#include <ArmarXCore/core/system/ArmarXDataPath.h>

Static Public Member Functions
static void	addDataPath (const std::string &dataPath)

static void	addDataPaths (const std::string &dataPathList)

static void	addDataPaths (const std::vector< std::string > &dataPathList)

static std::string	cleanPath (const std::string &filepathStr)

static bool	FindPackageAndAddDataPath (const std::string &packageName)
	Search for the package and add its data path if it was found. More...

static std::string	getAbsolutePath (const std::string &relativeFilename, const std::vector< std::string > &additionalSearchPaths={}, bool verbose=true)

static bool	getAbsolutePath (const std::string &relativeFilename, std::string &storeAbsoluteFilename, const std::vector< std::string > &additionalSearchPaths={}, bool verbose=true)

static std::string	GetCachePath ()
	The base Cache directory of ArmarX. More...

static std::vector< std::string >	getDataPaths ()

static std::string	GetDefaultUserConfigPath ()
	The user config directory of ArmarX. More...

static std::string	getHomePath ()

static std::string	getProject (const std::vector< std::string > &projects, const std::string &relativeFilename)

static std::string	getRelativeArmarXPath (const std::string &absolutePathString)
	This method tries to morph a given absolute path into a relative path to a ArmarXDataPath. More...

static void	initDataPaths (const std::string &dataPathList)

static bool	mergePaths (std::string path, std::string subPath, std::string &result)

static std::string	relativeTo (const std::string &from, const std::string &to)
	Transform an absolute filepath into a relative path of the other absolute filepath. More...

static bool	ReplaceEnvVars (std::string &string)
	ReplaceEnvVars replaces environment variables in a string with their values, if the env. More...

static void	ReplaceVar (std::string &string, const std::string varName, const std::string &varValue)
	Replaces all occurences of variables in bash notation, e.g. More...

static void	ResolveHomePath (std::string &path)
	Resolves a path like ~/myfile.txt or $HOME/myfile.txt to /home/user/myfile.txt. More...

static std::string	resolvePath (const std::string &path, bool verbose=true)
	Resolves environment variables and home paths and tries to make path absolute. More...

static bool	SearchReadableFile (const std::string &querryFileName, std::string &resultFileName, bool verbose=true)

Detailed Description

The ArmarXDataPath class provides static methods to handle ArmarX data directories.

Data paths can be defined via the environment variable ArmarXData_DIRS (semicolon separated list). Additionally ArmarX Properties (ArmarX.DataPath) can be used either by command line or by config files.

The search order is as follows

Environment variable
Properties

Usually, the paths are initialized by the framework automatically (see Application).

To convert a filename given relatively to one of the data directories use the following syntax

std::string relativeFilename("robot/ArmarIII/ArmarIII.xml");
std::string absoluteFilename;
bool fileFound = ArmarXDataPath::getAbsolutePath(relativeFilename, absoluteFilename);
if (fileFound)
    load(absoluteFilename);

Definition at line 57 of file ArmarXDataPath.h.

Member Function Documentation

◆ addDataPath()

void addDataPath ( const std::string & dataPath )

static

Definition at line 576 of file ArmarXDataPath.cpp.

◆ addDataPaths() [1/2]

void addDataPaths ( const std::string & dataPathList )

static

Add data paths to the internal search list. Multiple paths are separated by a semicolon ";" and environment variables specified with "${}" inside the paths are expanded. The latest additions have the highest precedence, when solving relative paths.

addDataPaths("/root;/usr");

addDataPaths("/home;/var");

This would result in the following precedence order: home, var, root, usr.

Parameters

dataPathList A semicolon separated list of absolute paths. Each path is checked for existance and in case it is not present it is silently ignored.

Definition at line 559 of file ArmarXDataPath.cpp.

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◆ addDataPaths() [2/2]

void addDataPaths ( const std::vector< std::string > & dataPathList )

static

Definition at line 566 of file ArmarXDataPath.cpp.

◆ cleanPath()

std::string cleanPath ( const std::string & filepathStr )

static

Definition at line 331 of file ArmarXDataPath.cpp.

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◆ FindPackageAndAddDataPath()

bool FindPackageAndAddDataPath ( const std::string & packageName )

static

Search for the package and add its data path if it was found.

Returns: returns whether the package was found

Definition at line 829 of file ArmarXDataPath.cpp.

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◆ getAbsolutePath() [1/2]

std::string getAbsolutePath	(	const std::string &	relativeFilename,
		const std::vector< std::string > &	additionalSearchPaths = `{}`,
		bool	verbose = `true`
	)

static

This method searches all data paths for a valid file. The precedence of the datapaths is in the insertion order. The datapaths given to this function have the highest precedence.

Parameters

relativeFilename	The file relatively to one of the data paths
additionalSearchPaths	Additional search paths that are not in the globally registered variable.
verbose	If set to true, the function will print all available paths and the requested file to the console on failure.

Returns: In case a valid absolute filename can be found, it is returned (otherwise an empty string is returned).

Definition at line 208 of file ArmarXDataPath.cpp.

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◆ getAbsolutePath() [2/2]

bool getAbsolutePath	(	const std::string &	relativeFilename,
		std::string &	storeAbsoluteFilename,
		const std::vector< std::string > &	additionalSearchPaths = `{}`,
		bool	verbose = `true`
	)

static

This method searches all data paths for a valid file. The precedence of the datapaths is in the insertion order. The datapaths given to this function have the highest precedence.

Parameters

relativeFilename	The file relatively to one of the data paths
storeAbsoluteFilename	In case a valid absolute filename can be found, it is stored here.
additionalSearchPaths	Additional search paths that are not in the globally registered variable.
verbose	If set to true, the function will print all available paths and the requested file to the console on failure.

