From 6a1b7b42deaebdb56e549793f3774323a1cb61b4 Mon Sep 17 00:00:00 2001
From: Thomas Moulard <thomas.moulard@gmail.com>
Date: Tue, 11 Jan 2011 12:01:33 +0100
Subject: [PATCH] Check properly that input files exist before parsing a model.
---
src/dynamic.cpp | 62 ++++++++++++++++++++++++++++++++++++++++++-------
1 file changed, 54 insertions(+), 8 deletions(-)
diff --git a/src/dynamic.cpp b/src/dynamic.cpp
index bac7b63..2c02568 100644
--- a/src/dynamic.cpp
+++ b/src/dynamic.cpp
@@ -18,6 +18,9 @@
* with sot-dynamic. If not, see <http://www.gnu.org/licenses/>.
*/
+#include <boost/filesystem.hpp>
+#include <boost/format.hpp>
+
#include <jrl/mal/matrixabstractlayer.hh>
#include <sot-dynamic/dynamic.h>
@@ -413,24 +416,67 @@ setXmlRankFile( const std::string& filename )
{
xmlRankFile = filename;
}
-void Dynamic::
-parseConfigFiles( void )
+
+
+// Helper macro for Dynamic::parseConfigFiles().
+// Check that all required files exist or throw an exception
+// otherwise.
+#define CHECK_FILE(PATH, FILE_DESCRIPTION) \
+ do \
+ { \
+ if (!boost::filesystem::exists (PATH) \
+ || boost::filesystem::is_directory (PATH)) \
+ { \
+ boost::format fmt ("Failed to open the %s (%s)."); \
+ fmt % (FILE_DESCRIPTION) % robotModelPath.file_string (); \
+ \
+ SOT_THROW ExceptionDynamic \
+ (ExceptionDynamic::DYNAMIC_JRL, \
+ fmt.str ()); \
+ } \
+ } \
+ while (0)
+
+void Dynamic::parseConfigFiles()
{
sotDEBUGIN(15);
+
+ // Construct the full path to the robot model.
+ boost::filesystem::path robotModelPath (vrmlDirectory);
+ robotModelPath /= vrmlMainFile;
+
+ boost::filesystem::path xmlRankPath (xmlRankFile);
+ boost::filesystem::path xmlSpecificityPath (xmlSpecificityFile);
+
+ CHECK_FILE (robotModelPath, "HRP-2 model");
+ CHECK_FILE (xmlRankPath, "XML rank file");
+ CHECK_FILE (xmlSpecificityFile, "XML specificity file");
+
try
{
sotDEBUG(35) << "Parse the vrml."<<endl;
- string RobotFileName = vrmlDirectory+vrmlMainFile;
- djj::parseOpenHRPVRMLFile(*m_HDR,RobotFileName,xmlRankFile,xmlSpecificityFile);
+
+ std::string robotModelPathStr (robotModelPath.file_string());
+ std::string xmlRankPathStr (xmlRankPath.file_string());
+ std::string xmlSpecificityPathStr (xmlSpecificityPath.file_string());
+
+ djj::parseOpenHRPVRMLFile (*m_HDR,
+ robotModelPathStr,
+ xmlRankPathStr,
+ xmlSpecificityPathStr);
}
- catch( ... )
- { SOT_THROW ExceptionDynamic( ExceptionDynamic::DYNAMIC_JRL,
- "Error while parsing." ); }
- //inertia.init( aHDMB );
+ catch (...)
+ {
+ SOT_THROW ExceptionDynamic( ExceptionDynamic::DYNAMIC_JRL,
+ "Error while parsing." );
+ }
+
init = true;
sotDEBUGOUT(15);
}
+#undef CHECK_FILE
+
/* --- SIGNAL ACTIVATION ---------------------------------------------------- */
/* --- SIGNAL ACTIVATION ---------------------------------------------------- */
/* --- SIGNAL ACTIVATION ---------------------------------------------------- */
--
GitLab