PackageBuilder.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarXCore::core
 * @author     Cedric Seehausen (usdnr at kit dot edu)
 * @date       2016
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#include "PackageBuilder.h"
 
#include <algorithm>
#include <filesystem>
#include <fstream>
 
#include "ArmarXCore/core/application/Application.h"
#include "ArmarXCore/core/logging/Logging.h"
#include "ArmarXCore/core/system/ArmarXDataPath.h"
#include "ArmarXCore/core/system/cmake/CMakePackageFinder.h"
#include "ArmarXCore/util/ScenarioManagerCommon/parser/DependenciesGenerator.h"
#include "ArmarXCore/util/ScenarioManagerCommon/parser/StringUtil.hpp"
#include "ArmarXCore/util/ScenarioManagerCommon/parser/XMLScenarioParser.h"
 
using namespace ScenarioManager;
using namespace Parser;
using namespace Data_Structure;
 
std::map<std::string, DependencyTree> PackageBuilder::cachedTrees;
 
PackagePtr
PackageBuilder::parsePackage(std::string name)
{
    armarx::CMakePackageFinder pFinder(name);
    XMLScenarioParser parser;
 
    StringList scenarios = parser.getScenariosFromFolder(pFinder.getScenariosDir());
 
    //format them into the right parsing
    int i = 0;
    for (auto scenario : scenarios)
    {
        scenario.append("::Package::" + name);
        scenarios[i] = scenario;
        ARMARX_INFO_S << scenario << " " << scenarios[i];
        i++;
    }
 
    return parsePackage(name, scenarios);
}
 
PackagePtr
PackageBuilder::parsePackage(std::string name, StringList openedScenarios)
{
    armarx::CMakePackageFinder pFinder =
        armarx::CMakePackageFinderCache::GlobalCache.findPackage(name);
 
    if (pFinder.packageFound())
    {
        PackagePtr result;
 
        result = PackagePtr(new Package(name, pFinder.getConfigDir(), pFinder.getScenariosDir()));
 
        DependenciesGenerator generator;
        generator.generateDependenciesCfg(result);
 
        const std::vector<std::string> executables = pFinder.getComponentExecutableNames();
        for (auto executable : executables)
        {
            auto application = std::make_shared<Data_Structure::Application>(
                executable, pFinder.getBinaryDir(), result->getName());
            result->addApplication(application);
        }
 
        std::string scenarioDir = pFinder.getScenariosDir();
        XMLScenarioParser parser;
        std::vector<std::string> packageScenarios = parser.getScenariosFromFolder(scenarioDir);
 
        for (auto scenarioName : packageScenarios)
        {
            for (unsigned int i = 0; i < openedScenarios.size(); i++)
            {
                StringList stringSplit;
 
                auto pos = openedScenarios[i].find("::Package::");
                stringSplit.push_back(openedScenarios[i].substr(0, pos));
                stringSplit.push_back(openedScenarios[i].substr(pos + 11));
 
                if (scenarioName.compare(stringSplit.at(0)) == 0 &&
                    result->getName().compare(stringSplit.at(1)) == 0)
                {
                    ScenarioPtr scenario;
 
                    auto subfolderPos = scenarioName.find("/");
                    if (subfolderPos != std::string::npos)
                    {
                        scenario = parser.parseScenario(result,
                                                        scenarioName.substr(subfolderPos + 1),
                                                        scenarioName.substr(0, subfolderPos));
                    }
                    else
                    {
                        scenario = parser.parseScenario(result, scenarioName);
                    }
 
                    if (scenario.get() != nullptr)
                    {
                        scenario->reloadAppInstances();
                        result->addScenario(scenario);
                    }
                    else
                    {
                        ARMARX_INFO_S << "Could not find / parse Scenario at " + scenarioDir +
                                             " despite CMake knows it.";
                    }
                    continue;
                }
            }
        }
        return result;
    }
 
    ARMARX_INFO << "Package '" << name << "' not found!";
    return PackagePtr();
}
 
StringList
PackageBuilder::FilterPackagesForScenario(std::string scenario)
{
    StringList result;
 
    StringList packages = GetDefaultPackages();
    for (auto package : packages)
    {
        armarx::CMakePackageFinder finder =
            armarx::CMakePackageFinderCache::GlobalCache.findPackage(package);
        XMLScenarioParser parser;
 
        StringList scenarios = parser.getScenariosFromFolder(finder.getScenariosDir());
 
        if (std::find(scenarios.begin(), scenarios.end(), scenario) != scenarios.end())
        {
            result.push_back(package);
        }
    }
 
    return result;
}
 
StringList
PackageBuilder::GetDefaultPackages()
{
    StringList packages;
    if (armarx::Application::getInstance())
    {
        return armarx::Application::getInstance()->getArmarXPackageNames();
    }
    return packages;
}