componentdefinition.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2009 Alex Brooks, Alexei Makarenko, Tobias Kaupp
 *
 * This copy of Orca is licensed to you under the terms described in
 * the LICENSE file included in this distribution.
 *
 */
 
#ifndef ORCADEF_COMPONENT_DEFINITION_H
#define ORCADEF_COMPONENT_DEFINITION_H

#include <string>
#include <vector>

#include <orca/common.h>
#include <orca/ocm.h>

namespace orcadef
{

//
// Notes:
//
// - 'Defaults' are the default values to use in the config files.
// - Optional Definition fields can be left empty.  They'll be filled
//   out with reasonable values when .cfg files are generated.
//


//
// Component Definition: these bits are static for a given component
//

class InterfaceDef
{
public:
    std::string tag;
    std::string type;
};

class ProvidedDef : public InterfaceDef
{
public:
    std::string name;
};

class RequiredDef : public InterfaceDef
{
public:
    std::string proxy;
//     orca::FQInterfaceName fqname;
};

struct ConfigDef
{
    std::string tag;
    std::string value;
    std::string comment;
    std::string type;
    bool isExternal;
};

struct ComponentDef
{
    std::string              filename;

    std::string              tag;
    std::string              endpoints;
    bool isSpecialEndpoints;
    std::vector<std::string> comments;

    std::vector<ProvidedDef> provided;
    std::vector<RequiredDef> required;
    std::vector<ConfigDef>   configs;
    std::vector<ConfigDef> externalConfigs;
};

//
// Component Configuration: these bits are user-edittable.
//

class InterfaceCfg
{
public:
    std::string tag;
};

class ProvidedCfg : public InterfaceCfg
{
public:
    std::string name;
};

class RequiredCfg : public InterfaceCfg
{
public:
    std::string proxy;
//     orca::FQInterfaceName fqname;
};

struct ConfigCfg
{
    std::string tag;
    std::string value;
};

struct ComponentCfg
{
    orca::FQComponentName  fqname;
    orca::FQExecutableName fqexecutable;
    std::string endpoints;
    std::vector<ProvidedCfg> provided;
    std::vector<RequiredCfg> required;
    std::vector<ConfigCfg> configs;
    std::vector<ConfigCfg> externalConfigs;
};

ComponentCfg toCfg( const ComponentDef & def );

const std::string toCfgText( const ComponentDef & def );

const std::string toCfgTextWithHeaders( const ComponentDef &def, const std::vector<std::string> & headers );

const std::string toXmlText( const ComponentDef & def, bool withTemplate=false );

const std::string toXmlTemplateText( const ComponentDef & def );

ComponentDef invertDef( const ComponentDef & def, const std::string & invTag );

const std::string toDefText( const ComponentDef & def );

// Debugging functions: see the entire contents of the ComponentDef.
const std::string toString( const ProvidedDef &def );
const std::string toString( const RequiredDef &def );
const std::string toString( const ConfigDef &def );
const std::string toString( const ComponentDef &def );

// Debugging functions: see the entire contents of the ComponentCfg.
const std::string toString( const ProvidedCfg &c );
const std::string toString( const RequiredCfg &c );
const std::string toString( const ConfigCfg &c );
const std::string toString( const ComponentCfg &c );

} // namespace

#endif