Support for generic URIs

CMakeLists.txt

@@ -158,7 +158,7 @@ endif()
 add_definitions(-DBOOST_TEST_DYN_LINK)
 set(Boost_USE_MULTITHREADED ON)
 set(Boost_USE_STATIC_RUNTIME OFF)
-find_package(Boost ${DART_MIN_BOOST_VERSION} COMPONENTS system QUIET)
+find_package(Boost ${DART_MIN_BOOST_VERSION} COMPONENTS regex system QUIET)
 if(Boost_FOUND)
   message(STATUS "Looking for Boost - ${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION} found")
 else()

dart/common/LocalResource.cpp

@@ -0,0 +1,139 @@
+#include <cstring>
+#include <iostream>
+#include "dart/common/Console.h"
+#include "LocalResource.h"
+
+namespace dart {
+namespace common {
+
+LocalResource::LocalResource(const std::string& _path)
+  : mFile(std::fopen(_path.c_str(), "rb"))
+{
+  if(!mFile)
+  {
+    dtwarn << "[LocalResource::constructor] Failed opening file '" << _path
+          << "' for reading: " << std::strerror(errno) << "\n";
+  }
+}
+
+LocalResource::~LocalResource()
+{
+  if (!mFile)
+    return;
+
+  if (std::fclose(mFile) == EOF)
+  {
+    dtwarn << "[LocalResource::destructor] Failed closing file.\n";
+  }
+}
+
+bool LocalResource::isGood() const
+{
+  return !!mFile;
+}
+
+size_t LocalResource::getSize()
+{
+  if(!mFile)
+    return 0;
+
+  const long offset = std::ftell(mFile);
+  if(offset == -1L)
+  {
+    dtwarn << "[LocalResource::getSize] Unable to compute file size: Failed"
+             " getting current offset: " << std::strerror(errno) << "\n";
+    return 0;
+  }
+
+  // The SEEK_END option is not required by the C standard. However, it is
+  // required by POSIX.
+  // TODO: Does this work on Windows?
+  if(std::fseek(mFile, 0, SEEK_END) || std::ferror(mFile))
+  {
+    dtwarn << "[LocalResource::getSize] Unable to compute file size: Failed"
+             " seeking to the end of the file.\n";
+    return 0;
+  }
+
+  const long size = std::ftell(mFile);
+  if(size == -1L)
+  {
+    dtwarn << "[LocalResource::getSize] Unable to compute file size: Failed"
+             " getting end of file offset: " << std::strerror(errno) << "\n";
+    return 0;
+  }
+
+  if(std::fseek(mFile, offset, SEEK_SET) || std::ferror(mFile))
+  {
+    dtwarn << "[LocalResource::getSize] Unable to compute file size: Failed"
+             " seeking to the current position.\n";
+    return 0;
+  }
+
+  return size;
+}
+
+size_t LocalResource::tell()
+{
+  if(!mFile)
+    return 0;
+
+  const long offset = std::ftell(mFile);
+  if (offset == -1L)
+  {
+    dtwarn << "[LocalResource::tell] Failed"
+             " seeking to the current position.\n";
+  }
+
+  // We return -1 to match the beahvior of DefaultIoStream in Assimp.
+  return offset;
+}
+
+bool LocalResource::seek(ptrdiff_t _offset, SeekType _mode)
+{
+  int origin;
+  switch(_mode)
+  {
+  case Resource::SEEKTYPE_CUR:
+    origin = SEEK_CUR;
+    break;
+
+  case Resource::SEEKTYPE_END:
+    origin = SEEK_END;
+    break;
+
+  case Resource::SEEKTYPE_SET:
+    origin = SEEK_SET;
+    break;
+
+  default:
+    dtwarn << "[LocalResource::Seek] Invalid origin. Expected"
+             " SEEKTYPE_CUR, SEEKTYPE_END, or SEEKTYPE_SET.\n";
+    return false;
+  }
+
+  if (!std::fseek(mFile, _offset, origin) && !std::ferror(mFile))
+    return true;
+  else
+  {
+    dtwarn << "[LocalResource::seek] Seeking failed.\n";
+    return false;
+  }
+}
+
+size_t LocalResource::read(void *_buffer, size_t _size, size_t _count)
+{
+  if (!mFile)
+    return 0;
+
+  const size_t result = std::fread(_buffer, _size, _count, mFile);
+  if (std::ferror(mFile)) 
+  {
+    dtwarn << "[LocalResource::tell] Failed reading file.\n";
+  }
+  return result;
+}
+
+} // namespace common
+} // namespace dart
+

