utilities.hpp

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/* Author: David V. Lu!! */
 
#pragma once
 
#include <ament_index_cpp/get_package_prefix.hpp>
// ament_index_cpp's get_package_share_directory API changed twice.
// Guard on ament_index_cpp's own version — not rclcpp — because the
// changes live in ament_index_cpp and its release cadence is independent
// of rclcpp's.
//   1.14+ (Rolling on Resolute):
//     get_package_share_directory.hpp REMOVED, replaced with
//     get_package_share_path.hpp exposing get_package_share_path(pkg)
//     returning std::filesystem::path directly.
//   1.5+ (Jazzy 1.8.4, Kilted 1.11.4, Lyrical 1.13.3, Rolling-on-Noble 1.13.1):
//     2-arg out-param overload get_package_share_directory(pkg, path)
//     available; the 1-arg form is deprecated starting in 1.13.
//   Older (Humble 1.4.1):
//     only the non-deprecated 1-arg get_package_share_directory(pkg)
//     returning std::string is available.
#include <ament_index_cpp/version.h>
#if AMENT_INDEX_CPP_VERSION_GTE(1, 14, 0)
#include <ament_index_cpp/get_package_share_path.hpp>
#else
#include <ament_index_cpp/get_package_share_directory.hpp>
#endif
#include <filesystem>
#include <string>
#include <tinyxml2.h>
#include <yaml-cpp/yaml.h>
 
namespace moveit_setup
{
inline std::filesystem::path getSharePath(const std::string& package_name)
{
  try
  {
#if AMENT_INDEX_CPP_VERSION_GTE(1, 14, 0)
    return ament_index_cpp::get_package_share_path(package_name);
#elif AMENT_INDEX_CPP_VERSION_GTE(1, 5, 0)
    std::filesystem::path path;
    ament_index_cpp::get_package_share_directory(package_name, path);
    return path;
#else
    return std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name));
#endif
  }
  catch (const std::runtime_error& e)
  {
    return std::filesystem::path();
  }
}

inline bool createFolders(const std::filesystem::path& output_path)
{
  return std::filesystem::is_directory(output_path) || std::filesystem::create_directories(output_path);
}

inline bool createParentFolders(const std::filesystem::path& file_path)
{
  return createFolders(file_path.parent_path());
}

bool extractPackageNameFromPath(const std::filesystem::path& path, std::string& package_name,
                                std::filesystem::path& relative_filepath);

struct XMLAttribute
{
  const char* name;
  const char* value;
  bool required = false;
};

tinyxml2::XMLElement* uniqueInsert(tinyxml2::XMLDocument& doc, tinyxml2::XMLElement& element, const char* tag,
                                   const std::vector<XMLAttribute>& attributes = {}, const char* text = nullptr);
 
// Formerly "parse"
template <typename T>
inline bool getYamlProperty(const YAML::Node& node, const std::string& key, T& storage, const T& default_value = T())
{
  const YAML::Node& n = node[key];
  bool valid = n.IsDefined();
  storage = valid ? n.as<T>() : default_value;
  return valid;
}
 
inline bool getYamlProperty(const YAML::Node& node, const std::string& key, std::filesystem::path& storage,
                            const std::string& default_value = "")
{
  std::string storage_s;
  bool ret = getYamlProperty(node, key, storage_s, default_value);
  if (ret)
  {
    storage = storage_s;
  }
  return ret;
}
 
}  // namespace moveit_setup