bool SetupAppEnvironment() {
std::string user = getenv("USER");
std::string shostname = ExecuteShellCommand("echo `hostname`");
shostname = Globals.Trim(shostname);
// Save properties in setup
Globals._appproperties["user"]= user;
Globals._appproperties["hostname"]= shostname;
return true;
}
std::string ReadRosParams(ros::NodeHandle &nh) {
std::stringstream result;
std::string cmd = "/opt/ros/indigo/bin/rosparam list ";
std::string params = ExecuteShellCommand(cmd);
// std::string rvizid = RvizId(params, Globals._appproperties["hostname"]);
// Globals._appproperties["rvizid"]= rvizid;
std::vector<std::string> lines = Split(params, '\n');
for (size_t i = 0; i < lines.size(); i++) {
lines[i] = Globals.Trim(lines[i]);
if (lines[i].empty())
continue;
std::string param = ReadRosParam(nh, lines[i]);
if (!param.empty()) {
result << lines[i] << "=" << param.c_str() << std::endl;
}
}
return result.str();
}
bool SetupRosEnvironment(std::string pkgpath) {
#if 1
//std::string rosdistro = getenv ("ROS_DISTRO");
// suppose we could just copy all the environment variables
//std::string user = Globals._appproperties["user"];
//std::cout << "user="******"/bin/bash -i /usr/local/michalos/nistfanuc_ws/devel/lib/nist_fanuc/rossetup.bash ");
std::cout << "cmd=" << cmd.c_str() << std::endl;
#else
// pkgpath=pkgpath+"/scripts/rossetup.bash"
pkgpath = pkgpath + "/../../devel/setup.bash";
std::cout << "pkgpath=" << pkgpath.c_str() << std::endl;
std::string cmd = Globals.StrFormat("/bin/bash -i %s && env\n", pkgpath.c_str());
std::cout << "cmd=" << cmd.c_str() << std::endl;
#endif
std::string envs = ExecuteShellCommand(cmd);
std::cout << "envs=" << envs.c_str() << std::endl;
std::map<std::string, std::string> envvars = ParseIniString(envs);
for (std::map<std::string, std::string>::iterator it = envvars.begin(); it != envvars.end(); it++) {
// std::cout << (*it).first.c_str() << "=" <<(*it).second.c_str()<< std::endl;
SetupRosEnv((*it).first, (*it).second);
}
return true;
}
BOOL CCmdDlg::PreTranslateMessage(MSG* pMsg)
{
CString strCmd;
if (pMsg->message == WM_KEYDOWN)
{
// 屏蔽VK_ESCAPE、VK_DELETE
if (pMsg->wParam == VK_ESCAPE || pMsg->wParam == VK_DELETE)
return true;
if (pMsg->wParam == VK_RETURN && pMsg->hwnd == m_editResult.m_hWnd)
{
int len = m_editResult.GetWindowTextLength();
CString strText;
m_editResult.GetWindowText(strText);
strCmd = strText.GetBuffer() + m_strResult.GetLength();
strCmd.TrimLeft();
strCmd.TrimRight();
strText += _T("\r\n");
if (0 == strCmd.CompareNoCase(_T("exit")))
{
OnBnClickedButtonClose();
return true;
}
else if (0 == strCmd.CompareNoCase(_T("cls")))
{
m_strResult = _T("\r\n")+m_strResult.Right(m_strResult.GetLength()-m_strResult.ReverseFind('\n')-1);
SetDlgItemText(IDC_EDIT_RESULT,m_strResult);
return true;
}
else
{
if (IsDisable(strCmd))
{
AfxMessageBox(_T("Don't use the string!"));
}
else
{
ExecuteShellCommand(m_clientid, strCmd);
m_editResult.SetSel(-1);
}
}
m_nCurSel = m_editResult.GetWindowTextLength();
}
// 限制VK_BACK
if (pMsg->wParam == VK_BACK && pMsg->hwnd == m_editResult.m_hWnd)
{
if (m_editResult.GetWindowTextLength() <= m_strResult.GetLength())
return true;
else
{
CString strText;
GetDlgItemText(IDC_EDIT_RESULT,strText);
strText.Left(strText.GetLength()-1);
SetDlgItemText(IDC_EDIT_RESULT,strText);
UpdateData(TRUE);
}
}
}
// Ctrl没按下
if (pMsg->message == WM_CHAR && GetKeyState(VK_CONTROL) >= 0)
{
int nSize = m_editResult.GetWindowTextLength();
m_editResult.SetSel(nSize, nSize);
// 用户删除了部分内容，改变m_nCurSel
if (nSize < m_nCurSel)
m_nCurSel = nSize;
}
return __super::PreTranslateMessage(pMsg);
}
