shell.cpp

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#include <ros/ros.h>
#include <cstdio>
#include <iostream>
#include <memory>
#include <stdexcept>
#include <string>
#include <array>
#include <std_msgs/String.h>

#include <clover/Execute.h>

ros::Duration timeout;

// TODO: handle timeout
bool handle(clover::Execute::Request& req, clover::Execute::Response& res)
{
        ROS_INFO("Execute: %s", req.cmd.c_str());

        std::array<char, 128> buffer;
        std::string result;

        FILE *fp = popen(req.cmd.c_str(), "r");

        if (fp == NULL) {
                res.code = clover::Execute::Request::CODE_FAIL;
                res.output = "popen() failed";
                return true;
        }

        while (fgets(buffer.data(), buffer.size(), fp) != nullptr) {
                res.output += buffer.data();
        }

        res.code = pclose(fp);
        return true;
}


int main(int argc, char **argv)
{
        ros::init(argc, argv, "shell");
        ros::NodeHandle nh, nh_priv("~");

        timeout = ros::Duration(nh_priv.param("timeout", 3.0));

        auto gt_serv = nh.advertiseService("exec", &handle);

        ROS_INFO("shell: ready");
        ros::spin();
}