Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010  
00011 #ifndef ORCADEF_COMPONENT_DEFINITION_H
00012 #define ORCADEF_COMPONENT_DEFINITION_H
00013 
00014 #include <string>
00015 #include <vector>
00016 
00017 #include <orca/orca.h>
00018 
00019 namespace orcadef
00020 {
00021 
00022 //
00023 // Notes:
00024 //
00025 // - 'Defaults' are the default values to use in the config files.
00026 // - Optional Definition fields can be left empty.  They'll be filled
00027 //   out with reasonable values when .cfg files are generated.
00028 //
00029 
00030 
00031 //
00032 // Component Definition: these bits are static for a given component
00033 //
00035 
00037 class InterfaceDef
00038 {
00039 public:
00041     std::string tag;
00043     std::string type;
00044 };
00045 
00047 class ProvidedDef : public InterfaceDef
00048 {
00049 public:
00051     std::string name;
00052 };
00053 
00055 class RequiredDef : public InterfaceDef
00056 {
00057 public:
00059     std::string proxy;
00060 //     orca::FQInterfaceName fqname;
00061 };
00062 
00064 struct ConfigDef
00065 {
00067     std::string tag;
00069     std::string value;
00071     std::string comment;
00073     std::string type;
00076     bool isExternal;
00077 };
00078 
00084 struct ComponentDef
00085 {
00087     std::string              filename;
00088 
00090     std::string              tag;
00092     std::string              endpoints;
00094     bool isSpecialEndpoints;
00096     std::vector<std::string> comments;
00097 
00099     std::vector<ProvidedDef> provided;
00101     std::vector<RequiredDef> required;
00103     std::vector<ConfigDef>   configs;
00105     std::vector<ConfigDef> externalConfigs;
00106 };
00107 
00108 //
00109 // Component Configuration: these bits are user-edittable.
00110 //
00112 
00114 class InterfaceCfg
00115 {
00116 public:
00118     std::string tag;
00119 };
00120 
00122 class ProvidedCfg : public InterfaceCfg
00123 {
00124 public:
00126     std::string name;
00127 };
00128 
00130 class RequiredCfg : public InterfaceCfg
00131 {
00132 public:
00134     std::string proxy;
00135 //     orca::FQInterfaceName fqname;
00136 };
00137 
00139 struct ConfigCfg
00140 {
00142     std::string tag;
00144     std::string value;
00145 };
00146 
00152 struct ComponentCfg
00153 {
00155     orca::FQComponentName  fqname;
00157     orca::FQExecutableName fqexecutable;
00159     std::string endpoints;
00161     std::vector<ProvidedCfg> provided;
00163     std::vector<RequiredCfg> required;
00165     std::vector<ConfigCfg> configs;
00167     std::vector<ConfigCfg> externalConfigs;
00168 };
00169 
00174 ComponentCfg toCfg( const ComponentDef & def );
00175 
00180 const std::string toCfgText( const ComponentDef & def );
00181 
00185 const std::string toCfgTextWithHeaders( const ComponentDef &def, const std::vector<std::string> & headers );
00186 
00191 const std::string toXmlText( const ComponentDef & def, bool withTemplate=false );
00192 
00197 const std::string toXmlTemplateText( const ComponentDef & def );
00198 
00204 ComponentDef invertDef( const ComponentDef & def, const std::string & invTag );
00205 
00210 const std::string toDefText( const ComponentDef & def );
00211 
00212 // Debugging functions: see the entire contents of the ComponentDef.
00213 const std::string toString( const ProvidedDef &def );
00214 const std::string toString( const RequiredDef &def );
00215 const std::string toString( const ConfigDef &def );
00216 const std::string toString( const ComponentDef &def );
00217 
00218 // Debugging functions: see the entire contents of the ComponentCfg.
00219 const std::string toString( const ProvidedCfg &c );
00220 const std::string toString( const RequiredCfg &c );
00221 const std::string toString( const ConfigCfg &c );
00222 const std::string toString( const ComponentCfg &c );
00223 
00224 } // namespace
00225 
00226 #endif
componentdefinition.h
