file.cpp
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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 getHelpImageFileFromModelName (const std::string& modelName,
00027         const std::string& defaultPath)
00028 {
00029   boost::format fmt("%1%/%2%/%2%.ppm");
00030   fmt % defaultPath % modelName;
00031   return fmt.str ();
00032 }
00033 
00034 std::string
00035 getModelFileFromModelName (const std::string& modelName,
00036                            const std::string& defaultPath)
00037 {
00038   boost::format fmt("%1%/%2%/%2%");
00039   fmt % defaultPath % modelName;
00040   return fmt.str ();
00041 }
00042 
00043 std::string
00044 getConfigurationFileFromModelName (const std::string& modelName,
00045                                    const std::string& defaultPath)
00046 {
00047   boost::format fmt("%1%/%2%/%2%.xml");
00048   fmt % defaultPath % modelName;
00049   return fmt.str ();
00050 }
00051 
00052 std::string
00053 getInitialPoseFileFromModelName (const std::string& modelName,
00054                                  const std::string& defaultPath)
00055 {
00056   boost::format fmt("%1%/%2%/%2%.0.pos");
00057   fmt % defaultPath % modelName;
00058   return fmt.str ();
00059 }
00060 
00061 bool
00062 makeModelFile(boost::filesystem::ofstream& modelStream,
00063               std::string& fullModelPath)
00064 {
00065   std::string modelDescription;
00066   if (!ros::param::has(visp_tracker::model_description_param))
00067     {
00068       ROS_ERROR_STREAM("Failed to initialize: no model is provided.");
00069       return false;
00070     }
00071   ROS_DEBUG_STREAM("Trying to load the model from the parameter server.");
00072 
00073   ros::param::get(visp_tracker::model_description_param, modelDescription);
00074 
00075   char* tmpname = strdup("/tmp/tmpXXXXXX");
00076   if (mkdtemp(tmpname) == NULL)
00077     {
00078       ROS_ERROR_STREAM
00079         ("Failed to create the temporary directory: " << strerror(errno));
00080       return false;
00081     }
00082   // From the content of the model description check if the model is in vrml or in cao format
00083   std::string vrml_header("#VRML #vrml");
00084   std::string cao_header("V1");
00085   boost::filesystem::path path(tmpname);
00086   if (modelDescription.compare(0, 5, vrml_header, 0, 5) == 0) {
00087     path /= "model.wrl";
00088   }
00089   else if (modelDescription.compare(0, 5, vrml_header, 6, 5) == 0) {
00090     path /= "model.wrl";
00091   }
00092   else if (modelDescription.compare(0, 2, cao_header) == 0) {
00093     path /= "model.cao";
00094   }
00095   else {
00096     ROS_ERROR_STREAM("Failed to create the temporary model file: " << path);
00097     free(tmpname);
00098     return false;
00099   }
00100   free(tmpname);
00101 
00102   fullModelPath = path.native();
00103 
00104   modelStream.open(path);
00105   if (!modelStream.good())
00106   {
00107     ROS_ERROR_STREAM("Failed to create the temporary file: " << path);
00108     return false;
00109   }
00110   modelStream << modelDescription;
00111   modelStream.flush();
00112   return true;
00113 }


visp_tracker
Author(s): Thomas Moulard
autogenerated on Sun Feb 19 2017 03:28:46