Armem/dev

source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Reader.cpp

@@ -29,20 +29,38 @@
 
 // ArmarX
 #include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
+#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
 
 #include <RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h>
 #include <RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.h>
 
+
+namespace fs = std::filesystem;
+
 namespace armarx::aron::xmltypereader
 {
-    void Reader::parseFile(const std::string& filename)
+    void Reader::parseFile(const std::string& _filename)
     {
-        RapidXmlReaderPtr reader = RapidXmlReader::FromFile(filename);
-        parse(reader);
+        std::string filename = _filename;
+        // Handle C++ style includes like "<path/to/file>".
+        if (!filename.empty() && filename.front() == '<' && filename.back() == '>')
+        {
+            filename = filename.substr(1, filename.size() - 2);
+        }
+        parseFile(std::filesystem::path(filename));
     }
 
-    void Reader::parseFile(const std::filesystem::path& file)
+    void Reader::parseFile(const std::filesystem::path& _file)
     {
+        fs::path file = _file;
+        if (!file.empty() && file.is_relative())
+        {
+            if (std::optional<fs::path> resolved = detail::resolveRelativePackagePath(file))
+            {
+                file = resolved.value();
+            }
+        }
+
         RapidXmlReaderPtr reader = RapidXmlReader::FromFile(file.string());
         parse(reader);
     }
@@ -185,4 +203,30 @@ namespace armarx::aron::xmltypereader
         return typenavigator::IntEnumNavigator::DynamicCastAndCheck(factory.create(node, Path()));
 
     }
+
+
+    std::optional<fs::path> detail::resolveRelativePackagePath(const fs::path& path)
+    {
+        const std::string package = *path.begin();
+        armarx::CMakePackageFinder finder(package);
+        if (finder.packageFound())
+        {
+            for (const std::string& includePath : finder.getIncludePathList())
+            {
+                fs::path absPath = includePath / path;
+                if (fs::is_regular_file(absPath))
+                {
+                    return absPath;
+                }
+            }
+            return std::nullopt;
+        }
+        else
+        {
+            return std::nullopt;
+        }
+    }
+
 }
+
+