131 lines
3.9 KiB
C++
131 lines
3.9 KiB
C++
/*
|
|
* 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 <string>
|
|
#include <memory>
|
|
#include <functional>
|
|
|
|
#include "sdf/Param.hh"
|
|
#include "sdf/Element.hh"
|
|
#include "sdf/system_util.hh"
|
|
|
|
/// \todo Remove this diagnositic push/pop in version 5
|
|
#ifndef _WIN32
|
|
#pragma GCC diagnostic push
|
|
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
|
|
#endif
|
|
#include "sdf/Types.hh"
|
|
#ifndef _WIN32
|
|
#pragma GCC diagnostic pop
|
|
#endif
|
|
|
|
/// \ingroup sdf_parser
|
|
/// \brief namespace for Simulation Description Format parser
|
|
namespace sdf
|
|
{
|
|
class SDFORMAT_VISIBLE SDF;
|
|
|
|
/// \def SDFPtr
|
|
/// \brief Shared pointer to SDF
|
|
typedef std::shared_ptr<SDF> SDFPtr;
|
|
|
|
/// \addtogroup sdf
|
|
/// \{
|
|
|
|
/// \brief Find the absolute path of a file.
|
|
/// \param[in] _filename Name of the file to find.
|
|
/// \param[in] _searchLocalPath True to search for the file in the current
|
|
/// working directory.
|
|
/// \param[in] _useCallback True to find a file based on a registered
|
|
/// callback if the file is not found via the normal mechanism.
|
|
SDFORMAT_VISIBLE
|
|
std::string findFile(const std::string &_filename,
|
|
bool _searchLocalPath = true,
|
|
bool _useCallback = false);
|
|
|
|
/// \brief Associate paths to a URI.
|
|
/// Example paramters: "model://", "/usr/share/models:~/.gazebo/models"
|
|
/// \param[in] _uri URI that will be mapped to _path
|
|
/// \param[in] _path Colon separated set of paths.
|
|
SDFORMAT_VISIBLE
|
|
void addURIPath(const std::string &_uri, const std::string &_path);
|
|
|
|
/// \brief Set the callback to use when SDF can't find a file.
|
|
/// The callback should return a complete path to the requested file, or
|
|
/// and empty string if the file was not found in the callback.
|
|
/// \param[in] _cb The callback function.
|
|
SDFORMAT_VISIBLE
|
|
void setFindCallback(std::function<std::string (const std::string &)> _cb);
|
|
|
|
/// \brief Base SDF class
|
|
class SDFORMAT_VISIBLE SDF
|
|
{
|
|
public: SDF();
|
|
/// \brief Destructor
|
|
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;
|
|
|
|
/// \brief Set SDF values from a string
|
|
public: void SetFromString(const std::string &_sdfData);
|
|
|
|
/// \brief Get a pointer to the root element
|
|
/// \return Pointer to the root element
|
|
public: ElementPtr Root() const;
|
|
|
|
/// \brief Set the root pointer
|
|
/// \param[in] _root Root element
|
|
public: void Root(const ElementPtr _root);
|
|
|
|
/// \brief Get the version
|
|
/// \return The version as a string
|
|
public: static std::string Version();
|
|
|
|
/// \brief Set the version string
|
|
/// \param[in] _version SDF version string.
|
|
public: static void Version(const std::string &_version);
|
|
|
|
// \todo Remove this warning push/pop after sdformat 4.0
|
|
#ifdef _MSC_VER
|
|
#pragma warning(push)
|
|
#pragma warning(disable : 4251)
|
|
#endif
|
|
|
|
/// \brief Deprecated.
|
|
/// \sa ElementPtr Root()
|
|
/// \sa void Root(const ElementPtr _root)
|
|
public: ElementPtr root SDF_DEPRECATED(4.0);
|
|
|
|
/// \brief Deprecated.
|
|
/// \sa std::string Version()
|
|
/// \sa Version(const std::string &_version)
|
|
public: static std::string version SDF_DEPRECATED(4.0);
|
|
|
|
#ifdef _MSC_VER
|
|
#pragma warning(pop)
|
|
#endif
|
|
};
|
|
/// \}
|
|
}
|
|
#endif
|