nodemon_webview: nodemon_webview: errorkb.cpp Source File

00001 
00002 /***************************************************************************
00003  *  errorkb.cpp - Webview extension for nodemon error KB viewing
00004  *
00005  *  Created: Tue May 10 11:28:47 2011
00006  *  Copyright  2006-2011  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version. A runtime exception applies to
00014  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00015  *
00016  *  This program is distributed in the hope that it will be useful,
00017  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00018  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00019  *  GNU Library General Public License for more details.
00020  *
00021  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00022  */
00023 
00024 #include <ros/ros.h>
00025 #include <webview_msgs/NavRegistration.h>
00026 #include <webview_msgs/UrlRegistration.h>
00027 #include <webview_msgs/ProcessRequest.h>
00028 
00029 #include <webview/formatters/tracwiki.h>
00030 
00031 #include <rospack/rospack.h>
00032 
00033 #include <cstdio>
00034 #include <csignal>
00035 #include <regex.h>
00036 
00037 #define NODEMON_URL_PREFIX "/errorkb"
00038 #define NODEMON_SERVICE_NAME "/nodemon/errorkb_webview"
00039 #define NODEMON_NAV_ENTRY "Error KB"
00040 
00041 class NodemonWebviewErrorKB;
00042 NodemonWebviewErrorKB *g_errorkb;
00043 
00044 
00045 class NodemonWebviewErrorKB
00046 {
00047 public:
00048   NodemonWebviewErrorKB()
00049   {
00050     // This is a workaround for uninitialized variabls in rospack::ROSPack,
00051     // cf. https://code.ros.org/trac/ros/ticket/3488
00052     const char *argv[] = {"", ""};
00053     try {
00054       __rospack.run(2, (char **)argv);
00055     } catch (std::runtime_error &e) {} // ignored
00056 
00057     __srv_proc =
00058       __n.advertiseService(NODEMON_SERVICE_NAME,
00059                            &NodemonWebviewErrorKB::process_request_cb, this);
00060 
00061     ros::ServiceClient clt_reg =
00062       __n.serviceClient<webview_msgs::UrlRegistration>("/webview/register");
00063     webview_msgs::UrlRegistration srv;
00064     srv.request.url_prefix = NODEMON_URL_PREFIX;
00065     srv.request.service_name = NODEMON_SERVICE_NAME;
00066 
00067     if (! clt_reg.call(srv)) {
00068       throw ros::Exception("Client registration service call failed");
00069     } else if (! srv.response.success) {
00070       throw ros::Exception(std::string("Registration failed: ")
00071                            + srv.response.error);
00072     }
00073 
00074     /*
00075     ros::ServiceClient clt_addnav =
00076       __n.serviceClient<webview_msgs::NavRegistration>("/webview/add_nav_entry");
00077     webview_msgs::NavRegistration srv_addnav;
00078     srv_addnav.request.url = NODEMON_URL_PREFIX;
00079     srv_addnav.request.name = NODEMON_NAV_ENTRY;
00080 
00081     if (! clt_addnav.call(srv_addnav)) {
00082       printf("Nav entry adding service call failed\n");
00083     } else if (! srv_addnav.response.success) {
00084       printf("Adding nav entry failed: %s\n", srv_addnav.response.error.c_str());
00085     }
00086     */
00087   }
00088 
00089 
00090   void shutdown()
00091   {
00092     ros::ServiceClient clt_ureg =
00093       __n.serviceClient<webview_msgs::UrlRegistration>("/webview/unregister");
00094     webview_msgs::UrlRegistration usrv;
00095     usrv.request.url_prefix = NODEMON_URL_PREFIX;
00096     usrv.request.service_name = NODEMON_SERVICE_NAME;
00097   
00098     if (! clt_ureg.call(usrv)) {
00099       printf("Client DE-registration service call failed\n");
00100     } else if (! usrv.response.success) {
00101       printf("DE-registration failed: %s\n", usrv.response.error.c_str());
00102     }
00103 
00104     /*
00105     ros::ServiceClient clt_remnav =
00106       __n.serviceClient<webview_msgs::NavRegistration>("/webview/remove_nav_entry");
