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 <functional>
#include <memory>
#include <string>
 
#include "sdf/Element.hh"
#include "sdf/Param.hh"
#include "sdf/ParserConfig.hh"
#include "sdf/PrintConfig.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 SDFORMAT_VISIBLE SDF;
  class SDFPrivate;
 
  typedef std::shared_ptr<SDF> SDFPtr;
 
 
  SDFORMAT_VISIBLE
  std::string findFile(const std::string &_filename,
                       bool _searchLocalPath = true,
                       bool _useCallback = false);
 
  SDFORMAT_VISIBLE
  std::string findFile(sdf::Errors &_errors,
                       const std::string &_filename,
                       bool _searchLocalPath = true,
                       bool _useCallback = false);
 
  SDFORMAT_VISIBLE
  std::string findFile(const std::string &_filename,
                       bool _searchLocalPath,
                       bool _useCallback,
                       const ParserConfig &_config);
 
  SDFORMAT_VISIBLE
  std::string findFile(sdf::Errors &_errors,
                       const std::string &_filename,
                       bool _searchLocalPath,
                       bool _useCallback,
                       const ParserConfig &_config);
 
  SDFORMAT_VISIBLE
  void addURIPath(const std::string &_uri, const std::string &_path);
 
  SDFORMAT_VISIBLE
  void setFindCallback(std::function<std::string (const std::string &)> _cb);
 
  class SDFORMAT_VISIBLE SDF
  {
    public: SDF();
    public: ~SDF();
    public: void PrintDescription();
    public: void PrintDescription(sdf::Errors &_errors);
    public: void PrintDoc();
    public: void Write(const std::string &_filename);
    public: void Write(sdf::Errors &_errors, const std::string &_filename);
 
    public: void PrintValues(const PrintConfig &_config = PrintConfig());
 
    public: void PrintValues(sdf::Errors &_errors,
                             const PrintConfig &_config = PrintConfig());
 
    public: std::string ToString(
        const PrintConfig &_config = PrintConfig()) const;
 
    public: std::string ToString(
        sdf::Errors &_errors,
        const PrintConfig &_config = PrintConfig()) const;
 
    public: void SetFromString(const std::string &_sdfData);
 
    public: void SetFromString(sdf::Errors &_Errors,
                               const std::string &_sdfData);
 
    public: void Clear();
 
    public: ElementPtr Root() const;
 
    public: void SetRoot(const ElementPtr _root);
 
    public: std::string FilePath() const;
 
    public: void SetFilePath(const std::string &_path);
 
    public: void SetOriginalVersion(const std::string &_version);
 
    public: const std::string &OriginalVersion() const;
 
    public: static std::string Version();
 
    public: static void Version(const std::string &_version);
 
    public: static ElementPtr WrapInRoot(const ElementPtr &_sdf);
 
    public: static ElementPtr WrapInRoot(sdf::Errors &_errors,
                                         const ElementPtr &_sdf);
 
    public: static const std::string &EmbeddedSpec(
                const std::string &_filename, const bool _quiet);
 
    public: static const std::string &EmbeddedSpec(
                sdf::Errors &_errors, const std::string &_filename);
 
    private: std::unique_ptr<SDFPrivate> dataPtr;
 
    private: static std::string version;
  };
  }
}
 
#ifdef _WIN32
#pragma warning(pop)
#endif
 
#endif