Initial commit

CMakeLists.txt

+# Pre-requisites about cmake itself
+CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
+
+if(COMMAND cmake_policy)
+  cmake_policy(SET CMP0005 NEW) 
+  cmake_policy(SET CMP0003 NEW)
+   
+endif(COMMAND cmake_policy)
+
+# The project name and the type of project
+PROJECT(open-drive-format)
+
+SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
+SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
+SET(CMAKE_INSTALL_PREFIX /usr/local)
+
+IF (NOT CMAKE_BUILD_TYPE)
+ SET(CMAKE_BUILD_TYPE "DEBUG") 
+ENDIF (NOT CMAKE_BUILD_TYPE)
+
+SET(CMAKE_CXX_FLAGS_DEBUG "-g -Wall -D_REENTRANT")
+SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -D_REENTRANT")
+
+ADD_SUBDIRECTORY(src)
+
+FIND_PACKAGE(Doxygen)
+
+FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)
+IF (IRI_DOC_DIR)
+  ADD_CUSTOM_TARGET (doc ${DOXYGEN_EXECUTABLE} ${CMAKE_SOURCE_DIR}/doc/iri_doc/doxygen.conf)
+ELSE (IRI_DOC_DIR)
+  ADD_CUSTOM_TARGET (doc ${DOXYGEN_EXECUTABLE} ${CMAKE_SOURCE_DIR}/doc/doxygen.conf)
+ENDIF (IRI_DOC_DIR)
+
+ADD_CUSTOM_TARGET (distclean @echo cleaning cmake files)
+
+IF (UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "distribution clean"
+    COMMAND make ARGS clean
+    COMMAND rm ARGS -rf ${CMAKE_SOURCE_DIR}/build/*
+
+    TARGET  distclean
+  )
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "distclean only implemented in unix"
+    TARGET  distclean
+  )
+ENDIF(UNIX)
+
+ADD_CUSTOM_TARGET (uninstall @echo uninstall package)
+
+IF (UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "uninstall package"
+    COMMAND xargs ARGS rm < install_manifest.txt
+
+    TARGET  uninstall
+  )
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "uninstall only implemented in unix"
+    TARGET  uninstall
+  )
+ENDIF(UNIX)
+
+

Findopen_drive_format.cmake

+#edit the following line to add the librarie's header files
+FIND_PATH(open_drive_format_INCLUDE_DIR open_drive_format.h /usr/include/iridrivers /usr/local/include/iridrivers)
+
+FIND_LIBRARY(open_drive_format_LIBRARY
+    NAMES open_drive_format
+    PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers) 
+
+IF (open_drive_format_INCLUDE_DIR AND open_drive_format_LIBRARY)
+   SET(open_drive_format_FOUND TRUE)
+ENDIF (open_drive_format_INCLUDE_DIR AND open_drive_format_LIBRARY)
+
+IF (open_drive_format_FOUND)
+   IF (NOT open_drive_format_FIND_QUIETLY)
+      MESSAGE(STATUS "Found open_drive_format: ${open_drive_format_LIBRARY}")
+   ENDIF (NOT open_drive_format_FIND_QUIETLY)
+ELSE (open_drive_format_FOUND)
+   IF (open_drive_format_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find open_drive_format")
+   ENDIF (open_drive_format_FIND_REQUIRED)
+ENDIF (open_drive_format_FOUND)
+

