Directory: | ./ |
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File: | src/utils/file-explorer.cpp |
Date: | 2024-08-27 18:20:05 |
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Lines: | 37 | 42 | 88.1% |
Branches: | 31 | 62 | 50.0% |
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1 | // | ||
2 | // Copyright (c) 2016-2021 CNRS INRIA | ||
3 | // | ||
4 | |||
5 | #include <cstdlib> | ||
6 | #include <boost/filesystem.hpp> | ||
7 | #include "pinocchio/utils/file-explorer.hpp" | ||
8 | |||
9 | namespace fs = boost::filesystem; | ||
10 | namespace pinocchio | ||
11 | { | ||
12 | |||
13 | 98 | void extractPathFromEnvVar( | |
14 | const std::string & env_var_name, | ||
15 | std::vector<std::string> & list_of_paths, | ||
16 | const std::string & delimiter) | ||
17 | { | ||
18 | 98 | const char * env_var_value = std::getenv(env_var_name.c_str()); | |
19 | |||
20 |
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98 | if (env_var_value != NULL) |
21 | { | ||
22 |
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98 | std::string policyStr(env_var_value); |
23 | // Add a separator at the end so that last path is also retrieved | ||
24 |
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98 | policyStr += delimiter; |
25 | 98 | size_t lastOffset = 0; | |
26 | while (true) | ||
27 | { | ||
28 | 245 | size_t offset = policyStr.find_first_of(delimiter, lastOffset); | |
29 |
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245 | if (offset < policyStr.size()) |
30 | { | ||
31 |
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147 | list_of_paths.push_back(policyStr.substr(lastOffset, offset - lastOffset)); |
32 | // Support for devel spaces: We also need to look one package above: | ||
33 | // Work-around for https://github.com/stack-of-tasks/pinocchio/issues/1463 | ||
34 |
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147 | list_of_paths.push_back(policyStr.substr(lastOffset, offset - lastOffset) + "/.."); |
35 | } | ||
36 |
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245 | if (offset == std::string::npos) |
37 | 98 | break; | |
38 | else | ||
39 | 147 | lastOffset = offset + 1; // add one to skip the delimiter | |
40 | 147 | } | |
41 | 98 | } | |
42 | 98 | } | |
43 | |||
44 | std::vector<std::string> | ||
45 | ✗ | extractPathFromEnvVar(const std::string & env_var_name, const std::string & delimiter) | |
46 | { | ||
47 | ✗ | std::vector<std::string> list_of_paths; | |
48 | ✗ | extractPathFromEnvVar(env_var_name, list_of_paths, delimiter); | |
49 | ✗ | return list_of_paths; | |
50 | } | ||
51 | |||
52 | 49 | void appendSuffixToPaths(std::vector<std::string> & list_of_paths, const std::string & suffix) | |
53 | { | ||
54 |
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147 | for (size_t i = 0; i < list_of_paths.size(); ++i) |
55 | { | ||
56 | 98 | list_of_paths[i] += suffix; | |
57 | } | ||
58 | 49 | } | |
59 | |||
60 | 49 | std::vector<std::string> rosPaths() | |
61 | { | ||
62 | 49 | std::vector<std::string> raw_list_of_paths; | |
63 | 49 | std::vector<std::string> raw_list_of_prefixes; | |
64 |
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49 | extractPathFromEnvVar("ROS_PACKAGE_PATH", raw_list_of_paths); |
65 |
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49 | extractPathFromEnvVar("AMENT_PREFIX_PATH", raw_list_of_prefixes); |
66 | |||
67 |
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49 | appendSuffixToPaths(raw_list_of_prefixes, "/share"); |
68 |
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98 | raw_list_of_paths.insert( |
69 | 49 | raw_list_of_paths.end(), raw_list_of_prefixes.begin(), raw_list_of_prefixes.end()); | |
70 | |||
71 | // Work-around for https://github.com/stack-of-tasks/pinocchio/issues/1463 | ||
72 | // To support ROS devel/isolated spaces, we also need to look one package above the package.xml: | ||
73 | 49 | fs::path path; | |
74 | 49 | std::vector<std::string> list_of_paths; | |
75 | 49 | for (std::vector<std::string>::iterator it = raw_list_of_paths.begin(); | |
76 |
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343 | it != raw_list_of_paths.end(); ++it) |
77 | { | ||
78 |
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294 | list_of_paths.push_back(*it); |
79 |
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294 | path = fs::path(*it); |
80 |
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294 | if (fs::exists(path / "package.xml")) |
81 | { | ||
82 | ✗ | list_of_paths.push_back(fs::path(path / "..").string()); | |
83 | } | ||
84 | } | ||
85 | 98 | return list_of_paths; | |
86 | 49 | } | |
87 | |||
88 | } // namespace pinocchio | ||
89 |