the start of the rospack rewrite; crawler works, with caching
This commit is contained in:
Brian Gerkey
parent
547d7554f3
commit
95a9de83f1
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@ -118,3 +118,13 @@ add_custom_target(tests)
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add_custom_target(test-results)
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add_custom_target(test-results)
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add_custom_target(test-future)
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add_custom_target(test-future)
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add_custom_target(gcoverage)
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add_custom_target(gcoverage)
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#add_library(rp rp.cpp
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# tinyxml-2.5.3/tinyxml.cpp
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# tinyxml-2.5.3/tinyxmlparser.cpp
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# tinyxml-2.5.3/tinyxmlerror.cpp)
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#add_executable(rpexe rp_main.cpp)
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#set_target_properties(rpexe PROPERTIES OUTPUT_NAME rp)
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#target_link_libraries(rpexe rp boost_filesystem boost_system)
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#add_executable(rs rs_main.cpp)
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#target_link_libraries(rs rp boost_filesystem boost_system)
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@ -0,0 +1,485 @@
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/*
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* Copyright (C) 2008, Willow Garage, Inc., Morgan Quigley
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "rp.h"
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#include "tinyxml-2.5.3/tinyxml.h"
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#include <boost/filesystem.hpp>
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#if !defined(WIN32)
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#include <sys/types.h>
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#include <libgen.h>
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#include <pwd.h>
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#endif
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#include <sys/stat.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <time.h>
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namespace fs = boost::filesystem;
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namespace rospack
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{
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static const std::string ROSPACK_MANIFEST_NAME = "manifest.xml";
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static const std::string ROSSTACK_MANIFEST_NAME = "stack.xml";
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static const std::string ROSPACK_CACHE_NAME = "rospack_cache";
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static const std::string ROSSTACK_CACHE_NAME = "rosstack_cache";
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static const std::string DOTROS_NAME = ".ros";
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static const int MAX_CRAWL_DEPTH = 1000;
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static const double DEFAULT_MAX_CACHE_AGE = 60.0;
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/////////////////////////////////////////////////////////////
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// Stackage methods
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/////////////////////////////////////////////////////////////
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Stackage::Stackage(const std::string& name,
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const std::string& path,
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const std::string& manifest_path) :
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name_(name),
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path_(path),
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manifest_path_(manifest_path)
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{
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}
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/////////////////////////////////////////////////////////////
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// Rosstackage methods (public/protected)
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/////////////////////////////////////////////////////////////
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Rosstackage::Rosstackage(std::string manifest_name,
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std::string cache_name,
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crawl_direction_t crawl_dir,
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int max_crawl_depth) :
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manifest_name_(manifest_name),
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cache_name_(cache_name),
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crawl_dir_(crawl_dir),
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max_crawl_depth_(max_crawl_depth),
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crawled_(false)
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{
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}
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void
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Rosstackage::debug_dump()
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{
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for(std::map<std::string, Stackage*>::const_iterator it = stackages_.begin();
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it != stackages_.end();
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++it)
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{
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printf("%s:\n %s\n %s\n %s\n",
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it->first.c_str(),
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it->second->name_.c_str(),
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it->second->path_.c_str(),
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it->second->manifest_path_.c_str());
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}
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printf("Total:%d\n", (int)stackages_.size());
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}
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void
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Rosstackage::crawl(const std::vector<std::string>& search_path,
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bool force)
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{
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if(crawled_ && !force)
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{
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printf("alredy crawled\n");
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return;
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}
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if(readCache() && !force)
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{
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printf("loaded cache\n");
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return;
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}
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for(std::vector<std::string>::const_iterator p = search_path.begin();
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p != search_path.end();
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++p)
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{
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crawlDetail(*p, force, 1);
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}
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crawled_ = true;
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writeCache();
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printf("crawled\n");
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}
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std::string
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Rosstackage::find(const std::string& name)
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{
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std::map<std::string, Stackage*>::const_iterator it = stackages_.find(name);
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if(it != stackages_.end())
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return it->second->path_;
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else
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return "";
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}
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/////////////////////////////////////////////////////////////
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// Rosstackage methods (private)
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/////////////////////////////////////////////////////////////
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bool
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Rosstackage::isStackage(const std::string& path)
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{
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if(!fs::is_directory(path))
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return false;
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for(fs::directory_iterator dit = fs::directory_iterator(path);
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dit != fs::directory_iterator();
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++dit)
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{
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if(!fs::is_regular_file(dit->path()))
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continue;
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if(dit->path().filename() == manifest_name_)
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return true;
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}
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return false;
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}