ReadMe.md

+open_drive_format                        {#mainpage}
+============
+
+## Description
+
+open_drive_format
+
+## Dependencies
+
+This package requires of the following system libraries and packages
+
+* [cmake](https://www.cmake.org "CMake's Homepage"), a cross-platform build system.
+* [doxygen](http://www.doxygen.org "Doxygen's Homepage") and [graphviz](http://www.graphviz.org "Graphviz's Homepage") to generate the documentation.
+* stdc++ and pthread libraries.
+
+Under linux all of these utilities are available in ready-to-use packages.
+
+Under MacOS most of the packages are available via [fink](http://www.finkproject.org/ "Fink's Homepage")
+
+This package also requires of the following IRI libraries:
+
+## Compilation and installation
+
+Download this repository and create a build folder inside:
+
+``` mkdir build ```
+
+Inside the build folder execute the following commands:
+
+``` cmake .. ```
+
+The default build mode is DEBUG. That is, objects and executables include debug information.
+
+The RELEASE build mode optimizes for speed. To build in this mode execute instead
+``` cmake .. -DCMAKE_BUILD_TYPE=RELEASE ```
+
+The release mode will be kept until next time cmake is executed.
+
+``` make ``` 
+
+In case no errors are reported, the generated libraries (if any) will be located at the
+_lib_ folder and the executables (if any) will be located at the _bin_ folder.
+
+In order to be able to use the library, it it necessary to copy it into the system.
+To do that, execute
+
+``` make install ```
+
+as root and the shared libraries will be copied to */usr/local/lib/iridrivers* directory
+and the header files will be copied to */usr/local/include/iridrivers* dierctory. At
+this point, the library may be used by any user.
+
+To remove the library from the system, exceute
+
+``` make uninstall ```
+
+as root, and all the associated files will be removed from the system.
+
+To generate the documentation execute the following command:
+
+``` make doc ```
+
+## How to use it
+
+To use this library in an other library or application, in the CMakeLists.txt file, first it is necessary to locate if the library has been installed or not using the following command
+
+``` FIND_PACKAGE(open_drive_format) ```
+
+In the case that the package is present, it is necessary to add the header files directory to the include directory path by using
+
+``` INCLUDE_DIRECTORIES(${open_drive_format_INCLUDE_DIR}) ```
+
+and it is also necessary to link with the desired libraries by using the following command
+
+``` TARGET_LINK_LIBRARIES(<executable name> ${open_drive_format_LIBRARY}) ```
+
+## Disclaimer  
+
+Copyright (C) 2009-2018 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
+
+This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair  or correction.
+
+In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
+
+You should have received a copy of the GNU Lesser General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>
+

