Add environment variable public API function to GeneralResourceLocator

tesseract-robotics · Jan 9, 2025 · 914f528 · 914f528
1 parent 4b9793e
commit 914f528
Show file tree

Hide file tree

Showing 2 changed files with 16 additions and 6 deletions.
diff --git a/tesseract_common/include/tesseract_common/resource_locator.h b/tesseract_common/include/tesseract_common/resource_locator.h
@@ -121,6 +121,15 @@ class GeneralResourceLocator : public ResourceLocator
    */
   bool addPath(const tesseract_common::fs::path& path);
 
+  /**
+   * @brief Load paths from an environment variable
+   * 
+   * @param environment_variable The environment variable to load paths from
+   * @return true Success
+   * @return false Environment variable does not exist
+   */
+  bool loadEnvironmentVariable(const std::string& environment_variable);
+
 private:
   friend class boost::serialization::access;
   template <class Archive>
@@ -129,8 +138,6 @@ class GeneralResourceLocator : public ResourceLocator
   std::unordered_map<std::string, std::string> package_paths_;
 
   void processToken(const std::string& token);
-
-  void initEnv(const std::string& env_variable);
 };
 
 /**  @brief Represents resource data available from a file or url */

diff --git a/tesseract_common/src/resource_locator.cpp b/tesseract_common/src/resource_locator.cpp
@@ -55,7 +55,7 @@ GeneralResourceLocator::GeneralResourceLocator(const std::vector<std::string>& e
 {
   for (const auto& env_variable : environment_variables)
   {
-    initEnv(env_variable);
+    loadEnvironmentVariable(env_variable);
   }
 }
 
@@ -69,13 +69,13 @@ GeneralResourceLocator::GeneralResourceLocator(const std::vector<tesseract_commo
 
   for (const auto& env_variable : environment_variables)
   {
-    initEnv(env_variable);
+    loadEnvironmentVariable(env_variable);
   }
 }
 
-void GeneralResourceLocator::initEnv(const std::string& env_variable)
+bool GeneralResourceLocator::loadEnvironmentVariable(const std::string& environment_variable)
 {
-  char* ros_package_paths = std::getenv(env_variable.c_str());
+  char* ros_package_paths = std::getenv(environment_variable.c_str());
   if (ros_package_paths != nullptr)
   {
     std::vector<std::string> tokens;
@@ -86,7 +86,10 @@ void GeneralResourceLocator::initEnv(const std::string& env_variable)
 #endif
     for (const auto& token : tokens)
       processToken(token);
+
+    return true;
   }
+  return false;
 }
 
 bool GeneralResourceLocator::addPath(const tesseract_common::fs::path& path)