Program Listing for File launch_bundle.hpp
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/* Author: David V. Lu!! */
#pragma once
#include <moveit_setup_framework/templates.hpp>
#include <moveit_setup_framework/utilities.hpp>
namespace moveit_setup
{
namespace app
{
class LaunchBundle
{
public:
LaunchBundle(const std::string& title, const std::string& description, const std::string& launch_name,
const std::set<std::string>& dependencies = {})
: title_(title), description_(description), launch_name_(launch_name), dependencies_(dependencies), id_(-1)
{
}
const std::string& getTitle() const
{
return title_;
}
const std::string& getDescription() const
{
return description_;
}
unsigned int getID() const
{
return id_;
}
void setID(unsigned int id)
{
id_ = id;
}
void addFile(const std::filesystem::path& relative_path, const std::string& description)
{
bonus_files_.push_back(BonusFile(relative_path, description));
}
const std::set<std::string> getDependencies() const
{
return dependencies_;
}
bool operator<(const LaunchBundle& other) const
{
return title_ < other.title_;
}
class GenericLaunchTemplate : public TemplatedGeneratedFile
{
public:
GenericLaunchTemplate(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
const LaunchBundle& parent)
: TemplatedGeneratedFile(package_path, last_gen_time), parent_(parent)
{
function_name_ = "generate_" + parent_.launch_name_ + "_launch";
relative_path_ = std::filesystem::path("launch") / (parent_.launch_name_ + ".launch.py");
template_path_ = getSharePath("moveit_setup_app_plugins") / "templates/launch/generic.launch.py.template";
}
std::filesystem::path getRelativePath() const override
{
return relative_path_;
}
std::string getDescription() const override
{
return parent_.description_;
}
std::filesystem::path getTemplatePath() const override
{
return template_path_;
}
bool hasChanges() const override
{
return false;
}
bool write() override
{
// Add function name as a TemplateVariable, then remove it
variables.push_back(TemplateVariable("FUNCTION_NAME", function_name_));
bool ret = TemplatedGeneratedFile::write();
variables.pop_back();
return ret;
}
protected:
const LaunchBundle& parent_;
std::string function_name_;
std::filesystem::path relative_path_, template_path_;
};
struct BonusFile // basically a std::pair<std::filesystem::path, std::string>
{
BonusFile(const std::filesystem::path& path, const std::string& description) : path(path), description(description)
{
}
std::filesystem::path path;
std::string description;
};
class BonusTemplatedFile : public TemplatedGeneratedFile
{
public:
BonusTemplatedFile(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
const std::filesystem::path& relative_path, const std::string& description)
: TemplatedGeneratedFile(package_path, last_gen_time), relative_path_(relative_path), description_(description)
{
}
std::filesystem::path getRelativePath() const override
{
return relative_path_;
}
std::string getDescription() const override
{
return description_;
}
std::filesystem::path getTemplatePath() const override
{
return getSharePath("moveit_setup_app_plugins") / "templates" / relative_path_;
}
bool hasChanges() const override
{
return false;
}
protected:
std::filesystem::path relative_path_;
std::string description_;
};
void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
std::vector<GeneratedFilePtr>& files) const
{
files.push_back(std::make_shared<GenericLaunchTemplate>(package_path, last_gen_time, *this));
for (const BonusFile& bonus_file : bonus_files_)
{
files.push_back(
std::make_shared<BonusTemplatedFile>(package_path, last_gen_time, bonus_file.path, bonus_file.description));
}
}
protected:
std::string title_, description_, launch_name_;
std::set<std::string> dependencies_;
unsigned int id_;
std::vector<BonusFile> bonus_files_;
};
} // namespace app
} // namespace moveit_setup