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//
// 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
//
// http://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.
#ifndef MUJOCO_SRC_XML_XML_NATIVE_READER_H_
#define MUJOCO_SRC_XML_XML_NATIVE_READER_H_
#include <sstream>
#include <string>
#include <mujoco/mujoco.h>
#include <mujoco/mjspec.h>
#include "user/user_util.h"
#include "xml/xml_base.h"
#include "xml/xml_util.h"
#include "tinyxml2.h"
class mjXReader : public mjXBase {
public:
mjXReader(); // constructor
virtual ~mjXReader() = default; // destructor
void Parse(tinyxml2::XMLElement* root, const mjVFS* vfs = nullptr); // parse XML document
void PrintSchema(std::stringstream& str, bool html, bool pad); // print text or HTML schema
void SetModelFileDir(const std::string& modelfiledir);
const mujoco::user::FilePath& ModelFileDir() const { return modelfiledir_; }
// setters for directory defaults
void SetAssetDir(const std::string& assetdir);
void SetMeshDir(const std::string& meshdir);
void SetTextureDir(const std::string& texturedir);
// XML sections embedded in all formats
static void Compiler(tinyxml2::XMLElement* section, mjSpec* s); // compiler section
static void Option(tinyxml2::XMLElement* section, mjOption* opt); // option section
static void Size(tinyxml2::XMLElement* section, mjSpec* s); // size section
private:
// XML section specific to MJCF
void Default(tinyxml2::XMLElement* section, const mjsDefault* def,
const mjVFS* vfs); // default section
void Extension(tinyxml2::XMLElement* section); // extension section
void Custom(tinyxml2::XMLElement* section); // custom section
void Visual(tinyxml2::XMLElement* section); // visual section
void Statistic(tinyxml2::XMLElement* section); // statistic section
void Asset(tinyxml2::XMLElement* section, const mjVFS* vfs); // asset section
void Body(tinyxml2::XMLElement* section, mjsBody* pbody,
mjsFrame* pframe, const mjVFS* vfs); // body/world section
void Contact(tinyxml2::XMLElement* section); // contact section
void Deformable(tinyxml2::XMLElement* section, const mjVFS* vfs); // deformable section
void Equality(tinyxml2::XMLElement* section); // equality section
void Tendon(tinyxml2::XMLElement* section); // tendon section
void Actuator(tinyxml2::XMLElement* section); // actuator section
void Sensor(tinyxml2::XMLElement* section); // sensor section
void Keyframe(tinyxml2::XMLElement* section); // keyframe section
// single element parsers, used in defaults and main body
void OneFlex(tinyxml2::XMLElement* elem, mjsFlex* pflex);
void OneMesh(tinyxml2::XMLElement* elem, mjsMesh* pmesh, const mjVFS* vfs);
void OneSkin(tinyxml2::XMLElement* elem, mjsSkin* pskin, const mjVFS* vfs);
void OneMaterial(tinyxml2::XMLElement* elem, mjsMaterial* pmaterial);
void OneJoint(tinyxml2::XMLElement* elem, mjsJoint* pjoint);
void OneGeom(tinyxml2::XMLElement* elem, mjsGeom* pgeom);
void OneSite(tinyxml2::XMLElement* elem, mjsSite* site);
void OneCamera(tinyxml2::XMLElement* elem, mjsCamera* pcamera);
void OneLight(tinyxml2::XMLElement* elem, mjsLight* plight);
void OnePair(tinyxml2::XMLElement* elem, mjsPair* ppair);
void OneEquality(tinyxml2::XMLElement* elem, mjsEquality* pequality);
void OneTendon(tinyxml2::XMLElement* elem, mjsTendon* ptendon);
void OneActuator(tinyxml2::XMLElement* elem, mjsActuator* pactuator);
void OneComposite(tinyxml2::XMLElement* elem, mjsBody* pbody, mjsFrame* pframe,
const mjsDefault* def);
void OneFlexcomp(tinyxml2::XMLElement* elem, mjsBody* pbody, const mjVFS* vfs);
void OnePlugin(tinyxml2::XMLElement* elem, mjsPlugin* plugin);
mjXSchema schema; // schema used for validation
const mjsDefault* GetClass(tinyxml2::XMLElement* section); // get default class name
bool readingdefaults; // true while reading defaults
// accessors for directory defaults
mujoco::user::FilePath AssetDir() const;
mujoco::user::FilePath MeshDir() const;
mujoco::user::FilePath TextureDir() const;
mujoco::user::FilePath modelfiledir_;
mujoco::user::FilePath assetdir_;
mujoco::user::FilePath meshdir_;
mujoco::user::FilePath texturedir_;
};
// MJCF schema
#define nMJCF 239
extern const char* MJCF[nMJCF][mjXATTRNUM];
#endif // MUJOCO_SRC_XML_XML_NATIVE_READER_H_
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