parser.hpp

机器人开源项目orocos的源代码

/***************************************************************************
  tag: Peter Soetens  Mon Jan 19 14:11:21 CET 2004  Parser.hpp

                        Parser.hpp -  description
                           -------------------
    begin                : Mon January 19 2004
    copyright            : (C) 2004 Peter Soetens
    email                : [e-mail]

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
 *                                                                         *
 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
 *   file, or you compile this file and link it with other files to        *
 *   produce an executable, this file does not by itself cause the         *
 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
 *   reasons why the executable file might be covered by the GNU General   *
 *   Public License.                                                       *
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 *   This library is distributed in the hope that it will be useful,       *
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 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
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 *   Foundation, Inc., 59 Temple Place,                                    *
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 ***************************************************************************/

#ifndef EXECUTION_PARSER_HPP
#define EXECUTION_PARSER_HPP

#include <iosfwd>
#include <utility>
#include <map>
#include <string>
#include <istream>
#include <vector>
#include "parse_exception.hpp"
#include "../DataSource.hpp"
#include "../ProgramInterface.hpp"
#include "ParsedStateMachine.hpp"
#include "../rtt-config.h"

namespace RTT
{
  class PropertyBase;
  class ConditionInterface;
}

namespace RTT
{
    class ProgramInterface;
    class ProgramTask;
    class StateMachineTask;

    
    
    
    /**
     * @brief This class is the public interface to the
     * Orocos Program Parser Framework. It parsers Orocos program scripts,
     * Orocos State Contexts and allows to parse a text Command, Condition or Expression
     * to the respective objects.
     * @see ProgramLoader. Use the ProgramLoader for a more user friendly loading of scripts
     * into TaskContexts.
     */
    class RTT_API Parser
    {
    public:
        /**
         * List of parsed functions.
         */
        typedef std::vector< ProgramInterfacePtr > ParsedFunctions;

        /**
         * @brief Reads out the string, parses it, and returns a new @ref
         * FunctionGraph.
         * @throw parse_exception Throws exceptions of type parse_exception.
         */
        ParsedFunctions parseFunction( const std::string& s, TaskContext*, const std::string& filename = "stream" );

        /**
         * List of parsed programs.
         */
        typedef std::vector< ProgramInterfacePtr > ParsedPrograms;

        /**
         * @brief Reads out the string, parses it, and returns a new @ref
         * ProgramGraph.
         * @throw parse_exception Throws exceptions of type parse_exception.
         */
        ParsedPrograms parseProgram( const std::string& s, TaskContext*, const std::string& filename = "stream" );

        /**
         * List of parsed State Machines.
         */
        typedef std::vector< ParsedStateMachinePtr > ParsedStateMachines;

        /**
         * @brief Reads out the string, parses it, and returns a new @ref
         * ParsedStateMachine.
         * @throw file_parse_exception Throws exceptions of type file_parse_exception.
         */
        ParsedStateMachines parseStateMachine(const std::string& s, TaskContext*, const std::string& filename = "stream" );

        /**
         * @brief Parses the string as a condition, and returns a new
         * ConditionInterface.  Will throw parse_exception on
         * failure. Use ext to get the data from the components.
         * @throw parse_exception
         */
        ConditionInterface* parseCondition(const std::string& s, TaskContext* );

        /**
         * @brief Parses the command in s.
         * @throw parse_exception Throws exceptions of type parse_exception.
         */
        std::pair<CommandInterface*,ConditionInterface*>
        parseCommand( const std::string&s, TaskContext* t, bool dispatch );

      /**
       * @brief Parses the expression in s.
       * @return A DataSourceBase which contains the expression.
       * @throw parse_exception Throws exceptions of type parse_exception.
       */
      DataSourceBase::shared_ptr
      parseExpression( const std::string&s, TaskContext* );

      /**
       * @brief Parses a change of a value in s.
       * @return A DataSourceBase which contains the command to change the value.
       * @throw parse_exception Throws exceptions of type parse_exception.
       */
      DataSourceBase::shared_ptr
      parseValueChange( const std::string&s, TaskContext* );
  };
};
#endif