get the robot tag
var robotXml = xmlDoc.documentElement;
// Get the robot name
this.name = robotXml.getAttribute('name');
// Parse all the visual elements we need
for (var nodes = robotXml.childNodes, i = 0; i < nodes.length; i++) {
var node = nodes[i];
if (node.tagName === 'material') {
var material = new UrdfMaterial({
xml : node
});
// Make sure this is unique
if (this.materials[material.name] !== void 0) {
if( this.materials[material.name].isLink() ) {
this.materials[material.name].assign( material );
} else {
console.warn('Material ' + material.name + 'is not unique.');
}
} else {
this.materials[material.name] = material;
}
} else if (node.tagName === 'link') {
var link = new UrdfLink({
xml : node
});
// Make sure this is unique
if (this.links[link.name] !== void 0) {
console.warn('Link ' + link.name + ' is not unique.');
} else {
// Check for a material
for( var j=0; j<link.visuals.length; j++ )
{
var mat = link.visuals[j].material;
if ( mat !== null ) {
if (this.materials[mat.name] !== void 0) {
link.visuals[j].material = this.materials[mat.name];
} else {
this.materials[mat.name] = mat;
}
}
}
// Add the link
this.links[link.name] = link;
}
} else if (node.tagName === 'joint') {
var joint = new UrdfJoint({
xml : node
});
this.joints[joint.name] = joint;
}
}
}