MprProgram.h

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#ifndef CNOID_MANIPULATOR_PLUGIN_MPR_PROGRAM_H
#define CNOID_MANIPULATOR_PLUGIN_MPR_PROGRAM_H
 
#include <cnoid/ClonableReferenced>
#include <cnoid/Signal>
#include <string>
#include <deque>
#include <iosfwd>
#include "exportdecl.h"
 
namespace cnoid {
 
class Mapping;
class MprPosition;
class MprPositionList;
class MprStatement;
class MprStructuredStatement;
class PositionTagGroup;
 
 
class CNOID_EXPORT MprProgram : public ClonableReferenced
{
public:
    typedef std::deque<ref_ptr<MprStatement>> StatementContainer;
    typedef StatementContainer::iterator iterator;
    typedef StatementContainer::const_iterator const_iterator;
 
    MprProgram();
    ~MprProgram();
 
    MprProgram* clone() const {
        return static_cast<MprProgram*>(doClone(nullptr));
    }
    MprProgram* clone(CloneMap& cloneMap) const {
        return static_cast<MprProgram*>(doClone(&cloneMap));
    }
 
    const std::string& name() const;
    void setName(const std::string& name);
 
    bool empty() const { return statements_.empty(); }
    int numStatements() const { return statements_.size(); }
 
    iterator insert(iterator pos, MprStatement* statement, bool doNotify = true);
    iterator append(MprStatement* statement, bool doNotify = true);
    iterator remove(iterator pos, bool doNotify = true);
    bool remove(MprStatement* statement, bool doNotify = true);
    iterator find(MprStatement* statement);
    const_iterator find(MprStatement* statement) const;
    void clearStatements();
 
    iterator begin(){ return statements_.begin(); }
    const_iterator begin() const { return statements_.begin(); }
    iterator end(){ return statements_.end(); }
    const_iterator end() const { return statements_.end(); }
 
    void setLocalPositionListEnabled(bool on);
    bool hasLocalPositionList() const { return hasLocalPositionList_; }
    MprPositionList* positionList();
    const MprPositionList* positionList() const;
    void removeUnreferencedPositions();
 
    SignalProxy<void(MprProgram::iterator iter)> sigStatementInserted();
    SignalProxy<void(MprStatement* statement, MprProgram* program)> sigStatementRemoved();
    SignalProxy<void(MprStatement* statement)> sigStatementUpdated();
    
    void notifyStatementUpdate(MprStatement* statement) const;
 
    MprStructuredStatement* holderStatement() const;
    bool isTopLevelProgram() const;
    bool isSubProgram() const;
    MprProgram* topLevelProgram() const;
 
    void traverseStatements(std::function<void(MprStatement* statement)> callback);
    
    bool traverseStatements(std::function<bool(MprStatement* statement)> callback);
 
    void renumberPositionIds();
 
    bool isEditingEnabled() const { return isEditingEnabled_; }
    void setEditingEnabled(bool on) { isEditingEnabled_ = on; }
 
    bool load(const std::string& filename, std::ostream& os);
    bool save(const std::string& filename);
 
    bool read(const Mapping& archive);
    bool write(Mapping& archive) const;
 
protected:
    MprProgram(const MprProgram& org, CloneMap* cloneMap = nullptr);
    virtual Referenced* doClone(CloneMap* cloneMap) const override;
 
private:
    StatementContainer statements_;
    bool hasLocalPositionList_;
    bool isEditingEnabled_;
 
    class Impl;
    Impl* impl;
 
    friend class MprStructuredStatement;
 
    void setHolderStatement(MprStructuredStatement* holder);
};
 
typedef ref_ptr<MprProgram> MprProgramPtr;
 
}
 
#endif