Plugin.hh

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/*
 * Copyright 2021 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef SDF_PLUGIN_HH_
#define SDF_PLUGIN_HH_
 
#include <memory>
#include <string>
#include <vector>
 
#include <sdf/Element.hh>
#include <sdf/Error.hh>
#include <sdf/parser.hh>
#include <sdf/Types.hh>
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"
 
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::unique_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
 
namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
  class PluginPrivate;
 
  class SDFORMAT_VISIBLE Plugin
  {
    public: Plugin();
 
    public: ~Plugin();
 
    public: Plugin(const Plugin &_plugin);
 
    public: Plugin(Plugin &&_plugin) noexcept;
 
    public: Plugin(const std::string &_filename, const std::string &_name,
                   const std::string &_xmlContent = "");
 
    public: Errors Load(ElementPtr _sdf);
 
    public: const std::string &Name() const;
 
    public: void SetName(const std::string &_name);
 
    public: const std::string &Filename() const;
 
    public: void ClearContents();
 
    public: const std::vector<sdf::ElementPtr> &Contents() const;
 
    public: void InsertContent(const sdf::ElementPtr _elem);
 
    public: bool InsertContent(const std::string _content);
 
    public: void SetFilename(const std::string &_filename);
 
    public: sdf::ElementPtr Element() const;
 
    public: sdf::ElementPtr ToElement() const;
 
    public: Plugin &operator=(const Plugin &_plugin);
 
    public: Plugin &operator=(Plugin &&_plugin) noexcept;
 
    public: bool operator==(const Plugin &_plugin) const;
 
    public: bool operator!=(const Plugin &_plugin) const;
 
    public: friend std::ostream &operator<<(std::ostream& _out,
                                            const sdf::Plugin &_plugin)
    {
      return _out << _plugin.ToElement()->ToString("");
    }
 
    public: friend std::istream &operator>>(std::istream &_in,
                                            sdf::Plugin &_plugin)
    {
      std::ostringstream stream;
      stream << "<sdf version='" << SDF_VERSION << "'>";
      stream << std::string(std::istreambuf_iterator<char>(_in), {});
      stream << "</sdf>";
 
      sdf::SDFPtr sdfParsed(new sdf::SDF());
      sdf::init(sdfParsed);
      bool result = sdf::readString(stream.str(), sdfParsed);
      if (!result)
        return _in;
 
      _plugin.ClearContents();
      _plugin.Load(sdfParsed->Root()->GetFirstElement());
 
      return _in;
    }
 
    std::unique_ptr<sdf::PluginPrivate> dataPtr;
  };
 
  using Plugins = std::vector<Plugin>;
}
}
 
#ifdef _WIN32
#pragma warning(pop)
#endif
 
#endif