// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#include "driver.h"

#include <fstream>
#include <sstream>

#include "scanner.h"
#include "slam_context.h"

namespace SlamParser {

Driver::Driver(class SlamContext& slamContext_)
    : trace_scanning(false),
      trace_parsing(false),
      lexer(nullptr),
      slamContext(slamContext_) {}

bool Driver::parse_stream(std::istream& in, const std::string& sname) {
  streamname = sname;

  Scanner scanner(&in);
  scanner.set_debug(trace_scanning);
  this->lexer = &scanner;

  Parser parser(*this);
#if YYDEBUG
  parser.set_debug_level(trace_parsing);
#endif
  return (parser.parse() == 0);
}

bool Driver::parse_file(const std::string& filename) {
  std::ifstream in(filename.c_str());
  if (!in.good()) return false;
  return parse_stream(in, filename);
}

bool Driver::parse_string(const std::string& input, const std::string& sname) {
  std::istringstream iss(input);
  return parse_stream(iss, sname);
}

void Driver::error(const class location& l, const std::string& m) {
  std::cerr << l << ": " << m << std::endl;
}

void Driver::error(const std::string& m) { std::cerr << m << std::endl; }

}  // namespace SlamParser