doc/doxygen.conf

+# Doxyfile 1.5.5
+
+@INCLUDE_PATH = ../doc/
+@INCLUDE = doxygen_project_name.conf
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NUMBER         = 
+OUTPUT_DIRECTORY       = ../doc
+CREATE_SUBDIRS         = NO
+OUTPUT_LANGUAGE        = English
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = NO
+ABBREVIATE_BRIEF       = 
+ALWAYS_DETAILED_SEC    = NO
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = YES
+STRIP_FROM_PATH        = 
+STRIP_FROM_INC_PATH    = 
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = NO
+QT_AUTOBRIEF           = NO
+MULTILINE_CPP_IS_BRIEF = NO
+DETAILS_AT_TOP         = NO
+INHERIT_DOCS           = YES
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 8
+ALIASES                = 
+OPTIMIZE_OUTPUT_FOR_C  = YES
+OPTIMIZE_OUTPUT_JAVA   = NO
+OPTIMIZE_FOR_FORTRAN   = NO
+OPTIMIZE_OUTPUT_VHDL   = NO
+BUILTIN_STL_SUPPORT    = NO
+CPP_CLI_SUPPORT        = NO
+SIP_SUPPORT            = NO
+DISTRIBUTE_GROUP_DOC   = NO
+SUBGROUPING            = YES
+TYPEDEF_HIDES_STRUCT   = NO
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL            = NO
+EXTRACT_PRIVATE        = NO
+EXTRACT_STATIC         = NO
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+EXTRACT_ANON_NSPACES   = NO
+HIDE_UNDOC_MEMBERS     = NO
+HIDE_UNDOC_CLASSES     = NO
+HIDE_FRIEND_COMPOUNDS  = NO
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+CASE_SENSE_NAMES       = YES
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = YES
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = NO
+SORT_BRIEF_DOCS        = NO
+SORT_GROUP_NAMES       = NO
+SORT_BY_SCOPE_NAME     = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = YES
+GENERATE_BUGLIST       = YES
+GENERATE_DEPRECATEDLIST= YES
+ENABLED_SECTIONS       = 
+MAX_INITIALIZER_LINES  = 30
+SHOW_USED_FILES        = YES
+SHOW_DIRECTORIES       = YES
+FILE_VERSION_FILTER    = 
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = YES
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+WARN_LOGFILE           = 
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT                  = ../src \
+                         ../include \
+                         ../ReadMe.md
+INPUT_ENCODING         = UTF-8
+FILE_PATTERNS          = *.c \
+                         *.h \
+                         *.cpp
+RECURSIVE              = YES
+EXCLUDE                = 
+EXCLUDE_SYMLINKS       = NO
+EXCLUDE_PATTERNS       = *.tab.c \
+                         *.tab.h \
+                         lex* \
+                         *glr.h \
+                         *llr.h \
+                         *glr.c \
+                         *llr.c \
+                         *general.h
+EXCLUDE_SYMBOLS        = 
+EXAMPLE_PATH           = ../src/examples
+EXAMPLE_PATTERNS       = 
+EXAMPLE_RECURSIVE      = NO
+IMAGE_PATH             = ../doc/images
+INPUT_FILTER           = 
+FILTER_PATTERNS        = 
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER         = YES
+INLINE_SOURCES         = NO
+STRIP_CODE_COMMENTS    = YES
+REFERENCED_BY_RELATION = YES
+REFERENCES_RELATION    = YES
+REFERENCES_LINK_SOURCE = YES
+USE_HTAGS              = NO
+VERBATIM_HEADERS       = YES
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = YES
+COLS_IN_ALPHA_INDEX    = 5
+IGNORE_PREFIX          = 
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+HTML_FILE_EXTENSION    = .html
+HTML_HEADER            = 
+HTML_FOOTER            = 
+HTML_STYLESHEET        = 
+HTML_ALIGN_MEMBERS     = YES
+GENERATE_HTMLHELP      = NO
+GENERATE_DOCSET        = NO
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+HTML_DYNAMIC_SECTIONS  = NO
+CHM_FILE               = 
+HHC_LOCATION           = 
+GENERATE_CHI           = NO
+BINARY_TOC             = NO
+TOC_EXPAND             = NO
+DISABLE_INDEX          = NO
+ENUM_VALUES_PER_LINE   = 4
+GENERATE_TREEVIEW      = NO
+TREEVIEW_WIDTH         = 250
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+GENERATE_LATEX         = NO
+LATEX_OUTPUT           = latex
+LATEX_CMD_NAME         = latex
+MAKEINDEX_CMD_NAME     = makeindex
+COMPACT_LATEX          = NO
+PAPER_TYPE             = a4
+EXTRA_PACKAGES         = 
+LATEX_HEADER           = 
+PDF_HYPERLINKS         = YES
+USE_PDFLATEX           = NO
+LATEX_BATCHMODE        = NO
+LATEX_HIDE_INDICES     = NO
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+GENERATE_RTF           = NO
+RTF_OUTPUT             = rtf
+COMPACT_RTF            = NO
+RTF_HYPERLINKS         = NO
+RTF_STYLESHEET_FILE    = 
+RTF_EXTENSIONS_FILE    = 
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+GENERATE_MAN           = NO
+MAN_OUTPUT             = man
+MAN_EXTENSION          = .3
+MAN_LINKS              = NO
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+GENERATE_XML           = NO
+XML_OUTPUT             = xml
+XML_SCHEMA             = 
+XML_DTD                = 
+XML_PROGRAMLISTING     = YES
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+GENERATE_AUTOGEN_DEF   = NO
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+GENERATE_PERLMOD       = NO
+PERLMOD_LATEX          = NO
+PERLMOD_PRETTY         = YES
+PERLMOD_MAKEVAR_PREFIX = 
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor   
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = NO
+EXPAND_ONLY_PREDEF     = NO
+SEARCH_INCLUDES        = YES
+INCLUDE_PATH           = 
+INCLUDE_FILE_PATTERNS  = 
+PREDEFINED             = _USE_MPI=1
+EXPAND_AS_DEFINED      = 
+SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references   
+#---------------------------------------------------------------------------
+TAGFILES               = 
+GENERATE_TAGFILE       = 
+ALLEXTERNALS           = NO
+EXTERNAL_GROUPS        = YES
+PERL_PATH              = /usr/bin/perl
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool   
+#---------------------------------------------------------------------------
+CLASS_DIAGRAMS         = YES
+MSCGEN_PATH            = 
+HIDE_UNDOC_RELATIONS   = YES
+HAVE_DOT               = YES
+CLASS_GRAPH            = YES
+COLLABORATION_GRAPH    = YES
+GROUP_GRAPHS           = YES
+UML_LOOK               = NO
+TEMPLATE_RELATIONS     = NO
+INCLUDE_GRAPH          = NO
+INCLUDED_BY_GRAPH      = NO
+CALL_GRAPH             = YES
+CALLER_GRAPH           = YES
+GRAPHICAL_HIERARCHY    = YES
+DIRECTORY_GRAPH        = NO
+DOT_IMAGE_FORMAT       = png
+DOT_PATH               = 
+DOTFILE_DIRS           = 
+DOT_GRAPH_MAX_NODES    = 50
+MAX_DOT_GRAPH_DEPTH    = 2
+DOT_TRANSPARENT        = YES
+DOT_MULTI_TARGETS      = NO
+GENERATE_LEGEND        = YES
+DOT_CLEANUP            = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to the search engine   
+#---------------------------------------------------------------------------
+SEARCHENGINE           = NO

