diff --git a/source/RobotAPI/applications/AronCodeGenerator/main.cpp b/source/RobotAPI/applications/AronCodeGenerator/main.cpp
index 5da09c7a9a41abf9fca00adff864567125983938..dbe232179fa40b7b8c24a8957730ca1a7113995d 100644
--- a/source/RobotAPI/applications/AronCodeGenerator/main.cpp
+++ b/source/RobotAPI/applications/AronCodeGenerator/main.cpp
@@ -63,7 +63,8 @@ int main(int argc, char* argv[])
options.add_options("IO")
("i,input", "XML file name", cxxopts::value<std::string>()->default_value(input_default))
- ("o,output", "The output path", cxxopts::value<std::string>()->default_value(output_default));
+ ("o,output", "The output path", cxxopts::value<std::string>()->default_value(output_default))
+ ("I,include", "include path", cxxopts::value<std::vector<std::string>>());
options.add_options("Generation")
("f,force", "Enforce the generation", cxxopts::value<bool>()->default_value("false"));
@@ -108,6 +109,17 @@ int main(int argc, char* argv[])
std::filesystem::path input_file(filename);
std::filesystem::path output_folder(output);
+ std::vector<std::filesystem::path> includePaths;
+
+ if(result.count("I") > 0)
+ {
+ for(const auto& path: result["I"].as<std::vector<std::string>>())
+ {
+ includePaths.emplace_back(path);
+ }
+ }
+
+
if (!std::filesystem::exists(input_file) || !std::filesystem::is_regular_file(input_file))
{
std::cerr << "The input file does not exist or is not a regular file." << std::endl;
@@ -132,7 +144,7 @@ int main(int argc, char* argv[])
}
typereader::xml::Reader reader;
- reader.parseFile(input_file);
+ reader.parseFile(input_file, includePaths);
if (verbose)
{
std::cout << "Parsing the XML file... done!" << std::endl;
diff --git a/source/RobotAPI/libraries/aron/core/typereader/Reader.h b/source/RobotAPI/libraries/aron/core/typereader/Reader.h
index c5e7b72347c0fe22541649c61305c3aff0962eed..d09c5967d34b70ee0d68ef7c72d233ca30c187e9 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/typereader/Reader.h
@@ -47,10 +47,10 @@ namespace armarx::aron::typereader
Reader() = default;
/// parse a filename
- virtual void parseFile(const std::string& filename) = 0;
+ virtual void parseFile(const std::string& filename, const std::vector<std::filesystem::path>& includePaths) = 0;
/// path a file given by std::filesystem
- virtual void parseFile(const std::filesystem::path& file) = 0;
+ virtual void parseFile(const std::filesystem::path& file, const std::vector<std::filesystem::path>& includePaths) = 0;
std::vector<std::string> getCodeIncludes() const
{
diff --git a/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.cpp b/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.cpp
index c12e495c0c64693ab78e6af7ae7b84561b25d83e..a150fa341e4b427476e2ee17389bdade64c138dc 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.cpp
+++ b/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.cpp
@@ -26,6 +26,7 @@
// Header
#include "Reader.h"
+#include <sstream>
// ArmarX
#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
@@ -42,8 +43,20 @@ namespace armarx::aron::typereader::xml
namespace
{
/// Resolve a relative Package path. This may be removed in a newer version of aron
- std::optional<fs::path> resolveRelativePackagePath(const fs::path& path)
+ std::optional<fs::path> resolveRelativePackagePath(const fs::path& path, const std::vector<fs::path>& includePaths)
{
+ // new behavior: using provided include paths
+ for (const auto& includePath : includePaths)
+ {
+ fs::path absPath = includePath / path;
+ if (fs::is_regular_file(absPath))
+ {
+ // path is valid
+ return absPath;
+ }
+ }
+
+ // legacy behavior: using cmake package finder paths
const std::string package = *path.begin();
armarx::CMakePackageFinder finder(package);
if (finder.packageFound())
@@ -59,14 +72,12 @@ namespace armarx::aron::typereader::xml
}
return std::nullopt;
}
- else
- {
- return std::nullopt;
- }
+
+ return std::nullopt;
}
}
- void Reader::parseFile(const std::string& _filename)
+ void Reader::parseFile(const std::string& _filename, const std::vector<std::filesystem::path>& includePaths)
{
std::string filename = _filename;
// Handle C++ style includes like "<path/to/file>".