00107     webview_msgs::NavRegistration srv_remnav;
00108     srv_remnav.request.url = NODEMON_URL_PREFIX;
00109     srv_remnav.request.name = NODEMON_NAV_ENTRY;
00110 
00111     if (! clt_remnav.call(srv_remnav)) {
00112       printf("Nav entry removing service call failed\n");
00113     } else if (! srv_remnav.response.success) {
00114       printf("Removing nav entry failed: %s\n", srv_remnav.response.error.c_str());
00115     }
00116     */
00117   }
00118 
00119   bool
00120   process_request_cb(webview_msgs::ProcessRequest::Request  &req,
00121                      webview_msgs::ProcessRequest::Response &resp)
00122   {
00123     printf("Processing request for %s\n", req.url.c_str());
00124     // split URL in prefix, package, error ID
00125     std::string::size_type pos1, pos2;
00126 
00127     if ( ((pos1 = req.url.find("/", 1)) == std::string::npos) ||
00128          ((pos2 = req.url.find("/", pos1 + 1)) == std::string::npos) )
00129     {
00130       resp.code = webview_msgs::ProcessRequest::Response::HTTP_BAD_REQUEST;
00131       resp.error = "Malformed URL";
00132       return true;
00133     }
00134 
00135     std::string package = req.url.substr(pos1 + 1, pos2 - pos1 - 1);
00136     std::string errorid = req.url.substr(pos2 + 1);
00137 
00138     // Check package name and error ID as a very basic security layer
00139     regex_t re;
00140     int regerr = 0;
00141     if ( (regerr = regcomp(&re, "^[a-zA-Z0-9_-]+$", REG_EXTENDED)) != 0 ) {
00142       char errtmp[1024];
00143       regerror(regerr, &re, errtmp, sizeof(errtmp));
00144       resp.code = webview_msgs::ProcessRequest::Response::HTTP_INTERNAL_SERVER_ERROR;
00145       resp.error = std::string("Failed to compile regex: ") + errtmp;
00146       return true;
00147     }
00148 
00149     if (regexec(&re, package.c_str(), 0, NULL, 0) == REG_NOMATCH) {
00150       resp.code = webview_msgs::ProcessRequest::Response::HTTP_BAD_REQUEST;
00151       resp.error = "Invalid package name";
00152       return true;
00153     }
00154 
00155     if (regexec(&re, errorid.c_str(), 0, NULL, 0) == REG_NOMATCH) {
00156       resp.code = webview_msgs::ProcessRequest::Response::HTTP_BAD_REQUEST;
00157       resp.error = "Invalid error ID";
00158       return true;
00159     }
00160     regfree(&re);
00161 
00162     rospack::Package *pkg = NULL;
00163     try {
00164       pkg = __rospack.get_pkg(package);
00165     } catch (ros::Exception &e) {
00166       resp.code = webview_msgs::ProcessRequest::Response::HTTP_INTERNAL_SERVER_ERROR;
00167       resp.error = e.what();
00168       return true;
00169     } catch (std::runtime_error &e) {
00170       resp.code = webview_msgs::ProcessRequest::Response::HTTP_INTERNAL_SERVER_ERROR;
00171       resp.error = e.what();
00172       return true;
00173     }
00174 
00175     if (pkg) {
00176       std::string path = pkg->flags("error_kb", "path");
00177       std::string::size_type endpos = path.find_last_not_of(' ');
00178       path = path.substr(0, endpos+1);
00179       
00180       if (path == "") {
00181         resp.code = webview_msgs::ProcessRequest::Response::HTTP_NOT_FOUND;
00182         resp.error = std::string("Package ") + package
00183           + " does not provide an error knowledge base";
00184         return true;
00185       }
00186 
00187       // Find specific documentation
00188       std::string docpath = pkg->path + "/" + path + "/doc/" + errorid + ".txt";
00189       FILE *f = fopen(docpath.c_str(), "r");
00190       if (!f) {
00191         resp.code = webview_msgs::ProcessRequest::Response::HTTP_NOT_FOUND;
00192         resp.error = std::string("No documentation for error ")
00193           + package + "/" + errorid;
00194         return true;
00195       }
00196 
00197       std::string body;
00198       while (! feof(f) && ! ferror(f)) {
00199         char tmp[1024];
