function AutoDrive.loadStoredXML(loadInitConfig)
	if g_server == nil then
		return
	end

	local xmlFile = AutoDrive.getXMLFile()
	local xmlFile_new = AutoDrive.getXMLFile_new()

	if fileExists(xmlFile_new) then
		Logging.info("[AutoDrive] Loading xml file from " .. xmlFile_new)
		local adXml = loadXMLFile("AutoDrive_XML", xmlFile_new)
		AutoDrive.readFromXML(adXml)
		delete(adXml)
	elseif fileExists(xmlFile) then
		Logging.info("[AutoDrive] Loading xml file from " .. xmlFile)
		local adXml = loadXMLFile("AutoDrive_XML", xmlFile)
		AutoDrive.readFromXML(adXml)
		delete(adXml)
	elseif loadInitConfig then
		AutoDrive.loadInitConfig(xmlFile_new)
	end
end

function AutoDrive.loadInitConfig(xmlFile)
	if ADThirdPartyModsManager:getHasDefaultRoutesForMap(AutoDrive.loadedMap) then
		local defaultRoutesPath = ADThirdPartyModsManager:getDefaultRoutesForMap(AutoDrive.loadedMap)
		Logging.info("[AutoDrive] Loading default routes from " .. defaultRoutesPath)
		local xmlId = loadXMLFile("AutoDrive_XML_temp", defaultRoutesPath)
		local wayPoints, mapMarkers, groups = AutoDrive.readGraphFromXml(xmlId, "defaultRoutes")
		ADGraphManager:resetWayPoints()
		ADGraphManager:resetMapMarkers()
		ADGraphManager:setWayPoints(wayPoints)
		ADGraphManager:setMapMarkers(mapMarkers)
		ADGraphManager:setGroups(groups, true)
		delete(xmlId)
	elseif g_currentMission.missionInfo.map.baseDirectory ~= nil and g_currentMission.missionInfo.map.baseDirectory ~= "" then
		-- Loading custom init config from mod map
		local initConfFile = g_currentMission.missionInfo.map.baseDirectory .. "AutoDrive_init_config.xml"
		if fileExists(initConfFile) then
			Logging.info("[AutoDrive] Loading init config from " .. initConfFile)
			local xmlId = loadXMLFile("AutoDrive_XML_temp", initConfFile)
			AutoDrive.readFromXML(xmlId)
			delete(xmlId)
		else
			Logging.warning("[AutoDrive] Can't load init config from " .. initConfFile)
		end
	end

	ADGraphManager:markChanges()
	Logging.info("[AutoDrive] Saving xml file to " .. xmlFile)
end

function AutoDrive.getXMLFile()
	local path = g_currentMission.missionInfo.savegameDirectory
	if path ~= nil then
		return path .. "/AutoDrive_" .. AutoDrive.loadedMap .. "_config.xml"
	else
		return getUserProfileAppPath() .. "savegame" .. g_currentMission.missionInfo.savegameIndex .. "/AutoDrive_" .. AutoDrive.loadedMap .. "_config.xml"
	end
end

function AutoDrive.getXMLFile_new()
	local path = g_currentMission.missionInfo.savegameDirectory
	if path ~= nil then
		return path .. "/AutoDrive_config.xml"
	else
		return getUserProfileAppPath() .. "savegame" .. g_currentMission.missionInfo.savegameIndex .. "/AutoDrive_config.xml"
	end
end

function AutoDrive.readFromXML(xmlFile)
	if xmlFile == nil then
		return
	end

	local idString = getXMLString(xmlFile, "AutoDrive.waypoints.id")
	if idString == nil or idString == "" then
		idString = getXMLString(xmlFile, "AutoDrive." .. AutoDrive.loadedMap .. ".waypoints.id")
	end

	--maybe map was opened and saved, but no waypoints recorded with AutoDrive!
	if idString == nil then
		return
	end