@@ -74,19 +85,19 @@ namespace armarx::aron::typereader::xml
{
filename = filename.substr(1, filename.size() - 2);
}
- parseFile(std::filesystem::path(filename));
+ parseFile(std::filesystem::path(filename), includePaths);
}
- void Reader::parseFile(const std::filesystem::path& _file)
+ void Reader::parseFile(const std::filesystem::path& _file, const std::vector<std::filesystem::path>& includePaths)
{
fs::path file = _file;
RapidXmlReaderPtr reader = RapidXmlReader::FromFile(file.string());
- parse(reader, _file);
+ parse(reader, _file, includePaths);
}
// private method reading nodes
- void Reader::parse(const RapidXmlReaderPtr& reader, const std::filesystem::path& filePath)
+ void Reader::parse(const RapidXmlReaderPtr& reader, const std::filesystem::path& filePath, const std::vector<std::filesystem::path>& includePaths)
{
RapidXmlReaderNode root = reader->getRoot();
@@ -104,7 +115,7 @@ namespace armarx::aron::typereader::xml
{
for (const auto& include : (*code_includes).nodes())
{
- this->codeIncludes.push_back(readCodeInclude(include, filePath));
+ this->codeIncludes.push_back(readCodeInclude(include, filePath, includePaths));
}
}
@@ -113,7 +124,7 @@ namespace armarx::aron::typereader::xml
{
for (const auto& aronInclude : (*aron_includes).nodes())
{
- this->aronIncludes.push_back(readAronInclude(aronInclude, filePath));
+ this->aronIncludes.push_back(readAronInclude(aronInclude, filePath, includePaths));
}
}
@@ -144,7 +155,7 @@ namespace armarx::aron::typereader::xml
}
}
- std::string Reader::readCodeInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath)
+ std::string Reader::readCodeInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath, const std::vector<std::filesystem::path>& includePaths)
{
util::EnforceTagName(node, constantes::INCLUDE_TAG);
util::EnforceAttribute(node, constantes::INCLUDE_ATTRIBUTE_NAME);
@@ -152,7 +163,7 @@ namespace armarx::aron::typereader::xml
return include;
}
- std::string Reader::readAronInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath)
+ std::string Reader::readAronInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath, const std::vector<std::filesystem::path>& includePaths)
{
util::EnforceTagName(node, constantes::INCLUDE_TAG);
std::string specifiedPath = util::GetAttribute(node, constantes::INCLUDE_ATTRIBUTE_NAME);
@@ -166,7 +177,8 @@ namespace armarx::aron::typereader::xml
if (!xmlincludepath.empty() && xmlincludepath.is_relative())
{
- if (std::optional<fs::path> resolvedPackagePath = resolveRelativePackagePath(xmlincludepath); resolvedPackagePath.has_value())
+ // ARMARX_INFO << "Checking file " << xmlincludepath;
+ if (std::optional<fs::path> resolvedPackagePath = resolveRelativePackagePath(xmlincludepath, includePaths); resolvedPackagePath.has_value())
{
// check if relative path belongs to a package
resolved_absolute_path = resolvedPackagePath.value();
@@ -181,7 +193,13 @@ namespace armarx::aron::typereader::xml
if (!fs::is_regular_file(resolved_absolute_path))
{
- throw error::AronException(__PRETTY_FUNCTION__, "Could not find an aron XML file. Last path tried was: " + resolved_absolute_path.string());
+ std::stringstream ss;
+ for(const auto& includePath: includePaths)
+ {
+ ss << includePath << ", ";
+ }
+
+ throw error::AronException(__PRETTY_FUNCTION__, "Could not find an aron XML file `" + xmlincludepath.string() + "`. Search paths are: " + ss.str());
}
}
}
@@ -189,7 +207,7 @@ namespace armarx::aron::typereader::xml
// parse parent xml file and add objects to alreday known
Reader anotherReader;
- anotherReader.parseFile(resolved_absolute_path);
+ anotherReader.parseFile(resolved_absolute_path, includePaths);
for (const auto& previouslyKnown : anotherReader.factory.allPreviouslyKnownPublicTypes)
{
factory.allPreviouslyKnownPublicTypes.push_back(previouslyKnown);
@@ -224,5 +242,3 @@ namespace armarx::aron::typereader::xml
return type::IntEnum::DynamicCastAndCheck(factory.create(node, Path()));
}
}
-
-
diff --git a/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.h b/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.h
index cd048d4dca481083639bfa282072570f61ac8d5d..91647c64a238cbd237656e5ac454670e82873e19 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.h
@@ -50,14 +50,14 @@ namespace armarx::aron::typereader::xml
public:
Reader() = default;
- void parseFile(const std::string&) override;
- void parseFile(const std::filesystem::path&) override;
+ void parseFile(const std::string& filename, const std::vector<std::filesystem::path>& includePaths) override;
+ void parseFile(const std::filesystem::path& file, const std::vector<std::filesystem::path>& includePaths) override;
private:
- void parse(const RapidXmlReaderPtr& node, const std::filesystem::path& filePath);
+ void parse(const RapidXmlReaderPtr& node, const std::filesystem::path& filePath, const std::vector<std::filesystem::path>& includePaths);
- std::string readCodeInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath);
- std::string readAronInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath);
+ std::string readCodeInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath, const std::vector<std::filesystem::path>& includePaths);
+ std::string readAronInclude(const RapidXmlReaderNode& node, const std::filesystem::path& filePath, const std::vector<std::filesystem::path>& includePaths);
type::ObjectPtr readGenerateObject(const RapidXmlReaderNode& node);
type::IntEnumPtr readGenerateIntEnum(const RapidXmlReaderNode& node);