file_loader.cpp
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00034 
00035 /* Author: Mathias Lüdtke */
00036 
00037 #include <moveit/setup_assistant/tools/file_loader.h>
00038 
00039 #include <fstream>
00040 #include <streambuf>
00041 
00042 namespace moveit_setup_assistant
00043 {
00044 bool isXacroFile(const std::string& path)
00045 {
00046   // TODO: implement case-insensitive search
00047   return path.find(".xacro") != std::string::npos;
00048 }
00049 
00050 bool loadFileToString(std::string& buffer, const std::string& path)
00051 {
00052   if (path.empty())
00053     return false;
00054 
00055   std::ifstream stream(path.c_str());
00056   if (!stream.good())
00057     return false;
00058 
00059   // Load the file to a string using an efficient memory allocation technique
00060   stream.seekg(0, std::ios::end);
00061   buffer.reserve(stream.tellg());
00062   stream.seekg(0, std::ios::beg);
00063   buffer.assign((std::istreambuf_iterator<char>(stream)), std::istreambuf_iterator<char>());
00064   stream.close();
00065 
00066   return true;
00067 }
00068 
00069 bool loadXacroFileToString(std::string& buffer, const std::string& path, const std::vector<std::string>& xacro_args)
00070 {
00071   if (path.empty())
00072     return false;
00073 
00074   std::string cmd = "rosrun xacro xacro ";
00075   for (std::vector<std::string>::const_iterator it = xacro_args.begin(); it != xacro_args.end(); ++it)
00076     cmd += *it + " ";
00077   cmd += path;
00078 
00079   FILE* pipe = popen(cmd.c_str(), "r");
00080   if (!pipe)
00081     return false;
00082 
00083   char pipe_buffer[128];
00084   while (!feof(pipe))
00085   {
00086     if (fgets(pipe_buffer, 128, pipe) != NULL)
00087       buffer += pipe_buffer;
00088   }
00089   pclose(pipe);
00090 
00091   return true;
00092 }
00093 
00094 bool loadXmlFileToString(std::string& buffer, const std::string& path, const std::vector<std::string>& xacro_args)
00095 {
00096   if (isXacroFile(path))
00097   {
00098     return loadXacroFileToString(buffer, path, xacro_args);
00099   }
00100   else
00101   {
00102     return loadFileToString(buffer, path);
00103   }
00104 }
00105 }


moveit_setup_assistant
Author(s): Dave Coleman
autogenerated on Mon Jul 24 2017 02:22:29