int main (int argc, char**argv)
{
//option variables
bool do_help = false,
do_version = false,
do_test = false,
has_opt = false,
opt_armor = false,
opt_yes = false,
opt_fingerprint = false,
opt_clearsign = false,
opt_import_no_action = false;
std::string recipient, user,
input, output,
name, filter,
action_param,
detach_sign,
symmetric;
char action = 0;
int c, option_index;
for (;;) {
static struct option long_opts[] = {
{"help", 0, 0, 'h' },
{"version", 0, 0, 'V' },
{"test", 0, 0, 'T' },
//global options
{"armor", 0, 0, 'a' },
{"yes", 0, 0, 'y' },
{"recipient", 1, 0, 'r' },
{"user", 1, 0, 'u' },
//I/O redirection from default stdin/out
{"in", 1, 0, 'R' },
{"out", 1, 0, 'o' },
//keyring management
{"list", 0, 0, 'k' },
{"import", 0, 0, 'i' },
{"export", 0, 0, 'p' },
{"delete", 1, 0, 'x' },
{"rename", 1, 0, 'm' },
{"list-secret", 0, 0, 'K' },
{"import-secret", 0, 0, 'I' },
{"export-secret", 0, 0, 'P' },
{"delete-secret", 1, 0, 'X' },
{"rename-secret", 1, 0, 'M' },
{"gen-key", 1, 0, 'g' },
{"name", 1, 0, 'N' },
{"filter", 1, 0, 'F' },
{"fingerprint", 0, 0, 'f' },
{"no-action", 0, 0, 'n' },
//actions
{"sign", 0, 0, 's' },
{"verify", 0, 0, 'v' },
{"encrypt", 0, 0, 'e' },
{"decrypt", 0, 0, 'd' },
//action options
{"clearsign", 0, 0, 'C' },
{"detach-sign", 1, 0, 'b' },
{"symmetric", 1, 0, 'S' },
{0, 0, 0, 0 }
};
option_index = -1;
c = getopt_long
(argc, argv,
"hVTayr:u:R:o:kipx:m:KIPX:M:g:N:F:fnsvedCb:S:",
long_opts, &option_index);
if (c == -1) break;
has_opt = true;
switch (c) {
case '?':
case ':':
case 'h':
do_help = true;
break;
#define read_flag(ch,var) case ch: var=true; break;
#define read_single_opt(ch,var,errmsg) \
case ch: if(var.length()) {progerr(errmsg); do_help=true;}\
else var=optarg; break;
#define read_action(ch) read_action_comb(ch,0,0)
#define read_action_comb(ch, hit, comb) \
case ch: \
if(hit && action==hit) { \
action=comb; \
if(optarg) action_param=optarg; \
} else if(action) { \
progerr("please specify a single action"); \
do_help=true; \
} else { \
action=ch; \
if(optarg) action_param=optarg; \
} break;
read_flag ('V', do_version)
read_flag ('T', do_test)
read_flag ('a', opt_armor)
read_flag ('y', opt_yes)
read_single_opt ('r', recipient,
"specify only one recipient")
read_single_opt ('u', user,
"specify only one local user")
read_single_opt ('R', input,
"cannot accept multiple inputs")
read_single_opt ('o', output,
"cannot accept multiple outputs")
read_action ('k')
read_action ('i')
read_action ('p')
read_action ('x')
read_action ('m')
read_action ('K')
read_action ('I')
read_action ('P')
read_action ('X')
read_action ('M')
read_action ('g')
read_single_opt ('N', name,
"please specify single name")
read_single_opt ('F', filter,
"please specify single filter string")
read_flag ('f', opt_fingerprint)
read_flag ('n', opt_import_no_action)
/*
* combinations of s+e and d+v are possible. result is
* 'E' = "big encrypt with sig" and 'D' "big decrypt
* with verify".
*/
read_action_comb ('s', 'e', 'E')
read_action_comb ('v', 'd', 'D')
read_action_comb ('e', 's', 'E')
read_action_comb ('d', 'v', 'D')
read_flag ('C', opt_clearsign)
read_single_opt ('b', detach_sign,
"specify only one detach-sign file")
read_single_opt ('S', symmetric,
"specify only one symmetric parameter")
#undef read_flag
#undef read_single_opt
#undef read_action
default: //which doesn't just happen.
