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94 lines
2.8 KiB
94 lines
2.8 KiB
2 years ago
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#include "drake/multibody/parsing/detail_path_utils.h"
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#include <filesystem>
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#include <optional>
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#include <regex>
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#include <string>
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#include <vector>
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#include <fmt/format.h>
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#include "drake/common/drake_assert.h"
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#include "drake/common/never_destroyed.h"
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namespace drake {
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namespace multibody {
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namespace internal {
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namespace fs = std::filesystem;
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using std::string;
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using drake::internal::DiagnosticPolicy;
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string ResolveUri(const DiagnosticPolicy& diagnostic, const string& uri,
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const PackageMap& package_map, const string& root_dir) {
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fs::path result;
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// Parse the given URI into pieces.
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static const never_destroyed<std::regex> uri_matcher{
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"^([a-z0-9+.-]+)://([^/]*)/+(.*)"};
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std::smatch match;
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if (std::regex_match(uri, match, uri_matcher.access())) {
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// The `uri` was actually a URI (not a bare filename).
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DRAKE_DEMAND(match.size() == 4);
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const std::string& uri_scheme = match[1];
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const std::string& uri_package = match[2];
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const std::string& uri_path = match[3];
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if (uri_scheme == "file") {
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result = "/" + uri_path;
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} else if ((uri_scheme == "model") || (uri_scheme == "package")) {
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if (!package_map.Contains(uri_package)) {
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diagnostic.Error(fmt::format(
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"URI '{}' refers to unknown package '{}'", uri, uri_package));
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return {};
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}
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std::optional<string> deprecation;
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const std::string& package_path = package_map.GetPath(
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uri_package, &deprecation);
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if (deprecation.has_value()) {
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diagnostic.Warning(fmt::format(
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"In URI '{}': {}", uri, *deprecation));
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}
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result = fs::path(package_path) / uri_path;
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} else {
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diagnostic.Error(fmt::format(
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"URI '{}' specifies an unsupported scheme; supported schemes are "
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"'file://', 'model://', and 'package://'.", uri));
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return {};
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}
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} else {
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if (root_dir.empty()) {
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diagnostic.Error(fmt::format(
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"URI '{}' is invalid when parsing a string instead of a filename.",
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uri));
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return {};
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}
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// Strictly speaking a URI should not just be a bare filename, but we allow
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// this for backward compatibility and user convenience.
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const string& filename = uri;
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if (fs::path(filename).is_absolute()) {
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result = filename;
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} else if (fs::path(root_dir).is_absolute()) {
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result = root_dir;
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result.append(filename);
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} else {
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result = fs::current_path() / root_dir / filename;
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}
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}
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result = result.lexically_normal();
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if (!fs::exists(result)) {
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diagnostic.Error(fmt::format(
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"URI '{}' resolved to '{}' which does not exist.",
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uri, result.string()));
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return {};
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}
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return result.string();
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}
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} // namespace internal
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} // namespace multibody
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} // namespace drake
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