generated_file.hpp

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/* Author: David V. Lu!! */
 
#pragma once
#include <moveit_setup_framework/utilities.hpp>
#include <moveit_setup_framework/generated_time.hpp>
#include <moveit/macros/class_forward.h>
#include <chrono>
#include <memory>
#include <string>
#include <iostream>
#include <fstream>
 
namespace moveit_setup
{
enum class FileStatus
{
  NEW,                  // The file does not exist in the configuration package
  UNCHANGED,            // The file exists and would be the same as the generated file
  CHANGED,              // The file exists, but a new version will be written
  EXTERNALLY_MODIFIED,  // The file exists and was externally modified
  CONFLICTED            // The file exists, was externally modified and there are changes to be written
};
 
MOVEIT_CLASS_FORWARD(GeneratedFile);  // Defines GeneratedFilePtr, ConstPtr, WeakPtr... etc
 
class GeneratedFile : public std::enable_shared_from_this<GeneratedFile>
{
public:
  GeneratedFile(const GeneratedFile&) = default;
  GeneratedFile(GeneratedFile&&) = default;
  virtual ~GeneratedFile() = default;
 
  GeneratedFile(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time)
    : package_path_(package_path), last_gen_time_(last_gen_time)
  {
  }
 
  virtual std::filesystem::path getRelativePath() const = 0;
 
  virtual std::string getDescription() const = 0;
 
  virtual bool hasChanges() const = 0;
 
  virtual bool write() = 0;
 
  std::filesystem::path getPath() const
  {
    return package_path_ / getRelativePath();
  }
 
  FileStatus getStatus() const
  {
    std::filesystem::path full_path = getPath();
    if (!std::filesystem::is_regular_file(full_path) || last_gen_time_ == GeneratedTime())
    {
      return FileStatus::NEW;
    }
    GeneratedTime mod_time = std::filesystem::last_write_time(full_path);
    if (mod_time > last_gen_time_ + TIME_MOD_TOLERANCE || mod_time < last_gen_time_ - TIME_MOD_TOLERANCE)
    {
      return hasChanges() ? FileStatus::CONFLICTED : FileStatus::EXTERNALLY_MODIFIED;
    }
    else
    {
      return hasChanges() ? FileStatus::CHANGED : FileStatus::UNCHANGED;
    }
  }
 
protected:
  static constexpr GeneratedTime::duration TIME_MOD_TOLERANCE = std::chrono::seconds(10);
 
  std::filesystem::path package_path_;
  const GeneratedTime& last_gen_time_;
};
 
class YamlGeneratedFile : public GeneratedFile
{
public:
  using GeneratedFile::GeneratedFile;
 
  bool write() override
  {
    YAML::Emitter emitter;
    bool ret = writeYaml(emitter);
    if (!ret)
    {
      return false;
    }
 
    std::filesystem::path file_path = getPath();
    createParentFolders(file_path);
    std::ofstream output_stream(file_path, std::ios_base::trunc);
    if (!output_stream.good())
    {
      return false;
    }
 
    output_stream << emitter.c_str();
    output_stream.close();
 
    return true;  // file created successfully
  }
 
  virtual bool writeYaml(YAML::Emitter& emitter) = 0;
};
 
}  // namespace moveit_setup