attic: Remove uses of spruce (RobotLocomotion#12179)

miquelramirez · Oct 10, 2019 · c9bef0e · c9bef0e
1 parent 14b8a8d
commit c9bef0e
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Showing 7 changed files with 20 additions and 21 deletions.
diff --git a/attic/manipulation/util/BUILD.bazel b/attic/manipulation/util/BUILD.bazel
@@ -31,6 +31,7 @@ drake_cc_library(
         "//attic/multibody:rigid_body_tree_construction",
         "//attic/multibody/parsers",
         "//attic/multibody/rigid_body_plant:compliant_contact_model",
+        "//common:filesystem",
         "//common:find_resource",
     ],
 )

diff --git a/attic/manipulation/util/world_sim_tree_builder.cc b/attic/manipulation/util/world_sim_tree_builder.cc
@@ -4,8 +4,7 @@
 #include <map>
 #include <utility>
 
-#include <spruce.hh>
-
+#include "drake/common/filesystem.h"
 #include "drake/common/find_resource.h"
 #include "drake/multibody/parsers/model_instance_id_table.h"
 #include "drake/multibody/parsers/sdf_parser.h"
@@ -106,10 +105,8 @@ int WorldSimTreeBuilder<T>::AddModelInstanceToFrame(
   auto it = model_map_.find(model_name);
   DRAKE_THROW_UNLESS(it != model_map_.end());
 
-  spruce::path p(it->second);
-
   // Converts the file extension to be lower case.
-  auto extension = p.extension();
+  string extension = filesystem::path(it->second).extension();
   std::transform(extension.begin(), extension.end(), extension.begin(),
                  ::tolower);
 

diff --git a/attic/multibody/parsers/BUILD.bazel b/attic/multibody/parsers/BUILD.bazel
@@ -70,6 +70,7 @@ drake_cc_googletest(
     data = [":test_models"],
     deps = [
         ":parsers",
+        "//common:filesystem",
         "//common:find_resource",
     ],
 )
@@ -83,8 +84,8 @@ drake_cc_googletest(
     ],
     deps = [
         ":parsers",
+        "//common:filesystem",
         "//common:find_resource",
-        "@spruce",
     ],
 )
 

diff --git a/attic/multibody/parsers/test/parsers_frames_test/parsers_frames_test.cc b/attic/multibody/parsers/test/parsers_frames_test/parsers_frames_test.cc
@@ -2,8 +2,8 @@
 #include <string>
 
 #include <gtest/gtest.h>
-#include <spruce.hh>
 
+#include "drake/common/filesystem.h"
 #include "drake/common/find_resource.h"
 #include "drake/multibody/joints/floating_base_types.h"
 #include "drake/multibody/parsers/sdf_parser.h"
@@ -45,8 +45,7 @@ class DoublePendulumFramesTest : public ::testing::Test {
 
     tree_ = make_unique<RigidBodyTree<double>>();
 
-    spruce::path spruce_path(file_name);
-    auto extension = spruce_path.extension();
+    string extension = filesystem::path(file_name).extension();
     std::transform(extension.begin(), extension.end(), extension.begin(),
                    ::tolower);
     DRAKE_DEMAND(extension == ".urdf" || extension == ".sdf");

diff --git a/attic/multibody/parsers/test/urdf_parser_test.cc b/attic/multibody/parsers/test/urdf_parser_test.cc
@@ -6,8 +6,8 @@
 #include <string>
 
 #include <gtest/gtest.h>
-#include <spruce.hh>
 
+#include "drake/common/filesystem.h"
 #include "drake/common/find_resource.h"
 #include "drake/multibody/joints/floating_base_types.h"
 #include "drake/multibody/rigid_body_tree.h"
@@ -199,7 +199,7 @@ GTEST_TEST(URDFParserTest,
   const string atlas_xml = FindResourceOrThrow(
       "drake/examples/atlas/package.xml");
   PackageMap package_map;
-  package_map.Add("Atlas", spruce::path(atlas_xml).root());
+  package_map.Add("Atlas", filesystem::path(atlas_xml).parent_path());
 
   auto tree = make_unique<RigidBodyTree<double>>();
   ASSERT_NO_THROW(AddModelInstanceFromUrdfFileSearchingInRosPackages(

diff --git a/attic/multibody/shapes/BUILD.bazel b/attic/multibody/shapes/BUILD.bazel
@@ -36,8 +36,8 @@ drake_cc_library(
     visibility = ["//visibility:private"],
     deps = [
         "//common:essential",
+        "//common:filesystem",
         "//common:unused",
-        "@spruce",
         "@tinyobjloader",
     ],
 )

diff --git a/attic/multibody/shapes/geometry.cc b/attic/multibody/shapes/geometry.cc
@@ -3,12 +3,13 @@
 #include <algorithm>
 #include <cstdio>
 #include <fstream>
+#include <iostream>
 #include <stdexcept>
 
-#include <spruce.hh>
 #include <tiny_obj_loader.h>
 
 #include "drake/common/drake_assert.h"
+#include "drake/common/filesystem.h"
 #include "drake/common/text_logging.h"
 
 using std::ifstream;
@@ -274,27 +275,27 @@ bool Mesh::extractMeshVertices(Matrix3Xd& vertex_coordinates) const {
 }
 
 string Mesh::FindFileWithObjExtension() const {
-  spruce::path spath(resolved_filename_);
-  string ext = spath.extension();
+  drake::filesystem::path result(resolved_filename_);
+  string ext = result.extension();
   std::transform(ext.begin(), ext.end(), ext.begin(), ::tolower);
 
   if (ext.compare(".obj") == 0) {
     // Checks if the file with the obj extension exists.
-    if (!spath.exists()) {
+    if (!drake::filesystem::exists(result)) {
       throw std::runtime_error(
-          "Unable to open file \"" + spath.getStr() + "\".");
+          "Unable to open file \"" + result.string() + "\".");
     }
   } else {
     // Tries changing the extension to obj.
-    spath.setExtension(".obj");
-    if (!spath.exists()) {
+    result.replace_extension(".obj");
+    if (!drake::filesystem::exists(result)) {
       throw std::runtime_error(
           "Unable to resolve an obj file from the filename \""
-              + spath.getStr() + "\" provided.");
+              + result.string() + "\" provided.");
     }
   }
 
-  return spath.getStr();
+  return result.string();
 }
 
 void Mesh::LoadObjFile(PointsVector* vertices, TrianglesVector* triangles,