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00028 #include "rospack/rospack_backcompat.h"
00029 #include "rospack/rospack.h"
00030 #include "rospack_cmdline.h"
00031
00032 #include <boost/algorithm/string.hpp>
00033 #include <string.h>
00034 #include <stdio.h>
00035 #include <errno.h>
00036
00037 namespace rospack
00038 {
00039
00040 int
00041 ROSPack::run(int argc, char** argv)
00042 {
00043
00044 static rospack::Rospack rp;
00045 output_.clear();
00046 bool success = rospack::rospack_run(argc, argv, rp, output_);
00047 if(!success)
00048 {
00049 fprintf(stderr, "[librospack]: error while executing command\n");
00050 return 1;
00051 }
00052 return 0;
00053 }
00054
00055 int
00056 ROSPack::run(const std::string& cmd)
00057 {
00058
00059 std::string full_cmd = std::string("rospack ") + cmd;
00060
00061 int argc;
00062 char** argv;
00063 std::vector<std::string> full_cmd_split;
00064 boost::split(full_cmd_split, full_cmd,
00065 boost::is_any_of(" "),
00066 boost::token_compress_on);
00067 argc = full_cmd_split.size();
00068 argv = new char*[argc];
00069 int i = 0;
00070 for(std::vector<std::string>::const_iterator it = full_cmd_split.begin();
00071 it != full_cmd_split.end();
00072 ++it)
00073 {
00074 argv[i] = new char[it->size()+1];
00075 memset(argv[i], 0, it->size()+1);
00076 memcpy(argv[i], it->c_str(), it->size());
00077 i++;
00078 }
00079
00080 int ret = run(argc, argv);
00081
00082 for(int i=0; i<argc; i++)
00083 delete[] argv[i];
00084 delete[] argv;
00085
00086 return ret;
00087 }
00088
00089 }