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void
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Rosstackage::addStackage(const std::string& path)
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{
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std::string name = fs::path(path).filename().string();
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if(stackages_.find(name) != stackages_.end())
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{
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// TODO: optionally notify on duplicates
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return;
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}
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fs::path manifest_path = fs::path(path) / manifest_name_;
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stackages_[name] = new Stackage(name, path, manifest_path.string());
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// TODO
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loadManifest(stackages_[name]);
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}
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void
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Rosstackage::crawlDetail(const std::string& path,
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bool force,
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int depth)
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{
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if(depth > max_crawl_depth_)
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throw Exception("Maximum depth exceeded during crawl");
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if(isStackage(path))
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{
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addStackage(path);
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return;
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}
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if(crawl_dir_ == CRAWL_DOWN)
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{
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for(fs::directory_iterator dit = fs::directory_iterator(path);
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dit != fs::directory_iterator();
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++dit)
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{
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if(fs::is_directory(dit->path()))
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crawlDetail(dit->path().string(), force, depth+1);
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}
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}
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else // dir == CRAWL_UP
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{
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std::string parent = boost::filesystem::path(path).parent_path().string();
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if(parent.size())
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crawlDetail(parent, force, depth+1);
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}
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}
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void
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Rosstackage::loadManifest(Stackage* stackage)
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{
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if(stackage->manifest_loaded_)
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return;
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if(!stackage->manifest_.LoadFile(stackage->manifest_path_))
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{
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std::string errmsg = std::string("Error parsing manifest of package ") +
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stackage->name_ + " at [" + stackage->manifest_path_ + "]";
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throw Exception(errmsg);
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}
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stackage->manifest_loaded_ = true;
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}
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std::string
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Rosstackage::getCachePath()
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{
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fs::path cache_path;
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char* ros_home = getenv("ROS_HOME");
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if(ros_home)
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cache_path = ros_home;
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else
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{
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// Get the user's home directory by looking up the password entry based
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// on UID. If that doesn't work, we fall back on examining $HOME,
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// knowing that that can cause trouble when mixed with sudo (#2884).
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#if defined(WIN32)
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char* home_drive = getenv("HOMEDRIVE");
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char* home_path = getenv("HOMEPATH");
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if(home_drive && home_path)
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cache_path = fs::path(home_drive) / fs::path(home_path) / fs::path(DOTROS_NAME);
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#else // UNIX
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char* home_path;
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struct passwd* passwd_ent;
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// Look up based on effective UID, just in case we got here by set-uid
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if((passwd_ent = getpwuid(geteuid())))
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home_path = passwd_ent->pw_dir;
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else
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home_path = getenv("HOME");
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if(home_path)
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cache_path = fs::path(home_path) / fs::path(DOTROS_NAME);
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#endif
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}
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// If it doesn't exist, create the directory that will hold the cache
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if(!fs::is_directory(cache_path))
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{
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try
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{
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fs::create_directory(cache_path);
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}
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catch(fs::filesystem_error& e)
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{
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fprintf(stderr,
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"[rospack] WARNING: cannot create rospack cache directory %s: %s\n",
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cache_path.string().c_str(),
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e.what());
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}
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}
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cache_path /= cache_name_;
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return cache_path.string();
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}
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bool
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Rosstackage::readCache()
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{
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if(!validateCache())
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return false;
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std::string cache_path = getCachePath();
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FILE *cache = fopen(cache_path.c_str(), "r");
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if(cache)
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{
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char linebuf[30000];
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for(;;)
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{
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if (!fgets(linebuf, sizeof(linebuf), cache))
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break; // error in read operation
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if (linebuf[0] == '#')
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continue;
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char* newline_pos = strchr(linebuf, '\n');
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if(newline_pos)
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*newline_pos = 0;
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addStackage(linebuf);
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}
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fclose(cache);
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return true;
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}
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else
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return false;
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}
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// TODO: replace the contents of the method with some fancy cross-platform
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// boost thing.
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void
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Rosstackage::writeCache()
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{
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// Write the results of this crawl to the cache file. At each step, give
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// up on error, printing a warning to stderr.