do_help = true;
break;
}
}
if (optind != argc) {
progerr ("unmatched non-option parameters");
do_help = true;
}
if ( (!has_opt) || do_help) {
print_help (argv[0]);
return 0;
}
if (do_version) {
print_version();
return 0;
}
/*
* something will be happening, therefore init everything
*/
keyring KR;
algorithm_suite AS;
//register all available algorithms
fill_algorithm_suite (AS);
/*
* cin/cout redirection
*/
int exitval = 0;
if (input.length() && !redirect_cin (input) ) {
progerr ("could not open input file");
exitval = 1;
goto exit;
}
if (output.length() && !redirect_cout (output) ) {
progerr ("could not redirect to output file");
exitval = 1;
goto exit;
}
/*
* check the option flags and do whatever was requested
*/
if (do_test) {
test();
goto exit;
}
if (symmetric.length() ) switch (action) {
case 's':
case 'v':
break;
default:
progerr ("specified action doesn't support symmetric operation");
exitval = 1;
goto exit;
}
switch (action) {
case 'g':
exitval = action_gen_key (action_param, name, KR, AS);
break;
case 'e':
exitval = action_encrypt (recipient, opt_armor, KR, AS);
break;
case 'd':
exitval = action_decrypt (opt_armor, KR, AS);
break;
case 's':
exitval = action_sign (user, opt_armor, detach_sign,
opt_clearsign, symmetric, KR, AS);
break;
case 'v':
exitval = action_verify (opt_armor, detach_sign, opt_clearsign,
opt_yes, symmetric, KR, AS);
break;
case 'E':
exitval = action_sign_encrypt (user, recipient, opt_armor,
KR, AS);
break;
case 'D':
exitval = action_decrypt_verify (opt_armor, opt_yes,
KR, AS);
break;
case 'k':
exitval = action_list (opt_fingerprint, filter, KR);
break;
case 'i':
exitval = action_import (opt_armor, opt_import_no_action,
opt_yes, opt_fingerprint,
filter, name, KR);
break;
case 'p':
exitval = action_export (opt_armor, filter, name, KR);
break;
case 'x':
exitval = action_delete (opt_yes, action_param, KR);
break;
case 'm':
exitval = action_rename (opt_yes, action_param, name, KR);
break;
case 'K':
exitval = action_list_sec (opt_fingerprint, filter, KR);
break;
case 'I':
exitval = action_import_sec (opt_armor, opt_import_no_action,
opt_yes, opt_fingerprint,
filter, name, KR);
break;
case 'P':
exitval = action_export_sec (opt_armor, opt_yes,
filter, name, KR);
break;
case 'X':
exitval = action_delete_sec (opt_yes, action_param, KR);
break;
case 'M':
exitval = action_rename_sec (opt_yes, action_param, name, KR);
break;
default:
progerr ("no action specified, use `--help'");
exitval = 1;
break;
}
/*
* all done.
* keyring is _not_ automatically saved here to prevent frequent
* rewriting and due the fact that everything that modifies it _must_
* also ensure and verify that it was written back correctly.
*/
exit:
if (!KR.close() ) {
progerr ("could not close keyring, "
"something weird is going to happen.");
}
return exitval;
}
/**
* passes the problem to the Planner; the plan to post-processing.
*/
bool RDDLSIMPlannerInterface::runPlanner() {
// save problem to file for planner
if(use_problem_topic && problem_instance_received) {
ROS_INFO("KCL: (%s) (%s) Writing problem to file.", ros::this_node::getName().c_str(), problem_name.c_str());
std::ofstream dest;
dest.open((problem_path).c_str());
dest << problem_instance;
dest.close();
}
// prepare the planner command line
std::string str = planner_command;
std::size_t dit = str.find("DOMAIN");
if(dit!=std::string::npos) str.replace(dit,6,domain_path);
std::size_t pit = str.find("PROBLEM");
if(pit!=std::string::npos) str.replace(pit,7,problem_path);
std::string commandString = str + " > " + data_path + "plan.pddl";
// call the planer
ROS_INFO("KCL: (%s) (%s) Running: %s", ros::this_node::getName().c_str(), problem_name.c_str(), commandString.c_str());
std::string plan = runCommand(commandString.c_str());
ROS_INFO("KCL: (%s) (%s) Planning complete", ros::this_node::getName().c_str(), problem_name.c_str());
// CHECK PLANNER OUTPUT
// Planner output example:
// ** Actions received: [move-current-dir(e1, e3);, open-door-going-down(e0);]
// ** Actions received: [close-door(e1);]
// check the planner solved the problem
std::ifstream planfile;
planfile.open((data_path + "plan.pddl").c_str());
std::string line;
planner_output.clear();
std::regex actionline_rgx("\\*\\* Actions received: \\[(.*)\\]"); // Action received line filter
// Action name and parameters extraction: if more than one action, it my have a comma and a space.
// Then we group the action name and the parameters, ignoring the parenthesis. if no parameters the second part is matched
std::regex action_name_params_rgx(",?\\s?(.+)\\((.*)\\)|,?\\s?(.+)");
std::smatch match;
int action_idx = 0;
while (std::getline(planfile, line)) {
// Check any action was found
if (std::regex_search(line, match, actionline_rgx)) {
std::istringstream action_list(match[1].str()); // Get all the actions in a sstream
std::string action;
while (getline(action_list, action, ';')) { // Get each action separately
if (std::regex_search(action, match, action_name_params_rgx)) { // Separate action name and parameters
// output_format: 0.000: (undock kenny wp1) [10.000]\n
std::string action_name = (match[1].str().empty())? match[3].str(): match[1].str();
planner_output += std::to_string(action_idx) + ": (" + action_name; // Action name
std::istringstream p(match[2].str()); // parameters
std::string param;
while (getline(p, param, ',')) {
planner_output += " "+ param;
}
planner_output += ") [0.001]\n"; // Close parenthesis and add duration
}
}
++action_idx;
}
}
planfile.close();
bool solved = !planner_output.empty();
if(!solved) ROS_INFO("KCL: (%s) (%s) Plan was unsolvable.", ros::this_node::getName().c_str(), problem_name.c_str());
else ROS_INFO("KCL: (%s) (%s) Plan was solved.", ros::this_node::getName().c_str(), problem_name.c_str());
return solved;
}