Returns: true on success.

Definition at line 111 of file ArmarXDataPath.cpp.

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◆ GetCachePath()

std::string GetCachePath ( )

static

The base Cache directory of ArmarX.

Returns: returns the cache path of ArmarX or an empty String if there is no valid Application instance

Definition at line 734 of file ArmarXDataPath.cpp.

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◆ getDataPaths()

std::vector< std::string > getDataPaths ( )

static

Returns all absolute data paths.

Definition at line 620 of file ArmarXDataPath.cpp.

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◆ GetDefaultUserConfigPath()

std::string GetDefaultUserConfigPath ( )

static

The user config directory of ArmarX.

Returns: returns the default path of ArmarX (usually $ARMARX_WORKSPACE/armarx_config) or the user set path via $ARMARX_CONFIG_DIR

Definition at line 782 of file ArmarXDataPath.cpp.

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◆ getHomePath()

std::string getHomePath ( )

static

The base directory of ArmarX. Checks the environment variables for ArmarXHome_DIR and returns the entry.

Definition at line 583 of file ArmarXDataPath.cpp.

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◆ getProject()

std::string getProject	(	const std::vector< std::string > &	projects,
		const std::string &	relativeFilename
	)

static

Search all project data paths and reports within which project the file can be located. First hit is reported. If none of the project's data paths contains the file, an empty string is returned.

Parameters

projects	List of ArmarXProjects
relativeFilename	Filename relative to a project's data directory.

Returns: The armarx project that contains the given file in its data directory.

Definition at line 301 of file ArmarXDataPath.cpp.

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◆ getRelativeArmarXPath()

std::string getRelativeArmarXPath ( const std::string & absolutePathString )

static

This method tries to morph a given absolute path into a relative path to a ArmarXDataPath.

Parameters

absolutePathString String of an absolute (file)path

Returns: The relative path to the given absolute (file)path, if possible. Otherwise the given absolute path.

See also: addDataPaths()

Definition at line 382 of file ArmarXDataPath.cpp.

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◆ initDataPaths()

void initDataPaths ( const std::string & dataPathList )

static

Initializes data paths. Automatically called by an Application.

Definition at line 477 of file ArmarXDataPath.cpp.

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◆ mergePaths()

bool mergePaths	(	std::string	path,
		std::string	subPath,
		std::string &	result
	)

static

Definition at line 456 of file ArmarXDataPath.cpp.

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◆ relativeTo()

std::string relativeTo	(	const std::string &	from,
		const std::string &	to
	)

static

Transform an absolute filepath into a relative path of the other absolute filepath.

For example:

    std::string path = "projects/armarx/trunk/Core";
    std::string subPath = "projects/armarx/trunk/Core/data/elem.xml";
    std::string result = ArmarXDataPath::relativeTo(path, subPath);
    BOOST_CHECK_EQUAL("data/elem.xml", result);

Parameters

from	Base path, to which the path should be made relative
to	Path that should be made relative

Returns: Relative path

Exceptions

LocalException

Definition at line 410 of file ArmarXDataPath.cpp.

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◆ ReplaceEnvVars()

bool ReplaceEnvVars ( std::string & string )

static

ReplaceEnvVars replaces environment variables in a string with their values, if the env.

variable is set. E.g. "${HOME}/.armarx/default.cfg"

Parameters

string String in which the environment variables are to be replaced

Returns: returns true if atleast one replacement has been done.

Definition at line 483 of file ArmarXDataPath.cpp.

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◆ ReplaceVar()

void ReplaceVar	(	std::string &	string,
		const std::string	varName,
		const std::string &	varValue
	)

static

Replaces all occurences of variables in bash notation, e.g.

${HOME}, with the given value in the string.

Parameters

string	String to be modified
varName	Name of the variable
varValue	Value to be inserted in place of varName occurrences

Definition at line 513 of file ArmarXDataPath.cpp.

◆ ResolveHomePath()

void ResolveHomePath ( std::string & path )

static

Resolves a path like ~/myfile.txt or $HOME/myfile.txt to /home/user/myfile.txt.

Parameters

string

Definition at line 521 of file ArmarXDataPath.cpp.

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◆ resolvePath()

std::string resolvePath	(	const std::string &	path,
		bool	verbose = `true`
	)

static

Resolves environment variables and home paths and tries to make path absolute.

Parameters

path	The path, may contain env. variables and be a relative data path.
verbose	Passed to `getAbsolutePath()`.

Returns: The resolved path.

Definition at line 542 of file ArmarXDataPath.cpp.

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◆ SearchReadableFile()

bool SearchReadableFile	(	const std::string &	querryFileName,
		std::string &	resultFileName,
		bool	verbose = `true`
	)

static

Definition at line 218 of file ArmarXDataPath.cpp.

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The documentation for this class was generated from the following files:

ArmarXCore/core/system/ArmarXDataPath.h
ArmarXCore/core/system/ArmarXDataPath.cpp

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ addDataPath()

◆ addDataPaths() [1/2]

◆ addDataPaths() [2/2]

◆ cleanPath()

◆ FindPackageAndAddDataPath()

◆ getAbsolutePath() [1/2]

◆ getAbsolutePath() [2/2]

◆ GetCachePath()

◆ getDataPaths()

◆ GetDefaultUserConfigPath()

◆ getHomePath()

◆ getProject()

◆ getRelativeArmarXPath()

◆ initDataPaths()

◆ mergePaths()

◆ relativeTo()

◆ ReplaceEnvVars()

◆ ReplaceVar()

◆ ResolveHomePath()

◆ resolvePath()

◆ SearchReadableFile()