DbRegisterFunctions.hpp

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/* This file is part of scl, a control and simulation library
for robots and biomechanical models.

scl is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.

Alternatively, you can redistribute it and/or
modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of
the License, or (at your option) any later version.

scl 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 General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License and a copy of the GNU General Public License along with
scl. If not, see <http://www.gnu.org/licenses/>.
*/
/* \file DbRegisterFunctions.cpp
 *
 *  Created on: Jul 2, 2010
 *
 *  Copyright (C) 2010
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

/* These are a set of functions to register various data objects
 * with the database.
 *
 * Simplify dealing with external data sources and with
 * data shared across different components.
 */

#ifndef DBREGISTERFUNCTIONS_HPP_
#define DBREGISTERFUNCTIONS_HPP_

#include <string>

#include <scl/data_structs/SDatabase.hpp>

#include <scl/parser/CParserBase.hpp>

#include <scl/dynamics/tao/CDynamicsTao.hpp>

namespace scl_registry
{
  bool parseEverythingInFile(const std::string &arg_file,
      scl::CParserBase *arg_parser,
      std::vector<std::string>* arg_robots_parsed=S_NULL,
      std::vector<std::string>* arg_graphics_parsed=S_NULL,
      std::vector<std::string>* arg_ui_parsed=S_NULL);

  const scl::SRobotParsed*
  parseRobot(const std::string &arg_file,
                const std::string &arg_robot_name,
                scl::CParserBase *arg_parser);

  const scl::SGraphicsParsed*
  parseGraphics(const std::string &arg_file,
      const std::string & arg_graphics_name,
      scl::CParserBase *arg_parser);

  const scl::SUIParsed*
  parseUI(const std::string &arg_file,
      const std::string & arg_ui_name,
      scl::CParserBase *arg_parser);

  enum EControllerType{CONTROLLER_TYPE_GC=0, CONTROLLER_TYPE_TASK=1};
  scl::SControllerGc * parseGcController(const std::string &arg_file,
        const std::string &arg_robot_name,
        const std::string &arg_ctrl_name,
        scl::CParserBase *arg_parser);

  scl::SControllerMultiTask * parseTaskController(const std::string &arg_file,
          const std::string &arg_robot_name,
          const std::string &arg_ctrl_name,
          scl::CParserBase *arg_parser);

  scl::sBool registerNativeDynamicTypes();
}

#endif /* DBREGISTERFUNCTIONS_HPP_ */