SDFImpl.hh

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/*
 * Copyright 2012 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 _SDFIMPL_HH_
#define _SDFIMPL_HH_

#include <vector>
#include <string>
#include <boost/shared_ptr.hpp>
#include <boost/enable_shared_from_this.hpp>

#include "sdf/Types.hh"
#include "sdf/Param.hh"
#include "sdf/system_util.hh"

namespace sdf
{
  class SDFORMAT_VISIBLE SDF;
  class SDFORMAT_VISIBLE Element;

  typedef boost::shared_ptr<SDF> SDFPtr;

  typedef boost::shared_ptr<Element> ElementPtr;

  typedef std::vector< ElementPtr > ElementPtr_V;


  SDFORMAT_VISIBLE
  std::string findFile(const std::string &_filename,
                       bool _searchLocalPath = true,
                       bool _useCallback = false);

  SDFORMAT_VISIBLE
  void addURIPath(const std::string &_uri, const std::string &_path);

  SDFORMAT_VISIBLE
  void setFindCallback(boost::function<std::string (const std::string &)> _cb);

  class SDFORMAT_VISIBLE Element :
    public boost::enable_shared_from_this<Element>
  {
    public: Element();

    public: virtual ~Element();

    public: boost::shared_ptr<Element> Clone() const;

    public: void Copy(const ElementPtr _elem);

    public: ElementPtr GetParent() const;

    public: void SetParent(const ElementPtr _parent);

    public: void SetName(const std::string &_name);

    public: const std::string &GetName() const;

    public: void SetRequired(const std::string &_req);

    public: const std::string &GetRequired() const;

    public: void SetCopyChildren(bool _value);

    public: bool GetCopyChildren() const;

    public: void PrintDescription(const std::string &_prefix);

    public: void PrintValues(std::string _prefix);

    public: void PrintWiki(std::string _prefix);

    public: void PrintDocLeftPane(std::string &_html,
                                  int _spacing, int &_index);

    public: void PrintDocRightPane(std::string &_html,
                                  int _spacing, int &_index);

    public: std::string ToString(const std::string &_prefix) const;

    public: void AddAttribute(const std::string &_key,
                              const std::string &_type,
                              const std::string &_defaultvalue,
                              bool _required,
                              const std::string &_description="");

    public: void AddValue(const std::string &_type,
                          const std::string &_defaultValue, bool _required,
                          const std::string &_description="");

    public: ParamPtr GetAttribute(const std::string &_key);

    public: unsigned int GetAttributeCount() const;

    public: ParamPtr GetAttribute(unsigned int _index) const;

    public: unsigned int GetElementDescriptionCount() const;

    public: ElementPtr GetElementDescription(unsigned int _index) const;

    public: ElementPtr GetElementDescription(const std::string &_key) const;

    public: bool HasElementDescription(const std::string &_name);

    public: bool HasAttribute(const std::string &_key);

    public: bool GetAttributeSet(const std::string &_key);

    public: ParamPtr GetValue();

    public: bool GetValueBool(
                const std::string &_key = "") SDF_DEPRECATED(1.4);
    public: int GetValueInt(
                const std::string &_key = "") SDF_DEPRECATED(1.4);
    public: float GetValueFloat(
                const std::string &_key = "") SDF_DEPRECATED(1.4);
    public: double GetValueDouble(
                const std::string &_key = "") SDF_DEPRECATED(1.4);
    public: unsigned int GetValueUInt(
                const std::string &_key = "") SDF_DEPRECATED(1.4);
    public: char GetValueChar(
                const std::string &_key = "") SDF_DEPRECATED(1.4);
    public: std::string GetValueString(
                const std::string &_key = "") SDF_DEPRECATED(1.4);
    public: sdf::Vector3 GetValueVector3(
                const std::string &_key = "") SDF_DEPRECATED(1.4);
    public: sdf::Vector2d GetValueVector2d(
                const std::string &_key = "") SDF_DEPRECATED(1.4);
    public: sdf::Quaternion GetValueQuaternion(
                const std::string &_key = "") SDF_DEPRECATED(1.4);
    public: sdf::Pose GetValuePose(
                const std::string &_key = "") SDF_DEPRECATED(1.4);
    public: sdf::Color GetValueColor(
                const std::string &_key = "") SDF_DEPRECATED(1.4);
    public: sdf::Time GetValueTime(
                const std::string &_key = "") SDF_DEPRECATED(1.4);

    public: template<typename T>
            T Get(const std::string &_key = "")
            {
              T result = T();

              if (_key.empty() && this->value)
                this->value->Get<T>(result);
              else if (!_key.empty())
              {
                ParamPtr param = this->GetAttribute(_key);
                if (param)
                  param->Get(result);
                else if (this->HasElement(_key))
                  result = this->GetElementImpl(_key)->Get<T>();
                else if (this->HasElementDescription(_key))
                  result = this->GetElementDescription(_key)->Get<T>();
                else
                  sdferr << "Unable to find value for key[" << _key << "]\n";
              }
              return result;
            }

    public: template<typename T>
            bool Set(const T &_value)
            {
              if (this->value)
              {
                this->value->Set(_value);
                return true;
              }
              return false;
            }

    public: bool HasElement(const std::string &_name) const;

    public: ElementPtr GetElement(const std::string &_name) const;
    public: ElementPtr GetFirstElement() const;

    public: ElementPtr GetNextElement(const std::string &_name = "") const;

    public: ElementPtr GetElement(const std::string &_name);
    public: ElementPtr AddElement(const std::string &_name);
    public: void InsertElement(ElementPtr _elem);

    public: void RemoveFromParent();

    public: void RemoveChild(ElementPtr _child);

    public: void ClearElements();

    public: void Update();
    public: void Reset();

    public: void SetInclude(const std::string &_filename);
    public: std::string GetInclude() const;

    public: std::string GetDescription() const;

    public: void SetDescription(const std::string &_desc);

    public: void AddElementDescription(ElementPtr _elem);

    private: void ToString(const std::string &_prefix,
                           std::ostringstream &_out) const;


    private: boost::shared_ptr<Param> CreateParam(const std::string &_key,
                 const std::string &_type, const std::string &_defaultValue,
                 bool _required, const std::string &_description="");

    public: ElementPtr GetElementImpl(const std::string &_name) const;

    private: std::string name;
    private: std::string required;
    private: std::string description;
    private: bool copyChildren;

    private: ElementPtr parent;

    // Attributes of this element
    private: Param_V attributes;

    // Value of this element
    private: ParamPtr value;

    // The existing child elements
    private: ElementPtr_V elements;

    // The possible child elements
    private: ElementPtr_V elementDescriptions;

    private: std::string includeFilename;
  };


  class SDFORMAT_VISIBLE SDF
  {
    public: SDF();
    public: void PrintDescription();
    public: void PrintValues();
    public: void PrintWiki();
    public: void PrintDoc();
    public: void Write(const std::string &_filename);
    public: std::string ToString() const;

    public: void SetFromString(const std::string &_sdfData);

    public: ElementPtr root;

    public: static std::string version;
  };
}
#endif