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