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std::string cache_path = getCachePath();
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if(!cache_path.size())
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{
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fprintf(stderr, "[rospack] No location available to write cache file. Try setting ROS_HOME or HOME.\n");
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}
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else
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{
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char tmp_cache_dir[PATH_MAX];
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char tmp_cache_path[PATH_MAX];
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strncpy(tmp_cache_dir, cache_path.c_str(), sizeof(tmp_cache_dir));
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#if defined(_MSC_VER)
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// No dirname on Windows; use _splitpath_s instead
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char drive[_MAX_DRIVE], dir[_MAX_DIR], fname[_MAX_FNAME], ext[_MAX_EXT];
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_splitpath_s(tmp_cache_dir, drive, _MAX_DRIVE, dir, _MAX_DIR, fname, _MAX_FNAME,
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ext, _MAX_EXT);
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char full_dir[_MAX_DRIVE + _MAX_DIR];
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_makepath_s(full_dir, _MAX_DRIVE + _MAX_DIR, drive, dir, NULL, NULL);
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snprintf(tmp_cache_path, sizeof(tmp_cache_path), "%s\\.rospack_cache.XXXXXX", full_dir);
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#elif defined(__MINGW32__)
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char* temp_name = tempnam(dirname(tmp_cache_dir),".rospack_cache.");
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snprintf(tmp_cache_path, sizeof(tmp_cache_path), temp_name);
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delete temp_name;
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#else
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snprintf(tmp_cache_path, sizeof(tmp_cache_path), "%s/.rospack_cache.XXXXXX", dirname(tmp_cache_dir));
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#endif
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#if defined(__MINGW32__)
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// There is no equivalent of mkstemp or _mktemp_s on mingw, so we resort to a slightly problematic
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// tempnam (above) and mktemp method. This has the miniscule chance of a race condition.
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int fd = open(tmp_cache_path, O_RDWR | O_EXCL | _O_CREAT, 0644);
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if (fd < 0)
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{
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fprintf(stderr, "[rospack] Unable to create temporary cache file %s: %u\n",
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tmp_cache_path, errno);
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}
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else
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{
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FILE *cache = fdopen(fd, "w");
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#elif defined(WIN32)
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if (_mktemp_s(tmp_cache_path, PATH_MAX) != 0)
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{
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fprintf(stderr,
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"[rospack] Unable to generate temporary cache file name: %u",
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GetLastError());
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}
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else
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{
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FILE *cache = fopen(tmp_cache_path, "w");
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#else
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int fd = mkstemp(tmp_cache_path);
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if (fd < 0)
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{
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fprintf(stderr, "[rospack] Unable to create temporary cache file %s: %s\n",
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tmp_cache_path, strerror(errno));
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}
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else
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{
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FILE *cache = fdopen(fd, "w");
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#endif
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if (!cache)
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{
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fprintf(stderr, "[rospack] Unable open cache file %s: %s\n",
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tmp_cache_path, strerror(errno));
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}
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else
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{
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// TODO: remove writing of ROS_ROOT
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char *rr = getenv("ROS_ROOT");
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||||||
|
fprintf(cache, "#ROS_ROOT=%s\n", rr);
|
||||||
|
|
||||||
|
char *rpp = getenv("ROS_PACKAGE_PATH");
|
||||||
|
fprintf(cache, "#ROS_PACKAGE_PATH=%s\n", (rpp ? rpp : ""));
|
||||||
|
for(std::map<std::string, Stackage*>::const_iterator it = stackages_.begin();
|
||||||
|
it != stackages_.end();
|
||||||
|
++it)
|
||||||
|
fprintf(cache, "%s\n", it->second->path_.c_str());
|
||||||
|
fclose(cache);
|
||||||
|
if(fs::exists(cache_path))
|
||||||
|
remove(cache_path.c_str());
|
||||||
|
if(rename(tmp_cache_path, cache_path.c_str()) < 0)
|
||||||
|
{
|
||||||
|
fprintf(stderr, "[rospack] Error: failed to rename cache file %s to %s: %s\n",
|
||||||
|
tmp_cache_path, cache_path.c_str(), strerror(errno));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
bool
|
||||||
|
Rosstackage::validateCache()
|
||||||
|
{
|
||||||
|
std::string cache_path = getCachePath();
|
||||||
|
// first see if it's new enough
|
||||||
|
double cache_max_age = DEFAULT_MAX_CACHE_AGE;
|
||||||
|
const char *user_cache_time_str = getenv("ROS_CACHE_TIMEOUT");
|
||||||
|
if(user_cache_time_str)
|
||||||
|
cache_max_age = atof(user_cache_time_str);
|
||||||
|
if(cache_max_age == 0.0)
|
||||||
|
return false;
|
||||||
|
struct stat s;
|
||||||
|
if(stat(cache_path.c_str(), &s) == 0)
|
||||||
|
{
|
||||||
|
double dt = difftime(time(NULL), s.st_mtime);
|
||||||
|
// Negative cache_max_age means it's always new enough. It's dangerous
|
||||||
|
// for the user to set this, but rosbash uses it.
|
||||||
|
if ((cache_max_age > 0.0) && (dt > cache_max_age))
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
// try to open it
|
||||||
|
FILE* cache = fopen(cache_path.c_str(), "r");
|
||||||
|
if(!cache)
|
||||||
|
return false; // it's not readable by us. sad.
