peerparser.hpp

机器人开源项目orocos的源代码

/***************************************************************************
  tag: Peter Soetens  Tue Dec 21 22:43:08 CET 2004  PeerParser.hpp 

                        PeerParser.hpp -  description
                           -------------------
    begin                : Tue December 21 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.                                                       *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   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 ORO_PEERPARSER_HPP
#define ORO_PEERPARSER_HPP

#include "parser-types.hpp"
#include "CommonParser.hpp"
#include <queue>
#include <string>
#include "../rtt-config.h"

namespace RTT 
{
    class TaskContext;
    class OperationInterface;

    namespace detail {
    /**
     * Get the peer and object from an invocation path like
     *  a.b.c.d() .
     */
    class RTT_API PeerParser
    {
        CommonParser commonparser;
        rule_t peerpath, peerlocator;
        std::queue<std::string> callqueue;
        OperationInterface* mcurobject;
        std::string mlastobject;
        TaskContext* context;
        TaskContext* _peer;
        bool mfullpath;
        RTT_HIDE void done();

        RTT_HIDE void seenobjectname( iter_t begin, iter_t end );
        RTT_HIDE void locatepeer( iter_t begin, iter_t end );

    public:
        /**
         * Create a PeerParser which starts looking for peers from
         * a task.
         * @param c The task to start searching from.
         * @param fullpath Set to true if the parser() must
         * resolve the full path.
         */
        PeerParser(TaskContext* c, bool fullpath=false);

        /**
         * After reset, peer() == current context and
         * object() == "this".
         */
        void reset();

        /**
         * The parser tries to traverse a full peer-to-object
         * path and throws if it got stuck in the middle. \a peer()
         * will return the target peer and \a object() is \a this
         * or the supposed object of the peer. The parser does not
         * check if this object exists.
         */
        rule_t& parser();

        /**
         * The locator tries to go as far as possible in the peer-to-object
         * path and will never throw. \a peer() and \a object() will contain the last
         * valid peer found and its supposed object, attribute or value.
         */
        rule_t& locator();

        /**
         * Returns the last matching peer.
         */
        TaskContext* peer();

        /**
         * Returns the last matching object name.
         */
        std::string object();
        
        /**
         * Returns the last matching TaskObject or zero if not found.
         */
        OperationInterface* taskObject();
    };
}}
            
#endif