Method loadDocImpl

src/xml_parsing.cpp:341–462

}

void XMLParser::PImpl::loadDocImpl(XMLDocument* doc, bool add_includes)
{
  if(doc->Error())
  {
    char buffer[512];
    std::ignore =
        snprintf(buffer, sizeof buffer, "Error parsing the XML: %s", doc->ErrorStr());
    throw RuntimeError(buffer);
  }

  const XMLElement* xml_root = doc->RootElement();
  if(xml_root == nullptr)
  {
    throw RuntimeError("Invalid XML: missing root element");
  }

  auto format = xml_root->Attribute("BTCPP_format");
  if(format == nullptr)
  {
    std::cout << "Warnings: The first tag of the XML (<root>) should contain the "
                 "attribute [BTCPP_format=\"4\"]\n"
              << "Please check if your XML is compatible with version 4.x of BT.CPP"
              << std::endl;
  }

  // recursively include other files
  for(auto incl_node = xml_root->FirstChildElement("include"); incl_node != nullptr;
      incl_node = incl_node->NextSiblingElement("include"))
  {
    if(!add_includes)
    {
      break;
    }

    const char* path_attr = incl_node->Attribute("path");
    if(path_attr == nullptr)
    {
      throw RuntimeError("Invalid <include> tag: missing 'path' attribute");
    }

#if __bt_cplusplus >= 202002L
    auto file_path{ std::filesystem::path(path_attr) };
#else
    auto file_path{ std::filesystem::u8path(path_attr) };
#endif

    const char* ros_pkg_relative_path = incl_node->Attribute("ros_pkg");

    if(ros_pkg_relative_path != nullptr)
    {
      if(file_path.is_absolute())
      {
        std::cout << "WARNING: <include path=\"...\"> contains an absolute path.\n"
                  << "Attribute [ros_pkg] will be ignored." << std::endl;
      }
      else
      {
        std::string ros_pkg_path;  // NOLINT(misc-const-correctness)