00001 #include <cerrno>
00002 #include <cstdlib>
00003 #include <iostream>
00004 #include <string>
00005
00006 #include <boost/filesystem/fstream.hpp>
00007 #include <boost/filesystem/path.hpp>
00008 #include <boost/format.hpp>
00009
00010 #include <ros/ros.h>
00011
00012 #include "file.hh"
00013 #include "names.hh"
00014
00015
00016 std::string
00017 getInitFileFromModelName (const std::string& modelName,
00018 const std::string& defaultPath)
00019 {
00020 boost::format fmt("%1%/%2%/%2%.init");
00021 fmt % defaultPath % modelName;
00022 return fmt.str ();
00023 }
00024
00025 std::string
00026 getModelFileFromModelName (const std::string& modelName,
00027 const std::string& defaultPath)
00028 {
00029 boost::format fmt("%1%/%2%/%2%.wrl");
00030 fmt % defaultPath % modelName;
00031 return fmt.str ();
00032 }
00033
00034 std::string
00035 getConfigurationFileFromModelName (const std::string& modelName,
00036 const std::string& defaultPath)
00037 {
00038 boost::format fmt("%1%/%2%/%2%.xml");
00039 fmt % defaultPath % modelName;
00040 return fmt.str ();
00041 }
00042
00043 std::string
00044 getInitialPoseFileFromModelName (const std::string& modelName,
00045 const std::string& defaultPath)
00046 {
00047 boost::format fmt("%1%/%2%/%2%.0.pos");
00048 fmt % defaultPath % modelName;
00049 return fmt.str ();
00050 }
00051
00052 bool
00053 makeModelFile(boost::filesystem::ofstream& modelStream,
00054 std::string& fullModelPath)
00055 {
00056 std::string modelDescription;
00057 if (!ros::param::has(visp_tracker::model_description_param))
00058 {
00059 ROS_ERROR_STREAM("Failed to initialize: no model is provided.");
00060 return false;
00061 }
00062 ROS_DEBUG_STREAM("Trying to load the model from the parameter server.");
00063
00064 ros::param::get(visp_tracker::model_description_param, modelDescription);
00065
00066 char* tmpname = strdup("/tmp/tmpXXXXXX");
00067 if (mkdtemp(tmpname) == NULL)
00068 {
00069 ROS_ERROR_STREAM
00070 ("Failed to create the temporary directory: " << strerror(errno));
00071 return false;
00072 }
00073 boost::filesystem::path path(tmpname);
00074 path /= "model.wrl";
00075 free(tmpname);
00076
00077 fullModelPath = path.external_file_string();
00078
00079 modelStream.open(path);
00080 if (!modelStream.good())
00081 {
00082 ROS_ERROR_STREAM
00083 ("Failed to create the temporary file: " << path);
00084 return false;
00085 }
00086 modelStream << modelDescription;
00087 modelStream.flush();
00088 return true;
00089 }
