package_settings_config.hpp

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#pragma once
 
#include <moveit_setup_framework/config.hpp>
#include <moveit_setup_framework/data_warehouse.hpp>
 
namespace moveit_setup
{
static const std::string SETUP_ASSISTANT_FILE = ".setup_assistant";
 
class PackageSettingsConfig : public SetupConfig
{
public:
  void loadPrevious(const std::filesystem::path& package_path, const YAML::Node& node) override;
  YAML::Node saveToYaml() const override;
 
  void loadExisting(const std::string& package_path_or_name);
 
  const std::filesystem::path& getPackagePath() const
  {
    return config_pkg_path_;
  }
 
  const std::string& getPackageName() const
  {
    return new_package_name_;
  }
 
  void setPackagePath(const std::filesystem::path& package_path);
 
  void setPackageName(const std::string& package_name);
 
  const GeneratedTime& getGenerationTime() const
  {
    return config_pkg_generated_timestamp_;
  }
 
  bool isConfigured() const override
  {
    return !config_pkg_path_.empty();
  }
 
  bool hasValidName() const;
 
  bool hasValidEmail() const;
 
  class GeneratedSettings : public YamlGeneratedFile
  {
  public:
    GeneratedSettings(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                      PackageSettingsConfig& parent)
      : YamlGeneratedFile(package_path, last_gen_time), parent_(parent)
    {
    }
 
    std::filesystem::path getRelativePath() const override
    {
      return SETUP_ASSISTANT_FILE;
    }
 
    std::string getDescription() const override
    {
      return "MoveIt Setup Assistant's hidden settings file. You should not need to edit this file.";
    }
 
    bool hasChanges() const override
    {
      // We write this file on any changes
      return true;
    }
 
    bool writeYaml(YAML::Emitter& emitter) override;
 
  protected:
    PackageSettingsConfig& parent_;
  };
 
  class GeneratedPackageXML : public TemplatedGeneratedFile
  {
  public:
    GeneratedPackageXML(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                        PackageSettingsConfig& parent)
      : TemplatedGeneratedFile(package_path, last_gen_time), parent_(parent)
    {
    }
 
    bool hasChanges() const override
    {
      return parent_.author_info_changed_;
    }
 
    std::filesystem::path getRelativePath() const override
    {
      return "package.xml";
    }
 
    std::filesystem::path getTemplatePath() const override
    {
      // Note: we call the file package.xml.template so that it isn't automatically indexed by rosprofile
      return getSharePath("moveit_setup_framework") / "templates" / "package.xml.template";
    }
 
    std::string getDescription() const override
    {
      return "Defines a ROS package";
    }
 
  protected:
    PackageSettingsConfig& parent_;
  };
 
  class GeneratedCMake : public TemplatedGeneratedFile
  {
  public:
    using TemplatedGeneratedFile::TemplatedGeneratedFile;
 
    bool hasChanges() const override
    {
      return false;  // Generally doesn't change
    }
 
    std::filesystem::path getRelativePath() const override
    {
      return "CMakeLists.txt";
    }
 
    std::filesystem::path getTemplatePath() const override
    {
      return getSharePath("moveit_setup_framework") / "templates" / "CMakeLists.txt";
    }
 
    std::string getDescription() const override
    {
      return "CMake build system configuration file";
    }
  };
 
  void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                    std::vector<GeneratedFilePtr>& files) override
  {
    files.push_back(std::make_shared<GeneratedSettings>(package_path, last_gen_time, *this));
    files.push_back(std::make_shared<GeneratedPackageXML>(package_path, last_gen_time, *this));
    files.push_back(std::make_shared<GeneratedCMake>(package_path, last_gen_time));
  }
 
  void collectVariables(std::vector<TemplateVariable>& variables) override;
 
  void loadDependencies();
 
  std::string getAuthorName() const
  {
    return author_name_;
  }
  std::string getAuthorEmail() const
  {
    return author_email_;
  }
  void setAuthorName(const std::string& name)
  {
    author_name_ = name;
  }
  void setAuthorEmail(const std::string& email)
  {
    author_email_ = email;
  }
 
  void setGenerationTime();
 
protected:
  std::filesystem::path config_pkg_path_;
 
  std::string new_package_name_{ "unnamed_moveit_config" };
 
  std::string author_name_;
 
  std::string author_email_;
 
  bool author_info_changed_{ false };
 
  GeneratedTime config_pkg_generated_timestamp_;
 
  std::set<std::string> package_dependencies_;
};
}  // namespace moveit_setup