WIP: Add parsing include statements

Author: urfeex

include/ur_client_library/control/script_reader.h

@@ -29,7 +29,10 @@
 // -- END LICENSE BLOCK ------------------------------------------------
 
 #pragma once
+#include <filesystem>
 #include <string>
+#include <unordered_map>
+#include <variant>
 
 #include <ur_client_library/ur/datatypes.h>
 #include <ur_client_library/ur/version_information.h>
@@ -59,7 +62,12 @@ class ScriptReader
   std::string readScriptFile(const std::string& filename);
 
 private:
+  std::filesystem::path script_path_;
   RobotInfo robot_info_;
+  std::unordered_map<std::string, std::variant<std::string, float, int>> replacement_data_;
+
+  void replaceIncludes(std::string& script_code);
+  std::string readFileContent(const std::string& filename);
 };
 }  // namespace control
 }  // namespace urcl

src/control/script_reader.cpp

@@ -32,12 +32,23 @@
 #include <ur_client_library/control/script_reader.h>
 
 #include <fstream>
+#include <regex>
 
 namespace urcl
 {
 namespace control
 {
 std::string ScriptReader::readScriptFile(const std::string& filename)
+{
+  script_path_ = filename;
+  std::string script_code = readFileContent(filename);
+
+  replaceIncludes(script_code);
+
+  return script_code;
+}
+
+std::string ScriptReader::readFileContent(const std::string& filename)
 {
   std::ifstream ifs;
   ifs.open(filename);
@@ -57,5 +68,32 @@ std::string ScriptReader::readScriptFile(const std::string& filename)
 
   return content;
 }
+
+void ScriptReader::replaceIncludes(std::string& script)
+{
+  std::string line;
+  std::regex include_pattern(R"(\{\%\s*include\s*['|"]([^'"]+)['|"]\s*\%\})");
+
+  std::stringstream input_stream(script);
+  std::stringstream output_stream;
+
+  while (std::getline(input_stream, line))
+  {
+    std::smatch match;
+    std::string processed_line = line;
+
+    // Replace all include patterns in the line
+    while (std::regex_search(processed_line, match, include_pattern))
+    {
+      std::filesystem::path file_path(match[1]);
+      std::string file_content = readFileContent(script_path_.parent_path() / file_path.string());
+      processed_line.replace(match.position(0), match.length(0), file_content);
+    }
+
+    output_stream << processed_line << '\n';
+  }
+  script = output_stream.str();
+}
+
 }  // namespace control
 }  // namespace urcl

tests/test_script_reader.cpp

@@ -33,6 +33,10 @@
 
 #include <fstream>
 
+#ifdef _WIN32
+#  define mkstemp _mktemp_s
+#endif
+
 using namespace urcl::control;
 
 class ScriptReaderTest : public ::testing::Test
@@ -51,9 +55,6 @@ class ScriptReaderTest : public ::testing::Test
     invalid_script_path_ = "test_resources/non_existent_script.urscript";
     empty_script_path_ = "resources/empty.txt";
     char existing_script_file[] = "urscript.XXXXXX";
-#ifdef _WIN32
-#  define mkstemp _mktemp_s
-#endif
     std::ignore = mkstemp(existing_script_file);
     std::ofstream ofs(existing_script_file);
     if (ofs.bad())
@@ -65,7 +66,7 @@ class ScriptReaderTest : public ::testing::Test
 
     valid_script_path_ = existing_script_file;
 
-    simple_script_ << "movej([0,0,0,0,0,0])";
+    simple_script_ << "movej([0,0,0,0,0,0])\n";
 
     // Create test resources
     std::ofstream valid_script(valid_script_path_);
@@ -89,7 +90,7 @@ TEST_F(ScriptReaderTest, ReadValidScript)
 {
   ScriptReader reader(robot_info_);
   std::string content = reader.readScriptFile(valid_script_path_);
-  EXPECT_EQ(content, "movej([0,0,0,0,0,0])");
+  EXPECT_EQ(content, simple_script_.str());
 }
 
 TEST_F(ScriptReaderTest, ReadEmptyScript)
@@ -103,4 +104,39 @@ TEST_F(ScriptReaderTest, ReadNonExistentScript)
 {
   ScriptReader reader(robot_info_);
   EXPECT_THROW(reader.readScriptFile(invalid_script_path_), std::runtime_error);
-}
+}
+
+TEST_F(ScriptReaderTest, ReplaceIncludes)
+{
+  ScriptReader reader(robot_info_);
+
+  char existing_script_file[] = "main_script.XXXXXX";
+  std::ignore = mkstemp(existing_script_file);
+  char existing_include_file[] = "included_script.XXXXXX";
+  std::ignore = mkstemp(existing_include_file);
+  std::ofstream ofs(existing_script_file);
+  if (ofs.bad())
+  {
+    std::cout << "Failed to create temporary files" << std::endl;
+    GTEST_FAIL();
+  }
+  std::string script_with_include = "{% include '" + std::string(existing_include_file) + "' %}";
+  ofs << script_with_include;
+  ofs.close();
+
+  // Create a temporary included script
+  std::ofstream ofs_included(existing_include_file);
+  if (ofs_included.bad())
+  {
+    std::cout << "Failed to create temporary files" << std::endl;
+    GTEST_FAIL();
+  }
+  ofs_included << "movej([1,2,3,4,5,6])";
+  ofs_included.close();
+
+  std::string processed_script = reader.readScriptFile(existing_script_file);
+  EXPECT_EQ(processed_script, "movej([1,2,3,4,5,6])\n");
+
+  std::remove(existing_script_file);
+  std::remove(existing_include_file);
+}