RobotInterfaceDTD.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_ROBOTINTERFACE_IMPL_ROBOTINTERFACEDTD_H
#define YARP_ROBOTINTERFACE_IMPL_ROBOTINTERFACEDTD_H
 
#include <yarp/robotinterface/api.h>
#include <yarp/robotinterface/experimental/Action.h>
#include <yarp/robotinterface/experimental/Device.h>
#include <yarp/robotinterface/experimental/Param.h>
#include <yarp/robotinterface/experimental/Robot.h>
#include <yarp/robotinterface/experimental/Types.h>
#include <yarp/robotinterface/experimental/XMLReader.h>
 
#include <yarp/os/LogStream.h>
#include <yarp/os/Network.h>
#include <yarp/os/Property.h>
 
#include <algorithm>
#include <iterator>
#include <sstream>
#include <string>
#include <vector>
 
class TiXmlUnknown;
 
namespace yarp {
namespace robotinterface {
 
// Represent something like this in the xml file
// <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 1.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV1.0.dtd">
class RobotInterfaceDTD
{
public:
    enum DocType
    {
        DocTypeUnknown = 0,
        DocTypeRobot,
        DocTypeDevices,
        DocTypeParams,
        DocTypeActions,
    };
 
    RobotInterfaceDTD() :
            type(DocTypeUnknown),
            identifier(""),
            uri(""),
            majorVersion(0),
            minorVersion(0)
    {
    }
 
    bool parse(TiXmlUnknown* unknownNode, const std::string& curr_filename);
 
    bool valid();
 
    void setDefault();
 
    DocType type;
    std::string identifier;
    std::string uri;
    unsigned int majorVersion;
    unsigned int minorVersion;
 
    static const std::string baseUri;
    static const std::string ext;
};
 
 
std::string DocTypeToString(RobotInterfaceDTD::DocType doctype);
 
} // namespace robotinterface
} // namespace yarp
 
#endif // YARP_ROBOTINTERFACE_ROBOTINTERFACEDTD_H