	AutoDrive.HudX = Utils.getNoNil(getXMLFloat(xmlFile, "AutoDrive.HudX"), AutoDrive.HudX)
	AutoDrive.HudY = Utils.getNoNil(getXMLFloat(xmlFile, "AutoDrive.HudY"), AutoDrive.HudY)
	AutoDrive.showingHud = Utils.getNoNil(getXMLBool(xmlFile, "AutoDrive.HudShow"), AutoDrive.showingHud)

	AutoDrive.currentDebugChannelMask = getXMLInt(xmlFile, "AutoDrive.currentDebugChannelMask") or 0

	for settingName, setting in pairs(AutoDrive.settings) do
		if not setting.isVehicleSpecific then
			local value = getXMLFloat(xmlFile, "AutoDrive." .. settingName)
			if value ~= nil then
				AutoDrive.settings[settingName].current = value
			end
		end

		local value = getXMLFloat(xmlFile, "AutoDrive." .. settingName .. "_userDefault")
		if value ~= nil then
			AutoDrive.settings[settingName].userDefault = value
		end
	end

	for feature, _ in pairs(AutoDrive.experimentalFeatures) do
		AutoDrive.experimentalFeatures[feature] = Utils.getNoNil(getXMLBool(xmlFile, "AutoDrive.experimentalFeatures." .. feature .. "#enabled"), AutoDrive.experimentalFeatures[feature])
	end

	-- load Map Markers
	ADGraphManager:resetMapMarkers()
	local mapMarker = {}
	local mapMarkerCounter = 1

	while mapMarker ~= nil do
		mapMarker.id = getXMLFloat(xmlFile, "AutoDrive.mapmarker.mm" .. mapMarkerCounter .. ".id")
		if mapMarker.id == nil or mapMarker.id == "" then
			mapMarker.id = getXMLFloat(xmlFile, "AutoDrive." .. AutoDrive.loadedMap .. ".mapmarker.mm" .. mapMarkerCounter .. ".id")
		end
		-- if id is still nil, we are at the end of the list and stop here
		if mapMarker.id == nil then
			mapMarker = nil
			break
		end

		mapMarker.markerIndex = mapMarkerCounter

		mapMarker.name = getXMLString(xmlFile, "AutoDrive.mapmarker.mm" .. mapMarkerCounter .. ".name")
		if mapMarker.name == nil or mapMarker.name == "" then
			mapMarker.name = getXMLString(xmlFile, "AutoDrive." .. AutoDrive.loadedMap .. ".mapmarker.mm" .. mapMarkerCounter .. ".name")
		end

		mapMarker.group = getXMLString(xmlFile, "AutoDrive.mapmarker.mm" .. mapMarkerCounter .. ".group")
		if mapMarker.group == nil or mapMarker.group == "" then
			mapMarker.group = getXMLString(xmlFile, "AutoDrive." .. AutoDrive.loadedMap .. ".mapmarker.mm" .. mapMarkerCounter .. ".group")
		end
		if mapMarker.group == nil then
			mapMarker.group = "All"
		end

		-- make sure group existst
		if ADGraphManager:getGroupByName(mapMarker.group) == nil then
			ADGraphManager:addGroup(mapMarker.group)
		end

		-- finally save map marker and reset table
		ADGraphManager:setMapMarker(mapMarker)
		mapMarker = {}
		mapMarkerCounter = mapMarkerCounter + 1
	end
	-- done loading Map Markers

	ADGraphManager:resetWayPoints()

	local idTable = idString:split(",")

	local xString = getXMLString(xmlFile, "AutoDrive.waypoints.x")
	if xString == nil or xString == "" then
		xString = getXMLString(xmlFile, "AutoDrive." .. AutoDrive.loadedMap .. ".waypoints.x")
	end
	local xTable = xString:split(",")

	local yString = getXMLString(xmlFile, "AutoDrive.waypoints.y")
	if yString == nil or yString == "" then
		yString = getXMLString(xmlFile, "AutoDrive." .. AutoDrive.loadedMap .. ".waypoints.y")
	end
	local yTable = yString:split(",")

	local zString = getXMLString(xmlFile, "AutoDrive.waypoints.z")
	if zString == nil or zString == "" then
		zString = getXMLString(xmlFile, "AutoDrive." .. AutoDrive.loadedMap .. ".waypoints.z")
	end
	local zTable = zString:split(",")