|
||||||
|
|
||||||
|
// see if ROS_PACKAGE_PATH matches
|
||||||
|
char linebuf[30000];
|
||||||
|
bool ros_package_path_ok = false;
|
||||||
|
const char *ros_package_path = getenv("ROS_PACKAGE_PATH");
|
||||||
|
for(;;)
|
||||||
|
{
|
||||||
|
if(!fgets(linebuf, sizeof(linebuf), cache))
|
||||||
|
break;
|
||||||
|
linebuf[strlen(linebuf)-1] = 0; // get rid of trailing newline
|
||||||
|
if (linebuf[0] == '#')
|
||||||
|
{
|
||||||
|
if(!strncmp("#ROS_PACKAGE_PATH=", linebuf, 18))
|
||||||
|
{
|
||||||
|
if(!ros_package_path)
|
||||||
|
{
|
||||||
|
if(!strlen(linebuf+18))
|
||||||
|
ros_package_path_ok = true;
|
||||||
|
}
|
||||||
|
else if(!strcmp(linebuf+18, getenv("ROS_PACKAGE_PATH")))
|
||||||
|
ros_package_path_ok = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
break; // we're out of the header. nothing more matters to this check.
|
||||||
|
}
|
||||||
|
fclose(cache);
|
||||||
|
return ros_package_path_ok;
|
||||||
|
}
|
||||||
|
|
||||||
|
/////////////////////////////////////////////////////////////
|
||||||
|
// Rospack methods
|
||||||
|
/////////////////////////////////////////////////////////////
|
||||||
|
Rospack::Rospack() :
|
||||||
|
Rosstackage(ROSPACK_MANIFEST_NAME,
|
||||||
|
ROSPACK_CACHE_NAME,
|
||||||
|
CRAWL_DOWN,
|
||||||
|
MAX_CRAWL_DEPTH)
|
||||||
|
{
|
||||||
|
}
|
||||||
|
|
||||||
|
void Rospack::crawl(const std::vector<std::string>& search_path,
|
||||||
|
bool force)
|
||||||
|
{
|
||||||
|
Rosstackage::crawl(search_path, force);
|
||||||
|
}
|
||||||
|
|
||||||
|
/////////////////////////////////////////////////////////////
|
||||||
|
// Rosstack methods
|
||||||
|
/////////////////////////////////////////////////////////////
|
||||||
|
Rosstack::Rosstack() :
|
||||||
|
Rosstackage(ROSSTACK_MANIFEST_NAME,
|
||||||
|
ROSSTACK_CACHE_NAME,
|
||||||
|
CRAWL_UP,
|
||||||
|
MAX_CRAWL_DEPTH)
|
||||||
|
{
|
||||||
|
}
|
||||||
|
|
||||||
|
void Rosstack::crawl(const std::vector<std::string>& search_path,
|
||||||
|
bool force)
|
||||||
|
{
|
||||||
|
Rosstackage::crawl(search_path, force);
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,140 @@
|
||||||
|
/*
|
||||||
|
* Copyright (C) 2008, Willow Garage, Inc.
|
||||||
|
*
|
||||||
|
* 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 names of Stanford University or 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.
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
#ifndef ROSPACK_ROSPACK_H
|
||||||
|
#define ROSPACK_ROSPACK_H
|
||||||
|
|
||||||
|
#include "tinyxml-2.5.3/tinyxml.h"
|
||||||
|
|
||||||
|
#include <string>
|
||||||
|
#include <map>
|
||||||
|
#include <vector>
|
||||||
|
#include <stdexcept>
|
||||||
|
|
||||||
|
namespace rospack
|
||||||
|
{
|
||||||
|
|
||||||
|
class Stackage
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
// \brief name of the stackage
|
||||||
|
std::string name_;
|
||||||
|
// \brief absolute path to the stackage
|
||||||
|
std::string path_;
|
||||||
|
// \brief absolute path to the stackage manifest
|
||||||
|
std::string manifest_path_;
|
||||||
|
// \brief have we already loaded the manifest?
