void init(const M_string& remappings)
{
M_string::const_iterator it = remappings.find("__hostname");
if (it != remappings.end())
{
g_host = it->second;
}
else
{
it = remappings.find("__ip");
if (it != remappings.end())
{
g_host = it->second;
}
}
it = remappings.find("__tcpros_server_port");
if (it != remappings.end())
{
try
{
g_tcpros_server_port = boost::lexical_cast<uint16_t>(it->second);
}
catch (boost::bad_lexical_cast&)
{
throw ros::InvalidPortException("__tcpros_server_port [" + it->second + "] was not specified as a number within the 0-65535 range");
}
}
if (g_host.empty())
{
g_host = determineHost();
}
}
void Header::write(const M_string& key_vals, boost::shared_array<uint8_t>& buffer, uint32_t& size)
{
// Calculate the necessary size
size = 0;
{
M_string::const_iterator it = key_vals.begin();
M_string::const_iterator end = key_vals.end();
for (; it != end; ++it)
{
const std::string& key = it->first;
const std::string& value = it->second;
size += key.length();
size += value.length();
size += 1; // = sign
size += 4; // 4-byte length
}
}
if (size == 0)
{
return;
}
buffer.reset(new uint8_t[size]);
char* ptr = (char*)buffer.get();
// Write the data
{
M_string::const_iterator it = key_vals.begin();
M_string::const_iterator end = key_vals.end();
for (; it != end; ++it)
{
const std::string& key = it->first;
const std::string& value = it->second;
uint32_t len = key.length() + value.length() + 1;
SROS_SERIALIZE_PRIMITIVE(ptr, len);
SROS_SERIALIZE_BUFFER(ptr, key.data(), key.length());
static const char equals = '=';
SROS_SERIALIZE_PRIMITIVE(ptr, equals);
SROS_SERIALIZE_BUFFER(ptr, value.data(), value.length());
}
}
ROS_ASSERT(ptr == (char*)buffer.get() + size);
}
std::string remap(const std::string& name)
{
std::string resolved = resolve(name, false);
M_string::const_iterator it = g_remappings.find(resolved);
if (it != g_remappings.end())
{
return it->second;
}
return name;
}
void init(const M_string& remappings)
{
M_string::const_iterator it = remappings.begin();
M_string::const_iterator end = remappings.end();
for (; it != end; ++it)
{
const std::string& left = it->first;
const std::string& right = it->second;
if (!left.empty() && left[0] != '_' && left != this_node::getName())
{
std::string resolved_left = resolve(left, false);
std::string resolved_right = resolve(right, false);
g_remappings[resolved_left] = resolved_right;
g_unresolved_remappings[left] = right;
}
}
}
void init(const M_string& remappings)
{
M_string::const_iterator it = remappings.find("__master");
if (it != remappings.end())
{
g_uri = it->second;
}
if (g_uri.empty())
{
char *master_uri_env = NULL;
#ifdef _MSC_VER
_dupenv_s(&master_uri_env, NULL, "ROS_MASTER_URI");
#else
master_uri_env = getenv("ROS_MASTER_URI");
#endif
if (!master_uri_env)
{
ROS_FATAL( "ROS_MASTER_URI is not defined in the environment. Either " \
"type the following or (preferrably) add this to your " \
"~/.bashrc file in order set up your " \
"local machine as a ROS master:\n\n" \
"export ROS_MASTER_URI=http://localhost:11311\n\n" \
"then, type 'roscore' in another shell to actually launch " \
"the master program.");
ROS_BREAK();
}
g_uri = master_uri_env;
#ifdef _MSC_VER
// http://msdn.microsoft.com/en-us/library/ms175774(v=vs.80).aspx
free(master_uri_env);
#endif
}
// Split URI into
if (!network::splitURI(g_uri, g_host, g_port))
{
ROS_FATAL( "Couldn't parse the master URI [%s] into a host:port pair.", g_uri.c_str());
ROS_BREAK();
}
}
void init(const M_string& remappings)
{
std::string log_file_name;
M_string::const_iterator it = remappings.find("__log");
if (it != remappings.end())
{
log_file_name = it->second;
}
{
// Log filename can be specified on the command line through __log
// If it's been set, don't create our own name
if (log_file_name.empty())
{
// Setup the logfile appender
// Can't do this in rosconsole because the node name is not known
pid_t pid = getpid();
std::string ros_log_env;
if ( get_environment_variable(ros_log_env, "ROS_LOG_DIR"))
{
log_file_name = ros_log_env + std::string("/");
}
else
{
if ( get_environment_variable(ros_log_env, "ROS_HOME"))
{
log_file_name = ros_log_env + std::string("/log/");
}
else
{
// Not cross-platform?
if( get_environment_variable(ros_log_env, "HOME") )
{
std::string dotros = ros_log_env + std::string("/.ros/");
fs::create_directory(dotros);
log_file_name = dotros + "log/";
fs::create_directory(log_file_name);
}
}
}
// sanitize the node name and tack it to the filename
for (size_t i = 1; i < this_node::getName().length(); i++)
{
if (!isalnum(this_node::getName()[i]))
{
log_file_name += '_';
}
else
{
log_file_name += this_node::getName()[i];
}
}
char pid_str[100];
snprintf(pid_str, sizeof(pid_str), "%d", pid);
log_file_name += std::string("_") + std::string(pid_str) + std::string(".log");
}
log_file_name = fs::system_complete(log_file_name).string();
g_log_directory = fs::path(log_file_name).parent_path().string();
}
}
void init(const M_string& remappings)
{
M_string::const_iterator it = remappings.begin();
M_string::const_iterator end = remappings.end();
for (; it != end; ++it)
{
const std::string& name = it->first;
const std::string& param = it->second;
if (name.size() < 2)
{
continue;
}
if (name[0] == '_' && name[1] != '_')
{
std::string local_name = "~" + name.substr(1);
bool success = false;
try
{
int32_t i = boost::lexical_cast<int32_t>(param);
param::set(names::resolve(local_name), i);
success = true;
}
catch (boost::bad_lexical_cast&)
{
}
if (success)
{
continue;
}
try
{
double d = boost::lexical_cast<double>(param);
param::set(names::resolve(local_name), d);
success = true;
}
catch (boost::bad_lexical_cast&)
{
}
if (success)
{
continue;
}
if (param == "true" || param == "True" || param == "TRUE")
{
param::set(names::resolve(local_name), true);
}
else if (param == "false" || param == "False" || param == "FALSE")
{
param::set(names::resolve(local_name), false);
}
else
{
param::set(names::resolve(local_name), param);
}
}
}
XMLRPCManager::instance()->bind("paramUpdate", paramUpdateCallback);
}