	local outString = getXMLString(xmlFile, "AutoDrive.waypoints.out")
	if outString == nil or outString == "" then
		outString = getXMLString(xmlFile, "AutoDrive." .. AutoDrive.loadedMap .. ".waypoints.out")
	end
	local outTable = outString:split(";")

	local outSplitted = {}
	for i, outer in pairs(outTable) do
		local out = outer:split(",")
		outSplitted[i] = out
		if out == nil then
			outSplitted[i] = {outer}
		end
	end

	local incomingString = getXMLString(xmlFile, "AutoDrive.waypoints.incoming")
	if incomingString == nil or incomingString == "" then
		incomingString = getXMLString(xmlFile, "AutoDrive." .. AutoDrive.loadedMap .. ".waypoints.incoming")
	end

	local incomingTable = incomingString:split(";")
	local incomingSplitted = {}
	for i, outer in pairs(incomingTable) do
		local incoming = outer:split(",")
		incomingSplitted[i] = incoming
		if incoming == nil then
			incomingSplitted[i] = {outer}
		end
	end

	local flagString = getXMLString(xmlFile, "AutoDrive.waypoints.flags")
	if flagString == nil or flagString == "" then
		flagString = getXMLString(xmlFile, "AutoDrive." .. AutoDrive.loadedMap .. ".waypoints.flags")
	end
	local flagTable = nil
	if flagString ~= nil and flagString ~= "" then
		flagTable = flagString:split(",")
	end

	local wp_counter = 0
	for i, id in pairs(idTable) do
		if id ~= "" then
			wp_counter = wp_counter + 1
			local wp = {}
			wp["id"] = tonumber(id)
			wp["out"] = {}
			local out_counter = 1
			if outSplitted[i] ~= nil then
				for _, outStr in pairs(outSplitted[i]) do
					local number = tonumber(outStr)
					if number ~= -1 then
						wp["out"][out_counter] = tonumber(outStr)
						out_counter = out_counter + 1
					end
				end
			end

			wp["incoming"] = {}
			local incoming_counter = 1
			if incomingSplitted[i] ~= nil then
				for _, incomingID in pairs(incomingSplitted[i]) do
					if incomingID ~= "" then
						local number = tonumber(incomingID)
						if number ~= -1 then
							wp["incoming"][incoming_counter] = tonumber(incomingID)
							incoming_counter = incoming_counter + 1
						end
					end
				end
			end

			wp.x = tonumber(xTable[i])
			wp.y = tonumber(yTable[i])
			wp.z = tonumber(zTable[i])
			if flagTable ~= nil then
				wp.flags = tonumber(flagTable[i])
			else
				wp.flags = 0
			end

			ADGraphManager:setWayPoint(wp)
		end
	end

	if ADGraphManager:getWayPointById(wp_counter) ~= nil then
		Logging.info("[AutoDrive] Loaded %s waypoints", wp_counter)
	end

	for markerIndex, marker in pairs(ADGraphManager:getMapMarkers()) do
		if ADGraphManager:getWayPointById(marker.id) == nil then
			Logging.info("[AutoDrive] mapMarker[" .. markerIndex .. "] : " .. marker.name .. " points to a non existing waypoint! Please repair your config file!")
		end
	end

    -- if debug channel for road network was saved and loaded, the debug wayPoints shall be created
    ADGraphManager:createDebugMarkers()

