ROS2-SLAM-Fundamental/map_merge/include/map_merge/ros1_names.hpp

/*
* Copyright (C) 2009, Willow Garage, Inc.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*   * Redistributions of source code must retain the above copyright notice,
*     this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above copyright
*     notice, this list of conditions and the following disclaimer in the
*     documentation and/or other materials provided with the distribution.
*   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
*     contributors may be used to endorse or promote products derived from
*     this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <ctype.h>
#include <string>
#include <sstream>

// Almost all code was taken from http://docs.ros.org/en/indigo/api/roscpp/html/names_8cpp_source.html

class InvalidNameException : public std::runtime_error
{
public:
  InvalidNameException(const std::string& msg)
  : std::runtime_error(msg)
  {}
};

namespace ros1_names
{

bool isValidCharInName(char c)
{
  if (isalnum(c) || c == '/' || c == '_')
  {
    return true;
  }

  return false;
}

bool validate(const std::string& name, std::string& error)
{
  if (name.empty())
  {
    return true;
  }

  // First element is special, can be only ~ / or alpha
  char c = name[0];
  if (!isalpha(c) && c != '/' && c != '~')
  {
    std::stringstream ss;
    ss << "Character [" << c << "] is not valid as the first character in Graph Resource Name [" << name << "].  Valid characters are a-z, A-Z, / and in some cases ~.";
    error = ss.str();
    return false;
  }

  for (size_t i = 1; i < name.size(); ++i)
  {
    c = name[i];
    if (!isValidCharInName(c))
    {
      std::stringstream ss;
      ss << "Character [" << c << "] at element [" << i << "] is not valid in Graph Resource Name [" << name <<"].  Valid characters are a-z, A-Z, 0-9, / and _.";
      error = ss.str();

      return false;
    }
  }

  return true;
}

std::string parentNamespace(const std::string& name)
{
  std::string error;
  if (!validate(name, error))
  {
        throw InvalidNameException(error);
  }

  if (!name.compare(""))  return "";
  if (!name.compare("/")) return "/"; 

  std::string stripped_name;

  // rstrip trailing slash
  if (name.find_last_of('/') == name.size()-1)
    stripped_name = name.substr(0, name.size() -2);
  else
    stripped_name = name;

  //pull everything up to the last /
  size_t last_pos = stripped_name.find_last_of('/');
  if (last_pos == std::string::npos)
  {
    return "";
  }
  else if (last_pos == 0)
    return "/";
  return stripped_name.substr(0, last_pos);
}

std::string clean(const std::string& name)
{
  std::string clean = name;

  size_t pos = clean.find("//");
  while (pos != std::string::npos)
  {
    clean.erase(pos, 1);
    pos = clean.find("//", pos);
  }

  if (*clean.rbegin() == '/')
  {
    clean.erase(clean.size() - 1, 1);
  }

  return clean;
}

std::string append(const std::string& left, const std::string& right)
{
  return clean(left + "/" + right);
}

} // namespace ros1_names