module OroGen

# File lib/orogen/base.rb, line 66
def self.beautify_loading_errors(filename)
    yield
rescue Exception => e
    # Two options:
    #  * the first line of the backtrace is the orogen file
    #    => change it into a ConfigError. If, in addition, this is a
    #       NoMethodError then change it into a statement error
    #  * the second line of the backtrace is in the orogen file
    #    => most likely a bad argument, transform it into a ConfigError
    #       too
    #  * all other cases are reported as internal errors
    file_pattern = /#{Regexp.quote(File.basename(filename))}/
    if e.backtrace.first =~ file_pattern
        if e.kind_of?(NoMethodError) || e.kind_of?(NameError)
            e.message =~ /undefined (?:local variable or )?method `([^']+)'/
            method_name = $1
            raise Generation::ConfigError, "unknown statement '#{method_name}'", e.backtrace
        else
            raise Generation::ConfigError, e.message, e.backtrace
        end
    elsif (e.backtrace[1] =~ file_pattern) || e.kind_of?(ArgumentError)
        raise Generation::ConfigError, e.message, e.backtrace
    end
    raise
end

# File lib/orogen/check_for_stray_dots.rb, line 4
def self.check_for_stray_dots(filename, name, args)
    # Building the regular expression to
    # match on the method name and arguments
    regexp_expression = "#{name}.*"
    args.each do |element|
        regexp_expression << "#{element}.*"
    end
    regexp = Regexp.new(regexp_expression)

    # Check the spec to locate the error in case
    # of stray dots
    File.open(filename) do |file|
        begin 
            line_counter = 0
            previous_non_empty_line_number = 0
            previous_non_empty_line = nil
            while true
                line = file.readline
                line_counter += 1
                if regexp.match(line)
                    if previous_non_empty_line =~ /\.$/
                        raise ArgumentError, "stray dot in statement: #{previous_non_empty_line.strip} (line #{previous_non_empty_line_number})"
                    end
                end

                if line =~ /.+/
                    previous_non_empty_line = line
                    previous_non_empty_line_number = line_counter
                end
            end
        rescue EOFError
        end
    end
end

# File lib/orogen/plugins.rb, line 6
def self.each_orogen_plugin_dir
    each_orogen_plugin_path do |p|
        if File.directory?(p)
            yield(p)
        end
    end
end

# File lib/orogen/plugins.rb, line 14
def self.each_orogen_plugin_file(type)
    each_orogen_plugin_path do |path|
        if File.file?(path)
            yield(path)
        else
            Dir.glob(File.join(path, type, '*.rb')).each do |file|
                yield(file)
            end
        end
    end
end

# File lib/orogen/plugins.rb, line 2
def self.each_orogen_plugin_path(&block)
    (ENV['OROGEN_PLUGIN_PATH'] || "").split(':').each(&block)
end

# File lib/orogen/plugins.rb, line 26
def self.load_orogen_plugin(*path)
    original_load_path = $LOAD_PATH.dup
    each_orogen_plugin_dir do |dir|
        $LOAD_PATH << dir
    end

    path = File.join(*path)
    if File.extname(path) != ".rb"
        path = "#{path}.rb"
    end

    each_orogen_plugin_dir do |dir|
        path = File.join(dir, path)
        if File.file?(path)
            info "loading plugin #{path}"
            require path
            return
        end
    end
    raise ArgumentError, "cannot load plugin #{path}: not found in #{ENV['OROGEN_PLUGIN_PATH']}"

ensure
    if original_load_path
        $LOAD_PATH.clear
        $LOAD_PATH.concat(original_load_path)
    end
end

# File lib/orogen/plugins.rb, line 54
def self.load_orogen_plugins(*type)
    original_load_path = $LOAD_PATH.dup
    type = File.join(*type)
    each_orogen_plugin_dir do |dir|
        $LOAD_PATH << dir
    end
    each_orogen_plugin_file(type) do |file|
        info "loading plugin #{file}"
        begin
            require file
        rescue Exception => e
            warn "could not load plugin #{file}: #{e.message}"
            e.backtrace.each do |line|
                warn "  #{line}"
            end
        end
    end
ensure
    if original_load_path
        $LOAD_PATH.clear
        $LOAD_PATH.concat(original_load_path)
    end
end

# File lib/orogen/base.rb, line 120
def self.orocos_target
    user_target = ENV['OROCOS_TARGET']
    if @orocos_target
        @orocos_target.dup
    elsif user_target && !user_target.empty?
        user_target
    else
        'gnulinux'
    end
end

# File lib/orogen/base.rb, line 115
def self.orocos_target=(target)
    @orocos_target = target.to_s
end

# File lib/orogen/plugins.rb, line 80
def self.registry_of(typekit_name)
    registry = Typelib::Registry.new
    typekit_pkg =
        Utilrb::PkgConfig.new("#{typekit_name}-typekit-#{Gen::RTT_CPP.orocos_target}")

    tlb = typekit_pkg.type_registry
    if tlb
        registry.import(tlb)
    end

    registry
end

# File lib/orogen/base.rb, line 108
def self.unqualified_cxx_type(type_name)
    type_name.
        gsub(/(^|[^\w])const($|[^\w])/, '').
        gsub(/&/, '').
        strip
end

# File lib/orogen/base.rb, line 101
def self.validate_toplevel_type(type)
    if type < Typelib::ArrayType
        raise Generation::ConfigError, "array types can be used only in a structure"
    end
end

# File lib/orogen/base.rb, line 92
def self.verify_valid_identifier(name)
    name = name.to_s if name.respond_to?(:to_sym)
    name = name.to_str
    if name !~ /^[a-zA-Z0-9_:][a-zA-Z0-9_:]*$/
        raise ArgumentError, "task name '#{name}' invalid: it can contain only alphanumeric characters and '_', and cannot start with a number"
    end
    name
end

# File lib/orogen/warn_deprecated.rb, line 2
def self.warn_deprecated(method_name, msg)
    OroGen.warn "#{method_name} is deprecated: #{msg}"
end