    Logging.info("[AD] AutoDrive.readFromXML waypoints: %s", tostring(ADGraphManager:getWayPointsCount()))
    Logging.info("[AD] AutoDrive.readFromXML markers: %s", tostring(#ADGraphManager:getMapMarkers()))
    Logging.info("[AD] AutoDrive.readFromXML groups: %s", tostring(table.count(ADGraphManager:getGroups())))
end

function AutoDrive.saveToXML(xmlFile)
	local xmlFileName = AutoDrive.getXMLFile_new()
	-- create empty xml file
	local xmlFile = createXMLFile("AutoDrive_XML", xmlFileName, "AutoDrive") -- use the new file name onwards

	setXMLString(xmlFile, "AutoDrive.version", AutoDrive.version)
	setXMLString(xmlFile, "AutoDrive.MapName", AutoDrive.loadedMap)

	setXMLFloat(xmlFile, "AutoDrive.HudX", AutoDrive.HudX)
	setXMLFloat(xmlFile, "AutoDrive.HudY", AutoDrive.HudY)
	setXMLBool(xmlFile, "AutoDrive.HudShow", AutoDrive.Hud.showHud)

	setXMLInt(xmlFile, "AutoDrive.currentDebugChannelMask", AutoDrive.currentDebugChannelMask)

	for settingName, setting in pairs(AutoDrive.settings) do
		if not setting.isVehicleSpecific then
			setXMLFloat(xmlFile, "AutoDrive." .. settingName, AutoDrive.settings[settingName].current)
		end
		if setting.userDefault ~= nil then
			setXMLFloat(xmlFile, "AutoDrive." .. settingName .. "_userDefault", AutoDrive.settings[settingName].userDefault)
		end
	end

	for feature, enabled in pairs(AutoDrive.experimentalFeatures) do
		setXMLBool(xmlFile, "AutoDrive.experimentalFeatures." .. feature .. "#enabled", enabled)
	end

    ADGraphManager:deleteColorSelectionWayPoints() -- delete color selection wayPoints if there are any -> do not save them in config!

	local idFullTable = {}

	local xTable = {}

	local yTable = {}

	local zTable = {}

	local outTable = {}

	local incomingTable = {}

	local flagsTable = {}

	for i, p in pairs(ADGraphManager:getWayPoints()) do
		idFullTable[i] = p.id
		xTable[i] = string.format("%.3f", p.x)
		yTable[i] = string.format("%.3f", p.y)
		zTable[i] = string.format("%.3f", p.z)

		outTable[i] = table.concat(p.out, ",")
		if outTable[i] == nil or outTable[i] == "" then
			outTable[i] = "-1"
		end

		incomingTable[i] = table.concat(p.incoming, ",")
		if incomingTable[i] == nil or incomingTable[i] == "" then
			incomingTable[i] = "-1"
		end

		flagsTable[i] = tostring(p.flags or 0)
	end

	if idFullTable[1] ~= nil then
		setXMLString(xmlFile, "AutoDrive.waypoints.id", table.concat(idFullTable, ","))
		setXMLString(xmlFile, "AutoDrive.waypoints.x", table.concat(xTable, ","))
		setXMLString(xmlFile, "AutoDrive.waypoints.y", table.concat(yTable, ","))
		setXMLString(xmlFile, "AutoDrive.waypoints.z", table.concat(zTable, ","))
		setXMLString(xmlFile, "AutoDrive.waypoints.out", table.concat(outTable, ";"))
		setXMLString(xmlFile, "AutoDrive.waypoints.incoming", table.concat(incomingTable, ";"))
		setXMLString(xmlFile, "AutoDrive.waypoints.flags", table.concat(flagsTable, ","))
	end

	local markerIndex = 1 -- used for clean index in saved config xml
	for i in pairs(ADGraphManager:getMapMarkers()) do
		if not ADGraphManager:getMapMarkerById(i).isADDebug then -- do not save debug map marker
			setXMLFloat(xmlFile, "AutoDrive.mapmarker.mm" .. tostring(markerIndex) .. ".id", ADGraphManager:getMapMarkerById(i).id)
			setXMLString(xmlFile, "AutoDrive.mapmarker.mm" .. tostring(markerIndex) .. ".name", ADGraphManager:getMapMarkerById(i).name)
			setXMLString(xmlFile, "AutoDrive.mapmarker.mm" .. tostring(markerIndex) .. ".group", ADGraphManager:getMapMarkerById(i).group)
			markerIndex = markerIndex + 1
		end
	end

