// 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.

#ifndef SLAM_DRIVER_H
#define SLAM_DRIVER_H

#include <string>
#include <vector>

namespace SlamParser {

class SlamContext;

class Driver {
 public:
  /// construct a new parser driver context
  Driver(class SlamContext& slamContext_);

  /// enable debug output in the flex scanner
  bool trace_scanning;

  /// enable debug output in the bison parser
  bool trace_parsing;

  /// stream name (file or input stream) used for error messages.
  std::string streamname;

  /** Invoke the scanner and parser for a stream.
   * @param in  input stream
   * @param sname  stream name for error messages
   * @return    true if successfully parsed
   */
  bool parse_stream(std::istream& in,
                    const std::string& sname = "stream input");

  /** Invoke the scanner and parser on an input string.
   * @param input  input string
   * @param sname  stream name for error messages
   * @return    true if successfully parsed
   */
  bool parse_string(const std::string& input,
                    const std::string& sname = "string stream");

  /** Invoke the scanner and parser on a file. Use parse_stream with a
   * std::ifstream if detection of file reading errors is required.
   * @param filename  input file name
   * @return    true if successfully parsed
   */
  bool parse_file(const std::string& filename);

  // To demonstrate pure handling of parse errors, instead of
  // simply dumping them on the standard error output, we will pass
  // them to the driver using the following two member functions.

  /** Error handling with associated line number. This can be modified to
   * output the error e.g. to a dialog box. */
  void error(const class location& l, const std::string& m);

  /** General error handling. This can be modified to output the error
   * e.g. to a dialog box. */
  void error(const std::string& m);

  /** Pointer to the current lexer instance, this is used to connect the
   * parser to the scanner. It is used in the yylex macro. */
  class Scanner* lexer;

  /** Reference to the calculator context filled during parsing of the
   * expressions. */
  class SlamContext& slamContext;
};

}  // namespace SlamParser

#endif