dart/common/LocalResource.h

@@ -0,0 +1,74 @@
+/*
+ * Copyright (c) 2015, Georgia Tech Research Corporation
+ * All rights reserved.
+ *
+ * Author(s): Michael Koval <mkoval@cs.cmu.edu>
+ *
+ * Georgia Tech Graphics Lab and Humanoid Robotics Lab
+ *
+ * Directed by Prof. C. Karen Liu and Prof. Mike Stilman
+ * <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   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.
+ *   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 HOLDER 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 CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef DART_COMMON_LOCALRESOURCE_H_
+#define DART_COMMON_LOCALRESOURCE_H_
+#include "dart/common/Resource.h"
+
+namespace dart {
+namespace common {
+
+class LocalResource : public virtual Resource
+{
+public:
+  LocalResource(const std::string& _path);
+  virtual ~LocalResource();
+
+  LocalResource(const LocalResource& _other) = delete;
+  LocalResource& operator=(const LocalResource& _other) = delete;
+
+  /// Return if the resource is open and in a valid state.
+  bool isGood() const;
+
+  // Documentation inherited.
+  size_t getSize() override;
+
+  // Documentation inherited.
+  size_t tell() override;
+
+  // Documentation inherited.
+  bool seek(ptrdiff_t _origin, SeekType _mode) override;
+
+  // Documentation inherited.
+  size_t read(void *_buffer, size_t _size, size_t _count) override;
+
+private:
+  std::FILE* mFile;
+};
+
+} // namespace common
+} // namespace dart
+
+#endif // ifndef DART_COMMON_LOCALRESOURCERETRIEVER_H_

dart/common/LocalResourceRetriever.cpp

@@ -0,0 +1,48 @@
+#include <iostream>
+#include <fstream>
+#include "dart/common/Console.h"
+#include "dart/common/Uri.h"
+#include "LocalResourceRetriever.h"
+#include "LocalResource.h"
+
+namespace dart {
+namespace common {
+
+bool LocalResourceRetriever::exists(const std::string& _uri)
+{
+  common::Uri uri;
+  if(!uri.fromString(_uri))
+  {
+    dtwarn << "[exists] Failed parsing URI: " << _uri << "\n";
+    return false;
+  }
+
+  // Open and close the file to check if it exists. It would be more efficient
+  // to stat() it, but that is not portable.
+  if (uri.mScheme.get_value_or("file") != "file")
+    return false;
+
+  return std::ifstream(*uri.mPath, std::ios::binary).good();
+}
+
+common::ResourcePtr LocalResourceRetriever::retrieve(const std::string& _uri)
+{
+  common::Uri uri;
+  if(!uri.fromString(_uri))
+  {
+    dtwarn << "[exists] Failed parsing URI: " << _uri << "\n";
+    return nullptr;
+  }
+
+  if (uri.mScheme.get_value_or("file") != "file")
+    return nullptr;
+
+  const auto resource = std::make_shared<LocalResource>(*uri.mPath);
+  if(resource->isGood())
+    return resource;
+  else
+    return nullptr;
+}
+
+} // namespace common
+} // namespace dart

dart/common/LocalResourceRetriever.h

@@ -0,0 +1,62 @@
+/*
+ * Copyright (c) 2015, Georgia Tech Research Corporation
+ * All rights reserved.
+ *
+ * Author(s): Michael Koval <mkoval@cs.cmu.edu>
+ *
+ * Georgia Tech Graphics Lab and Humanoid Robotics Lab
+ *
+ * Directed by Prof. C. Karen Liu and Prof. Mike Stilman
+ * <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   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.
+ *   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 HOLDER 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 CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef DART_COMMON_LOCALRESOURCERETRIEVER_H_
+#define DART_COMMON_LOCALRESOURCERETRIEVER_H_
+#include "dart/common/ResourceRetriever.h"
+
+namespace dart {
+namespace common {
+
+/// LocalResourceRetriever provides access to local resources specified by
+/// file:// URIs by wrapping the standard C and C++ file manipulation routines.
+class LocalResourceRetriever : public virtual ResourceRetriever
+{
+public:
+  virtual ~LocalResourceRetriever() = default;
+
+  // Documentation inherited.
+  bool exists(const std::string& _uri) override;
+
+  // Documentation inherited.
+  ResourcePtr retrieve(const std::string& _uri) override;
+};
+
+typedef std::shared_ptr<LocalResourceRetriever> LocalResourceRetrieverPtr;
+
+} // namespace common
+} // namespace dart
+
+#endif // ifndef DART_COMMON_LOCALRESOURCERETRIEVER_H_