plugin_tool.cpp

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 /*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <pluginlib/class_loader.h>
#include <ros/console.h>
#include <iostream>
#include <vector>
#include <string>
#include <fstream>
#include <sstream>
#include <dlfcn.h>

using std::cout;
using std::endl;
using std::vector;
using std::string;

vector<string>  g_cli_arguments;
void*           g_class_loader_library_handle = NULL;

//Handle CLI request
void            processUserCommand();
void            handleFindPluginRequest();
void            handleListPluginsRequest();
void            handleLoadPluginRequest();

//Command line arguments
vector<string>  getCLIArguments();
void            setCLIArguments(int argc, char* argv[]);
bool            verifyCLIArguments();

string          baseClass(){return(getCLIArguments().at(1));}
string          baseClassHeader(){return(getCLIArguments().at(2));}
string          packageName(){return(getCLIArguments().at(3));}
string          commandVerb(){return(getCLIArguments().at(4));}
string          pluginName(){return(getCLIArguments().at(5));}

//Typed Class Loader Interface (shared object)
string          callCommandLine(const char* cmd);
string          determineIncludePathsForBaseClassHeaderDependencies();
void            generateAndLoadTypedPluginInterface();
void            generateFile(string filename, string contents);
string          generatedSharedLibrary(){return "libTypedPluginInterface.so";}
string          generatedObjFile(){return "typedPluginInterface.o";}
string          generatedCppFile(){return "typedPluginInterface.cpp";}
string          getPluginlibSharedFolder();
string          getTypedClassLoaderTemplate();
string          getTypedClassLoaderTemplateWithBaseSet();
vector<string>  parseToStringVector(std::string newline_delimited_str);
string          stripNewlineCharacters(const std::string& s);
string          templateCppFileWithoutExtension(){return "typedPluginInterface";}
string          templateCppFile(){return templateCppFileWithoutExtension() + ".cpp";}
string          templateCppFileAbsolutePath(){return getPluginlibSharedFolder() + "/" + templateCppFile();}


int main(int argc, char* argv[])
/*****************************************************************************/
{
        cout << "plugin_tool - A command line tool for pluginlib testing" << endl;
        cout << "-------------------------------------------------------" << endl;

        setCLIArguments(argc, argv);
        if(!verifyCLIArguments())
        {
                cout << "Error: Invalid arguments passed to plugin_tool." << endl;
                exit(-1);
        }

        cout << "Base class = " << baseClass() << endl;
        cout << "Package name = " << packageName() << endl << endl;

        generateAndLoadTypedPluginInterface();
        processUserCommand();

   return 0;
}

std::string callCommandLine(const char* cmd)
/***************************************************************************/
{
        FILE* pipe = popen(cmd, "r");
        if (!pipe)
          return "ERROR";
        char buffer[128];
        std::string result = "";
        while(!feof(pipe))
        {
          if(fgets(buffer, 128, pipe) != NULL)
                  result += buffer;
        }
        pclose(pipe);
        return result;
}

string determineIncludePathsForBaseClassHeaderDependencies()
/*****************************************************************************/
{
   string cmd = "rospack cflags-only-I " + packageName();
        return(stripNewlineCharacters(callCommandLine(cmd.c_str())));
}

void generateAndLoadTypedPluginInterface()
/*****************************************************************************/
{
        cout << "Generating typed plugin interface cpp..." << endl;
        string code = getTypedClassLoaderTemplateWithBaseSet();
        cout << "***************************************************" << endl;
        cout << code << endl;
        cout << "***************************************************" << endl;

        cout << "Outputting to file " << templateCppFile() << "..." << endl;
        generateFile(generatedCppFile(), code);

        cout << "Building interface shared object..." << endl;
        string cmd1 = "g++ -fPIC -I" + determineIncludePathsForBaseClassHeaderDependencies() + " -c " + generatedCppFile();
        string cmd2 = "g++ -shared -o " + generatedSharedLibrary() + " " + generatedObjFile();

        cout << "Command 1 = " << cmd1 << endl;
        cout << "Command 2 = " << cmd2 << endl;

        if(-1 == system(cmd1.c_str()))
        {
                cout << "Error: Failed to compile interface." << endl;
                exit(-1);
        }
        else
        {
      cout << "Interface compiled to an object file, attempting to build..." << endl;
      if(-1 == system(cmd2.c_str()))
      {
         cout << "Error: Failed to build shared object." << endl;
         exit(-1);
      }
      else
         cout << "Build of shared object succeeded." << endl;

        }

        cout << "Loading shared object into memory." << endl;
        g_class_loader_library_handle = dlopen("libTypedPluginInterface.so", RTLD_LAZY);
        if(g_class_loader_library_handle)
                cout << "Shared object successfully loaded into memory." << endl;
        else
        {
                cout << "Error: Failed to load shared object into memory." << endl;
                exit(-1);
        }
}

template <typename T> T getPluginFunction(const std::string& function_name)
/*****************************************************************************/
{
        void* ptr = dlsym(g_class_loader_library_handle, function_name.c_str());
        return((T)(ptr));
}

vector<string>  getCLIArguments()
/*****************************************************************************/
{
        return(g_cli_arguments);
}

void generateFile(string filename, string contents)
/*****************************************************************************/
{
        std::ofstream file;
        file.open(filename.c_str());
        file << contents;
        file.close();
}

