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Merge pull request #842 from dartsim/building_examples_tutorials
Allow examples and tutorials to be built out of DART source tree
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,143 @@ | ||
| /* | ||
| * Copyright (c) 2017, Graphics Lab, Georgia Tech Research Corporation | ||
| * Copyright (c) 2017, Personal Robotics Lab, Carnegie Mellon University | ||
| * All rights reserved. | ||
| * | ||
| * This file is provided under the following "BSD-style" License: | ||
| * Redistribution and use in source and binary forms, with or | ||
| * without modification, are permitted provided that the following | ||
| * conditions are met: | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND | ||
| * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, | ||
| * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF | ||
| * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR | ||
| * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF | ||
| * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | ||
| * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
|
||
| #include "dart/utils/DartResourceRetriever.hpp" | ||
|
|
||
| #include <iostream> | ||
| #include <fstream> | ||
| #include "dart/config.hpp" | ||
| #include "dart/common/Console.hpp" | ||
| #include "dart/common/LocalResourceRetriever.hpp" | ||
|
|
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| namespace dart { | ||
| namespace utils { | ||
|
|
||
| //============================================================================== | ||
| DartResourceRetriever::DartResourceRetriever() | ||
| : mLocalRetriever(std::make_shared<common::LocalResourceRetriever>()) | ||
| { | ||
| addDataDirectory(DART_DATA_LOCAL_PATH); | ||
| addDataDirectory(DART_DATA_GLOBAL_PATH); | ||
| } | ||
|
|
||
| //============================================================================== | ||
| bool DartResourceRetriever::exists(const common::Uri& uri) | ||
| { | ||
| std::string relativePath; | ||
| if (!resolveDataUri(uri, relativePath)) | ||
| return false; | ||
|
|
||
| if (uri.mAuthority.get() == "sample") | ||
| { | ||
| for (const auto& dataPath : mDataDirectories) | ||
| { | ||
| common::Uri fileUri; | ||
| fileUri.fromPath(dataPath + relativePath); | ||
|
|
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| if (mLocalRetriever->exists(fileUri)) | ||
| return true; | ||
| } | ||
| } | ||
| else | ||
| { | ||
| if (mLocalRetriever->exists(uri)) | ||
| return true; | ||
| } | ||
|
|
||
| return false; | ||
| } | ||
|
|
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| //============================================================================== | ||
| common::ResourcePtr DartResourceRetriever::retrieve(const common::Uri& uri) | ||
| { | ||
| std::string relativePath; | ||
| if (!resolveDataUri(uri, relativePath)) | ||
| return nullptr; | ||
|
|
||
| if (uri.mAuthority.get() == "sample") | ||
| { | ||
| for (const auto& dataPath : mDataDirectories) | ||
| { | ||
| common::Uri fileUri; | ||
| fileUri.fromPath(dataPath + relativePath); | ||
|
|
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| if (const auto resource = mLocalRetriever->retrieve(fileUri)) | ||
| return resource; | ||
| } | ||
| } | ||
| else | ||
| { | ||
| if (const auto resource = mLocalRetriever->retrieve(uri)) | ||
| return resource; | ||
| } | ||
|
|
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| return nullptr; | ||
| } | ||
|
|
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| //============================================================================== | ||
| void DartResourceRetriever::addDataDirectory( | ||
| const std::string& dataDirectory) | ||
| { | ||
| // Strip a trailing slash. | ||
| std::string normalizedDataDirectory; | ||
| if (!dataDirectory.empty() && dataDirectory.back() == '/') | ||
| { | ||
| normalizedDataDirectory | ||
| = dataDirectory.substr(0, dataDirectory.size() - 1); | ||
| } | ||
| else | ||
| { | ||
| normalizedDataDirectory = dataDirectory; | ||
| } | ||
|
|
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| mDataDirectories.push_back(normalizedDataDirectory); | ||
| } | ||
|
|
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| //============================================================================== | ||
| bool DartResourceRetriever::resolveDataUri( | ||
| const common::Uri& uri, | ||
| std::string& relativePath) const | ||
| { | ||
| if (uri.mScheme.get_value_or("dart") != "dart") | ||
| return false; | ||
|
|
||
| if (!uri.mPath) | ||
| { | ||
| dtwarn << "[DartResourceRetriever::resolveDataUri] Failed extracting" | ||
| " relative path from URI '" << uri.toString() << "'.\n"; | ||
| return false; | ||
| } | ||
| relativePath = uri.mPath.get_value_or(""); | ||
|
|
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| return true; | ||
| } | ||
|
|
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| } // namespace utils | ||
| } // namespace dart |
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