	saveXMLFile(xmlFile)
	if g_client == nil then
		Logging.info("[AD] AutoDrive.saveToXML waypoints: %s", tostring(ADGraphManager:getWayPointsCount()))
		Logging.info("[AD] AutoDrive.saveToXML markers: %s", tostring(#ADGraphManager:getMapMarkers()))
		Logging.info("[AD] AutoDrive.saveToXML groups: %s", tostring(table.count(ADGraphManager:getGroups())))
	end
end

function AutoDrive.writeGraphToXml(xmlId, rootNode, waypoints, markers, groups)
	-- writing waypoints
	removeXMLProperty(xmlId, rootNode .. ".waypoints")
	do
		local key = string.format("%s.waypoints", rootNode)
		setXMLInt(xmlId, key .. "#c", #waypoints)

		local xt = {}
		local yt = {}
		local zt = {}
		local ot = {}
		local it = {}
		local ft = {}

		-- localization for better performances
		local frmt = string.format
		local cnl = table.concatNil
		local ts = tostring

		for i, w in pairs(waypoints) do
			xt[i] = frmt("%.2f", w.x)
			yt[i] = frmt("%.2f", w.y)
			zt[i] = frmt("%.2f", w.z)
			ot[i] = cnl(w.out, ",") or "-1"
			it[i] = cnl(w.incoming, ",") or "-1"
			ft[i] = ts(w.flags)
		end

		setXMLString(xmlId, key .. ".x", table.concat(xt, ";"))
		setXMLString(xmlId, key .. ".y", table.concat(yt, ";"))
		setXMLString(xmlId, key .. ".z", table.concat(zt, ";"))
		setXMLString(xmlId, key .. ".out", table.concat(ot, ";"))
		setXMLString(xmlId, key .. ".in", table.concat(it, ";"))
		setXMLString(xmlId, key .. ".flags", table.concat(ft, ";"))
	end

	-- writing markers
	removeXMLProperty(xmlId, rootNode .. ".markers")
	for i, m in pairs(markers) do
		if not ADGraphManager:getMapMarkerById(i).isADDebug then -- do not save debug map marker
			local key = string.format("%s.markers.m(%d)", rootNode, i - 1)
			setXMLInt(xmlId, key .. "#i", m.id)
			setXMLString(xmlId, key .. "#n", m.name)
			setXMLString(xmlId, key .. "#g", m.group)
		end
	end

	-- writing groups
	removeXMLProperty(xmlId, rootNode .. ".groups")
	do
		local i = 0
		for name, id in pairs(groups) do
			if name ~= ADGraphManager.debugGroupName then -- do not save debug group
				local key = string.format("%s.groups.g(%d)", rootNode, i)
				setXMLString(xmlId, key .. "#n", name)
				setXMLInt(xmlId, key .. "#i", id)
				i = i + 1
			end
		end
	end
end

function AutoDrive.readGraphFromXml(xmlId, rootNode)
	local wayPoints = {}
	local mapMarkers = {}
	local groups = {}
	-- reading waypoints
	do
		local key = string.format("%s.waypoints", rootNode)
		local waypointsCount = getXMLInt(xmlId, key .. "#c")
		local xt = getXMLString(xmlId, key .. ".x"):split(";")
		local yt = getXMLString(xmlId, key .. ".y"):split(";")
		local zt = getXMLString(xmlId, key .. ".z"):split(";")
		local ot = getXMLString(xmlId, key .. ".out"):split(";")
		local it = getXMLString(xmlId, key .. ".in"):split(";")

		local ft = nil
		local flagsString = getXMLString(xmlId, key .. ".flags")
		if flagsString ~= nil and flagsString ~= "" then
			ft = flagsString:split(";")
		end

