BeliefstateROS.cpp

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#include <BeliefstateROS.h>


namespace beliefstate {
  BeliefstateROS::BeliefstateROS(int argc, char** argv) : Beliefstate(argc, argv) {
    m_lstConfigFileLocations.push_back(ros::package::getPath("beliefstate"));
  }
  
  BeliefstateROS::~BeliefstateROS() {
  }
  
  std::string BeliefstateROS::findTokenReplacement(std::string strToken) {
    std::string strReplacement = "";
    
    if(strToken.size() > 8) {
      if(strToken.substr(0, 8) == "PACKAGE ") {
        std::string strPackage = strToken.substr(8);
          
        strReplacement = ros::package::getPath(strPackage);
      } else if(strToken == "WORKSPACE") {
        strReplacement = this->workspaceDirectory();
      }
    }
    
    if(strReplacement == "") {
      strReplacement = this->Beliefstate::findTokenReplacement(strToken);
    }
    
    return strReplacement;
  }
  
  std::string BeliefstateROS::workspaceDirectory() {
    std::string strWorkspaceReplacement = this->Beliefstate::workspaceDirectory();
    
    if(strWorkspaceReplacement == "") {
      const char* cROSWorkspace = getenv("ROS_WORKSPACE");
      const char* cCMAKEPrefixPath = getenv("CMAKE_PREFIX_PATH");
      const char* cROSPackagePath = getenv("ROS_PACKAGE_PATH");
      
      std::string strROSWorkspace = "";
      std::string strCMAKEPrefixPath = "";
      std::string strROSPackagePath = "";
      
      if(cROSWorkspace) {
        strROSWorkspace = cROSWorkspace;
      }
      
      if(cCMAKEPrefixPath) {
        strCMAKEPrefixPath = cCMAKEPrefixPath;
      }
      
      if(cROSPackagePath) {
        strROSPackagePath = cROSPackagePath;
      }
      
      // ROS_WORKSPACE takes precedence over CMAKE_PREFIX_PATH
      if(strROSWorkspace != "") {
        strWorkspaceReplacement = strROSWorkspace;
      } else {
        // CMAKE_PREFIX_PATH takes precedence over ROS_PACKAGE_PATH
        if(strCMAKEPrefixPath != "") {
          strWorkspaceReplacement = this->findPrefixPath(strCMAKEPrefixPath, "/devel");
        } else {
          strWorkspaceReplacement = this->findPrefixPath(strROSPackagePath, "/src");
        }
      }
    }
    
    return strWorkspaceReplacement;
  }
}