00200         size_t nr = fread(tmp, 1, sizeof(tmp), f);
00201         if (nr > 0) {
00202           body.append(tmp, nr);
00203         }
00204       }
00205       fclose(f);
00206 
00207       // Find generic information
00208       std::string gendoc = "";
00209       std::string genpath = pkg->path + "/" + path + "/doc/generic.txt";
00210       f = fopen(genpath.c_str(), "r");
00211       if (f) {
00212         while (! feof(f) && ! ferror(f)) {
00213           char tmp[1024];
00214           size_t nr = fread(tmp, 1, sizeof(tmp), f);
00215           if (nr > 0) {
00216             gendoc.append(tmp, nr);
00217           }
00218         }
00219         fclose(f);
00220       }
00221 
00222       std::string formatted_body = __twf.format(body);
00223 
00224       if (gendoc != "") {
00225             resp.html_header =
00226               "  <link type=\"text/css\" href=\"/static/css/jqtheme/jquery-ui.custom.css\" rel=\"stylesheet\" />\n"
00227               "  <script type=\"text/javascript\" src=\"/static/js/jquery.min.js\"></script>\n"
00228               "  <script type=\"text/javascript\" src=\"/static/js/jquery-ui.custom.min.js\"></script>\n";
00229 
00230 
00231         gendoc =
00232           "<script type=\"text/javascript\">\n"
00233           "  $(function(){\n"
00234           "    $(\"#gendoc-title\").click(function(){\n"
00235           "          if ( $(\"#gendoc\").is(\":visible\") ) {\n"
00236           "        $(\"#gendoc\").hide(\"blind\");\n"
00237           "        $(\"#gendoc-icon\").attr(\"src\", \"/static/images/icon-triangle-e.png\");\n"
00238           "      } else {\n"
00239           "            $(\"#gendoc\").show(\"blind\");\n"
00240           "        $(\"#gendoc-icon\").attr(\"src\", \"/static/images/icon-triangle-s.png\");\n"
00241           "      }\n"
00242           "    });\n"
00243           "    $(\"#gendoc\").hide();\n"
00244           "  });\n"
00245           "</script>\n"
00246           "<div id=\"gendoc-box\">\n"
00247           "  <div><a id=\"gendoc-title\" href=\"#\"><img id=\"gendoc-icon\" "
00248           "class=\"gendoc-icon\" src=\"/static/images/icon-triangle-e.png\" />"
00249           "Generic information</a></div>\n"
00250           "  <div id=\"gendoc\">\n"
00251           + __twf.format(gendoc) + "</div></div>\n";
00252       }
00253 
00254       resp.code = webview_msgs::ProcessRequest::Response::HTTP_OK;
00255       resp.wrap_in_page = true;
00256       resp.title = std::string("Documentation for ")
00257         + package + "/" + errorid;
00258       resp.body = formatted_body + "\n\n" + gendoc;
00259     } else {
00260       resp.code = webview_msgs::ProcessRequest::Response::HTTP_NOT_FOUND;
00261       resp.error = std::string("Package ") + package + " not found";
00262     }
00263 
00264     return true;
00265   }
00266 
00267  private:
00268   ros::NodeHandle  __n;
00269   rospack::ROSPack  __rospack;
00270 
00271   ros::ServiceServer __srv_proc;
00272 
00273   fawkes::TracWikiHeadingFormatter __twf;
00274 };
00275 
00276 
00277 void
00278 handle_signal(int signum)
00279 {
00280   g_errorkb->shutdown();
00281 
00282   ros::shutdown();
00283 }
00284 
00285 
00290 int
00291 main(int argc, char **argv)
00292 {
00293   ros::init(argc, argv, "nodemon_webview_errorkb", ros::init_options::NoSigintHandler);
00294 
00295   // Note that we have a custom SIGINT handler to allow us to properly
00296   // unregister from webview! We cannot simply call this when ros::spin()
00297   // returns because by that time service calls won't work anymore
00298   signal(SIGINT, handle_signal);
00299 
00300   try {
00301     g_errorkb = new NodemonWebviewErrorKB();
00302   } catch (ros::Exception &e) {
00303     printf("Failed to instantiate: %s\n", e.what());
00304     return 1;
00305   }
00306 
00307   ros::spin();
00308   delete g_errorkb;
00309 
00310   return 0;
00311 }