doc/doxygen_project_name.conf

+PROJECT_NAME = "open_drive_format"

include/open_drive_format.h

+#ifndef _OPEN_DRIVE_FORMAT_H
+#define _OPEN_DRIVE_FORMAT_H
+
+#include <string>
+
+class COpenDriveFormat
+{
+  public:
+    COpenDriveFormat();
+    void load(std::string &filename);
+    ~COpenDriveFormat();
+};
+
+#endif

src/CMakeLists.txt

+# driver source files
+SET(sources open_drive_format.cpp)
+# application header files
+SET(headers ../include/open_drive_format.h)
+# locate the necessary dependencies
+FIND_PACKAGE(iriutils REQUIRED)
+
+ADD_SUBDIRECTORY(xml) 
+
+# add the necessary include directories
+INCLUDE_DIRECTORIES(../include)
+INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIRS})
+# create the shared library
+ADD_LIBRARY(open_drive_format SHARED ${sources} ${XSD_SOURCES})
+# link necessary libraries
+TARGET_LINK_LIBRARIES(open_drive_format ${XSD_LIBRARY})
+TARGET_LINK_LIBRARIES(open_drive_format ${iriutils_LIBRARIES})
+
+ADD_DEPENDENCIES(open_drive_format xsd_files_gen)
+
+SET_SOURCE_FILES_PROPERTIES(${XSD_SOURCES} PROPERTIES GENERATED 1)
+
+INSTALL(TARGETS open_drive_format
+        RUNTIME DESTINATION bin
+        LIBRARY DESTINATION lib/iridrivers
+        ARCHIVE DESTINATION lib/iridrivers)
+INSTALL(FILES ${headers} DESTINATION include/iridrivers)
+INSTALL(FILES ../Findopen_drive_format.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
+
+ADD_SUBDIRECTORY(examples)

src/examples/CMakeLists.txt

+# create an example application
+ADD_EXECUTABLE(open_drive_format_test open_drive_format_test.cpp)
+# link necessary libraries
+TARGET_LINK_LIBRARIES(open_drive_format_test open_drive_format)