std::string getPluginlibSharedFolder()
/***************************************************************************/
{
   vector<std::string> allVals = parseToStringVector(callCommandLine("catkin_find pluginlib --share"));
   assert(allVals.size() > 0);
   return(allVals.at(0));
}

string getTypedClassLoaderTemplate()
/*****************************************************************************/
{
        std::ifstream file;
   string path = getPluginlibSharedFolder() + "/typed_class_loader_template.cpp";
        file.open(path.c_str());
        if(!file)
        {
                cout << "Error: Cannot find file " + path + " to generate class loader";
                exit(-1);
        }

        string contents;
        while(!file.eof())
        {
                char c;
                file.get(c);
                contents.push_back(c);
                cout << c;
        }

        return contents;
}

string getTypedClassLoaderTemplateWithBaseSet()
/*****************************************************************************/
{
        string class_template = getTypedClassLoaderTemplate();
        string class_with_type_set;
        for(unsigned int c = 0; c < class_template.size(); c++)
        {
                if(class_template.at(c) == '$')
                        class_with_type_set += baseClass();
                else if(class_template.at(c) == '@')
                        class_with_type_set += "#include \"" + baseClassHeader() + "\"";
                else
                        class_with_type_set.push_back(class_template.at(c));
        }
        return(class_with_type_set);
}

void handleFindPluginRequest()
/*****************************************************************************/
{
        //string whereIsPluginLocated(const string& package_name, const string& class_name)
        typedef std::string (*WhereIsFunc)(const string&, const string&);
        WhereIsFunc f = getPluginFunction<WhereIsFunc>("whereIsPluginLocated");

        cout << "Attempting to find plugin " << pluginName() << " exported from package " << packageName() << "..." << endl;

        if(f)
                cout << "Plugin " << pluginName() << " is located in library " << f(packageName(), pluginName()) << endl;
        else
        {
                cout << "Error: Could not find function 'whereIsPluginLocated' in shared object." << endl;
                exit(-1);
        }
}

void handleListPluginsRequest()
/*****************************************************************************/
{
        //  std::vector<std::string> availablePlugins(const string& package_name)
        typedef std::vector<std::string> (*ListFunc)(const string&);
        ListFunc f = getPluginFunction<ListFunc>("availablePlugins");

        cout << "The following plugins are available in package " << packageName() << ":" << endl;
        if(f)
        {

                std::vector<std::string> plugins = f(packageName());
                for(unsigned int c = 0; c < plugins.size(); c++)
                        cout << plugins.at(c) << endl;
        }
        else
        {
                cout << "Error: Could not find function 'availablePlugins' in shared object." << endl;
                exit(-1);
        }
}

void handleLoadPluginRequest()
/*****************************************************************************/
{
        //  bool loadPlugin(const string& package_name, const string& class_name)
        typedef bool (*LoadPluginFunc)(const string&, const string&);
        LoadPluginFunc f = getPluginFunction<LoadPluginFunc>("loadPlugin");
        string plugin_name = getCLIArguments().at(4);
        cout << "Attempting to find plugin " << plugin_name << "..." << endl;
        if(f)
        {
                if(f(packageName(), plugin_name))
                        cout << "Opened plugin successfully :)" << endl;
                else
                {
                        cout << "Error: Plugin did not open :(" << endl;
                        exit(-1);
                }
        }
        else
        {
                cout << "Error: Could not find function 'loadPlugin' in shared object." << endl;
                exit(-1);
        }
}

vector<string> parseToStringVector(std::string newline_delimited_str)
/***************************************************************************/
{
   string next;
   vector<string> parse_result;
   for(unsigned int c = 0; c < newline_delimited_str.size(); c++)
   {
      char ch = newline_delimited_str.at(c);
      if(ch == '\n')
      {
       parse_result.push_back(next);
       next = "";
      }
      else
       next.push_back(ch);
   }
   return(parse_result);
}

void processUserCommand()
/*****************************************************************************/
{
        string verb = commandVerb();

        if (verb == "find")
                handleFindPluginRequest();
        else if (verb == "list")
                handleListPluginsRequest();
        else if(verb == "load")
                handleLoadPluginRequest();
        else
                cout << "Error: Unknown verb for plugin_tool, available verbs are 'load', 'list', and 'find'." << endl;
}

void setCLIArguments(int argc, char* argv[])
/*****************************************************************************/
{
        g_cli_arguments = vector<string>(argc);
        for(int c = 0; c < argc; c++)
                g_cli_arguments.at(c) = string(argv[c]);
}

string stripNewlineCharacters(const std::string& s)
/*****************************************************************************/
{
   string stripped;
   for(unsigned int c = 0; c < s.size(); c++)
   {
      if(s.at(c) != '\n')
         stripped.push_back(s.at(c));
   }
   return stripped;
}

bool verifyCLIArguments()
/*****************************************************************************/
{
        vector<string> args = getCLIArguments();

        if(args.size() < 5)
        {
                cout << "Not enough arguments. Usage: plugin_tool <BASE CLASS> <BASE_CLASS_HEADER> <PACKAGE_NAME> <find [class_name] | list | load [class_name]>";
                return false;
        }

   for(size_t c = 0; c < args.size(); c++)
      cout << "Arg " << c << ": " << args.at(c) << endl;

        return(true);
}