rospack: main.cpp Source File

00001 /*
00002  * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
00003  * 
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 /* Author: Morgan Quigley, Brian Gerkey */
00029 
00030 
00031 #include "rospack/rospack.h"
00032 
00033 #include <stdexcept>
00034 #if !defined(WIN32)
00035   #include <unistd.h>
00036 #endif
00037 #include <stdlib.h>
00038 
00039 int main(int argc, char **argv)
00040 {
00041   if (argc <= 1)
00042   {
00043     fputs(rospack::ROSPack::usage(), stderr);
00044     return 0;
00045   }
00046 
00047 #if !defined(WIN32)
00048   // If it looks we're running under sudo, try to drop back to the normal
00049   // user, to avoid writing the cache with inappropriate permissions,
00050   // #2884.
00051   // Do the group first, because we can't do it after changing the user.
00052   char* sudo_gid_string = getenv("SUDO_GID");
00053   if(sudo_gid_string)
00054   {
00055     gid_t sudo_gid = (int)strtol(sudo_gid_string, (char **)NULL, 10);
00056     if(setgid(sudo_gid))
00057       perror("[rospack] Failed to change GID; cache permissions may need to be adjusted manually. setgid()");
00058   }
00059   char* sudo_uid_string = getenv("SUDO_UID");
00060   if(sudo_uid_string)
00061   {
00062     uid_t sudo_uid = (int)strtol(sudo_uid_string, (char **)NULL, 10);
00063     if(setuid(sudo_uid))
00064       perror("[rospack] Failed to change UID; cache permissions may need to be adjusted manually. setuid()");
00065   }
00066 #endif
00067 
00068   int ret;
00069   bool quiet;
00070   try
00071   {
00072     // Declare ROSPack instance inside the try block because its
00073     // constructor can throw (e.g., when ROS_ROOT isn't set).
00074     rospack::ROSPack rp;
00075     // Separate try block for running the command, to allow for suppressing
00076     // error output when -q is given.
00077     try
00078     {
00079       ret = rp.run(argc, argv);
00080       printf("%s", rp.getOutput().c_str());
00081     }
00082     catch(std::runtime_error &e)
00083     {
00084       // Return code is -1 no matter what, but don't rethrow if we were
00085       // asked to be quiet.
00086       ret = -1;
00087       if(!rp.is_quiet())
00088         throw;
00089     }
00090   }
00091   catch(std::runtime_error &e)
00092   {
00093     fprintf(stderr, "[rospack] %s\n", e.what());
00094     ret = -1;
00095   }
00096 
00097   return ret;
00098 }