moveit2
The MoveIt Motion Planning Framework for ROS 2.
package_settings_config.hpp
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34 
35 #pragma once
36 
39 
40 namespace moveit_setup
41 {
42 static const std::string SETUP_ASSISTANT_FILE = ".setup_assistant";
43 
45 {
46 public:
53  void loadPrevious(const std::filesystem::path& package_path, const YAML::Node& node) override;
54  YAML::Node saveToYaml() const override;
55 
61  void loadExisting(const std::string& package_path_or_name);
62 
63  const std::filesystem::path& getPackagePath() const
64  {
65  return config_pkg_path_;
66  }
67 
68  const std::string& getPackageName() const
69  {
70  return new_package_name_;
71  }
72 
73  void setPackagePath(const std::filesystem::path& package_path);
74 
75  void setPackageName(const std::string& package_name);
76 
78  {
80  }
81 
82  bool isConfigured() const override
83  {
84  return !config_pkg_path_.empty();
85  }
86 
87  bool hasValidName() const;
88 
89  bool hasValidEmail() const;
90 
92  {
93  public:
94  GeneratedSettings(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
95  PackageSettingsConfig& parent)
96  : YamlGeneratedFile(package_path, last_gen_time), parent_(parent)
97  {
98  }
99 
100  std::filesystem::path getRelativePath() const override
101  {
102  return SETUP_ASSISTANT_FILE;
103  }
104 
105  std::string getDescription() const override
106  {
107  return "MoveIt Setup Assistant's hidden settings file. You should not need to edit this file.";
108  }
109 
110  bool hasChanges() const override
111  {
112  // We write this file on any changes
113  return true;
114  }
115 
116  bool writeYaml(YAML::Emitter& emitter) override;
117 
118  protected:
120  };
121 
123  {
124  public:
125  GeneratedPackageXML(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
126  PackageSettingsConfig& parent)
127  : TemplatedGeneratedFile(package_path, last_gen_time), parent_(parent)
128  {
129  }
130 
131  bool hasChanges() const override
132  {
134  }
135 
136  std::filesystem::path getRelativePath() const override
137  {
138  return "package.xml";
139  }
140 
141  std::filesystem::path getTemplatePath() const override
142  {
143  // Note: we call the file package.xml.template so that it isn't automatically indexed by rosprofile
144  return getSharePath("moveit_setup_framework") / "templates" / "package.xml.template";
145  }
146 
147  std::string getDescription() const override
148  {
149  return "Defines a ROS package";
150  }
151 
152  protected:
154  };
155 
157  {
158  public:
159  using TemplatedGeneratedFile::TemplatedGeneratedFile;
160 
161  bool hasChanges() const override
162  {
163  return false; // Generally doesn't change
164  }
165 
166  std::filesystem::path getRelativePath() const override
167  {
168  return "CMakeLists.txt";
169  }
170 
171  std::filesystem::path getTemplatePath() const override
172  {
173  return getSharePath("moveit_setup_framework") / "templates" / "CMakeLists.txt";
174  }
175 
176  std::string getDescription() const override
177  {
178  return "CMake build system configuration file";
179  }
180  };
181 
182  void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
183  std::vector<GeneratedFilePtr>& files) override
184  {
185  files.push_back(std::make_shared<GeneratedSettings>(package_path, last_gen_time, *this));
186  files.push_back(std::make_shared<GeneratedPackageXML>(package_path, last_gen_time, *this));
187  files.push_back(std::make_shared<GeneratedCMake>(package_path, last_gen_time));
188  }
189 
190  void collectVariables(std::vector<TemplateVariable>& variables) override;
191 
192  void loadDependencies();
193 
194  std::string getAuthorName() const
195  {
196  return author_name_;
197  }
198  std::string getAuthorEmail() const
199  {
200  return author_email_;
201  }
202  void setAuthorName(const std::string& name)
203  {
204  author_name_ = name;
205  }
206  void setAuthorEmail(const std::string& email)
207  {
208  author_email_ = email;
209  }
210 
211  void setGenerationTime();
212 
213 protected:
215  std::filesystem::path config_pkg_path_;
216 
218  std::string new_package_name_{ "unnamed_moveit_config" };
219 
221  std::string author_name_;
222 
224  std::string author_email_;
225 
226  bool author_info_changed_{ false };
227 
230 
231  std::set<std::string> package_dependencies_;
232 };
233 } // namespace moveit_setup
std::string getDescription() const override
Returns an English description of this file's purpose.
std::filesystem::path getTemplatePath() const override
Returns the full path to the template file.
std::filesystem::path getRelativePath() const override
Returns the path relative to the configuration package root.
bool hasChanges() const override
Returns true if this file will have changes when it is written to file.
std::string getDescription() const override
Returns an English description of this file's purpose.
std::filesystem::path getRelativePath() const override
Returns the path relative to the configuration package root.
std::filesystem::path getTemplatePath() const override
Returns the full path to the template file.
bool hasChanges() const override
Returns true if this file will have changes when it is written to file.
GeneratedPackageXML(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, PackageSettingsConfig &parent)
GeneratedSettings(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, PackageSettingsConfig &parent)
std::filesystem::path getRelativePath() const override
Returns the path relative to the configuration package root.
std::string getDescription() const override
Returns an English description of this file's purpose.
bool hasChanges() const override
Returns true if this file will have changes when it is written to file.
const GeneratedTime & getGenerationTime() const
void setAuthorName(const std::string &name)
bool isConfigured() const override
Return true if this part of the configuration is completely set up.
void collectVariables(std::vector< TemplateVariable > &variables) override
Collect key/value pairs for use in templates.
std::string author_name_
Name of the author of this config.
GeneratedTime config_pkg_generated_timestamp_
Timestamp when configuration package was generated, if it was previously generated.
void setAuthorEmail(const std::string &email)
const std::string & getPackageName() const
void setPackagePath(const std::filesystem::path &package_path)
void loadPrevious(const std::filesystem::path &package_path, const YAML::Node &node) override
Overridden method to load THIS config's data variables.
void collectFiles(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, std::vector< GeneratedFilePtr > &files) override
Collect the files generated by this configuration and add them to the vector.
const std::filesystem::path & getPackagePath() const
void setPackageName(const std::string &package_name)
std::string author_email_
Email of the author of this config.
YAML::Node saveToYaml() const override
Optionally save "meta" information for saving in the .setup_assistant yaml file.
void loadExisting(const std::string &package_path_or_name)
Method for loading the contents of the .setup_assistant file into all the configs.
std::string new_package_name_
Name of the new package that is being (or going) to be generated, based on user specified save path.
std::filesystem::path config_pkg_path_
Loaded configuration package path - if an existing package was loaded, holds that path.
where all the data for each part of the configuration is stored.
Definition: config.hpp:58
Specialization of GeneratedFile for generating a text file from a template.
Definition: templates.hpp:60
std::filesystem::path getSharePath(const std::string &package_name)
Return a path for the given package's share folder.
Definition: utilities.hpp:50
std::filesystem::file_time_type GeneratedTime
string package_name
Definition: setup.py:4
name
Definition: setup.py:7