		-- localization for better performances
		local tnum = tonumber
		local tbin = table.insert
		local stsp = string.split

		for i = 1, waypointsCount do
			local wp = {id = i, x = tnum(xt[i]), y = tnum(yt[i]), z = tnum(zt[i]), out = {}, incoming = {}}
			if ot[i] ~= "-1" then
				for _, out in pairs(stsp(ot[i], ",")) do
					tbin(wp.out, tnum(out))
				end
			end
			if it[i] ~= "-1" then
				for _, incoming in pairs(stsp(it[i], ",")) do
					tbin(wp.incoming, tnum(incoming))
				end
			end

			if ft ~= nil then
				wp.flags = tnum(ft[i])
			else
				wp.flags = 0
			end

			wayPoints[i] = wp
			i = i + 1
		end
	end

	-- reading markers
	do
		local i = 0
		while true do
			local key = string.format("%s.markers.m(%d)", rootNode, i)
			if not hasXMLProperty(xmlId, key) then
				break
			end
			local id = getXMLInt(xmlId, key .. "#i")
			local name = getXMLString(xmlId, key .. "#n")
			local group = getXMLString(xmlId, key .. "#g")

			i = i + 1
			mapMarkers[i] = {id = id, name = name, group = group, markerIndex = i}
		end
	end

	-- reading groups
	do
		local i = 0
		while true do
			local key = string.format("%s.groups.g(%d)", rootNode, i)
			if not hasXMLProperty(xmlId, key) then
				break
			end
			local groupName = getXMLString(xmlId, key .. "#n")
			local groupNameId = Utils.getNoNil(getXMLInt(xmlId, key .. "#i"), i + 1)
			groups[groupName] = groupNameId
			i = i + 1
		end
	end

	-- fix group 'All' index (make sure it's always 1)
	if groups["All"] ~= 1 then
		groups["All"] = nil
		local newGroups = {}
		newGroups["All"] = 1
		local index = 2
		for name, _ in pairs(groups) do
			newGroups[name] = index
			index = index + 1
		end
		groups = newGroups
	end

	return wayPoints, mapMarkers, groups
end

function AutoDrive.readLocalSettingsFromXML()
    local rootFolder = getUserProfileAppPath() .. "autoDrive/"
    local xmlFileName = rootFolder .. "AutoDrive_LocalSettings.xml"

	if fileExists(xmlFileName) then
		local xmlFile = loadXMLFile("AutoDrive_LocalSettings", xmlFileName)
        if xmlFile == nil then
            return
        end

        local i = 1
        while true do
            local key = "AutoDrive_LocalSettings.Color" .. i
            local color = getXMLString(xmlFile, key .. "#color")
            if color == nil then
                break
            end
            local red = getXMLFloat(xmlFile, key .. "#red")
            local green = getXMLFloat(xmlFile, key .. "#green")
            local blue = getXMLFloat(xmlFile, key .. "#blue")
            local alpha = getXMLFloat(xmlFile, key .. "#alpha")

            AutoDrive:setColorAssignment(color, red, green, blue, alpha)
            i = i + 1
        end
    end
end

function AutoDrive.writeLocalSettingsToXML()
    local rootFolder = getUserProfileAppPath() .. "autoDrive/"
    createFolder(rootFolder)
    local xmlFileName = rootFolder .. "AutoDrive_LocalSettings.xml"

	-- create empty xml file
	local xmlFile = createXMLFile("AutoDrive_XML", xmlFileName, "AutoDrive_LocalSettings") -- use the new file name onwards

    local i = 1
	for k, v in pairs(AutoDrive.currentColors) do
		local colorKey = string.format("%s",k)
        setXMLString(xmlFile, "AutoDrive_LocalSettings.Color" .. tostring(i) .. "#color", colorKey)
        setXMLFloat(xmlFile, "AutoDrive_LocalSettings.Color" .. tostring(i) .. "#red", AutoDrive.currentColors[colorKey][1])
        setXMLFloat(xmlFile, "AutoDrive_LocalSettings.Color" .. tostring(i) .. "#green", AutoDrive.currentColors[colorKey][2])
        setXMLFloat(xmlFile, "AutoDrive_LocalSettings.Color" .. tostring(i) .. "#blue", AutoDrive.currentColors[colorKey][3])
        setXMLFloat(xmlFile, "AutoDrive_LocalSettings.Color" .. tostring(i) .. "#alpha", AutoDrive.currentColors[colorKey][4])
        i = i + 1
    end
    saveXMLFile(xmlFile)
end
