// Copyright 1996-2023 Cyberbotics Ltd.

//

// 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

//

// https://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 FIELD_HPP

#define FIELD_HPP

#define WB_USING_CPP_API

#include <string>

#include <webots/Node.hpp>

#include "../../c/webots/types.h"

#ifdef MF_STRING

#undef MF_STRING

#endif

namespace webots {

class Node;

class Field {

public:

typedef enum {

NO_FIELD = 0x00,

SF_BOOL = 0x01,

SF_INT32,

SF_FLOAT,

SF_VEC2F,

SF_VEC3F,

SF_ROTATION,

SF_COLOR,

SF_STRING,

SF_NODE,

MF = 0x10,

MF_BOOL,

MF_INT32,

MF_FLOAT,

MF_VEC2F,

MF_VEC3F,

MF_ROTATION,

MF_COLOR,

MF_STRING,

MF_NODE

} Type;

std::string getName() const;

Type getType() const;

std::string getTypeName() const;

int getCount() const;

void enableSFTracking(int samplingPeriod);

void disableSFTracking();

bool getSFBool() const;

int getSFInt32() const;

double getSFFloat() const;

const double *getSFVec2f() const;

const double *getSFVec3f() const;

const double *getSFRotation() const;

const double *getSFColor() const;

std::string getSFString() const;

Node *getSFNode() const;

bool getMFBool(int index) const;

int getMFInt32(int index) const;

double getMFFloat(int index) const;

const double *getMFVec2f(int index) const;

const double *getMFVec3f(int index) const;

const double *getMFRotation(int index) const;

const double *getMFColor(int index) const;

std::string getMFString(int index) const;

Node *getMFNode(int index) const;

void setSFBool(bool value);

void setSFInt32(int value);

void setSFFloat(double value);

void setSFVec2f(const double values[2]);

void setSFVec3f(const double values[3]);

void setSFRotation(const double values[4]);

void setSFColor(const double values[3]);

void setSFString(const std::string &value);

void setMFBool(int index, bool value);

void setMFInt32(int index, int value);

void setMFFloat(int index, double value);

void setMFVec2f(int index, const double values[2]);

void setMFVec3f(int index, const double values[3]);

void setMFRotation(int index, const double values[4]);

void setMFColor(int index, const double values[3]);

void setMFString(int index, const std::string &value);

void insertMFBool(int index, bool value);

void insertMFInt32(int index, int value);

void insertMFFloat(int index, double value);

void insertMFVec2f(int index, const double values[2]);

void insertMFVec3f(int index, const double values[3]);

void insertMFRotation(int index, const double values[4]);

void insertMFColor(int index, const double values[3]);

void insertMFString(int index, const std::string &value);

void removeMF(int index);

void removeSF();

void importMFNodeFromString(int position, const std::string &nodeString);

void importSFNodeFromString(const std::string &nodeString);

// DO NOT USE THESE FUNCTIONS: THEY ARE RESERVED FOR INTERNAL USE:

static Field *findField(WbFieldRef ref);

static void cleanup();

private:

Field(WbFieldRef ref);

~Field() {}

WbFieldRef fieldRef;

};

} // namespace webots

#endif // FIELD_HPP