|
||||||
|
bool manifest_loaded_;
|
||||||
|
// \brief TinyXML structure, filled in during parsing
|
||||||
|
rospack_tinyxml::TiXmlDocument manifest_;
|
||||||
|
|
||||||
|
Stackage(const std::string& name,
|
||||||
|
const std::string& path,
|
||||||
|
const std::string& manifest_path);
|
||||||
|
};
|
||||||
|
|
||||||
|
class Package : public Stackage
|
||||||
|
{
|
||||||
|
};
|
||||||
|
|
||||||
|
class Stack : public Stackage
|
||||||
|
{
|
||||||
|
};
|
||||||
|
|
||||||
|
typedef enum
|
||||||
|
{
|
||||||
|
CRAWL_UP,
|
||||||
|
CRAWL_DOWN
|
||||||
|
} crawl_direction_t;
|
||||||
|
|
||||||
|
class Exception : public std::runtime_error
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
Exception(const std::string& what)
|
||||||
|
: std::runtime_error(what)
|
||||||
|
{}
|
||||||
|
};
|
||||||
|
|
||||||
|
class Rosstackage
|
||||||
|
{
|
||||||
|
private:
|
||||||
|
std::string manifest_name_;
|
||||||
|
std::string cache_name_;
|
||||||
|
crawl_direction_t crawl_dir_;
|
||||||
|
int max_crawl_depth_;
|
||||||
|
|
||||||
|
bool crawled_;
|
||||||
|
bool isStackage(const std::string& path);
|
||||||
|
void addStackage(const std::string& path);
|
||||||
|
void crawlDetail(const std::string& path,
|
||||||
|
bool force,
|
||||||
|
int depth);
|
||||||
|
void loadManifest(Stackage* stackage);
|
||||||
|
std::string getCachePath();
|
||||||
|
bool readCache();
|
||||||
|
void writeCache();
|
||||||
|
bool validateCache();
|
||||||
|
|
||||||
|
protected:
|
||||||
|
std::map<std::string, Stackage*> stackages_;
|
||||||
|
void crawl(const std::vector<std::string>& search_path, bool force);
|
||||||
|
|
||||||
|
public:
|
||||||
|
Rosstackage(std::string manifest_name,
|
||||||
|
std::string cache_name,
|
||||||
|
crawl_direction_t crawl_dir,
|
||||||
|
int max_crawl_depth);
|
||||||
|
|
||||||
|
std::string find(const std::string& name);
|
||||||
|
|
||||||
|
void debug_dump();
|
||||||
|
};
|
||||||
|
|
||||||
|
class Rospack : public Rosstackage
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
// TODO: make private
|
||||||
|
void crawl(const std::vector<std::string>& search_path,
|
||||||
|
bool force);
|
||||||
|
Rospack();
|
||||||
|
};
|
||||||
|
|
||||||
|
class Rosstack : public Rosstackage
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
// TODO: make private
|
||||||
|
void crawl(const std::vector<std::string>& search_path,
|
||||||
|
bool force);
|
||||||
|
Rosstack();
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,48 @@
|
||||||
|
/*
|
||||||
|
* Copyright (C) 2008, Willow Garage, Inc.
|
||||||
|
*
|
||||||
|
* 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 names of Stanford University or 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 "rp.h"
|
||||||
|
#include <boost/program_options.hpp>
|
||||||
|
|
||||||
|
int
|
||||||
|
main(int argc, char** argv)
|
||||||
|
{
|
||||||
|
rospack::Rospack rp;
|
||||||
|
|
||||||
|
std::vector<std::string> search_path;
|
||||||
|
search_path.push_back("/Users/gerkey/code/ros/ros");
|
||||||
|
search_path.push_back("/Users/gerkey/code/ros/ros/tools/rospack");
|
||||||
|
search_path.push_back("/Users/gerkey/code/ros/ros_comm");
|
||||||
|
rp.crawl(search_path, false);
|
||||||
|
|
||||||
|
//rp.debug_dump();
|
||||||
|
|
||||||
|
std::string rospack_path = rp.find("rospack");
|
||||||
|
printf("rospack:%s:\n", rospack_path.c_str());
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,45 @@
|
||||||
|
/*
|
||||||
|
* Copyright (C) 2008, Willow Garage, Inc.
|
||||||
|
*
|
||||||
|
* 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 names of Stanford University or 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 "rp.h"
|
||||||
|
#include <boost/program_options.hpp>
|
||||||
|
|
||||||
|
int
|
||||||
|
main(int argc, char** argv)
|
||||||
|
{
|
||||||
|
rospack::Rosstack rs;
|
||||||
|
|
||||||
|
std::vector<std::string> search_path;
|
||||||
|
search_path.push_back("/Users/gerkey/code/ros/ros");
|
||||||
|
search_path.push_back("/Users/gerkey/code/ros/ros/tools/rospack");
|
||||||
|
search_path.push_back("/Users/gerkey/code/ros/ros_comm");
|
||||||
|
rs.crawl(search_path, false);
|
||||||
|
|
||||||
|
rs.debug_dump();
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
Loading…
Reference in New Issue