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// |
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// Copyright (c) 2016-2021 CNRS INRIA |
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// |
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#include <cstdlib> |
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#include <boost/filesystem.hpp> |
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#include "pinocchio/utils/file-explorer.hpp" |
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namespace fs = boost::filesystem; |
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namespace pinocchio |
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{ |
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void extractPathFromEnvVar(const std::string & env_var_name, |
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std::vector<std::string> & list_of_paths, |
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const std::string & delimiter) |
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{ |
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const char * env_var_value = std::getenv(env_var_name.c_str()); |
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✓✓ |
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if(env_var_value != NULL) |
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{ |
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✓✗ |
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std::string policyStr(env_var_value); |
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// Add a separator at the end so that last path is also retrieved |
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policyStr += delimiter; |
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size_t lastOffset = 0; |
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while(true) |
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{ |
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size_t offset = policyStr.find_first_of(delimiter, lastOffset); |
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if (offset < policyStr.size()) |
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✓✗✓✗
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list_of_paths.push_back(policyStr.substr(lastOffset, offset - lastOffset)); |
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if (offset == std::string::npos) |
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break; |
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else |
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lastOffset = offset + 1; // add one to skip the delimiter |
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} |
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} |
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} |
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std::vector<std::string> extractPathFromEnvVar(const std::string & env_var_name, |
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const std::string & delimiter) |
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{ |
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std::vector<std::string> list_of_paths; |
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extractPathFromEnvVar(env_var_name,list_of_paths,delimiter); |
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return list_of_paths; |
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} |
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void appendSuffixToPaths(std::vector<std::string> & list_of_paths, |
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const std::string & suffix) |
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{ |
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✗✓ |
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for (size_t i = 0; i < list_of_paths.size(); ++i) |
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{ |
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list_of_paths[i] += suffix; |
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} |
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} |
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std::vector<std::string> rosPaths() |
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{ |
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std::vector<std::string> raw_list_of_paths; |
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std::vector<std::string> raw_list_of_prefixes; |
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✓✗✓✗
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extractPathFromEnvVar("ROS_PACKAGE_PATH", raw_list_of_paths); |
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✓✗✓✗
✓✗ |
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extractPathFromEnvVar("AMENT_PREFIX_PATH", raw_list_of_prefixes); |
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appendSuffixToPaths(raw_list_of_prefixes, "/share"); |
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raw_list_of_paths.insert(raw_list_of_paths.end(), raw_list_of_prefixes.begin(), |
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raw_list_of_prefixes.end()); |
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// Work-around for https://github.com/stack-of-tasks/pinocchio/issues/1463 |
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// To support ROS devel/isolated spaces, we also need to look one package above the package.xml: |
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fs::path path; |
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std::vector<std::string> list_of_paths; |
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✓✓ |
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for (std::vector<std::string>::iterator it = raw_list_of_paths.begin(); it != raw_list_of_paths.end(); ++it) { |
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list_of_paths.push_back(*it); |
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path = fs::path(*it); |
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✓✗✗✓
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if (fs::exists(path / "package.xml")) { |
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list_of_paths.push_back(fs::path(path / "..").string()); |
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} |
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} |
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return list_of_paths; |
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} |
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} |