00001 #include <cerrno>
00002 #include <cstdlib>
00003 #include <iostream>
00004 #include <string>
00005
00006 #include <boost/format.hpp>
00007 #include <boost/filesystem/path.hpp>
00008
00009 #include <ros/ros.h>
00010
00011 #include "file.hh"
00012 #include "names.hh"
00013
00014
00015 boost::filesystem::path
00016 getInitFileFromModelName (const std::string& modelName,
00017 const std::string& defaultPath)
00018 {
00019 boost::filesystem::path res(defaultPath);
00020 res /= modelName;
00021 res /= modelName + ".init";
00022 return res;
00023 }
00024
00025 boost::filesystem::path
00026 getModelFileFromModelName (const std::string& modelName,
00027 const std::string& defaultPath)
00028 {
00029 boost::filesystem::path res(defaultPath);
00030 res /= modelName;
00031 res /= modelName + ".wrl";
00032 return res;
00033 }
00034
00035 boost::filesystem::path
00036 getConfigurationFileFromModelName (const std::string& modelName,
00037 const std::string& defaultPath)
00038 {
00039 boost::filesystem::path res(defaultPath);
00040 res /= modelName;
00041 res /= modelName + ".xml";
00042 return res;
00043 }
00044
00045 boost::filesystem::path
00046 getInitialPoseFileFromModelName (const std::string& modelName,
00047 const std::string& defaultPath)
00048 {
00049 boost::filesystem::path res(defaultPath);
00050 res /= modelName;
00051 res /= modelName + ".0.pos";
00052 return res;
00053 }
00054
00055 bool
00056 makeModelFile(boost::filesystem::ofstream& modelStream,
00057 std::string& fullModelPath)
00058 {
00059 std::string modelDescription;
00060 if (!ros::param::has(visp_tracker::model_description_param))
00061 {
00062 ROS_ERROR_STREAM("Failed to initialize: no model is provided.");
00063 return false;
00064 }
00065 ROS_DEBUG_STREAM("Trying to load the model from the parameter server.");
00066
00067 ros::param::get(visp_tracker::model_description_param, modelDescription);
00068
00069 char* tmpname = strdup("/tmp/tmpXXXXXX");
00070 if (mkdtemp(tmpname) == NULL)
00071 {
00072 ROS_ERROR_STREAM
00073 ("Failed to create the temporary directory: " << strerror(errno));
00074 return false;
00075 }
00076 boost::filesystem::path path(tmpname);
00077 path /= "model.wrl";
00078 free(tmpname);
00079
00080 fullModelPath = path.external_file_string();
00081
00082 modelStream.open(path);
00083 if (!modelStream.good())
00084 {
00085 ROS_ERROR_STREAM
00086 ("Failed to create the temporary file: " << path);
00087 return false;
00088 }
00089 modelStream << modelDescription;
00090 modelStream.flush();
00091 return true;
00092 }
