configuration_files.cpp

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#include <moveit_setup_core_plugins/configuration_files.hpp>
#include <moveit_setup_framework/templates.hpp>
#include <moveit_setup_framework/data/srdf_config.hpp>
 
namespace moveit_setup
{
namespace core
{
void ConfigurationFiles::onInit()
{
  package_settings_ = config_data_->get<PackageSettingsConfig>("package_settings");
}
 
void ConfigurationFiles::loadTemplateVariables()
{
  auto& variables = TemplatedGeneratedFile::variables;
  variables.clear();
  for (const auto& config : config_data_->getConfigured())
  {
    config->collectVariables(variables);
  }
}
 
void ConfigurationFiles::loadFiles()
{
  package_settings_->loadDependencies();
  loadTemplateVariables();
  std::filesystem::path package_path = package_settings_->getPackagePath();
  auto gen_time = package_settings_->getGenerationTime();
 
  // Check if we are 'editing' a prev generated config pkg
  if (package_path.empty())
  {
    return;  // this is not configured yet
  }
 
  gen_files_.clear();
 
  for (const auto& config : config_data_->getConfigured())
  {
    config->collectFiles(package_path, gen_time, gen_files_);
  }
}
 
bool ConfigurationFiles::hasMatchingFileStatus(FileStatus status) const
{
  for (const auto& gen_file : gen_files_)
  {
    if (gen_file->getStatus() == status)
    {
      return true;
    }
  }
  return false;
}
 
void ConfigurationFiles::setShouldGenerate(const std::string& rel_path, bool should_generate)
{
  should_generate_[rel_path] = should_generate;
}
 
bool ConfigurationFiles::isExistingConfig()
{
  // if the folder doesn't exist or is empty
  std::filesystem::path package_path(getPackagePath());
  return std::filesystem::is_directory(package_path) && !std::filesystem::is_empty(package_path);
}
 
bool ConfigurationFiles::hasSetupAssistantFile()
{
  if (!isExistingConfig())
  {
    return true;
  }
  return std::filesystem::is_regular_file(getPackagePath() / SETUP_ASSISTANT_FILE);
}
 
std::vector<std::string> ConfigurationFiles::getIncompleteWarnings() const
{
  // There may be a better way to generalize this, but for now, we add some manual checks of the srdf/author info
  std::vector<std::string> warnings;
 
  auto srdf_config = config_data_->get<SRDFConfig>("srdf");
  // Check that at least 1 planning group exists
  if (srdf_config->getGroups().empty())
  {
    warnings.push_back("No robot model planning groups have been created");
  }
 
  // Check that at least 1 link pair is disabled from collision checking
  if (srdf_config->getDisabledCollisions().empty())
  {
    warnings.push_back("No self-collisions have been disabled");
  }
 
  // Check that there is at least 1 end effector added
  if (srdf_config->getEndEffectors().empty())
  {
    warnings.push_back("No end effectors have been added");
  }
 
  // Check that there is at least 1 virtual joint added
  if (srdf_config->getVirtualJoints().empty())
  {
    warnings.push_back("No virtual joints have been added");
  }
 
  // Check that there is a author name
  if (!package_settings_->hasValidName())
  {
    warnings.push_back("<b>No author name added</b>");
  }
 
  // Check that email information is filled
  if (!package_settings_->hasValidEmail())
  {
    warnings.push_back("<b>No valid email address added</b>");
  }
 
  return warnings;
}
 
std::string ConfigurationFiles::getInvalidGroupName() const
{
  auto srdf_config = config_data_->get<SRDFConfig>("srdf");
  for (const auto& group : srdf_config->getGroups())
  {
    // Whenever 1 of the 4 component types are found, stop checking this group
    if (!group.joints_.empty())
      continue;
    if (!group.links_.empty())
      continue;
    if (!group.chains_.empty())
      continue;
    if (!group.subgroups_.empty())
      continue;
    return group.name_;
  }
  return "";
}
 
}  // namespace core
}  // namespace moveit_setup