Plugin.hh
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1/*
2 * Copyright 2021 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16 */
17#ifndef SDF_PLUGIN_HH_
18#define SDF_PLUGIN_HH_
19
20#include <memory>
21#include <string>
22#include <vector>
23
24#include <sdf/Element.hh>
25#include <sdf/Error.hh>
26#include <sdf/parser.hh>
27#include <sdf/Types.hh>
28#include "sdf/sdf_config.h"
29#include "sdf/system_util.hh"
30
31#ifdef _WIN32
32// Disable warning C4251 which is triggered by
33// std::unique_ptr
34#pragma warning(push)
35#pragma warning(disable: 4251)
36#endif
37
38namespace sdf
39{
40 // Inline bracket to help doxygen filtering.
41 inline namespace SDF_VERSION_NAMESPACE {
42 //
43 class PluginPrivate;
44
46 {
48 public: Plugin();
49
51 public: ~Plugin();
52
55 public: Plugin(const Plugin &_plugin);
56
59 public: Plugin(Plugin &&_plugin) noexcept;
60
68 public: Plugin(const std::string &_filename, const std::string &_name,
69 const std::string &_xmlContent = "");
70
77 public: Errors Load(ElementPtr _sdf);
78
83 public: std::string Name() const;
84
89 public: void SetName(const std::string &_name);
90
93 public: std::string Filename() const;
94
97 public: void ClearContents();
98
102 public: const std::vector<sdf::ElementPtr> &Contents() const;
103
108 public: void InsertContent(const sdf::ElementPtr _elem);
109
117 public: bool InsertContent(const std::string _content);
118
122 public: void SetFilename(const std::string &_filename);
123
128 public: sdf::ElementPtr Element() const;
129
135 public: sdf::ElementPtr ToElement() const;
136
140 public: Plugin &operator=(const Plugin &_plugin);
141
145 public: Plugin &operator=(Plugin &&_plugin) noexcept;
146
151 public: bool operator==(const Plugin &_plugin) const;
152
157 public: bool operator!=(const Plugin &_plugin) const;
158
162 public: friend std::ostream &operator<<(std::ostream& _out,
163 const sdf::Plugin &_plugin)
164 {
165 return _out << _plugin.ToElement()->ToString("");
166 }
167
171 public: friend std::istream &operator>>(std::istream &_in,
172 sdf::Plugin &_plugin)
173 {
174 std::ostringstream stream;
175 stream << "<sdf version='" << SDF_VERSION << "'>";
176 stream << std::string(std::istreambuf_iterator<char>(_in), {});
177 stream << "</sdf>";
178
179 sdf::SDFPtr sdfParsed(new sdf::SDF());
180 sdf::init(sdfParsed);
181 bool result = sdf::readString(stream.str(), sdfParsed);
182 if (!result)
183 return _in;
184
185 _plugin.ClearContents();
186 _plugin.Load(sdfParsed->Root()->GetFirstElement());
187
188 return _in;
189 }
190
192 std::unique_ptr<sdf::PluginPrivate> dataPtr;
193 };
194
196 using Plugins = std::vector<Plugin>;
197}
198}
199
200#ifdef _WIN32
201#pragma warning(pop)
202#endif
203
204#endif
Definition: Plugin.hh:46
sdf::ElementPtr ToElement() const
Create and return an SDF element filled with data from this plugin.
void SetFilename(const std::string &_filename)
Set the filename of the shared library.
Plugin & operator=(const Plugin &_plugin)
Copy assignment operator.
bool InsertContent(const std::string _content)
Insert XML content into this plugin.
Plugin & operator=(Plugin &&_plugin) noexcept
Move assignment operator.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
friend std::istream & operator>>(std::istream &_in, sdf::Plugin &_plugin)
Input stream operator for a Plugin.
Definition: Plugin.hh:171
void ClearContents()
Remove the contents of the plugin, this is everything that is a child element of the <plugin>.
std::string Filename() const
Get the filename of the shared library.
Plugin(const std::string &_filename, const std::string &_name, const std::string &_xmlContent="")
A constructor that initializes the plugin's filename, name, and optionally the content.
bool operator!=(const Plugin &_plugin) const
Plugin inequality operator.
friend std::ostream & operator<<(std::ostream &_out, const sdf::Plugin &_plugin)
Output stream operator for a Plugin.
Definition: Plugin.hh:162
Plugin(Plugin &&_plugin) noexcept
Move constructor.
bool operator==(const Plugin &_plugin) const
Plugin equality operator.
Errors Load(ElementPtr _sdf)
Load the plugin based on a element pointer.
void SetName(const std::string &_name)
Set the name of the plugin.
Plugin()
Default constructor.
std::string Name() const
Get the name of the plugin.
void InsertContent(const sdf::ElementPtr _elem)
Insert an element into the plugin content.
const std::vector< sdf::ElementPtr > & Contents() const
Get the plugin contents.
std::unique_ptr< sdf::PluginPrivate > dataPtr
Private data pointer.
Definition: Plugin.hh:192
Plugin(const Plugin &_plugin)
Copy constructor.
Base SDF class.
Definition: SDFImpl.hh:119
IGNITION_SDFORMAT_VISIBLE bool readString(const std::string &_xmlString, SDFPtr _sdf, Errors &_errors)
Populate the SDF values from a string.
IGNITION_SDFORMAT_VISIBLE bool init(SDFPtr _sdf)
Initialize the SDF interface from the embedded root spec file.
std::shared_ptr< SDF > SDFPtr
Definition: SDFImpl.hh:52
std::vector< Plugin > Plugins
A vector of Plugin.
Definition: Plugin.hh:196
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
namespace for Simulation Description Format parser
Definition: Actor.hh:35
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:25