moveit2
The MoveIt Motion Planning Framework for ROS 2.
generated_file.hpp
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34 
35 /* Author: David V. Lu!! */
36 
37 #pragma once
41 #include <chrono>
42 #include <memory>
43 #include <string>
44 #include <iostream>
45 #include <fstream>
46 
47 namespace moveit_setup
48 {
52 enum class FileStatus
53 {
54  NEW, // The file does not exist in the configuration package
55  UNCHANGED, // The file exists and would be the same as the generated file
56  CHANGED, // The file exists, but a new version will be written
57  EXTERNALLY_MODIFIED, // The file exists and was externally modified
58  CONFLICTED // The file exists, was externally modified and there are changes to be written
59 };
60 
61 MOVEIT_CLASS_FORWARD(GeneratedFile); // Defines GeneratedFilePtr, ConstPtr, WeakPtr... etc
62 
66 class GeneratedFile : public std::enable_shared_from_this<GeneratedFile>
67 {
68 public:
69  GeneratedFile(const GeneratedFile&) = default;
71  virtual ~GeneratedFile() = default;
72 
73  GeneratedFile(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time)
74  : package_path_(package_path), last_gen_time_(last_gen_time)
75  {
76  }
77 
81  virtual std::filesystem::path getRelativePath() const = 0;
82 
86  virtual std::string getDescription() const = 0;
87 
91  virtual bool hasChanges() const = 0;
92 
96  virtual bool write() = 0;
97 
101  std::filesystem::path getPath() const
102  {
103  return package_path_ / getRelativePath();
104  }
105 
107  {
108  std::filesystem::path full_path = getPath();
109  if (!std::filesystem::is_regular_file(full_path) || last_gen_time_ == GeneratedTime())
110  {
111  return FileStatus::NEW;
112  }
113  GeneratedTime mod_time = std::filesystem::last_write_time(full_path);
114  if (mod_time > last_gen_time_ + TIME_MOD_TOLERANCE || mod_time < last_gen_time_ - TIME_MOD_TOLERANCE)
115  {
117  }
118  else
119  {
121  }
122  }
123 
124 protected:
125  static constexpr GeneratedTime::duration TIME_MOD_TOLERANCE = std::chrono::seconds(10);
126 
127  std::filesystem::path package_path_;
129 };
130 
132 {
133 public:
135 
136  bool write() override
137  {
138  YAML::Emitter emitter;
139  bool ret = writeYaml(emitter);
140  if (!ret)
141  {
142  return false;
143  }
144 
145  std::filesystem::path file_path = getPath();
146  createParentFolders(file_path);
147  std::ofstream output_stream(file_path, std::ios_base::trunc);
148  if (!output_stream.good())
149  {
150  return false;
151  }
152 
153  output_stream << emitter.c_str();
154  output_stream.close();
155 
156  return true; // file created successfully
157  }
158 
159  virtual bool writeYaml(YAML::Emitter& emitter) = 0;
160 };
161 
162 } // namespace moveit_setup
Container for the logic for a single file to appear in MoveIt configuration package.
virtual std::string getDescription() const =0
Returns an English description of this file's purpose.
static constexpr GeneratedTime::duration TIME_MOD_TOLERANCE
GeneratedFile(const GeneratedFile &)=default
std::filesystem::path getPath() const
Returns the fully qualified path to this file.
virtual std::filesystem::path getRelativePath() const =0
Returns the path relative to the configuration package root.
virtual bool hasChanges() const =0
Returns true if this file will have changes when it is written to file.
std::filesystem::path package_path_
virtual ~GeneratedFile()=default
virtual bool write()=0
Writes the file to disk.
GeneratedFile(GeneratedFile &&)=default
const GeneratedTime & last_gen_time_
FileStatus getStatus() const
GeneratedFile(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time)
bool write() override
Writes the file to disk.
virtual bool writeYaml(YAML::Emitter &emitter)=0
MOVEIT_CLASS_FORWARD(SetupConfig)
bool createParentFolders(const std::filesystem::path &file_path)
Create parent folders (recursively)
Definition: utilities.hpp:68
std::filesystem::file_time_type GeneratedTime
FileStatus
Status associated with each GeneratedFile.