include/IPSA/viewer/instructions/Instruction.h

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#ifndef _instruction_h_
#define _instruction_h_
/*
 *  Instruction.h
 *
 * Copyright (c) 2007, 2008, 2009, University of Karlsruhe (for members see AUTHORS file)
 * Copyright (c) 2011, 2012, Karlsruhe Institute of Technology (for members see AUTHORS file)
 *
 * ISC License
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 *
 * Created by Alexander Bierbaum
 */

#include "../../IPSA.h"
#include "../../IpsaSimulator.h"
#include <string>
#include <vector>
#include <map>

#include <Inventor/nodes/SoNode.h>
#include <Inventor/actions/SoSearchAction.h>

class IPSA_VIEWER_IMPORT_EXPORT Instruction
{
public:
        Instruction(const std::string& code);
        virtual ~Instruction() {;}
        bool findAndExecute(std::vector<std::string>& instr, std::ostringstream& answer, unsigned int& numberOfReturnValues);

        typedef enum
        {
        eOK = 1,
        eUNKNOWN_ERROR = 0,
        eJOINT_NOT_FOUND = -1,
        eBODY_NOT_FOUND = -2,
        eJOINT_TYPE_INCOMPATIBLE = -3,
        eNODE_IS_NOT_A_BODY = -4,
        eNO_ODE_BODY_FOUND = -5,
        eBAD_FILENAME = -6
        } tExecResultType;

        std::string getCmdString();
        std::string getCmdHelpString();
        unsigned int getCommandParameterCount();

        template <typename T>
        static T GetNodeOfTypeByName(const std::string& name);

        template <typename T>
        static std::map<std::string, std::string> GetAllNodesOfTypeFromViewer(IpsaSimulator* simulator);

protected:
        const std::string I_CODE;
        std::vector<std::string> instrdata;
        virtual tExecResultType vExecute(std::vector<std::string>& Instr, std::ostringstream& answer, unsigned int& numberOfReturnValues)
                {numberOfReturnValues = 0; return eUNKNOWN_ERROR;}
};

template <typename T>
T Instruction::GetNodeOfTypeByName(const std::string& name)
{
    SoNode* node = SoNode::getByName(name.c_str());
    return dynamic_cast<T> (node);
}

template <typename T>
std::map<std::string, std::string> Instruction::GetAllNodesOfTypeFromViewer(IpsaSimulator* simulator)
{
    SoSearchAction sa;
    sa.setType(T::getClassTypeId());
    sa.setInterest(SoSearchAction::ALL);
    sa.apply(simulator->getSceneGraph());
    SoPathList& pl = sa.getPaths();

    std::map < std::string, std::string > nodeNameMap;

    for (int i = 0; i < pl.getLength(); i++)
    {
        SoPath* p = pl[i];
        T* b = dynamic_cast<T*> (p->getNodeFromTail(0));
        if (NULL != b)
            nodeNameMap[b->getName().getString()] = b->getTypeId().getName().getString();
    }
    return nodeNameMap;
}

#endif

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