tree_resource.hpp

// Copyright 2024 Robin Müller
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//      https://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#pragma once
 
#include <set>
#include <string>
#include <vector>
 
#include "auto_apms_behavior_tree_core/node/node_manifest.hpp"
#include "auto_apms_util/yaml.hpp"
 
namespace auto_apms_behavior_tree::core
{

struct TreeResourceIdentity
{
  TreeResourceIdentity(const std::string & identity);

  TreeResourceIdentity(const char * identity);

  TreeResourceIdentity() = default;
 
  bool operator==(const TreeResourceIdentity & other) const;
 
  bool operator<(const TreeResourceIdentity & other) const;

  std::string str() const;

  bool empty() const;

  std::string package_name;
  std::string file_stem;
  std::string tree_name;
};

class TreeResource
{
  friend class TreeDocument;
  friend class TreeBuilder;
 
public:
  using Identity = TreeResourceIdentity;

  TreeResource(const Identity & identity);

  TreeResource(const std::string & identity);

  TreeResource(const char * identity);

  static TreeResource selectByTreeName(const std::string & tree_name, const std::string & package_name = "");

  static TreeResource selectByFileStem(const std::string & file_stem, const std::string & package_name = "");

  bool hasRootTreeName() const;

  std::string getRootTreeName() const;

  NodeManifest getNodeManifest() const;

  std::string getPackageName() const;

  std::string getFileStem() const;

  Identity createIdentity(const std::string & tree_name = "") const;
 
private:
  const TreeResourceIdentity identity_;
  std::string package_name_;
  std::string tree_file_path_;
  std::vector<std::string> node_manifest_file_paths_;
  std::string doc_root_tree_name_;
};
 
}  // namespace auto_apms_behavior_tree::core

namespace YAML
{
template <>
struct convert<auto_apms_behavior_tree::core::TreeResourceIdentity>
{
  using Identity = auto_apms_behavior_tree::core::TreeResourceIdentity;
  static Node encode(const Identity & rhs)
  {
    Node node;
    node = rhs.str();
    return node;
  }
  static bool decode(const Node & node, Identity & rhs)
  {
    if (!node.IsScalar()) return false;
    rhs = Identity(node.Scalar());
    return true;
  }
};
}  // namespace YAML