src/examples/open_drive_format_test.cpp

+#include "open_drive_format.h"
+
+int main(int argc, char *argv[])
+{
+}

src/open_drive_format.cpp

+#include "open_drive_format.h"
+#include "exceptions.h"
+#include <iostream>
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <unistd.h>
+
+#ifdef _HAVE_XSD
+#include "xml/OpenDRIVE_1.5M.hxx"
+#endif
+
+COpenDriveFormat::COpenDriveFormat()
+{
+}
+
+void COpenDriveFormat::load(std::string &filename)
+{
+  struct stat buffer;
+
+  if(stat(filename.c_str(),&buffer)==0)
+  {
+    // try to open the specified file
+    try{
+      std::auto_ptr<OpenDRIVE> road(OpenDRIVE_(filename.c_str(), xml_schema::flags::dont_validate));
+      std::cout << road->header() << std::endl;
+    }catch (const xml_schema::exception& e){
+      std::ostringstream os;
+      os << e;
+      /* handle exceptions */
+      throw CException(_HERE_,os.str());
+    }
+  }
+  else
+    throw CException(_HERE_,"The configuration file does not exist");
+}
+ 
+COpenDriveFormat::~COpenDriveFormat()
+{
+}
+

src/xml/CMakeLists.txt

+#check the existance of the xsd library
+IF(EXISTS "/usr/include/xsd/cxx")
+   SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_HAVE_XSD" PARENT_SCOPE)
+   SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -D_HAVE_XSD" PARENT_SCOPE)
+   SET(XSD_FOUND TRUE) 
+   MESSAGE(STATUS "Found the XML library ... adding support for XML files")
+   FIND_LIBRARY(XSD_LIBRARY
+      NAMES xerces-c
+      PATHS /usr/lib /usr/local/lib)
+ELSE(EXISTS "/usr/include/xsd/cxx")
+   MESSAGE(STATUS "XML library not found ... it will be impossible to handle XML files")
+ENDIF(EXISTS "/usr/include/xsd/cxx")
+
+IF(XSD_FOUND)
+   SET(XSD_LIBRARY ${XSD_LIBRARY} PARENT_SCOPE)
+
+   SET(XSD_PATH ${CMAKE_CURRENT_SOURCE_DIR})
+   SET(XSD_FILES OpenDRIVE_1.5M.xsd)
+
+   IF(XSD_FILES)
+      FOREACH(xsd_file ${XSD_FILES})
+         STRING(REGEX REPLACE "xsd" "cxx" xsd_source ${xsd_file})
+         SET(XSD_SOURCES_INT ${XSD_SOURCES_INT} ${XSD_PATH}/${xsd_source})
+         SET(XSD_SOURCES ${XSD_SOURCES} ${XSD_PATH}/${xsd_source})
+         STRING(REGEX REPLACE "xsd" "hxx" xsd_header ${xsd_file})
+         SET(XSD_HEADERS_INT ${XSD_HEADERS_INT} ${XSD_PATH}/${xsd_header})
+         SET(XSD_HEADERS ${XSD_HEADERS} ${XSD_PATH}/${xsd_header})
+         SET(XSD_PATH_FILES ${XSD_PATH_FILES} ${XSD_PATH}/${xsd_file})
+      ENDFOREACH(xsd_file)
+
+      SET(XSD_SOURCES ${XSD_SOURCES_INT} PARENT_SCOPE)
+      SET(XSD_HEADERS ${XSD_HEADERS_INT} PARENT_SCOPE)
+
+      ADD_CUSTOM_TARGET(xsd_files_gen DEPENDS ${XSD_SOURCES_INT})
+      ADD_CUSTOM_COMMAND(
+         OUTPUT ${XSD_SOURCES_INT}
+         COMMAND xsdcxx cxx-tree --generate-serialization ${XSD_FILES}
+         WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+         DEPENDS ${XSD_PATH_FILES}
+         COMMENT "Parsing the xml template file ${XSD_FILES}")
+
+      INSTALL(FILES ${XSD_PATH_FILES} DESTINATION include/iridrivers/xml)
+      INSTALL(FILES ${XSD_HEADERS_INT} DESTINATION include/iridrivers/xml)
+   ENDIF(XSD_FILES)
+ENDIF(XSD_FOUND)