StateGroupGenerator.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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 General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
#include <filesystem>
#include <optional>
 
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
#include <ArmarXCore/observers/variant/VariantInfo.h>
 
#include "GroupXmlReader.h"
 
namespace armarx
{
 
    class StatechartGroupGenerator
    {
    public:
        static Ice::StringSeq findStatechartGroupFiles(const std::string& statechartsPath);
 
        static bool
        generateStateFile(const std::string& statechartGroupXmlFilePath,
                          const std::string& statePath,
                          const std::string& packagePath,
                          const std::optional<std::string>& packageIncludePath = std::nullopt);
 
        static bool generateStatechartContextFile(
            const std::string& statechartGroupXmlFilePath,
            const std::string& packagePath,
            const std::optional<std::string>& packageIncludePath = std::nullopt);
 
        static bool
        generateStateFile(const std::string& stateName,
                          RapidXmlReaderPtr reader,
                          std::filesystem::path buildDir,
                          const std::string& packageName,
                          const std::string& groupName,
                          const std::vector<std::string>& proxies,
                          bool contextGenerationEnabled,
                          const VariantInfoPtr& variantInfo,
                          bool forceRewrite,
                          const std::optional<std::string>& packageIncludePath = std::nullopt);
 
        static bool generateStatechartContextFile(
            std::filesystem::path buildDir,
            const std::string& packageName,
            const std::string& groupName,
            const std::vector<std::string>& proxies,
            const VariantInfoPtr& variantInfo,
            const std::set<std::string>& usedVariantTypes,
            bool forceRewrite,
            const std::optional<std::string>& packageIncludePath = std::nullopt);
 
        static bool writeFileContentsIfChanged(const std::string& path,
                                               const std::string& contents);
 
        static void writeFileContents(const std::string& path, const std::string& contents);
 
        static bool generateStatechartGroupCMakeSourceListFile(
            const std::string& statechartGroupXmlFilePath,
            const std::filesystem::path& buildDir,
            bool forceRewrite,
            const std::optional<std::string>& packageIncludePath = std::nullopt,
            bool nextGenBehavior = false);
 
        static bool generateStatechartGroupCMakeSourceListFiles(
            const std::string& packageName,
            const std::string& statechartGroupXmlFilePath,
            const std::filesystem::path& buildDir,
            bool forceRewrite,
            const std::string& dataDir,
            const std::map<std::string, std::string>& dependencies,
            const std::optional<std::string>& packageIncludePath = std::nullopt,
            bool nextGenBehavior = false);
 
        static bool generateStatechartGroupCMakeSourceListFile(
            const std::string& packageName,
            const std::string& statechartGroupXmlFilePath,
            const std::filesystem::path& buildDir,
            bool forceRewrite,
            const std::string& dataDir,
            const std::map<std::string, std::string>& dependencies,
            const std::optional<std::string>& packageIncludePath = std::nullopt,
            bool nextGenBehavior = false);
 
        static bool generateStatechartGroupCMakeSourceListFile(
            StatechartGroupXmlReaderPtr reader,
            const std::filesystem::path& buildDir,
            VariantInfoPtr variantInfo,
            bool forceRewrite,
            const std::optional<std::string>& packageIncludePath = std::nullopt,
            bool nextGenBehavior= false);
 
    private:
        static std::set<std::string>
        getVariantTypesOfStates(StatechartGroupXmlReaderPtr groupReader,
                                const VariantInfoPtr& variantInfo);
 
        static std::set<std::string>
        getVariantTypesOfStatesWithNoCpp(StatechartGroupXmlReaderPtr groupReader,
                                         const VariantInfoPtr& variantInfo);
        /**
         * @brief Helper function to read VariantInfo files, if root package is not yet cmaked
         */
        static VariantInfoPtr
        readVariantInfoWithPaths(const std::string& packageName,
                                 const std::string& buildDir,
                                 const std::string& dataDir,
                                 const std::map<std::string, std::string>& dependencies);
    };
 
} // namespace armarx