mbs_loader.h

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/*
    This header includes the structure and functions used for MbsData loading through the mbs file
    @Date Nov 2022 (modification)
    @Author Robotran Team
*/
 
#ifndef MBS_LOADER_h
#define MBS_LOADER_h
 
#include "mbs_binder_public.h"
#include "mbs_data.h"
#include "mbs_load_struct.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define LOADER_PRE_1 ">> LOAD>> "
#define LOADER_PRE_N "       >> "
 
MbsData* mbs_new_data();
 
MbsData* mbs_load(const char* mbs_filename);
 
MbsData* mbs_load_with_config_name(const char* mbs_filename, const char* config_name);
 
MbsData* mbs_load_with_config_filepath(const char* mbs_filename,
                                       const char* config_filepath);
 
MbsData* mbs_load_with_loader(const char* mbs_filename, MbsLoader *mbs_loader);
 
MbsData* mbs_load_with_exec(const char* mbs_filename, const char *exe_filepath);
 
MbsData* mbs_load_from_path(const char* mbs_filename, const char *prj_path);
 
MbsData* mbs_full_loader(const char* mbs_filename, const char* prj_path,
                         const char *exe_path, const char* config_path,
                         const char* config_name, const char * symbolicLib_name,
                         const char * symbolicLib_path, const char * userfctLib_name,
                         const char * userfctLib_path, int load_symb_user, int verbose,
                         MbsLoader *loader);
 
MbsData* mbs_loader_load(const char* mbs_filepath, MbsLoader *mbs_loader);
 
MbsLoadOptions* mbs_new_load_options();
 
int mbs_print_load_options(MbsLoadOptions* opts, const char *indentation);
 
void mbs_delete_load_options(MbsLoadOptions* opts);
 
MbsLoader* mbs_new_loader();
 
int mbs_print_loader(MbsLoader *loader, const char *indentation);
 
void mbs_delete_loader(MbsLoader* loader);
 
void mbs_set_symb_fun_null(MbsData *s);
 
void mbs_set_user_fun_null(MbsData *s);
 
MbsDp *mbs_new_dp(MbsData *mbs_data);
 
void mbs_delete_dp(MbsDp* mbs_dp);
 
void mbs_delete_data(MbsData *s);
 
void mbs_load_user_model(MbsInfos* mbs_infos, UserModel* ums);
 
void mbs_bind_user_model(MbsInfos* mbs_infos, UserModel* ums);
 
MbsData* mbs_info_to_data(MbsLoader *mbs_loader, MbsData* s);
 
int mbs_info_structurer(MbsInfos* mbs_infos);
 
 
#ifdef __cplusplus
}
#endif
 
#endif