added getfile path

CMakeLists.txt

@@ -1,4 +1,6 @@
 project(smurf_parser)
+set(CMAKE_BUILD_TYPE Debug)
+
 set(PROJECT_VERSION 1.0)
 set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR} "${PROJECT_SOURCE_DIR}/cmake")
 cmake_minimum_required(VERSION 2.6)
@@ -112,3 +114,8 @@ install(FILES ${SOURCES_H} DESTINATION include/smurf_parser)
 
 configure_file(${PROJECT_NAME}.pc.in ${CMAKE_BINARY_DIR}/${PROJECT_NAME}.pc @ONLY)
 install(FILES ${CMAKE_BINARY_DIR}/${PROJECT_NAME}.pc DESTINATION lib/pkgconfig)
+
+
+add_executable(test_smurf_parser src/test_smurf_parser.cpp ${SOURCES_H} ${TARGET_SRC} )
+target_link_libraries(test_smurf_parser ${PROJECT_NAME} ${QT_LIBRARIES} ${QT_QTXML_LIBRARY} ${PKGCONFIG_LIBRARIES} ${WIN_LIBS} ${Boost_LIBRARIES})
+

src/SMURFParser.cpp

@@ -60,4 +60,69 @@ namespace smurf_parser {
     return model;
   }
 
+
+
+boost::filesystem::path resolve_path( const boost::filesystem::path& p, const boost::filesystem::path& base )
+{
+    boost::filesystem::path abs_p = boost::filesystem::absolute(p,base);
+    boost::filesystem::path result;
+    for(boost::filesystem::path::iterator it=abs_p.begin(); it!=abs_p.end(); ++it)
+    {
+        if(*it == "..")
+        {
+            // /a/b/.. is not necessarily /a if b is a symbolic link
+            if(boost::filesystem::is_symlink(result) )
+            result /= *it;
+            // /a/b/../.. is not /a/b/.. under most circumstances
+            // We can end up with ..s in our result because of symbolic links
+            else if(result.filename() == "..")
+            result /= *it;
+            // Otherwise it should be safe to resolve the parent
+            else
+            result = result.parent_path();
+        }
+        else if(*it == ".")
+        {
+            // Ignore
+        }
+        else
+        {
+            // Just cat other path entries
+            result /= *it;
+        }
+    }
+    return result;
+}
+
+
+
+void getFilesAbsolutePath(std::string path,configmaps::ConfigMap* map, std::string smurffilename,bool expandURIs ,std::string &absolute_urdf_path,std::string &absolute_srd_fpath, std::vector<std::string> &absolute_conf_yml_files)
+{
+    map->append(configmaps::ConfigMap::fromYamlFile(path+smurffilename, expandURIs));
+    configmaps::ConfigVector::iterator it;
+    boost::filesystem::path abs_path_of_file;
+
+
+    for(it = (*map)["files"].begin(); it!=(*map)["files"].end(); ++it)
+    {
+        boost::filesystem::path filepath((std::string)(*it));
+        if(filepath.extension().generic_string() == ".urdf")
+        {
+            abs_path_of_file=resolve_path(filepath.generic_string(),path) ;
+            absolute_urdf_path=abs_path_of_file.string();
+        }
+        if(filepath.extension().generic_string() == ".srdf")
+        {
+            abs_path_of_file=resolve_path(filepath.generic_string(),path) ;
+            absolute_srd_fpath=abs_path_of_file.string();
+        }
+        else if(filepath.extension() == ".yml")
+        {
+            abs_path_of_file=resolve_path(filepath.generic_string(),path) ;
+            absolute_conf_yml_files.push_back(abs_path_of_file.string() );
+        }
+    }
+    return;
+}
+
 }

src/SMURFParser.h

@@ -38,6 +38,8 @@ namespace smurf_parser {
     boost::shared_ptr<urdf::ModelInterface> parseFile(configmaps::ConfigMap* map,
       std::string path, std::string smurffilename, bool expandURIs);
 
+    void getFilesAbsolutePath(std::string path,configmaps::ConfigMap* map, std::string smurffilename,bool expandURIs ,std::string &absolute_urdf_path,std::string &absolute_srd_fpath, std::vector<std::string> &absolute_conf_yml_files);
+
 } // end of namespace smurf_parser
 
 #endif  // SMURF_PARSER_H

src/test_smurf_parser.cpp

@@ -0,0 +1,22 @@
+#include "SMURFParser.h"
+#include <stdio.h>
+
+int main(int argc , char** argv)
+{
+    std::string path="/home/basadi/Desktop/mantis.git/smurf/";
+    configmaps::ConfigMap* map=new configmaps::ConfigMap;
+    std::string smurffilename="mantis.smurf";
+    bool expandURIs;
+    std::string absolute_urdf_path;
+    std::string absolute_srdf_path;
+    std::vector<std::string> absolute_conf_yml_files;
+
+    smurf_parser::getFilesAbsolutePath(path,map,smurffilename, expandURIs, absolute_urdf_path,absolute_srdf_path,absolute_conf_yml_files);
+    std::cout<<"absolute_urdf_path: " <<absolute_urdf_path<<std::endl;
+    std::cout<<"absolute_srdf_path: " <<absolute_srdf_path<<std::endl;
+    for(std::size_t i=0;i<absolute_conf_yml_files.size();i++)
+    {
+        std::cout<<"absolute_conf_yml_files: " <<absolute_conf_yml_files.at(i) <<std::endl;
+    }
+
+}