ros_bin.cpp

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/*****************************************************************************
** Includes
*****************************************************************************/

#include <iostream>
#include <cstdlib>
#include <sstream>
#include <algorithm>
#ifdef WIN32
  #include <windows.h>
#endif

char exe_name[MAX_PATH];
std::stringstream arguments;
std::string python_home, python_script, python_exe;

/*****************************************************************************
** Functions
*****************************************************************************/

void debug() {
        std::cout << std::endl;
        std::cout << "Program Variables:" << std::endl;
        std::cout << "  Python exe: " << python_exe << std::endl;
        std::cout << "  Executable: " << exe_name << std::endl;
        std::cout << "  Python script: " << python_script << std::endl;
        std::cout << "  Arguments: " << arguments.str() << std::endl;
        std::cout << std::endl;
}

/*****************************************************************************
** Main
*****************************************************************************/

int main(int argc, char **argv) {

        exe_name[0] = '\0';
#ifdef WIN32
        //_splitpath_s(argv[0], NULL, 0, NULL, 0, name, 256, NULL, 0);

    // could use GetModuleHandleW, WCHAR, GetModuleFileNameW, wcout and wstring here instead.
        HMODULE hModule = GetModuleHandle(NULL);
    GetModuleFileName(hModule, exe_name, MAX_PATH);
    python_script = std::string(exe_name);
    python_script.replace(python_script.end()-4, python_script.end(), ""); // replace trailing ".exe" with ""

        python_exe = python_home + std::string("python");
        arguments << python_exe << " " << python_script;
        for ( int i = 1; i < argc; ++i ) {
                // need the quotes to make sure spaces dont muck things up
                arguments << " \"" << argv[i] << "\"";
        }

        /* TODO: Need some validation checks here! */

        STARTUPINFO startup_info;
        PROCESS_INFORMATION process_info;
        memset(&startup_info, 0, sizeof(startup_info));
        memset(&process_info, 0, sizeof(process_info));

        startup_info.cb = sizeof(startup_info);

        int result =
                CreateProcess(
                        NULL, 
                        const_cast<char*>(arguments.str().c_str()), // bloody windoze
                        NULL,
                        NULL,
                        FALSE,
                        0, // CREATE_NEW_CONSOLE,
                        NULL,
                        NULL,
                        &startup_info,
                        &process_info
                        );
        if ( result == 0 ) {
                switch ( result ) {
                        case ( ERROR_FILE_NOT_FOUND ) : {
                                std::cout << "The python executable could not be found - check it is in your PATH" << std::endl;
                                debug();
                                break;
                        }
                        default: {
                                std::cout << "Process failed with error: " << GetLastError() << std::endl;
                                debug();
                                break;
                        }
                }
        } else {
                WaitForSingleObject( process_info.hProcess, INFINITE );
            CloseHandle( process_info.hProcess );
            CloseHandle( process_info.hThread );
        }
#else
        std::cout << "This is a windows application only." << std::endl;
#endif
        return 0;
}