scriptbroker.cpp

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include <yarp/manager/scriptbroker.h>
 
#include <yarp/conf/environment.h>
#include <yarp/conf/filesystem.h>
 
#include <yarp/os/Bottle.h>
#include <yarp/os/Network.h>
 
#include <string>
 
#define CONNECTION_TIMEOUT      5.0         //seconds
 
 
using namespace yarp::os;
using namespace yarp::manager;
namespace fs = yarp::conf::filesystem;
 
constexpr fs::value_type slash = fs::preferred_separator;
constexpr auto sep = yarp::conf::environment::path_separator;
 
static Bottle parsePaths(const std::string& txt) {
    Bottle result;
    const char *at = txt.c_str();
    int slash_tweak = 0;
    int len = 0;
    for (char ch : txt) {
        if (ch==sep) {
            result.addString(std::string(at,len-slash_tweak));
            at += len+1;
            len = 0;
            slash_tweak = 0;
            continue;
        }
        slash_tweak = (ch==slash && len>0)?1:0;
        len++;
    }
    if (len>0) {
        result.addString(std::string(at,len-slash_tweak));
    }
    return result;
}
 
static bool fileExists(const char *fname) {
        FILE *fp=nullptr;
        fp = fopen(fname,"r");
        if (fp == nullptr) {
            return false;
        } else {
            fclose(fp);
            return true;
        }
    }
 
 
bool ScriptLocalBroker::init(const char* szcmd, const char* szparam,
            const char* szhost, const char* szstdio,
            const char* szworkdir, const char* szenv )
{
    OSTRINGSTREAM strDevParam;
    std::string strParam;
    std::string strCmd;
    if(szcmd)
    {
        yarp::os::Bottle possiblePaths = parsePaths(yarp::conf::environment::get_string("PATH"));
        for (size_t i=0; i<possiblePaths.size(); ++i)
        {
            std::string guessString=possiblePaths.get(i).asString() +
            std::string{slash} + szcmd;
            const char* guess=guessString.c_str();
            if (fileExists (guess))
            {
#if defined(_WIN32)
                strCmd = "\"" + std::string(guess) + "\"";
#else
                strCmd = guess;
#endif
                break;
            }
        }
 
    }
    if (strCmd == "") {
        return false;
    }
    if (szparam) {
        strParam = szparam;
    }
    strDevParam<<strCmd<<" "<<strParam;
    return LocalBroker::init(script.c_str(), strDevParam.str().c_str(),
                                szhost, szstdio, szworkdir, szenv);
     }
 
 
bool ScriptYarprunBroker::whichFile(const char* server, const char* filename, std::string& filenameWithPath)
{
    if (!strlen(server)) {
        return false;
    }
 
    yarp::os::Bottle msg, grp;
    grp.clear();
    grp.addString("which");
    grp.addString(filename);
    msg.addList() = grp;
 
    ContactStyle style;
    style.quiet = true;
    style.timeout = CONNECTION_TIMEOUT;
    //style.carrier = carrier;
    yarp::os::Port port;
    port.open("...");
 
    bool connected = yarp::os::NetworkBase::connect(port.getName(), server, style);
    if(!connected)
    {
        return false;
    }
 
    yarp::os::Value filenameReader;
    bool ret = port.write(msg, filenameReader);
    filenameWithPath=filenameReader.asString();
    NetworkBase::disconnect(port.getName(), server);
    port.close();
 
    if(!ret)
    {
        return false;
    }
    return true;
}
 
bool ScriptYarprunBroker::init(const char* szcmd, const char* szparam,
            const char* szhost, const char* szstdio,
            const char* szworkdir, const char* szenv )
{
 
    OSTRINGSTREAM strDevParam;
    std::string strParam;
    std::string strCmd;
    if(szcmd)
    {
        std::string strHost;
        if (szhost[0] != '/') {
            strHost = std::string("/") + std::string(szhost);
        } else {
            strHost = szhost;
        }
        whichFile(strHost.c_str(), szcmd, strCmd);
    }
    if (szparam) {
        strParam = szparam;
    }
    strDevParam<<strCmd<<" "<<strParam;
    return YarpBroker::init(script.c_str(), strDevParam.str().c_str(),
                                szhost, szstdio, szworkdir, szenv);
}