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Move file lookup code out of parser_common
This is to avoid adding extra dependency on RBT.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,132 @@ | ||
| #include "drake/multibody/parsers/parser_path_utils.h" | ||
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| #include <string> | ||
| #include <vector> | ||
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| #include <spruce.hh> | ||
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| #include "drake/common/drake_assert.h" | ||
| #include "drake/common/text_logging.h" | ||
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| using std::string; | ||
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| namespace drake { | ||
| namespace parsers { | ||
| namespace { | ||
| bool IsAbsolutePath(const string& filename) { | ||
| const string prefix = "/"; | ||
| return filename.substr(0, prefix.size()) == prefix; | ||
| } | ||
| } // namespace | ||
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| string GetFullPath(const string& file_name) { | ||
| string result = file_name; | ||
| if (result.empty()) { | ||
| throw std::runtime_error("drake::parsers::GetFullPath: ERROR: file_name is " | ||
| "empty."); | ||
| } | ||
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| if (IsAbsolutePath(result)) { | ||
| // The specified file is already an absolute path. The following code | ||
| // verifies that the file exists. | ||
| spruce::path path(file_name); | ||
| if (!path.isFile()) { | ||
| throw std::runtime_error("drake::parsers::GetFullPath: ERROR: " | ||
| "file_name \"" + file_name + "\" is not a file."); | ||
| } | ||
| } else { | ||
| // The specified file is a relative path. The following code obtains the | ||
| // full path and verifies that the file exists. | ||
| spruce::path path = spruce::dir::getcwd(); | ||
| path.append(file_name); | ||
| if (path.isFile()) { | ||
| result = path.getStr(); | ||
| } else { | ||
| throw std::runtime_error("drake::parsers::GetFullPath: ERROR: " | ||
| "file_name \"" + file_name + "\" is not a file or does not exist."); | ||
| } | ||
| } | ||
| return result; | ||
| } | ||
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| namespace { | ||
| // Searches for key package in package_map. If the key exists, this saves the | ||
| // associated value in the string pointed to by package_path and then returns | ||
| // true. It returns false otherwise. | ||
| bool GetPackagePath(const string& package, const PackageMap& package_map, | ||
| string* package_path) { | ||
| if (package_map.Contains(package)) { | ||
| *package_path = package_map.GetPath(package); | ||
| return true; | ||
| } else { | ||
| drake::log()->warn("Couldn't find package '{}' in the supplied package" | ||
| "path.", package); | ||
| return false; | ||
| } | ||
| } | ||
| } // namespace | ||
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| // The unit test that most directly covers this method is: | ||
| // drake/multibody/parsers/test/urdf_parser_test/urdf_parser_test.cc. | ||
| string ResolveFilename(const string& filename, const PackageMap& package_map, | ||
| const string& root_dir) { | ||
| spruce::path full_filename_spruce; | ||
| spruce::path raw_filename_spruce(filename); | ||
| const std::vector<string> split_filename = raw_filename_spruce.split(); | ||
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| if (IsAbsolutePath(filename)) { | ||
| if (!raw_filename_spruce.exists()) { | ||
| drake::log()->warn("File {} could not be found.", filename); | ||
| return string(); | ||
| } | ||
| return filename; | ||
| } else if (split_filename.front() == "package:") { | ||
| // A correctly formatted filename is: | ||
| // | ||
| // package://package_name/bar/baz/model.xyz | ||
| // | ||
| // Thus, index 0 contains "package", index 1 contains "", and index 2 | ||
| // contains the package name. Furthermore, since the model file must follow | ||
| // the package name, there must be at least 4 tokens. | ||
| const int kMinNumTokens = 4; | ||
| const int kPackageNameIndex = 2; | ||
| DRAKE_DEMAND(split_filename.size() >= kMinNumTokens); | ||
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| string package_path_string; | ||
| if (GetPackagePath(split_filename.at(kPackageNameIndex), package_map, | ||
| &package_path_string)) { | ||
| full_filename_spruce = spruce::path(package_path_string); | ||
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| // The following loop starts at index 3 to skip the "package", "", and | ||
| // [package name] tokens as described above. | ||
| for (int i = kPackageNameIndex + 1; | ||
| i < static_cast<int>(split_filename.size()); ++i) { | ||
| full_filename_spruce.append(split_filename.at(i)); | ||
| } | ||
| } else { | ||
| return string(); | ||
| } | ||
| } else { | ||
| const string normalized_root_dir = spruce::path(root_dir).getStr(); | ||
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| // If root_dir is a relative path, convert it to an absolute path. | ||
| if (!IsAbsolutePath(normalized_root_dir)) { | ||
| full_filename_spruce = spruce::dir::getcwd(); | ||
| full_filename_spruce.append(normalized_root_dir); | ||
| } else { | ||
| full_filename_spruce = spruce::path(normalized_root_dir); | ||
| } | ||
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| full_filename_spruce.append(filename); | ||
| } | ||
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| if (!full_filename_spruce.exists()) { | ||
| drake::log()->warn("File {} resolved to {} and could not be found.", | ||
| filename, full_filename_spruce.getStr()); | ||
| return string(); | ||
| } | ||
| return full_filename_spruce.getStr(); | ||
| } | ||
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| } // namespace parsers | ||
| } // namespace drake |
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