templates.cpp

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/* Author: David V. Lu!! */
 
#include <moveit_setup_framework/templates.hpp>
#include <rclcpp/rclcpp.hpp>
#include <boost/algorithm/string.hpp>  // for string find and replace in templates
#include <moveit/utils/logger.hpp>
 
namespace moveit_setup
{
namespace
{
rclcpp::Logger getLogger()
{
  return moveit::getLogger("moveit.setup_assistant.setup.templates");
}
}  // namespace
std::vector<TemplateVariable> TemplatedGeneratedFile::variables;
 
bool TemplatedGeneratedFile::write()
{
  std::filesystem::path template_path = getTemplatePath();
 
  // Error check file
  if (!std::filesystem::is_regular_file(template_path))
  {
    RCLCPP_ERROR_STREAM(getLogger(), "Unable to find template file " << template_path.string());
    return false;
  }
 
  // Load file
  std::ifstream template_stream(template_path);
  if (!template_stream.good())  // File not found
  {
    RCLCPP_ERROR_STREAM(getLogger(), "Unable to load file " << template_path.string());
    return false;
  }
 
  // Load the file to a string using an efficient memory allocation technique
  std::string template_string;
  template_stream.seekg(0, std::ios::end);
  template_string.reserve(template_stream.tellg());
  template_stream.seekg(0, std::ios::beg);
  template_string.assign((std::istreambuf_iterator<char>(template_stream)), std::istreambuf_iterator<char>());
  template_stream.close();
 
  // Replace keywords in string ------------------------------------------------------------
  for (const auto& variable : variables)
  {
    std::string key_with_brackets = "[" + variable.key + "]";
    boost::replace_all(template_string, key_with_brackets, variable.value);
  }
 
  // Save string to new location -----------------------------------------------------------
  std::filesystem::path file_path = getPath();
  createParentFolders(file_path);
 
  std::ofstream output_stream(file_path, std::ios_base::trunc);
  if (!output_stream.good())
  {
    RCLCPP_ERROR_STREAM(getLogger(), "Unable to open file for writing " << file_path.string());
    return false;
  }
 
  output_stream << template_string.c_str();
  output_stream.close();
 
  return true;  // file created successfully
}
 
}  // namespace moveit_setup