Program Listing for File utilities.hpp
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/* Author: David V. Lu!! */
#pragma once
#include <ament_index_cpp/get_package_prefix.hpp>
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <filesystem>
#include <string>
#include <tinyxml2.h>
#include <yaml-cpp/yaml.h>
namespace moveit_setup
{
inline std::filesystem::path getSharePath(const std::string& package_name)
{
try
{
return std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name));
}
catch (const std::runtime_error& e)
{
return std::filesystem::path();
}
}
inline bool createFolders(const std::filesystem::path& output_path)
{
return std::filesystem::is_directory(output_path) || std::filesystem::create_directories(output_path);
}
inline bool createParentFolders(const std::filesystem::path& file_path)
{
return createFolders(file_path.parent_path());
}
bool extractPackageNameFromPath(const std::filesystem::path& path, std::string& package_name,
std::filesystem::path& relative_filepath);
struct XMLAttribute
{
const char* name;
const char* value;
bool required = false;
};
tinyxml2::XMLElement* uniqueInsert(tinyxml2::XMLDocument& doc, tinyxml2::XMLElement& element, const char* tag,
const std::vector<XMLAttribute>& attributes = {}, const char* text = nullptr);
// Formerly "parse"
template <typename T>
inline bool getYamlProperty(const YAML::Node& node, const std::string& key, T& storage, const T& default_value = T())
{
const YAML::Node& n = node[key];
bool valid = n.IsDefined();
storage = valid ? n.as<T>() : default_value;
return valid;
}
inline bool getYamlProperty(const YAML::Node& node, const std::string& key, std::filesystem::path& storage,
const std::string& default_value = "")
{
std::string storage_s;
bool ret = getYamlProperty(node, key, storage_s, default_value);
if (ret)
{
storage = storage_s;
}
return ret;
}
} // namespace moveit_setup